Unstructured orchard vehicle automatic navigation system based on machine vision

• Main Authors: GUO CHENGYANG, CHEN JUN, ZHANG ENYU
• Format: Patent
• Language: Chinese; English
• Published: 19.11.2019
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The utility model discloses an unstructured orchard vehicle automatic navigation system based on machine vision. The unstructured orchard vehicle automatic navigation system comprises a high-definition CCD camera, a high-performance PC, a main controller, a Hall encoder, a motor driver, a steering motor, a brake motor, a steering execution mechanism and a brake execution mechanism. The system is characterized in that the high-performance PC processes an image acquired by the high-definition CCD camera, and if an obstacle exists between fruit tree rows, the main controller can control the brakemotor to brake the vehicle emergently; and if the obstacle does not exist, the high-performance PC further extracts control parameters for realizing automatic navigation of the vehicle, and the maincontroller controls the steering motor through fuzzy PID to enable the steering angle of the vehicle to reach a target value, so that automatic navigation of the vehicle among orchard rows is realized. Whether obstacles exist