The invention discloses an orchard vehicle automatic navigation system based on laser radar and machine vision fusion, and relates to the technical field of navigation. The orchard vehicle comprises a four-wheel differential chassis, an upper computer, a lower computer controller, a 2D laser radar, a CCD camera, a Hall encoder, a direct-current servo motor and a swing mechanism, wherein the upper computer, the lower computer controller, the 2D laser radar, the CCD camera, the Hall encoder, the direct-current servo motor and the swing mechanism are arranged on the four-wheel differential chassis. According to the invention, 3D point cloud data is generated through 2D laser point cloud data and angle data, and the 3D point cloud data is fused with image data to identify and position tree rows, road obstacles and fruit trees at the end of the rows, so that fitting of tree row lines and navigation base lines and generation of obstacle avoidance paths and field edge steering paths are realized; a trajectory tracking algorithm is utilized to calculate the target speed, and the lower computer controller and the motor driver are utilized to drive the four-wheel differential chassis to run according to an obstacle avoidance path and an edge steering path, so that the problems of high cost and low precision in the prior art are solved.
本发明公开了一种基于激光雷达与机器视觉融合的果园车辆自动导航系统,涉及导航技术领域,所述系统包括果园车辆,所述果园车辆包括四轮差速底盘以及设置在所述四轮差速底盘上的上位机、下位机控制器、2D激光雷达、CCD相机、霍尔编码器、直流伺服电机和摇摆机构。本发明通过2D激光点云数据和角度数据产生3D点云数据,并融合图像数据进行树行、道路障碍物、行末果树的识别与定位,实现了树行线和导航基线拟合以及避障路径和地头转向路径生成,利用轨迹跟踪算法解算出目标速度并通过下位机控制器和电机驱动器驱动四轮差速底盘按照避障路径和地头转向路径行驶,解决了现有技术成本高、精度低的问题。
Orchard vehicle automatic navigation system based on laser radar and machine vision fusion
基于激光雷达与机器视觉融合的果园车辆自动导航系统
2024-03-29
Patent
Electronic Resource
Chinese
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