Laser Sensing-Based Method for Spatial Positioning of Agricultural Robot

Abstract

A laser perception-based method for spatial positioning of an agricultural robot: erecting a laser radar with a ranging function in a positioning space, setting a three-dimensional coordinate system, and conducting scanning using the laser radar to obtain point cloud data of an object in the positioning space, where the point cloud data include an azimuth and a distance with respect to the laser radar; installing a laser receiver on the agricultural robot, receiving a laser radar signal using the laser receiver during movement, when a laser beam emitted by the laser radar irradiates the laser receiver, outputting laser signal data and elevation data from the laser receiver; conducting time-event matching on the laser signal data obtained by the laser receiver and the point cloud data scanned by the laser radar within each scanning period of the laser radar to obtain three-dimensional coordinates of a central position of the laser receiver.

Claims

1. A laser sensing-based method for spatial positioning of an agricultural robot, comprising: Step 1: erecting a laser radar with a ranging function in a positioning space, setting a three-dimensional coordinate system, and conducting scanning using the laser radar to obtain point cloud data of an object in the positioning space, wherein the point cloud data comprise an azimuth and a distance with respect to the laser radar; Step 2: installing a laser receiver on the agricultural robot, receiving a laser radar signal using the laser receiver during movement, and when a laser beam emitted by the laser radar irradiates the laser receiver, outputting laser signal data and elevation data from the laser receiver; and Step 3: conducting time-event matching on the laser signal data obtained by the laser receiver and the point cloud data scanned by the laser radar within each scanning period of the laser radar to obtain three-dimensional coordinates of a central position of the laser receiver.

2. The laser sensing-based method for spatial positioning of an agricultural robot according to claim 1, wherein in Step 1, each piece of point data of the point cloud data comprises a distance from an obstacle to the laser radar, an angle with respect to an initial scanning line of the laser radar, and a time label.

3. The laser sensing-based method for spatial positioning of an agricultural robot according to claim 1, wherein in Step 1, the laser radar is erected to ensure that the laser scanning plane is horizontal, the installation height is known, and the laser receiver is installed within the range of the received laser scanning plane, and an initial height h.sub.1 of the laser receiver is obtained according to the elevation data fed back by the laser receiver after laser light irradiates the laser receiver.

4. The laser sensing-based method for spatial positioning of an agricultural robot according to claim 1, wherein the laser receiver comprises a filter housing configured to eliminate ambient light and two photosensitive arrays configured to sense a laser signal, and output the laser signal as sensing laser status data after signal processing; the photosensitive arrays are divided into several segments in the vertical direction, different segments of the photosensitive arrays sense a laser signal and express the laser signal as elevation data h′ of the laser receiver, each frame of laser signal data comprises a piece of sensing laser status data and corresponding elevation data h′ of the laser receiver, the laser receiver is kept within a range of the laser scanning plane by an electric push rod, the laser signal data and the point cloud data output by the laser radar both have a time label, and a set of point cloud data output by the laser radar and a set of laser signal data output by the laser receiver are obtained by conducting scanning using the laser radar for one circle.

5. The laser sensing-based method for spatial positioning of an agricultural robot according to claim 1, wherein said conducting time-event matching in Step 3 specifically comprises realizing positioning of the agricultural robot by representing a point in the point cloud data corresponding to a same time at which the laser signal is obtained and received by the laser receiver as a position of the laser receiver fixed on the mobile agricultural robot in the three-dimensional coordinate system with the laser radar as a coordinate origin.

