基于深度相机的山地果园运输车避障系统设计  

Design of obstacle avoidance system of mountain orchard transport vehicle based on depth camera

作　　者：李震 颜少华 洪添胜 吕石磊[1,2,3] Li Zhen;Yan Shaohua;Hong Tiansheng;Lv Shilei(College of Electronic Engineering,South China Agricultural University,Guangzhou,510642,China;National Citrus Industry Technology System Mechanization Research Lab,Guangzhou,510642,China;Guangdong Mountain Orchard Machinery Innovation Engineering Technology Research Center,Guangzhou,510642,China;College of Engineering,South China Agricultural University,Guangzhou,510642,China)

机构地区：[1]华南农业大学电子工程学院,广州市510642 [2]国家柑橘产业技术体系机械化研究室,广州市510642 [3]广东省山地果园机械创新工程技术研究中心,广州市510642 [4]华南农业大学工程学院,广州市510642

出　　处：《中国农机化学报》2021年第2期115-120,共6页Journal of Chinese Agricultural Mechanization

基　　金：国家自然科学基金项目(31971797);国家现代农业柑橘产业技术体系专项资金(CARS—26);广州市科技计划项目(201803020037);广东省重点领域研发计划项目(2019B020223001)。

摘　　要：为避免山地果园单轨运输车在运行过程中碰撞到作业果农、牲畜、大型石块等障碍物,提高果园作业的安全性和稳定性,采用深度相机基于渡越时间法设计一套山地果园单轨运输车避障系统。该系统运行时由深度相机获取运输车通行通道障碍物信息,经过运行Linux系统的树莓派车载电脑进行数据处理,做出决策后下发标志位信号至运输车控制中枢Stm32微控制器,控制电机改变运动状态。试验结果表明:该系统对于障碍物识别率为100%,对于符合修剪要求的干扰型侧枝,其误触率在8%以下,避障最小制动距离为101 cm,系统最大延时0.475 s。In order to avoid the obstacle collision of monorail transport vehicles in mountain orchard and improve the safety and stability of orchard operation,a set of obstacle avoidance system of monorail transport vehicles in mountain orchard was designed by using depth camera based on crossing time method.When the system is running,the depth camera obtains the information of obstacles in the passage of the transport vehicle,and processes the data through the Raspberry Pi on-board computer running the Linux system.After making a decision,it sends a signal to the transport vehicle control center Stm32 microcontroller to control the motor change Movement status.The experimental results show that the system has an obstacle recognition rate of 100%,and for interference-type side branches that meet the pruning requirements,the false touch rate is below 8%,the minimum braking distance for obstacle avoidance is 101 cm,and the maximum delay of the system is 0.475 s.

关 键 词：单轨运输车 山地果园 避障系统 深度相机 深度测量 目标检测 

分 类 号：S24[农业科学—农业电气化与自动化]