CN110989611A - Navigation positioning method for avoiding obstacles of green belt pruning vehicle - Google Patents
Navigation positioning method for avoiding obstacles of green belt pruning vehicle Download PDFInfo
- Publication number
- CN110989611A CN110989611A CN201911302249.7A CN201911302249A CN110989611A CN 110989611 A CN110989611 A CN 110989611A CN 201911302249 A CN201911302249 A CN 201911302249A CN 110989611 A CN110989611 A CN 110989611A
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- China
- Prior art keywords
- image
- green belt
- obstacle
- pruning
- position information
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000013138 pruning Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000004888 barrier function Effects 0.000 claims abstract description 7
- 238000007781 pre-processing Methods 0.000 claims abstract description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 239000012535 impurity Substances 0.000 claims description 2
- 238000009966 trimming Methods 0.000 description 5
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention discloses a navigation positioning method for a green belt pruning vehicle to avoid obstacles, which specifically comprises the following steps: step 1, acquiring the position of a barrier on a green belt through a GPS positioning module, and sending the position to a microcontroller; step 2, collecting a green belt image in front of the driving of the pruning vehicle through an image collection module, and extracting an obstacle image in the green belt; step 3, sending the image information to an image processing module, and preprocessing the acquired image through the image processing module; step 4, determining the position of the obstacle in the green belt; and 5, when the pruning vehicle runs to the position of the obstacle, the microcontroller controls the driving mechanism of the pruning machine to stop moving, and after the pruning vehicle bypasses the obstacle, the pruning machine continues to carry out pruning operation. The invention can lead the pruning machine to successfully avoid the obstacles in the green belt and smoothly prune the green belt.
Description
Technical Field
The invention belongs to the technical field of navigation and positioning, and relates to a navigation and positioning method for a green belt pruning vehicle to avoid obstacles.
Background
At present, the green belts are arranged at two sides of the road to release a lot of oxygen in the air, and because the green belts are often arranged at two sides of the road, therefore, the green belts need to be trimmed regularly to keep the beauty, at present, the green belts are mostly trimmed manually, however, some green belts are difficult to be trimmed manually due to the long green belts, therefore, the green belt pruning vehicle is required to prune the green belt, however, most of the green belt pruning vehicles are human-driven vehicles, the pruning machine is installed in the carriage, the machine pruning saves a lot of manpower, but the machine can not automatically avoid the obstacles in the green belt, therefore, a navigation positioning system is required to be arranged on the pruning vehicle, road information is collected in time in the trimming process and fed back to the trimming machine, so that the trimming machine can successfully avoid obstacles.
Disclosure of Invention
The invention aims to provide a navigation positioning method for avoiding obstacles for a green belt pruning vehicle, which can enable a pruning machine to successfully avoid the obstacles in a green belt and smoothly prune the green belt.
The technical scheme adopted by the invention is that the navigation positioning method for avoiding the obstacles by the green belt pruning vehicle specifically comprises the following steps:
step 1, arranging a GPS positioning module at a place with a barrier on a green belt, acquiring the position of the barrier on the green belt through the GPS positioning module, and sending the position to a microcontroller;
step 2, collecting a green belt image in front of the driving of the pruning vehicle through an image collection module, and extracting an obstacle image in the green belt;
step 3, sending the image information extracted in the step 2 to an image processing module, and preprocessing the acquired image through the image processing module;
step 4, the image processed in the step 3 is sent to a microcontroller, in the microcontroller, the position information of the obstacles collected by the GPS module is compared with the images of the obstacles collected by the image collection module, and the position of the obstacles in the green belt is determined according to the comparison result;
and 5, when the pruning vehicle runs to the position of the obstacle, the microcontroller controls the driving mechanism of the pruning machine to stop moving, and after the pruning vehicle bypasses the obstacle, the pruning machine continues to carry out pruning operation.
The present invention is also characterized in that,
the GPS module in the step 1 is used for acquiring the coordinates of the obstacles and sending the coordinates of the obstacles to a microcontroller positioned on the pruning vehicle.
