基于激光雷达的全生长周期甘蔗地行间自主导航研究

doi:10.13733/j.jcam.issn.2095⁃5553.2022.03.021

摘要/Abstract

摘要： 为开发一套适应于丘陵山区甘蔗全生长周期的自主导航系统，将二维激光雷达用作导航传感器，并设计矫正算法来修正地形对雷达横向数据的影响。由于不同生长时期的甘蔗形态差异较大，传统聚类算法聚类参数固定导致实际聚类效果较差，提出一种基于点云数目阈值分辨的自适应聚类算法，利用滤波和甘蔗直线种植特点引入置信区间。定位甘蔗后，采用基于斜率判定的改进最小二乘法来实现少量数据的直线拟合，通过田间试验证明，该方法能够消除地形和甘蔗叶片对雷达点云数据的影响，定位误差都能控制在10 cm以内，实现了甘蔗全生长周期行走路径的拟合。

关键词: 丘陵地带, 激光雷达, 全周期, 导航, 聚类, 最小二乘拟合

Abstract: In order to develop an autonomous navigation system suitable for the whole growth cycle of sugarcane in hilly and mountainous terrain, two⁃dimensional LIDAR was used as a navigation sensor, and a correction algorithm was designed to correct the influence of terrain on the lateral data of the radar. Due to the large differences in the shape of sugarcane in different growth periods, the traditional clustering algorithm had fixed clustering parameters, resulting in poor actual clustering effect. An adaptive clustering algorithm based on point cloud number threshold resolution was proposed. The confidence interval was introduced by using the characteristics of filtering and sugarcane linear planting. After locating the sugarcane, the improved least squares method based on slope determination was used to realize the straight line fitting of a small amount of data. Field experiments confirmed that this method could eliminate the influence of terrain and sugarcane leaves on the radar point cloud data, and the positioning error could be controlled within 10 cm. In this regard, the fitting of the walking path in the whole growth cycle of sugarcane is realized.

Key words: hilly terrain, LIDAR, full cycle, navigation, clustering, least squares fitting

中图分类号:

S237

李岩舟, 石奕峰, 涂伟, 覃锋, 潘柳颖, 何艳洲. 基于激光雷达的全生长周期甘蔗地行间自主导航研究[J]. 中国农机化学报, 2022, 43(3): 153-158.

Li Yanzhou, Shi Yifeng, Tu Wei, Qin Feng, Pan Liuying, . He Yanzhou. Research on autonomous navigation between rows of sugarcane in the whole growth cycle based on LIDAR[J]. Journal of Chinese Agricultural Mechanization, 2022, 43(3): 153-158.

