Agricultural Robot Laser Positioning With Time-Event Point Cloud Matching
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Solution Overview
Problem
Current laser positioning technologies face challenges in achieving precise and stable positioning of agricultural robots in environments with weak or blocked GNSS signals, such as greenhouses and bridges, due to obstacles and high computation burdens.
Innovation Solution
A laser sensing-based method involving a laser radar and receiver system that constructs a three-dimensional coordinate system, processes point cloud data with time-event matching to determine the central position of the laser receiver, and uses an electric push rod to maintain the receiver within the laser scanning plane, reducing computation and addressing path blockages.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If laser triangulation location is used with multiple reflectors, then positioning accuracy is improved, but computation burden increases
Solution Approach 1:
The patent extracts only the necessary information from point cloud data - specifically identifying points on the laser radar's scanning plane and calculating their distances. This selective extraction avoids processing all point cloud data, significantly reducing computation burden while maintaining positioning accuracy through time-event matching of extracted points.
Solution Approach 2:
The patent segments the point cloud data processing by first identifying points that lie on the laser radar's scanning plane, then separately calculating distances for these specific points. This segmentation allows efficient processing of only relevant data portions rather than performing heavy computation on entire point clouds.
2Adaptability or versatility
If laser positioning is used in environments with obstacles, then indoor positioning capability is improved, but signal blocking occurs
Solution Approach 1:
The patent employs a moving laser receiver mounted on the agricultural robot that dynamically tracks and receives laser signals from the fixed laser radar. This dynamic reception system allows the robot to maintain positioning capability while moving through environments with obstacles, as the receiver can adapt its position to continuously receive signals even when parts of the environment block direct line-of-sight.
Solution Approach 2:
The patent introduces a moving laser receiver as an intermediary between the fixed laser radar and the robot's positioning system. This intermediary receives laser signals and translates them into positioning information, enabling reliable indoor positioning even when direct radar-to-robot signaling is blocked by obstacles.
3Reliability
If traditional laser positioning methods are used, then positioning function is achieved, but running time of algorithms increases
Solution Approach 1:
The patent applies partial action by processing only a subset of point cloud data - specifically points located on the laser radar's scanning plane - rather than processing all point cloud data. This partial processing approach maintains positioning function while significantly reducing algorithm running time by avoiding unnecessary computation on irrelevant data points.
Solution Approach 2:
The patent performs preliminary filtering of point cloud data to identify points on the scanning plane before distance calculation. This preliminary action prepares the data in advance, allowing the main positioning algorithm to work with pre-processed, relevant points only, thereby reducing overall algorithm running time while maintaining positioning accuracy.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method achieves lighter computation, higher positioning accuracy, stronger anti-interference ability, and lower realization costs, enabling reliable and continuous positioning of agricultural robots even in complex environments.
Implementation Method 1
erecting a laser radar with a ranging function in a positioning space... conducting scanning using the laser radar to obtain point cloud data of an object in the positioning space
Implementation Method 2
receiving a laser radar signal using the laser receiver during movement, and when a laser beam emitted by the laser radar irradiates the laser receiver, outputting laser signal data and elevation data from the laser receiver
Data Source
AI summary
A laser perception-based method for spatial positioning of an agricultural robot: erecting a laser radar with a ranging function in a positioning space, setting a three-dimensional coordinate system, and conducting scanning using the laser radar to obtain point cloud data of an object in the positioning space, where the point cloud data include an azimuth and a distance with respect to the laser radar; installing a laser receiver on the agricultural robot, receiving a laser radar signal using the laser receiver during movement, when a laser beam emitted by the laser radar irradiates the laser receiver, outputting laser signal data and elevation data from the laser receiver; conducting time-event matching on the laser signal data obtained by the laser receiver and the point cloud data scanned by the laser radar within each scanning period of the laser radar to obtain three-dimensional coordinates of a central position of the laser receiver.