CN113534182B - Method, equipment and storage medium for detecting rows of straw bundling crops - Google Patents
Method, equipment and storage medium for detecting rows of straw bundling crops Download PDFInfo
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- CN113534182B CN113534182B CN202110587401.1A CN202110587401A CN113534182B CN 113534182 B CN113534182 B CN 113534182B CN 202110587401 A CN202110587401 A CN 202110587401A CN 113534182 B CN113534182 B CN 113534182B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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Abstract
The invention provides a method, equipment and storage medium for detecting straw bundling crop rows, and relates to the technical field of crop production. The method for detecting the row of the straw bundling crop comprises the following steps: and scanning the straw lines by using a laser radar to obtain point cloud data formed by a plurality of returned laser points, wherein the point cloud data comprise angles and distances of the returned laser points, and identifying the straw lines according to the point cloud data. According to the method, the device and the storage medium for detecting the straw bundling crop row, the point cloud data scanned by the laser radar are processed, and the straw row is identified according to the difference of the returned angle and the distance parameter and is used for path planning reference, so that support can be provided for intelligent straw bundling by applying the bundling machine.
Description
Technical Field
The invention relates to the technical field of crop production, in particular to a method and equipment for detecting rows of straw bundling crops and a storage medium.
Background
With the rapid development of agricultural mechanical equipment, the automation degree of the current agricultural production is continuously improved. Before straw bundling operation, scattered straws are generally required to be raked into a row by a rake after crops are harvested, so that the bundling machine picks up and bundles. Because the straw acts as natural ridges formed in the process of raking, the straw acts as natural ridges are not completely straight lines, and the crop row track cannot be identified by the current agricultural machine navigation method. Currently, popular crop row detection modes are mainly based on vision, but detection of crop rows by using vision is mainly applicable to crops and crop colors with relatively large color differences between crop colors and field colors. When the straw is bundled, the color of the straw is relatively close to that of the field at the moment after the crop is harvested, and the error of the edge of the straw is relatively large when the visual scheme is applied to identify the straw, so that the error is easy to identify.
Disclosure of Invention
The invention provides a method, equipment and a storage medium for detecting rows of straw bundling crops, which are used for solving the defect that in the prior art, visual detection is easy to identify errors due to the influence of ambient light.
The invention provides a method for detecting rows of straw bundling crops, which comprises the following steps: and scanning the straw lines by using a laser radar to obtain point cloud data formed by a plurality of returned laser points, wherein the point cloud data comprise angles and distances of the returned laser points, and identifying the straw lines according to the point cloud data.
According to the method for detecting the straw bundling crop row provided by the invention, the method for acquiring the point cloud data formed by a plurality of returned laser points by scanning the straw row through the laser radar specifically comprises the following steps: the laser radar is installed at the front end of the travelling equipment, the vertical field angle of the laser radar is-16 degrees to +15 degrees, and the horizontal field angle of the laser radar is 360 degrees.
According to the method for detecting the rows of the straw bundling crops, the laser radar is a 32-line three-dimensional laser radar.
According to the method for detecting the straw bundling crop row provided by the invention, the identifying the straw row according to the point cloud data specifically comprises the following steps:
Extracting a region of interest through a filtering function, determining the gradient of each return laser point in the region of interest through a gradient algorithm, and determining the boundary of the straw line based on the gradient of each return laser point.
According to the method for detecting the rows of the straw bundling crops, provided by the invention, the filter function is as follows:
Wherein ρ is the distance between the laser radar and the straw, and θ is the azimuth angle of the laser radar during detection; gamma min is the azimuth angle corresponding to the boundary of one side of the straw line when the laser radar scans the straw, and gamma max is the azimuth angle corresponding to the boundary of the other side of the straw line when the laser radar scans the straw.
According to the method for detecting the straw bundling crop row provided by the invention, the gradient of each return laser point in the interested area is determined through a gradient algorithm, and the determination of the boundary of the straw row based on the gradient of each return laser point specifically comprises the following steps:
And determining the highest point of the straw row based on the point cloud data in the region of interest, determining the gradient of each return laser point in the region of interest through a gradient algorithm, and determining the straw row boundaries at two sides of the highest point based on the gradient of each return laser point.
