农业机械学报2023，Vol.54Issue(z1)：9-17,9.DOI:10.6041/j.issn.1000-1298.2023.S1.002
基于激光雷达的作物收获导航线实时提取方法研究
Real-time Extraction of Navigation Line Based on LiDAR
摘要
Abstract
In order to improve the precision of unmanned navigation path of combine harvester,a real-time extraction method of crop harvesting navigation line was proposed based on LiDAR.A point cloud data acquisition system was built,and the installation height and angle of LiDAR were obtained by plane fitting method.The transformation of point cloud data from LiDAR coordinate system to vehicle coordinate system was realized by using three-dimensional LiDAR to scan the crop point cloud data in front of the harvester and combining the attitude information fed back by IMU inertial sensor.The coordinates of the ROI were obtained based on the scanning field angle,installation height and installation angle of LiDAR,and the ROI was filtered through and statistically to remove impurities such as dust and straw powder,so as to eliminate invalid points and outliers in point cloud data.A fast recognition algorithm of navigation line based on the elevation difference of eight neighboring grids was proposed.The coordinate value in the Z-axis direction after the point cloud rasterized was taken as the detection basis,and the difference between grid and its eight neighboring grids in the Z-axis coordinate was defined as the elevation difference.The grid was traversed and compared according to the set threshold,so as to effectively extract the harvesting boundary points.The least square algorithm was used to fit the harvesting boundary points,and the harvesting navigation line was obtained.Experiments showed that the algorithm had good robustness,and can maintain high accuracy when crops were scarce and there were many weeds,among which the average error angle of forward direction was 0.872°,the lateral deviation of header was 0.104 m,and the correct rate of harvesting navigation line was 93.5％,which can provide auxiliary navigation for combine harvester and improve the accuracy of unmanned driving.关键词
联合收获机/激光雷达/点云栅格/八邻域/导航线Key words
combine harvester/LiDAR/point cloud grid/eight neighborhoods/navigation line分类
农业科技引用本文复制引用
周海燕,杨悦,刘阳春,马若飞,张峰硕,张启帆..基于激光雷达的作物收获导航线实时提取方法研究[J].农业机械学报,2023,54(z1):9-17,9.基金项目
国家重点研发计划项目(2021YFD2000601) （2021YFD2000601）
