| 基于激光感知的农业机器人定位系统 |
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| 引用本文： | 胡炼,王志敏,汪沛,何杰,焦晋康,王晨阳,李明锦.基于激光感知的农业机器人定位系统[J].农业工程学报,2023,39(5):1-7. |
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| 作者姓名： | 胡炼 王志敏 汪沛 何杰 焦晋康 王晨阳 李明锦 |
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| 作者单位： | 1. 华南农业大学南方农业机械与装备关键技术教育部重点实验室，广州 510642; 2. 岭南现代农业科学与技术广东省实验室茂名分中心，茂名 525000; |
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| 基金项目： | 江苏大学农业装备学部项目（NZXB20210106）；广东省科技计划项目（2021B1212040009）；佛山市科技创新项目（2120001008424）；国家现代农业技术体系（CARS-13） |
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| 摘 要： | 为解决基于全球导航卫星系统（global navigation satellite system,GNSS）的农业机器人和自动驾驶农机在机库、大棚等卫星信号弱或无环境下定位精度低甚至无法定位的问题，该研究提出了基于激光感知的农业机器人定位方法。采用二维激光雷达和激光接收器设计了基于激光感知的机器人定位系统，通过二维激光雷达发射扫描激光获取机器人上激光接收器的点云，同时激光接收器感应扫描激光，融合感应扫描激光时间差和激光接收器点云特征，得到移动激光接收器（即农业机器人）的定位。以全站仪测量为参照在大棚内开展验证试验，结果表明，在激光雷达扫描范围内，机器人行驶速度为0.8 m/s时，直线行驶时最大偏差绝对平均值为4.1 cm，最大均方根误差为1.5 cm；曲线行驶时最大偏差绝对平均值为6.2 cm，最大均方根误差为2.6 cm，满足农业机器人在农机库等环境中自动导航所需定位精度要求。
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| 关 键 词： | 机器人 激光雷达 激光传感 定位 智能农机装备 |
| 收稿时间： | 2022/11/14 0:00:00 |
| 修稿时间： | 2023/1/16 0:00:00 |
Agricultural robot positioning system based on laser sensing |
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| HU Lian,WANG Zhimin,WANG Pei,HE Jie,JIAO Jinkang,WANG Chenyang,LI Mingjin.Agricultural robot positioning system based on laser sensing[J].Transactions of the Chinese Society of Agricultural Engineering,2023,39(5):1-7. |
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| Authors: | HU Lian WANG Zhimin WANG Pei HE Jie JIAO Jinkang WANG Chenyang LI Mingjin |
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| Institution: | 1. Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, South China Agricultural University, Guangzhou 510642, China; 2. Maoming Branch, Guangdong Laboratory for Lingnan Modern Agriculture, Maoming 525000, China; |
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| Abstract: | In order to solve the positioning problem of global navigation satellite system (GNSS) based robots and autonomous agricultural machinery, which is low accuracy or even unable to locating under the environment of weak or no satellite signals such as hangars and greenhouses. This research proposes an agricultural robot positioning system based on laser sensing. The system is designed by using two-dimensional laser scanner and laser receiver, which obtains the point cloud of the laser receiver on the robot through the scanning laser emitted by the two-dimensional laser scanner , and the laser receiver inductively scans by the laser scanner, the location of mobile laser receiver (i.e. agricultural robot) is obtained by fusing the time difference of laser scanning induction and the point cloud characteristics of mobile laser receiver. The agricultural robot positioning system based on laser sensing consists of mobile laser receiver, processor, fixed laser receiver and two-dimensional laser scanner. The mobile laser receiver and processor are installed on the robot, and the fixed laser receiver and two-dimensional laser radar are fixed at the known geodetic coordinate position. According to the position relationship between the laser scanner coordinate system and the known geodetic coordinate system. The laser scanner scanning at a certain period to obtain a known number of fixed-order point cloud data. The fixed laser receiver senses the periodic irradiation of the laser scanner to generate the base station laser signal, and the serial number of the fixed laser receiver shell in the point cloud is known. The mobile laser receiver senses the periodic irradiation of the laser radar to generate the mobile laser signal during the movement of the robot. According to the trigger time difference between the fixed laser signal and the mobile laser signal, the angle between the laser rays that are irradiated to the mobile laser receiver and the laser rays that are irradiated to the fixed laser receiver can be obtained in a scanning period of the laser scanner. And the scattered point set of the mobile laser receiver in the laser radar point cloud can be found, and the center coordinate of the mobile laser receiver can be obtained by combining the point cloud feature matching algorithm. The robot positioning can be calculated by combined with the geodetic coordinates of the laser scanner and the position relationship between the laser scanner coordinate system and the geodetic coordinate system, the central coordinates of the mobile laser receiver under the geodetic coordinate system . The geodetic coordinates of the robot are calculated by the positioning algorithm based on laser sensing, and the geodetic coordinates of the robot without GNSS signal are supplemented without changing the positioning solution and control algorithm of the existing robot unmanned system. For example, when the robot leaves the hangar, it switches to the GNSS positioning system for positioning and navigation in the area with both the positioning signals of the robot positioning system based on laser perception and the GNSS signal. When entering the hangar, switch to the robot positioning system based on laser sensing for positioning and navigation in the area cover with both the positioning signal of the robot positioning system based on laser perception and the GNSS signal. The verification test is carried out with the reference of total station which shows that within the scanning range of laser radar, when the robot is at a speed of 0.8 m/s, the absolute average value of the maximum deviation of the positioning error in a straight line is 4.1 cm, and the maximum root mean square error is 1.5 cm; when the robot driving on a curve, the absolute average value of the maximum deviation of positioning error is 6.2 cm , and the maximum root mean square error is 2.6 cm. The result shows that this method can achieve accurate robot positioning and meets the positioning accuracy requirements for automatic navigation of agricultural robots in agricultural machinery warehouses and other environments. |
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| Keywords: | robot laser scanner laser sensing positioning intelligent agricultural machinery equipment |
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