6. The laser sensing-based method for spatial positioning of an agricultural robot according to claim 1, wherein in Step 1, the three-dimensional coordinate system is constructed as follows: setting a central position O(X, Y, H) of the laser radar as the origin of the three-dimensional coordinate system, setting L.sub.1 as a first laser ray emitted by the laser radar, setting L.sub.n as a last laser ray emitted by the laser radar, setting L.sub.R1 as a first ray emitted by the laser radar and irradiating the laser receiver, setting L.sub.Rn as a last ray emitted by the laser radar and irradiating the laser receiver, and denoting points of intersection of the rays L.sub.R1 and L.sub.Rn with the laser radar as R.sub.1(x.sub.1, y.sub.1, h) and R.sub.n(x.sub.n, y.sub.n, h), respectively; solving three-dimensional point cloud coordinates from an included angle ρ between a corresponding laser ray and the first laser ray emitted by the laser radar, and a measured relative distance d by formulas x=d.Math.cos ρ and y=d.Math.sin ρ; and when the laser radar conducts scanning for one circle, obtaining coordinates of points R.sub.1(x.sub.1, y.sub.1, h), R.sub.n(x.sub.n, y.sub.n, h) by time-event matching between the time label of receipt of the laser signal in the laser signal data and the laser radar point cloud data, so as to obtain three-dimensional coordinates $\left(\frac{x_1+x_n}{2},\frac{y_1+y_n}{2},h\right)$ of the central position of the laser receiver within this scanning period.

7. The laser sensing-based method for spatial positioning of an agricultural robot according to claim 6, wherein elevation data h are obtained specifically by comparing an initial height h.sub.1 of the laser receiver corresponding to an initial height of the laser receiver with elevation data h′ of the laser receiver obtained in a measurement process, wherein when the height of the laser receiver height is smaller than the initial height of the laser receiver, h′ is negative, when the height of the laser receiver is greater than the initial height of the laser receiver, h′ is positive, and calculation formulas are as follows h=H+(h.sub.1+h′).

8. The laser sensing-based method for spatial positioning of an agricultural robot according to claim 4, wherein said keeping the laser receiver within a range of the laser scanning plane by an electric push rod specifically comprises: if the laser receiver is out of the range of the laser scanning plane, and if last elevation data h′ of the laser receiver are negative, pushing up the laser receiver by the electric push rod until the laser receiver outputs laser signal data, and feeding back displacement D via the electric push rod, wherein D is positive at this time; if last elevation data h′ of the laser receiver are positive, pushing down the laser receiver through the electric push rod until the laser receiver outputs laser signal data, and feeding back displacement D via the electric push rod, wherein D is negative at this time; and changing the initial height of the laser receiver to h.sub.1+D.

9. The laser sensing-based method for spatial positioning of an agricultural robot according to claim 4, wherein the method specifically comprises conducting operation processing within a scope of use, establishing a three-dimensional coordinate system with the laser radar as the origin, when the mobile agricultural robot is within a working range of the laser radar, and if two rows of photosensitive films of the laser receiver are both sensitive to light, and an included angle between connection lines and longitudinal lines of sensing units of the two rows of photosensitive films is not a vertical angle, removing an error caused by the included angle from attitude; if there are only one row of photosensitive films sensitive to light in the two rows of photosensitive films, correcting, by point cloud computing, a positioning point at this moment according to two points nearby the positioning point, so as to obtain a more precise moving trajectory; if neither of the two rows of photosensitive films are sensitive to light, predicting a positioning point at this moment in combination with a prediction method in point cloud computing; and after obtaining predicted positioning data, integrating the positioning data into a set global coordinate system, determining to-be-removed outliers by matching with observations, and then fusing predicted three-dimensional coordinates of the central position of the laser receiver and observed three-dimensional coordinates of the central position of the laser receiver to obtain more precise position information.

10. The laser perception-based method for spatial positioning of an agricultural robot according to claim 1, wherein a plurality of laser radars are arranged with one laser radar as a host, and the other laser radars as slaves, and through coordinate transformation, the slaves provide supplementary data for the host.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0033] FIG. 1 is a flowchart for a method according to the present disclosure.

[0034] FIG. 2 is a schematic diagram of data obtained by the laser radar after scanning for one circle.

REFERENCE NUMERALS

[0035] 1. laser radar, 2. obstacle, and 3. laser receiver.

[0036] L.sub.1 denotes a first laser ray emitted by a laser radar.

