Full-automatic orchard carrying operation method

Abstract

The invention discloses a full-autonomous orchard carrying operation method, which comprises the following steps: acquiring an image and a point cloud of an orchard operation environment, establishing a skeleton channel model, determining a central guide line and a passable area between fruit tree rows based on the skeleton channel model, and generating a central area mask based on the central guide line; scanning along the passable area segment by segment by using a preset sliding window, and calculating a smoothness characteristic value and a congestion characteristic value of each window; and carrying out weighted fusion on the smoothness characteristic value, the congestion characteristic value and the central area mask to obtain a channel thermodynamic diagram, and selecting a continuous area with the highest thermodynamic value in the channel thermodynamic diagram as an optimal passage corridor. According to the method, the skeleton channel model is established, the skeleton channel model can clearly define the effective passing boundary between the fruit tree rows, the passing priority of each area can be visually presented through the generated channel thermodynamic diagram, and a most suitable moving path can be selected from the irregular channel environment of the orchard.

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