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Orchard work agricultural robot interrow positioning method

A positioning method and robot technology, applied in the directions of instruments, navigation, surveying and mapping, and navigation, can solve the problems of blocking satellite signals, positioning accuracy cannot meet application requirements, and satellite positioning information is no longer reliable, so as to meet operational requirements and avoid positioning. effect of error

Inactive Publication Date: 2017-01-11
NANJING AGRICULTURAL UNIVERSITY
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  • Claims
  • Application Information

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Problems solved by technology

However, when agricultural robots work between rows of orchards, the dense canopy will seriously block satellite signals, making satellite positioning information unreliable
Relying solely on the estimated positioning of the odometer, due to the accumulation of errors, the positioning accuracy cannot meet the application requirements

Method used

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  • Orchard work agricultural robot interrow positioning method
  • Orchard work agricultural robot interrow positioning method
  • Orchard work agricultural robot interrow positioning method

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Embodiment Construction

[0020] The method of the present invention will be further described below in conjunction with the accompanying drawings. This embodiment is implemented on the premise of the technical solution of the present invention. Detailed implementation modes and specific operation procedures are given, but the protection scope of the present invention is not limited to the following 的实施例。 Example.

[0021] Such as figure 1 As shown, this embodiment includes: collecting two-dimensional lidar scanning ranging data at the initial pose of the robot movement, detecting the fruit tree trunks according to the Euclidean distance standard for the lidar ranging data, and storing them in the Trunk set of the world coordinate system. Based on the known positioning value at time k-1, the short-distance trajectory is calculated based on the odometer information to predict the pose value of the robot at time k, and the time k is in the robot coordinate system X R O R Y R Convert the coordinates of the cen...

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Abstract

The invention provides an orchard work agricultural robot interrow positioning method. The method comprises the following steps: collecting two-dimensional laser radar scan range-finding data at an initial position of the robot interrow movement, detecting the tree trunks position according to an European style distance standard for the laser radar data and storing the data in a coordinate system of a world coordinate system, performing short distance track reckoning according to the mileometer information based on former time positioning data and predicting the position value of the robot at the current time, transiting the trunk center position point detected in the coordinate system by the current robot to the world coordinate system according to the robot position predicted value, coupling the trunk central points detected by different times in the world coordinate system, and finally using the coupling result to correct the position value of the robot at the current time to complete robot interrow real time accurate positioning. According to the invention, the positioning navigation by a satellite signal is not required for the orchard work agricultural robot, and the shedding of the satellite signal by the dense crown in orchard can be overcome.

Description

Technical field [0001] The invention relates to a robot positioning method in the technical field of agricultural robots, in particular to a method for positioning an agricultural robot between fruit trees for orchard operations. Background technique [0002] Positioning is a basic problem in mobile robot applications and a prerequisite for autonomous navigation. The same is true for agricultural robots operating in the orchard. The positioning information can help the robot predict the ground and plan the path, realize the turning of the ground, and drive the next line autonomously. At the same time, the combination of positioning information and fruit tree spacing information can also help the robot predict the position of the fruit tree, improve the accuracy of the robot in detecting the trunk of the fruit tree, and increase the effect of plant protection operations in the orchard. [0003] Satellite positioning and navigation as a relatively mature agricultural machinery posit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01S17/02G01S17/08
CPCG01C21/005G01S17/08G01S17/86
Inventor 周俊李延华胡晨
Owner NANJING AGRICULTURAL UNIVERSITY
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