The invention provides a method for detecting rows of straw bundling crops, which comprises the following steps:
The gradient of any point N except the first and the last points in the N return laser points is as follows:
the gradient of the first and the last points in the N return laser points is as follows:
Wherein, For the first return laser spot gradient,/>For the gradient of the return laser spot at the end, Z i is the Z coordinate value of the ith laser spot in the lidar coordinate system, and X i is the X coordinate value of the ith laser spot in the lidar coordinate system.
According to the method for detecting the straw bundling crop row provided by the invention, the determining the straw row boundaries at the two sides of the highest point based on the gradient of each return laser point comprises the following steps:
Setting a threshold delta, and enabling the left side and the right side of the highest point to meet The first point of the array a and the last point of the array b are boundaries of the straw rows.
The invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, and is characterized in that the processor executes the program to realize the steps of the method for detecting the rows of the straw bundling crop.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor implements the steps of the straw baled crop row detection method as described above.
According to the method, the device and the storage medium for detecting the straw bundling crop row, the point cloud data scanned by the laser radar are processed, and the straw row is identified according to the difference of the returned angle and the distance parameter and is used for path planning reference, so that support can be provided for intelligent straw bundling by applying the bundling machine.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the installation of a lidar in a method for detecting rows of straw baled crops provided by the invention;
Fig. 2 is a flow chart of a method for detecting rows of straw bundling crops provided by the invention;
FIG. 3 is a comparison of laser radar scan data before and after filtering;
FIG. 4 is a graph of the effect of the gradient calculation of each return laser point in the region of interest;
FIG. 5 is a transformation diagram of the polar coordinates of a lidar with a three-dimensional rectangular coordinate system;
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Reference numerals:
1: a laser radar; 2: a tractor.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The steps of the straw baled crop row inspection method of the present invention are described below with reference to fig. 1-5.
The method for detecting the rows of the straw bundling crops provided by the embodiment of the invention, as shown in fig. 2, comprises the following steps: and scanning the straw lines by using a laser radar to obtain point cloud data formed by a plurality of returned laser points, wherein the point cloud data comprise angles and distances of the returned laser points, and identifying the straw lines according to the point cloud data.
The straw which is in a row is higher than the ground by a certain height, and the laser radar scans the angle and distance information of the returned laser point to form point cloud data. The straws with different heights can return different angle and distance information, and the straw rows can be identified by analyzing the obtained point cloud data.
According to the detection method for the straw bundling crop rows, provided by the embodiment of the invention, the point cloud data obtained by laser radar scanning is processed, and the straw rows are identified according to different return angle and distance parameters, so that support is provided for intelligent straw bundling by using a bundling machine.
As shown in fig. 1, the point cloud data of the laser radar scanning straw line specifically includes: the laser radar 1 is installed at the front end of the travelling device, the vertical field angle of the laser radar is-16 degrees to +15 degrees, the horizontal field angle of the laser radar is 360 degrees, and the laser beam rotates around the laser radar transmitting center for scanning. For example, the laser radar 1 is installed at the front end of the tractor 2, and the return angle and distance parameters can be determined after the scanned point cloud data are processed. Specifically, the laser radar may be installed at any position above the cab, the front cover or the front counterweight, and may scan the straw line in front of the travelling device as long as it is not blocked. In addition, the laser radar can be adjustably mounted on the travelling equipment through the cradle head or the mounting bracket, so that the angle can be adjusted by means of the cradle head or the mounting bracket, and the best visual effect of the straw rows in the region of interest can be obtained.
In the embodiment of the invention, the laser radar is a 32-line three-dimensional laser radar. Of course, two-dimensional lidar may also be employed. The number and arrangement of the lidars can be set according to requirements, and are not particularly limited.
Based on any of the above embodiments, identifying the straw line according to the point cloud data specifically includes: extracting a region of interest through a filtering function, determining the gradient of each return laser point in the region of interest through a gradient algorithm, and determining the boundary of the straw line based on the gradient of each return laser point.
