Orchard path identification method and robot based on laser radar and vision
A laser radar and path recognition technology, which is applied to instruments, motor vehicles, transportation and packaging, etc., can solve the problems of large influence of camera illumination, low Beidou navigation accuracy, and 2D laser radar cannot capture environmental characteristics, etc., to reduce labor costs, Avoid the effect of influence
Active Publication Date: 2021-12-10
INST OF AGRI RESOURCES & REGIONAL PLANNING CHINESE ACADEMY OF AGRI SCI +1
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Problems solved by technology
[0004] Aiming at the scene where the robot is driving between rows in a densely planted orchard in a natural environment, there are problems that the camera is greatly affected by the light, the Beidou navigation accuracy is low, and the 2D laser radar cannot capture sufficient environmental features, and proposes an orchard based on laser radar and vision. Path identification methods, including:
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[0031] Embodiments of the present invention are described below with reference to the drawings, in which like parts are denoted by like reference numerals. In the case of no conflict, the following embodiments and the technical features in the embodiments can be combined with each other.
[0032] figure 1 A flowchart of the method of the present invention is shown, the method of the present invention comprises S1-S4.
[0033] S1, calibrate the camera and lidar sensor mounted on the robot.
[0034] Single sensor inevitably has limitations. In order to improve the robustness of the system, multi-sensor fusion schemes are often adopted. Fusion also includes time synchronization and space synchronization of different sensors. Preferably, in order to synchronize the camera and lidar data in space , after calibration, the fusion data of the point cloud projected onto the image will be obtained, so that the point cloud and the image are fused.
[0035] First, calibrate the camera ...
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The invention provides an orchard path identification method based on laser radar and vision. The method comprises the following steps: S1, calibrating a camera and a laser radar sensor carried by a robot; S2, using the laser radar to collect point cloud data, using the camera to collect image data, respectively carrying out data processing, and fitting respective left and right boundary lines; and S3, carrying out robot inter-row path identification, fusing the boundary lines on the left side and the right side, and obtaining a fused row center line, so that the robot autonomously travels along the inter-row center line. According to the invention, it is guaranteed that the robot can autonomously work in the semi-structure natural orchard environment.
Description
technical field [0001] The present invention relates to the technical field of unmanned driving, and more specifically, relates to a laser radar and vision-based orchard path recognition method. Background technique [0002] In this era, multifunctional agricultural robots are widely used, making agricultural robots more and more replace manual work in the vast fields. There are many kinds of tasks in orchard production in agriculture, such as: flower thinning and fruit setting, bagging, pruning, mulching, irrigation, fertilization, spraying pesticides, pest control, staged harvesting and other processes, which require a lot of manpower and material resources. Inaccurate orchard management will generate a lot of ineffective inputs and ecological pollution, which will increase fruit prices. In response to these situations, it is imperative to develop intelligent and precise robots suitable for orchard operations. In order for the robot to replace human labor and work autono...
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Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257
Inventor 史云李会宾张保辉吴文斌
Owner INST OF AGRI RESOURCES & REGIONAL PLANNING CHINESE ACADEMY OF AGRI SCI