The invention provides a navigation inspection device and method, electronic equipment and a storage medium, and is applied to the technical field of agriculture. The device comprises an autonomous cruise trolley chassis and a vehicle-mounted computer, wherein the autonomous cruise trolley chassis comprises a walking unit, a first camera, a laser radar sensor for navigation, a laser radar sensor for obstacle avoidance and a radio frequency identification (RFID) parking sensor; the vehicle-mounted computer is used for acquiring a ground image shot by the first camera, determining an included angle between a ray emitted by the laser radar sensor for navigation and a color bar arranged on the ground according to the ground image, and correcting the advancing direction of the walking unit based on the included angle; the vehicle-mounted computer is also used for controlling the walking unit to detour when the obstacle avoidance laser radar sensor detects the obstacle in the advancing direction; and the vehicle-mounted computer is also used for controlling the walking unit to stop advancing when the RFID parking sensor scans the RFID tag fixed on the sample plant.
本发明提供一种导航巡检装置、方法、电子设备及存储介质,应用于农业技术领域。该装置包括自主巡航小车底盘和车载计算机,自主巡航小车底盘包括行走单元、第一摄像头、导航用激光雷达传感器、避障用激光雷达传感器以及射频识别RFID停车感应器;车载计算机,用于获取第一摄像头拍摄的地面图像,并根据地面图像确定导航用激光雷达传感器发出的射线与地面上设置的颜色条之间的夹角,以及基于夹角修正行走单元的行进方向;车载计算机,还用于当避障用激光雷达传感器检测到行进方向上的障碍物时,控制行走单元绕行;车载计算机,还用于当RFID停车感应器扫描到固定在样本植株上的RFID标签时,控制行走单元停止前进。
Navigation inspection device and method, electronic equipment and storage medium
导航巡检装置、方法、电子设备及存储介质
2024-08-09
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B62D MOTOR VEHICLES , Motorfahrzeuge / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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