Design Of Obstacle Avoidance System Of Mountain Orchard Transport Vehicle Based On Depth Camera

In recent years,China’s citrus industry has developed rapidly,which is the fruit with the widest production area and the largest output.However,the main producers of Citrus should be concentrated in the mountainous and hilly areas in the south,with large slopes and complex terrain.In order to liberate the productivity and improve the mechanical automation production,the mechanical transportation technology of Mountain Orchard has made good development.Monorail transport vehicle is widely used in Mountain Orchard because of its characteristics of energy saving,environmental protection,convenient transportation and good economy.However,in practical application,due to the impact of obstacles in the environment,the transport vehicle has the disadvantages of low safety and poor reliability.In order to solve the problem of autonomous obstacle avoidance of transport vehicles,a set of obstacle avoidance system for Monorail Transport vehicles is developed based on the depth camera in this project,which aims to improve the safety and stability of transport vehicles.This design is based on the depth camera of TOF(time of the flight)technology to design the obstacle avoidance system of the Mountain Orchard Monorail Transport.This paper expounds the measurement principle of depth camera,analyzes the error and its causes in the measurement process of depth camera,models and corrects the error,designs the target detection algorithm based on the image difference frame method,analyzes the algorithm principle and the specific implementation process,and effectively models the target detection in the motion process,and designs the obstacle avoidance system based on the raspberry School of arm framework Based on QT,the upper computer software is designed and debugged.After the integrated software and hardware debugging,the field test is carried out to analyze the operation effect of the obstacle avoidance system for various types of obstacles,verify the reliability and stability of the obstacle avoidance system,and establish a guiding standard for farmers to clean up the track.Main achievements:(1)A depth camera obstacle avoidance system is developed to realize the autonomous obstacle avoidance of transport aircraft.During the operation of the obstacle avoidance system,people in the effective driving space of the transport vehicle,goods stacked on the track,fertilizer,etc.shall be identified and avoided,and the safety braking shall be carried out at a distance of 120 cm from the obstacle;for trees and side branches,small stones near the track shall not make the decision of obstacle avoidance.(2)The obstacle avoidance test is carried out for all kinds of obstacles in the track,and the reliability and sensitivity of the obstacle avoidance system for different types,sizes and leaf area indexes of the lateral branches are tested.Its reliability mainly depends on whether it can accurately identify the type of obstacles,and its sensitivity depends on the distance between the obstacles and the transport vehicle after braking.