The scanning range of the laser radar is larger than the width of the straw line, and in order to remove data outside the straw line, the interested region is extracted through a filtering function before the boundary of the straw line is identified. The region of interest is used as the data basis for subsequent analysis and calculation. In order to identify the boundaries of the straw rows, the gradients of the return laser points in the region of interest are calculated, and the boundaries of the straw rows are determined according to the gradients.
Specifically, the filter function is:
Wherein ρ is the distance between the laser radar and the straw, and θ is the azimuth angle of the laser radar during detection; gamma min is the azimuth angle corresponding to the boundary of one side of the straw line when the laser radar scans the straw, and gamma max is the azimuth angle corresponding to the boundary of the other side of the straw line when the laser radar scans the straw. Gamma min and gamma max define an angular range of the region of interest within which return laser points remain, and return laser points outside of this range are rejected. Taking data obtained in a certain experiment as an example, a comparison chart before and after filtering is shown in fig. 3, fig. 3 (a) is data before filtering, and fig. 3 (b) is data after filtering.
Before determining the gradient of each return laser point in the region of interest through a gradient algorithm, determining the highest point of the straw row based on the point cloud data in the region of interest, wherein the highest point is the point with the shortest measured distance in the region of interest. Then determining the gradient of each return laser point in the interested area through a gradient algorithm, and determining the straw line boundaries at the two sides of the highest point based on the gradient of each return laser point.
Based on the above embodiment, the gradient algorithm is specifically:
The gradient of any point N except the first and the last points in the N return laser points is as follows:
the gradient of the first and the last points in the N return laser points is as follows:
Wherein, For the first return laser spot gradient,/>A gradient for the return laser spot at the end; z i is the Z-direction coordinate value of the ith laser spot in the laser radar coordinate system, and X i is the X-direction coordinate value of the ith laser spot in the laser radar coordinate system.
When determining the gradient of the return laser point, in order to avoid inaccurate gradient calculation caused by individual discrete values when calculating one adjacent point, the gradient is calculated by adopting two adjacent points before and after when calculating any point n except the first and the last points. The gradient of each return laser spot in the region of interest after gradient calculation is shown in fig. 4.
After calculating the gradient of each return laser spot, a threshold value delta is set to satisfy the left and right sides of the highest pointThe first point of the array a and the last point of the array b are boundaries of the straw rows.
The threshold delta is used for distinguishing ground data from straw line data. Normally, the gradient of ground data is small, the straw lines have a certain height, a certain gradient exists, and the ground data and the straw line data are distinguished by means of a threshold value. The part with the absolute value of the gradient larger than the threshold belongs to the straw line, and the data closest to the threshold in the data is the boundary of the straw line. And (3) orderly arranging gradients corresponding to the return laser points, wherein the first point of the array a and the last point of the array b are boundaries of straw rows.
Therefore, each time of scanning data of the laser radar is analyzed, along with the advancing of the tractor, a plurality of groups of point cloud data in front of the tractor can be obtained, and the boundary of the straw line is determined according to the point cloud data, so that an analysis basis is provided for the advancing of the tractor, and the planning of a travelling path is facilitated.
Because the laser radar adopts polar coordinates, and after the laser radar is converted into rectangular coordinates, the laser scanning plane still forms a certain angle with the vehicle body, so that the scanning data of the laser radar is required to be converted into three-dimensional rectangular coordinates from the polar coordinates. The three-dimensional rectangular coordinates take the center of the laser radar as a coordinate origin, take one side of the vehicle body as an X-axis positive direction, take the driving direction right in front of the vehicle body as a Y-axis positive direction, and take the direction vertical to the ground upwards as a Z-axis positive direction. Let the tilt angle of the laser radar along the horizontal plane be alpha, the distance between the straw and the laser radar be rho, the included angle between the current laser beam and YZ plane be theta during detection, and the coordinate points to be detected be (X, Y, Z), then
X＝ρsinθ
Y＝ρcosθsinα
Z＝ρcosθcosα
And (3) calculating a driving path according to the converted three-dimensional rectangular coordinates so as to control the position of the vehicle body. The coordinate transformation diagram is shown in fig. 5.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, as shown in fig. 6, the electronic device may include: processor 610, communication interface (Communications Interface) 620, memory 630, and communication bus 640, wherein processor 610, communication interface 620, memory 630 communicate with each other via communication bus 640. The processor 610 may invoke logic commands in the memory 630 to perform the following method: and scanning the straw lines by using a laser radar to obtain point cloud data formed by a plurality of returned laser points, wherein the point cloud data comprise angles and distances of the returned laser points, and identifying the straw lines according to the point cloud data.
