Weeding robot positioning and navigation system and method based on multi-source sensor fusion
The invention discloses a weeding robot positioning and navigation system and method based on multi-source sensor fusion. The positioning and navigation system comprises an acquisition module, a data processing module, a map construction module and a path planning module. The positioning and navigat...
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| creator | GAO ZIYAN GE FEIFAN KIM LEE-YEOP LU QIAN YAO SUHENG MA ZIYUAN |
| description | The invention discloses a weeding robot positioning and navigation system and method based on multi-source sensor fusion. The positioning and navigation system comprises an acquisition module, a data processing module, a map construction module and a path planning module. The positioning and navigation method comprises the steps that a robot acquires a grassland environment depth image and an RGB image; the environment is sensed in real time through a laser radar and a detector, the distance and the contour of a surrounding object are obtained, and laser point cloud data are obtained through scanning; when the robot moves, acceleration and angular velocity data of the robot are collected through an inertial sensor; building a local map and optimizing the local map by moving the robot and collecting new data; grassland distribution and shape information, an initial position and the position of a target grassland are acquired, and an optimal path from a starting point to an ending point is calculated; the optim |
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The positioning and navigation system comprises an acquisition module, a data processing module, a map construction module and a path planning module. The positioning and navigation method comprises the steps that a robot acquires a grassland environment depth image and an RGB image; the environment is sensed in real time through a laser radar and a detector, the distance and the contour of a surrounding object are obtained, and laser point cloud data are obtained through scanning; when the robot moves, acceleration and angular velocity data of the robot are collected through an inertial sensor; building a local map and optimizing the local map by moving the robot and collecting new data; grassland distribution and shape information, an initial position and the position of a target grassland are acquired, and an optimal path from a starting point to an ending point is calculated; the optim</description><language>chi ; eng</language><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES ; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES ; GYROSCOPIC INSTRUMENTS ; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; RADIO DIRECTION-FINDING ; RADIO NAVIGATION ; SURVEYING ; TESTING</subject><creationdate>2024</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20240611&DB=EPODOC&CC=CN&NR=118168545A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20240611&DB=EPODOC&CC=CN&NR=118168545A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>GAO ZIYAN</creatorcontrib><creatorcontrib>GE FEIFAN</creatorcontrib><creatorcontrib>KIM LEE-YEOP</creatorcontrib><creatorcontrib>LU QIAN</creatorcontrib><creatorcontrib>YAO SUHENG</creatorcontrib><creatorcontrib>MA ZIYUAN</creatorcontrib><title>Weeding robot positioning and navigation system and method based on multi-source sensor fusion</title><description>The invention discloses a weeding robot positioning and navigation system and method based on multi-source sensor fusion. The positioning and navigation system comprises an acquisition module, a data processing module, a map construction module and a path planning module. 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The positioning and navigation system comprises an acquisition module, a data processing module, a map construction module and a path planning module. The positioning and navigation method comprises the steps that a robot acquires a grassland environment depth image and an RGB image; the environment is sensed in real time through a laser radar and a detector, the distance and the contour of a surrounding object are obtained, and laser point cloud data are obtained through scanning; when the robot moves, acceleration and angular velocity data of the robot are collected through an inertial sensor; building a local map and optimizing the local map by moving the robot and collecting new data; grassland distribution and shape information, an initial position and the position of a target grassland are acquired, and an optimal path from a starting point to an ending point is calculated; the optim</abstract><oa>free_for_read</oa></addata></record> |
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| language | chi ; eng |
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| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES GYROSCOPIC INSTRUMENTS LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION SURVEYING TESTING |
| title | Weeding robot positioning and navigation system and method based on multi-source sensor fusion |
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