The specific process in the step 3 is as follows: and filtering the extracted image to remove impurities in the image and extracting the position information of the obstacle from the image.
And 4, comparing the position information acquired in the step 1 with the image information processed in the step 3, determining that the position is the position of the obstacle when the position information acquired in the step 1 is consistent with the image position information extracted in the step 3, and starting the position to the microcontroller.
And 4, when the position information acquired in the step 1 does not correspond to the position information extracted in the step 3, repeating the steps 2-3 until the position information acquired in the step 1 is consistent with the position information extracted in the step 3.
The invention has the advantages that the GPS positioning module is arranged on the obstacle on the green belt through which the pruning vehicle needs to pass, and the position of the obstacle is sent through the GPS module; meanwhile, the image of the obstacle on the green belt is collected through the image collecting module, the accuracy of the obstacle is ensured through a double position determining mode of the GPS positioning module and the image collecting module, the position information is sent to the microcontroller, and the microcontroller controls the executing mechanism of the trimmer, so that the obstacle is effectively avoided in the trimming process, and the trimmer can smoothly trim the green belt.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
The invention relates to a navigation positioning method for a green belt pruning vehicle to avoid obstacles, which specifically comprises the following steps:
step 1, arranging a GPS positioning module at a place with a barrier on a green belt, acquiring the position of the barrier on the green belt through the GPS positioning module, and sending the position to a microcontroller;
the GPS module in the step 1 is used for acquiring the coordinates of the obstacles and sending the coordinates of the obstacles to a microcontroller positioned on the pruning vehicle.
Step 2, collecting a green belt image in front of the driving of the pruning vehicle through an image collection module, and extracting an obstacle image in the green belt;
the image acquisition module adopts a CCD camera, the CCD camera is arranged on the roof of the pruning car, and the camera is arranged towards the side where the green belt is located.
The CCD camera is connected with the image processing module through a USB interface.
The frame frequency of the image collected by the CCD camera is 10-15 HZ;
the CCD camera has pixels 1200x 1080.
Step 3, sending the image information extracted in the step 2 to an image processing module, and preprocessing the acquired image through the image processing module;
the specific process in the step 3 is as follows: the image acquired by the CCD camera is a gray image which comprises a plurality of obstacle information, the number of the input obstacles is m, the gray image acquired by the CCD camera is segmented in the vertical direction, the size of the gray image is set to be a multiplied by b, the gray image is segmented into m sub-images in the vertical direction, and each sub-image represents one obstacle information;
and performing median filtering on each sub-image, and taking out the background noise in the sub-image to obtain a filtered image.
Step 4, the image processed in the step 3 is sent to a microcontroller, in the microcontroller, the position information of the obstacles collected by the GPS module is compared with the images of the obstacles collected by the image collection module, and the position of the obstacles in the green belt is determined according to the comparison result;
and 4, comparing the position information acquired in the step 1 with the image information processed in the step 3, determining that the position is the position of the obstacle when the position information acquired in the step 1 is consistent with the image position information extracted in the step 3, and starting the position to the microcontroller.
The microcontroller is model STM32F107VCT 632.
And 4, when the position information acquired in the step 1 does not correspond to the position information extracted in the step 3, repeating the steps 2-3 until the position information acquired in the step 1 is consistent with the position information extracted in the step 3.
The accurate position of the obstacle is obtained, the information of the obstacle can be timely obtained, the trimmer can timely avoid the obstacle, the position of the obstacle can be known by a driver of the trimmer in advance, the speed can be reduced before the obstacle position is reached, and safe driving is facilitated.
And 5, when the pruning vehicle runs to the position of the obstacle, the microcontroller controls the driving mechanism of the pruning machine to stop moving, and after the pruning vehicle bypasses the obstacle, the pruning machine continues to carry out pruning operation.
The navigation positioning method for avoiding the obstacles by the green belt pruning vehicle is characterized in that the position information of the obstacles is collected in advance, the microcontroller controls the executing mechanism of the pruning vehicle to stop acting, and the pruning operation is continued after the obstacles are avoided; the trimming process of the green belt is favorably and smoothly carried out;
in addition, the navigation and positioning method for avoiding the obstacles of the green belt pruning vehicle can also be used in other fields, such as watering lorries, snow plows and the like.