In addition, the logic commands in the memory 630 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, comprising several commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Embodiments of the present invention also provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the methods provided by the above embodiments, for example, comprising: and scanning the straw lines by using a laser radar to obtain point cloud data formed by a plurality of returned laser points, wherein the point cloud data comprise angles and distances of the returned laser points, and identifying the straw lines according to the point cloud data.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The method for detecting the row of the bundled crop by the straw is characterized by comprising the following steps of: acquiring point cloud data formed by a plurality of returned laser points by scanning straw lines through a laser radar, wherein the point cloud data comprises angles and distances of the returned laser points, and identifying the straw lines according to the point cloud data;
extracting a region of interest through a filtering function, determining the gradient of each return laser point in the region of interest through a gradient algorithm, and determining the boundary of the straw line based on the gradient of each return laser point;
The step of determining the gradient of each return laser point in the interested area through a gradient algorithm, and the step of determining the boundary of the straw row based on the gradient of each return laser point specifically comprises the following steps:
And determining the highest point of the straw row based on the point cloud data in the region of interest, determining the gradient of each return laser point in the region of interest through a gradient algorithm, and determining the straw row boundaries at two sides of the highest point based on the gradient of each return laser point.
2. The method for detecting straw bundling crop rows according to claim 1, wherein the acquiring the point cloud data formed by the plurality of return laser points by scanning the straw rows with the laser radar specifically comprises: the laser radar is installed at the front end of the travelling equipment, the vertical field angle of the laser radar is-16 degrees to +15 degrees, and the horizontal field angle of the laser radar is 360 degrees.
3. The method of claim 2, wherein the lidar is a 32-line three-dimensional lidar.
4. The method of claim 1, wherein the filter function is:
Wherein ρ is the distance between the laser radar and the straw, and θ is the azimuth angle of the laser radar during detection; gamma min is the azimuth angle corresponding to the boundary of one side of the straw line when the laser radar scans the straw, and gamma max is the azimuth angle corresponding to the boundary of the other side of the straw line when the laser radar scans the straw.
5. The method for detecting rows of straw baled crops according to claim 1, characterized in that the gradient algorithm is specifically:
The gradient of any point N except the first and the last points in the N return laser points is as follows:
the gradient of the first and the last points in the N return laser points is as follows:
Wherein, v 1 is the gradient of the first return laser spot, v N is the gradient of the last return laser spot, Z i is the Z coordinate value of the ith laser spot in the laser radar coordinate system, and X i is the X coordinate value of the ith laser spot in the laser radar coordinate system.
6. The method of claim 1, wherein determining straw row boundaries on both sides of the highest point based on gradients of return laser points comprises:
Setting a threshold delta, and enabling the left side and the right side of the highest point to meet The first point of the array a and the last point of the array b are boundaries of the straw rows.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps of the method for detecting rows of straw baled crop as claimed in any one of claims 1 to 6 when the program is executed.
8. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor implements the steps of the method for detecting rows of straw baled crop as claimed in any one of claims 1 to 6.
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| DE10129136A1 (en) * | 2001-06-16 | 2002-12-19 | Deere & Co | Device for the automatic steering of an agricultural work vehicle |
| DE102016118187A1 (en) * | 2016-09-27 | 2018-03-29 | Claas Selbstfahrende Erntemaschinen Gmbh | Combine with driver assistance system |
| US10671862B2 (en) * | 2018-01-30 | 2020-06-02 | Wipro Limited | Method and system for detecting obstacles by autonomous vehicles in real-time |
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| CN109017780A (en) * | 2018-04-12 | 2018-12-18 | 深圳市布谷鸟科技有限公司 | A kind of Vehicular intelligent driving control method |
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