Visual navigation system of orchard robot

Abstract

The invention relates to a visual navigation system of an orchard robot. The visual navigation system comprises four parts, namely, a navigation reference line recognition module, a two-dimensional code positioning module, an ultrasonic obstacle avoiding module and a singlechip microcomputer control module. According to the visual navigation system, navigation reference line recognition based on natural environments and positioning based on two-dimensional code marking are combined for visual navigation, an ultrasonic sensor is adopted for safe obstacle avoidance, and finally a singlechip microcomputer is adopted for walking control on the orchard robot. The visual navigation system has important significances for lowering navigation cost, solving the problem of poor turning adaptability of visual navigation in orchards merely on the basis of natural environments, and improving navigation reliability and practicability.

Description

technical field [0001] The invention belongs to the field of orchard robot navigation, and relates to a navigation system, in particular to a visual navigation system of an orchard robot. Background technique [0002] my country is a big fruit producing country, but the automation and intelligence of orchard operations is still low at present. Orchard operations are still dominated by manpower, with high labor intensity and low productivity, which greatly restricts the development of my country's fruit economy. At this stage, the research on intelligent agricultural equipment has attracted more and more attention, and autonomous navigation is the key to the research on intelligent agricultural equipment. In the orchard environment, due to the obstruction of fruit tree branches and leaves, the GPS navigation and positioning effect is poor; laser navigation is easily affected by the environment, and the error is large; the cost of electromagnetic navigation is too high; It ha...

AI Technical Summary

Problems solved by technology

In the orchard environment, due to the obstruction of fruit tree branches and leaves, the GPS navigation and positioning effect is poor; laser navigation is easily affected by the environment, and the error is large; the cost of electromagnetic navigation is too high; It has good applicability, but relying solely on natural scenery to extract the navigation reference line is easily affected by external factors and lacks reliability. Therefore, it is necessary to introduce artificial signs for visual recognition to improve the reliability of visual navigation.

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