A method and robot for orchard path recognition based on lidar 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 impact of camera light, low accuracy of Beidou navigation, and 2D laser radar cannot capture environmental features, etc., to reduce labor costs, Avoid the effects of influence
Active Publication Date: 2022-07-22
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 accompanying drawings, wherein like components are designated by like reference numerals. In the case of no conflict, the following embodiments and technical features in the embodiments can be combined with each other.
[0032] figure 1 A flow chart of the method of the present invention is shown, the method of the present invention includes S1-S4.
[0033] S1, calibrate the camera and lidar sensor mounted on the robot.
[0034] A single sensor inevitably has limitations. In order to improve the robustness of the system, a multi-sensor fusion scheme is often adopted. The fusion also includes time synchronization and spatial synchronization of different sensors. Preferably, in order to synchronize the camera and lidar data spatially , 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] Fir...
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The present invention provides an orchard path identification method based on laser radar and vision, including: S1, calibrating the camera and the laser radar sensor carried by the robot; S2, using the laser radar to collect point cloud data, using the camera to collect image data, and Data processing is performed separately to fit the respective left and right boundary lines; S3, the robot inter-row path recognition, the left and right boundary lines are fused, and the fused row center line is obtained, so that the robot can drive autonomously along the inter-row center line. The invention ensures that the robot can operate autonomously in the semi-structured natural orchard environment.
Description
technical field [0001] The present invention relates to the technical field of unmanned driving, and more particularly, to a method for identifying orchard paths based on laser radar and vision. Background technique [0002] In today's era, multi-functional agricultural robots have been widely used, making agricultural robots more and more replaced by hand to complete various agricultural work in the vast fields. There are various tasks in orchard production in agriculture, such as: thinning flowers and fixing fruits, bagging, pruning, mulching, irrigation, fertilization, spraying pesticides, pest control, harvesting in stages, etc., which require a lot of manpower and material resources. Inaccurate orchard management methods will generate a lot of ineffective inputs and ecological pollution, increasing fruit prices. In view of these situations, it is imperative to develop intelligent and precise robots suitable for orchard operations. In order for the robot to replace lab...
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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