| 香蕉园机器人导航的激光与超声波组合测距方法研究 |
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| 引用本文： | 付根平,杨尘宇,张世昂,黄伟锋,陈天赐,朱立学.香蕉园机器人导航的激光与超声波组合测距方法研究[J].农业机械学报,2021,52(5):159-168. |
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| 作者姓名： | 付根平 杨尘宇 张世昂 黄伟锋 陈天赐 朱立学 |
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| 作者单位： | 仲恺农业工程学院 |
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| 基金项目： | 广东省重点领域科技研发计划项目(2019B020223003)、广东省自然科学基金博士科研启动项目(2016A030310237)、广东省农业技术研发项目(2018LM2167)和广东省现代农业产业技术体系创新团队项目(粤农函[2019]1019号) |
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| 摘 要： | 在长有小灌木等干扰物和机耕道崎岖不平的复杂香蕉园环境中，机器人定位导航方法有时效果不佳、甚至失效，准确测量机器人与香蕉树的最短距离是实现定位与导航的前提和关键，为此提出一种基于拟合滤波的激光和超声波香蕉树测距方法。首先，在各采样时刻由激光和超声波传感器分别测得机器人到香蕉树的距离数据，并相互校验，生成待测香蕉树的一组距离数据；选择二次多项式以最小二乘法对该组距离数据进行拟合，基于拟合的二次多项式和设定阈值对该组距离数据进行滤波，去除其中偏差较大的距离；最后，对滤波后的距离数据中3个最小值求平均值，以此作为机器人到待测香蕉树的最短距离。实验表明，该测距方法在理想环境下对香蕉树的最大测距误差率为1.0%，在有小灌木等干扰物或者道路崎岖不平的环境以及室外自然场景下最大测距误差率为2.0%，相应的最大测距误差为1.0cm，且测距稳定性良好。
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| 关 键 词： | 香蕉采摘机器人 激光传感器 超声波传感器 树距 拟合滤波 |
| 收稿时间： | 2020/7/22 0:00:00 |
Research on Laser and Ultrasonic Combined Ranging Method for Robot Navigation at Banana Plantation |
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| FU Genping,YANG Chenyu,ZHANG Shiang,HUANG Weifeng,CHEN Tianci,ZHU Lixue.Research on Laser and Ultrasonic Combined Ranging Method for Robot Navigation at Banana Plantation[J].Transactions of the Chinese Society of Agricultural Machinery,2021,52(5):159-168. |
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| Authors: | FU Genping YANG Chenyu ZHANG Shiang HUANG Weifeng CHEN Tianci ZHU Lixue |
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| Institution: | Zhongkai University of Agriculture and Engineering |
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| Abstract: | Aiming at the problem that GPS, lidar, vision and other positioning and navigation methods for robot sometimes do not work well or even fail in the complex environment of banana plantation, a positioning and navigation method for robot based on laser and ultrasonic sensors at banana plantation was proposed. However, when there were small shrubs and other obstacles, or at rugged tractor road in the complex environment of banana plantation, it was the premise and the key for positioning and navigation to accurately measure the shortest distance between the robot and banana tree. Therefore, a distance measurement method for banana tree using laser and ultrasonic sensors based on fitting and filtering techniques was proposed. Firstly, the laser and ultrasonic sensors simultaneously measured the distance between the robot and banana tree at each sampling time and reciprocally checked the distance data ranged by laser and ultrasonic sensor in order to generate a set of distance data for the target banana tree;after that, the set of distance data was fitted using a quadratic polynomial by the least squares method;and then the distance data was filtered out with larger error from the set of distance data based on the fitted quadratic polynomial and the suitable threshold;and finally, the shortest distance from the robot to banana tree was got by averaging the three minimum distance data at the filtered set of distance data. The experimental results showed that the ranging method proposed had an maximum ranging error rate of 1.0% for banana tree in ideal environment, and the maximum ranging error rate was 2.0%, which corresponding maximum ranging error was 1.0cm, in an environment with small shrubs and other obstacles or rugged road, even in outside natural environment. Therefore, the stability of the ranging method proposed was good, which can provide accurate distance data for the robot to realize positioning and navigation in the banana plantation. |
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| Keywords: | banana picking robot laser sensor ultrasonic sensor distance of banana tree fitting and filtering technique |
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