By adopting the navigation positioning of the green belt pruning vehicle for avoiding the obstacles, the positioning and image information acquisition of the target object in front of the road condition can be carried out, so that background operators can acquire corresponding information in time, and the efficiency, safety and reliability of operation are improved.
Claims (5)
1. A navigation positioning method for avoiding obstacles by a green belt pruning vehicle is characterized by comprising the following steps: the method specifically comprises the following steps:
step 1, arranging a GPS positioning module at a place with a barrier on a green belt, acquiring the position of the barrier on the green belt through the GPS positioning module, and sending the position to a microcontroller;
step 2, collecting a green belt image in front of the driving of the pruning vehicle through an image collection module, and extracting an obstacle image in the green belt;
step 3, sending the image information extracted in the step 2 to an image processing module, and preprocessing the acquired image through the image processing module;
step 4, the image processed in the step 3 is sent to a microcontroller, in the microcontroller, the position information of the obstacles collected by the GPS module is compared with the images of the obstacles collected by the image collection module, and the position of the obstacles in the green belt is determined according to the comparison result;
and 5, when the pruning vehicle runs to the position of the obstacle, the microcontroller controls the driving mechanism of the pruning machine to stop moving, and after the pruning vehicle bypasses the obstacle, the pruning machine continues to carry out pruning operation.
2. The method of claim 1, wherein the method comprises the following steps: and the GPS module in the step 1 is used for acquiring the coordinates of the obstacle and sending the coordinates of the obstacle to a microcontroller positioned on the pruning vehicle.
3. The method of claim 2, wherein the method comprises the following steps: the specific process in the step 3 is as follows: and filtering the extracted image to remove impurities in the image and extracting the position information of the obstacle from the image.
4. The method of claim 3, wherein the method comprises the following steps: in the step 4, the position information obtained in the step 1 is compared with the image information processed in the step 3, and when the position information obtained in the step 1 is consistent with the image position information extracted in the step 3, the position is determined to be the position of the obstacle, and the position is started to the microcontroller.
5. The method of claim 3, wherein the method comprises the following steps: and in the step 4, when the position information acquired in the step 1 does not correspond to the position information extracted in the step 3, repeating the steps 2-3 until the position information acquired in the step 1 is consistent with the position information extracted in the step 3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911302249.7A CN110989611A (en) | 2019-12-17 | 2019-12-17 | Navigation positioning method for avoiding obstacles of green belt pruning vehicle |
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| CN201911302249.7A CN110989611A (en) | 2019-12-17 | 2019-12-17 | Navigation positioning method for avoiding obstacles of green belt pruning vehicle |
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| CN110989611A true CN110989611A (en) | 2020-04-10 |
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| CN201911302249.7A Pending CN110989611A (en) | 2019-12-17 | 2019-12-17 | Navigation positioning method for avoiding obstacles of green belt pruning vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114394112A (en) * | 2021-12-31 | 2022-04-26 | 上海于万科技有限公司 | Automatic green pruning operation car of planting |
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| CN109582012A (en) * | 2017-09-29 | 2019-04-05 | 凌子龙 | A kind of robot of terrestrial reference positioning |
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2019
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Patent Citations (7)
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| JPS641012A (en) * | 1987-06-24 | 1989-01-05 | Matsushita Electric Ind Co Ltd | Unattended working vehicle |
| CN205247206U (en) * | 2015-10-14 | 2016-05-18 | 北京南风科创应用技术有限公司 | Automatic barrier device of keeping away of unmanned surface of water ship |
| CN105785992A (en) * | 2016-03-06 | 2016-07-20 | 王保亮 | Use method of multifunctional unmanned electric vehicle |
| JP2017158519A (en) * | 2016-03-11 | 2017-09-14 | ヤンマー株式会社 | Route generation device |
| CN105974940A (en) * | 2016-04-29 | 2016-09-28 | 优利科技有限公司 | Target tracking method applicable to aircraft |
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Application publication date: 20200410 |