文献类型： 外文期刊
作者： Xie, Peng 1 ; Wang, Hongcheng 1 ; Huang, Yexian 1 ; Gao, Qiang 1 ; Bai, Zihao 1 ; Zhang, Linan 1 ; Ye, Yunxiang 2 ;
作者机构： 1.Hangzhou Dianzi Univ, Sch Mech Engn, Hangzhou 310018, Peoples R China
2.Zhejiang Acad Agr Sci, Inst Agr Equipment, Hangzhou 310012, Peoples R China
3.Minist Agr & Rural Affairs, Coconstruct Minist & Prov, Key Lab Agr Equipment Hilly & Mountainous Areas So, Hangzhou 310021, Peoples R China
关键词： negative obstacles; point cloud; orchards; LiDAR; tilted mount; unmanned ground vehicles
期刊名称：SENSORS （ 影响因子：3.5； 五年影响因子：3.7 ）
ISSN：
年卷期： 2024 年 24 卷 24 期
页码：
收录情况： SCI
摘要： In orchard environments, negative obstacles such as ditches and potholes pose significant safety risks to robots working within them. This paper proposes a negative obstacle detection method based on LiDAR tilt mounting. With the LiDAR tilted at 40 degrees, the blind spot is reduced from 3 m to 0.21 m, and the ground point cloud density is increased by an order of magnitude. Based on geometric features of laser point clouds (such as rear wall height and density, and spacing jump between points), a method for detecting negative obstacles is presented. This method establishes a mathematical model by analyzing changes in point cloud height, density, and point spacing, integrating features captured from multiple frames to enhance detection accuracy. Experiments demonstrate that this approach effectively detects negative obstacles in orchard environments, achieving a success rate of 92.7% in obstacle detection. The maximum detection distance reaches approximately 8.0 m, significantly mitigating threats posed to robots by negative obstacles in orchards. This research contributes valuable technological advancements for future orchard automation.
- 相关文献
作者其他论文 更多>>
-
Rapid and real time detection of black tea rolling quality by using an inexpensive machine vison system
作者：Shen, Shuai;Ren, Ning;Zheng, Hang;Xue, Xianglei;Ye, Yunxiang;Liu, Tian;Zhang, Qiusheng;Yu, Guohong;Shen, Shuai;Ren, Ning;Zheng, Hang;Xue, Xianglei;Ye, Yunxiang;Liu, Tian;Zhang, Qiusheng;Yu, Guohong
关键词：Black tea; Machine vision; Rolling quality; DarkNet-53 CNN; ISSA-SVR
-
Energy-Efficient Deployment of Laser Illumination for Rotating Vertical Farms
作者：Liu, Tian;Ye, Yunxiang;Tan, Shiyi;Xue, Xianglei;Zheng, Hang;Ren, Ning;Shen, Shuai;Yu, Guohong;Liu, Tian;Ye, Yunxiang;Tan, Shiyi;Xue, Xianglei;Zheng, Hang;Ren, Ning;Shen, Shuai;Yu, Guohong
关键词：vertical farming; artificial lighting; sensor deployment; laser diodes; controlled environment agriculture; differential evolution
-
The genome of giant waterlily provides insights into the origin of angiosperms, leaf gigantism and stamen function innovation
作者：Wen, Xiaohui;Liang, Yuwei;Chang, Xiaojun;Gao, Qiang;Wang, Qi;Zhang, Liangsheng;Wen, Xiaohui;Shan, Hongyan;Kong, Hongzhi;Song, Xiaoming;Shen, Shaoqin;Fu, Yanhong;Chen, Dan;Chen, Fei;Li, Yueqing;Guan, Qian;Gao, Xiang;Li, Yueqing;Guan, Qian;Gao, Xiang;Li, Yonglin;Zhou, Xiaofan;Wang, Zhengjia;Liu, Huan;Thorogood, Chris;Thorogood, Chris;Zhang, Liangsheng
关键词：waterlily genomes; early angiosperms; leaf gigantism; stamen innovation; floral scent biosynthesis
-
Calibration and Experimental Validation of Discrete Element Parameters of Fritillariae Thunbergii Bulbus
作者：Zheng, Hang;Xue, Xianglei;Ye, Yunxiang;Liu, Tian;Ren, Ning;Yu, Guohong;Zheng, Hang;Xue, Xianglei;Ye, Yunxiang;Liu, Tian;Ren, Ning;Yu, Guohong;Hu, Zhaowei;Liu, Fanyi
关键词：Fritillariae Thunbergii Bulbus; discrete element method; simulation model; parameter calibration; shearing; compression
-
Rolling 2D Lidar-Based Navigation Line Extraction Method for Modern Orchard Automation
作者：Zhou, Yibo;Wang, Xiaohui;Wang, Zhijing;Yu, Keqiang;Zhao, Yanru;Ye, Yunxiang;Zhu, Fengle;Yu, Keqiang;Zhao, Yanru;Yu, Keqiang;Zhao, Yanru
关键词：autonomous navigation; modern orchards; rolling 2D lidar; navigation line extraction
-
Uptake, accumulation and toxicity of short chain chlorinated paraffins to wheat (Triticum aestivum L.)
作者：Yu, Jianzhong;Zhao, Xueping;Tang, Tao;Zhang, Changpeng;Xu, Zhenlan;Tang, Qing;Yin, Ge;Chen, Weifang;Li, Lingxiangyu;Chen, Weifang;Lv, Jitao;Zhang, Chenghao;Ye, Yunxiang;Song, Xijiao;Zeng, Lixi
关键词：Short chain chlorinated paraffins; Root concentration factor; Translocation factor; Cellular ultrastructure; Hydrophobicity
-
Reference genome sequence and population genomic analysis of peas provide insights into the genetic basis of Mendelian and other agronomic traits
作者：Liu, Na;Zhang, Xueying;Zhang, Guwen;Feng, Zhijuan;Ou, Jinwen;Wang, Bin;Bu, Yuanpeng;Gong, Yaming;Lyu, Xiaolong;Zhang, Ziqian;Guan, Xueying;Gao, Qiang;Shi, Wanghong;Deng, Yayuan;Sheng, Kuang;Zhu, Yumeng;Zhang, Mingfang;Zhang, Liangsheng;Zhao, Ting;Chen, Xiaoyang;Yang, Xiaoming;Shi, Wanghong;Deng, Yayuan;Zhang, Mingfang;Zhang, Liangsheng
关键词：