[0037] L.sub.682 denotes a last laser ray emitted by a laser radar.

[0038] L.sub.R1 denotes a first ray emitted by a laser radar and irradiating a laser receiver.

[0039] L.sub.Rn denotes a last ray emitted by a laser radar and irradiating a laser receiver.

DETAILED DESCRIPTION

[0040] The following further describe the present disclosure in detail with reference to specific embodiments.

Embodiment I

[0041] This embodiment provides a laser sensing-based method for spatial positioning of an agricultural robot. The specific implementation object in this embodiment is a GNSS navigation-based unmanned agricultural robot. When an unmanned agricultural robot enters a hangar or is driven under a covering such as a bridge, GNSS navigation signal is weak or even interrupted. As a result, this positioning method is used to supplement positioning data. The laser radar is kept secured while fixing the laser receiver on the unmanned agricultural robot through an electric push rod.

[0042] A laser sensing-based method for spatial positioning of an agricultural robot, which achieves spatial positioning of the robot by the following steps:

[0043] (1) Construct a three-dimensional coordinate system, set a central position O(X, Y, H) of the laser radar as the origin of the three-dimensional coordinate system, set L.sub.1 as a first laser ray emitted by the laser radar, set L.sub.n as a last laser ray emitted by the laser radar, set L.sub.R1 as a first ray emitted by the laser radar and irradiating the laser receiver, set L.sub.Rn as a last ray emitted by the laser radar and irradiating the laser receiver, and denote points of intersection of the rays L.sub.R1 and L.sub.Rn with the laser radar as R.sub.1(x.sub.1, y.sub.1, h) and R.sub.n(x.sub.n, y.sub.n, h), respectively; and

[0044] solve three-dimensional point cloud coordinates from an included angle ρ between a corresponding laser ray and the first laser ray emitted by the laser radar, and a measured relative distance d by formulas x=d˜cos ρ and y=d.Math.sin ρ.

[0045] When the laser radar conducts scanning for one circle, obtain coordinates of points R.sub.1(x.sub.1, y.sub.1, h), R.sub.n(x.sub.n, y.sub.n, h) by time-event matching between the time label of receipt of the laser signal in the laser signal data and the laser radar point cloud data, so as to obtain three-dimensional coordinates

[00002]$\left(\frac{x_1+x_n}{2},\frac{y_1+y_n}{2},h\right)$

of the central position of the laser receiver within this scanning period.

[0046] (2) When the agricultural robot with the laser receiver enters a scanned area, stop and adjust the position of the laser light irradiated by the laser radar on the laser receiver through the electric push rod so that the laser light is irradiated in the middle of the laser receiver. At this time, the middle position of the laser receiver is as high as the scanning plane of the laser radar, so as to obtain the initial height h.sub.1 of the laser receiver.

[0047] (3) Obtain the point cloud data scanned by the laser radar and the laser sensing data obtained by the laser receiver which both carry a time label, where each piece of point data of the point cloud data includes a distance from an obstacle to the laser radar, an angle with respect to an initial scanning line of the laser radar, and a time label.

[0048] The laser receiver includes a filter housing configured to eliminate ambient light and two photosensitive arrays configured to sense a laser signal, and output the laser signal as sensing laser status data after signal processing; the photosensitive arrays are divided into several segments in the vertical direction, different segments of the photosensitive arrays sense a laser signal and express the laser signal as elevation data h′ of the laser receiver, each frame of laser signal data includes a piece of sensing laser status data and corresponding elevation data h′ of the laser receiver, the laser receiver is kept within a range of the laser scanning plane by an electric push rod, the laser signal data and the point cloud data output by the laser radar both have a time label, and a set of point cloud data output by the laser radar and a set of laser signal data output by the laser receiver are obtained by conducting scanning using the laser radar for one circle.

