The invention discloses a pinecone picking aircraft and a pinecone identification and picking method, a high-definition map is obtained by using a high-definition camera in single patrol flight, feature extraction is performed by using composite attention, pinecone identification and positioning are performed through a YOLO target detection head, and the position and height of pine cones are estimated based on a binocular vision model. The robot flies to the position near the target position according to the planned picking route, recognition and positioning are carried out through the dual-band stereo camera, and branch grabbing auxiliary hovering of the mechanical arm is achieved. And then the pose of the unmanned aerial vehicle is adjusted through visual identification positioning again, precise positioning picking of the target pine cones is completed through the mechanical arm, the picking efficiency is improved, and damage to the pine trees is reduced. And finally, sequentially confirming whether single-cluster picking and the task are all completed or not, if so, flying back to the landing area and entering a standby state, and otherwise, repeating the process. In the picking process, if the problems of insufficient electric quantity, bad weather and the like occur, emergency treatment is started, and the harvester flies back to the landing area and enters a standby state.
本申请公开了一种松塔采摘飞行器及松塔识别与采摘方法,单次巡飞利用高分相机获得高清地图,采用复合注意力进行特征提取再通过YOLO目标检测头进行松塔识别定位,并基于双目视觉模型估计出松果位置及高度。依据规划的采摘路线飞行至目标位置附近,通过双波段立体相机进行识别定位,实现机械臂抓握树枝辅助悬停。然后再次通过视觉识别定位调整无人机位姿,并用机械臂完成对目标松果的精准定位采摘,既提高了采摘效率,又降低对松树的伤害。最后,依次确认单簇采摘和本次任务是否全部完成,若完成,则飞回降落区,进入待命状态,反之则重复上述过程。采摘过程中,若出现电量不足、天气恶劣等问题,则启动应急处理,飞回降落区进入待命状态。
Pinecone picking aircraft and pinecone identifying and picking method
一种松塔采摘飞行器及松塔识别与采摘方法
2024-08-06
Patent
Electronic Resource
Chinese
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