参考文献

[1] 胡文卓. 广西甘蔗收获机械化对策研究[D].南宁: 广西大学, 2019.
[2] 广西农机化技术推广总站. 广西甘蔗生产全程机械化技术及推广应用[J]. 广西农业机械化, 2021(2): 19-26.
[3] Takai R, Barawid O, Ishii K, et al. Development of crawler⁃type robot tractor based on GPS and IMU [J]. IFAC Proceedings Volumes, 2010, 43(26): 151-156.
[4] 李忠利, 刘小锋, 陈修魁, 等. 基于信息融合的拖拉机组合导航定位系统研究[J]. 农业机械学报, 2020, 51(8): 382-390, 399.
Li Zhongli, Liu Xiaofeng, Chen Xiukui, et al. Tractor integrated navigation and positioning system based on data fusion [J]. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(8): 382-390, 399.
[5] 丁友强, 刘彦伟, 杨丽, 等. 基于Android和CAN总线的玉米播种机监控系统研究[J]. 农业机械学报, 2019, 50(12): 33-41, 62.
Ding Youqiang, Liu Yanwei, Yang Li, et al. Monitoring system of maize precision planter based on Android and CAN bus [J]. Transactions of the Chinese Society for Agricultural Machinery, 2019, 50(12): 33-41, 62.
[6] Candidate M K, Noguchi N, Ishii K, et al. Development of the agricultural autonomous tractor with an RTK-GPS and a fog [J]. IFAC Proceedings Volumes, 2001, 34(19): 99-104.
[7] 卢彦群, 卢玉坤, 李俊. 导航系统在农机发展中的应用[J]. 现代农业装备, 2020, 41(2): 8-13.
Lu Yanqun, Lu Yukun, Li Jun. Navigation application in agricultural machinery [J]. Modern Agricultural Equipment, 2020, 41(2): 8-13.
[8] 宫金良, 王祥祥, 张彦斐, 等. 基于边缘检测和区域定位的玉米根茎导航线提取方法[J]. 农业机械学报, 2020, 51(10): 26-33.
Gong Jinliang, Wang Xiangxiang, Zhang Yanfei, et al. Extraction method of corn rhizome navigation lines based on edge detection and area localization [J]. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(10): 26-33.
[9] 赵博, 毛恩荣, 毛文华, 等. 农业车辆杂草环境下视觉导航路径识别方法[J]. 农业机械学报, 2009, 40(S1): 183-186.
Zhao Bo, Mao Enrong, Mao Wenhua, et al. Path recognition for vision navigation system of agricultural vehicle in weed environment [J]. Transactions of the Chinese Society for Agricultural Machinery, 2009, 40(S1): 183-186.
[10] 王辉, 毛文华, 刘刚, 等. 基于视觉组合的苹果作业机器人识别与定位[J]. 农业机械学报, 2012, 43(12): 165-170.
[11] 曾宏伟, 雷军波, 陶建峰, 等. 低对比度条件下联合收割机导航线提取方法[J]. 农业工程学报, 2020, 36(4): 18-25.
Zeng Hongwei, Lei Junbo, Tao Jianfeng, et al. Navigation line extraction method for combine harvester under low contrast conditions [J]. Transactions of the Chinese Society of Agricultural Engineering, 2020, 36(4): 18-25.
[12] 杨洋, 张博立, 查家翼, 等. 玉米行间导航线实时提取[J]. 农业工程学报, 2020, 36(12): 162-171.
Yang Yang, Zhang Boli, Zha Jiayi, et al. Real⁃time extraction of navigation line between corn rows [J]. Transactions of the Chinese Society of Agricultural Engineering, 2020, 36(12): 162-171.
[13] Rehman T U, Mahmud M S, Chang Y K, et al. Current and future applications of statistical machine learning algorithms for agricultural machine vision systems [J]. Computers and Electronics in Agriculture, 2018, 156: 585-605.
[14] 牛润新, 张向阳, 王杰, 等. 基于激光雷达的农业机器人果园树干检测算法[J]. 农业机械学报, 2020, 51(11): 21-27.
Niu Runxin, Zhang Xiangyang, Wang Jie, et al. Orchard trunk detection algorithm for agricultural robot based on laser radar [J]. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(11): 21-27.
[15] 季宇寒, 李寒, 张漫, 等. 基于激光雷达的巡检机器人导航系统研究[J]. 农业机械学报, 2018, 49(2): 14-21.
Ji Yuhan, Li Han, Zhang Man, et al. Navigation system for inspection robot based on LiDAR [J]. Transactions of the Chinese Society for Agricultural Machinery, 2018, 49(2): 14-21.
[16] Malavazi F B P, Guyo Nn Eau R, Fasquel J B, et al. LiDAR⁃only based navigation algorithm for an autonomous agricultural robot [J]. Computers and Electronics in Agriculture, 2018, 154: 71-79.
[17] Barawid O C, Mizushima A, Ishii K, et al. Development of an autonomous navigation system using a two⁃dimensional laser scanner in an orchard application [J]. Biosystems Engineering, 2007, 96(2): 139-149.
[18] 张莹莹. 基于激光雷达的农业移动机器人果树干检测和导航研究[D]. 南京: 南京农业大学, 2015。
Zhang Yingying. Research on agriculture mobile robot tree trunk detection and navigation in orchard based on laser radar [D]. Nanjing: Nanjing Agricultural University, 2015.
[19] 高观光. 基于激光雷达的智能自走式热雾机自主导航系统控制方法研究[D].合肥: 安徽农业大学, 2020.
Gao Guanguang. Study on the control method of autonomous navigation system of intelligent self⁃propelled hot fog machine based on lidar [D]. Hefei: Anhui Agricultural University, 2020.
[20] 刘沛. 基于激光导航的果园拖拉机自动控制系统研究[D]. 杨凌: 西北农林科技大学, 2011.
Liu Pei. Automatic control system of orchard tractor based on laser navigation [D]. Yangling: Northwest A & F University, 2011.
[21] 张漫, 季宇寒, 李世超, 等. 农业机械导航技术研究进展[J]. 农业机械学报, 2020, 51(4): 1-18.
Zhang Man, Ji Yuhan, Li Shichao, et al. Research progress of agricultural machinery navigation technology [J]. Transactions of the Chinese Society of Agricultural Machinery, 2020, 51(4): 1-18.
[22] 刘路, 潘艳娟, 陈志健, 等. 高遮挡环境下玉米植保机器人作物行间导航研究[J]. 农业机械学报, 2020, 51(10): 11-17.