[0049] Elevation data h are obtained specifically by comparing an initial height h.sub.1 of the laser receiver corresponding to an initial height of the laser receiver with elevation data h′ of the laser receiver obtained in a measurement process, where when the height of the laser receiver height is smaller than the initial height of the laser receiver, h′ is negative, when the height of the laser receiver is greater than the initial height of the laser receiver, h′ is positive, and calculation formulas are as follows h=H+(h.sub.1+h′).

[0050] When the center height of the robot fluctuates with the ground, the laser radar scans different sensing segments of the laser receiver to obtain data about elevation change.

[0051] (4) If the laser receiver is out of the range of the laser scanning plane, and if last elevation data h′ of the laser receiver are negative, push up the laser receiver by the electric push rod until the laser receiver outputs laser signal data, and feed back displacement D via the electric push rod, where D is positive at this time; if last elevation data h′ of the laser receiver are positive, push down the laser receiver through the electric push rod until the laser receiver outputs laser signal data, and feed back displacement D via the electric push rod, where D is negative at this time; and change the initial height of the laser receiver to h.sub.1+D.

[0052] (5) Transmit the point cloud data and laser sensing data to the processor, and by time-event matching, obtain coordinates of the laser receiver installed on the robot in the three-dimensional coordinate system established with the laser radar as the origin.

[0053] Time-event matching includes realizing positioning of the agricultural robot by representing a point in the point cloud data corresponding to a same time at which the laser signal is obtained and received by the laser receiver as a position of the laser receiver fixed on the mobile agricultural robot in the three-dimensional coordinate system with the laser radar as a coordinate origin.

[0054] (6) Obtain predicted location data to supplement missing positioning data and correct positioning data. The method specifically includes: conducting operation processing within a scope of use, establishing a three-dimensional coordinate system with the laser radar as the origin, when the mobile agricultural robot is within a working range of the laser radar, and if two rows of photosensitive films of the laser receiver are both sensitive to light, and an included angle between connection lines and longitudinal lines of sensing units of the two rows of photosensitive films is not a vertical angle, removing an error caused by the included angle from attitude; if there are only one row of photosensitive films sensitive to light in the two rows of photosensitive films, correcting, by point cloud computing, a positioning point at this moment according to two points nearby the positioning point, so as to obtain a more precise moving trajectory; if neither of the two rows of photosensitive films are sensitive to light, predicting a positioning point at this moment in combination with a prediction method in point cloud computing.

[0055] The prediction method specifically includes: when the agricultural robot with the laser receiver enters a scanned area, stop the robot, at this moment, the agricultural robot is started in a stationary state within the scanned area and begins to move, take the velocity and accelerated velocity of first measured coordinate point as zero, given that the spacing interval of frames is short, use points between two consecutive frames to represent linear motion of the mobile robot, therefore, the velocity and accelerated velocity of the second point can be calculated when the coordinates of the second point are obtained, and in this way, the next target point can be calculated as data for supplementing missing positioning data and correcting positioning data.

[0056] After obtaining predicted positioning data, integrate the positioning data into a set global coordinate system, determining to-be-removed outliers by matching with observations, and then fuse predicted three-dimensional coordinates of the central position of the laser receiver and observed three-dimensional coordinates of the central position of the laser receiver to obtain more precise position information.

[0057] (7) By installing the laser receiver at the position of the agricultural robot, calculate positioning coordinates for the center of gravity of the agricultural robot.

Embodiment II

[0058] This embodiment provides a laser sensing-based method for spatial positioning of an agricultural robot, which makes it possible to build an auxiliary experimental platform for indoor GNSS positioning research. The laser radar is kept secured while fixing the laser receiver on the mobile trolley through an electric push rod. Through precise positioning, the indoor GNSS positioning system is adjusted.

[0059] Contents not mentioned in this embodiment may refer to those in Embodiment I.

[0060] The foregoing embodiments are preferred implementations of the present disclosure. However, the implementations of the present disclosure are not limited by the above embodiments. Any change, modification, substitution, combination, and simplification made without departing from the spirit and principle of the present disclosure should be an equivalent replacement manner, and all fall within the protection scope of the present disclosure.