Signal, accuracy, and real-time performance of satellite, radar, and machine vision is a subject of concern in various complex agricultural environments. Therefore, the demand for a robust navigation sensor for indoor and vertical agricultural environment remains crucial, and it is a significant subject. In view of this, the relative edge pose detection method based on the ideal target band principle of the lateral center arc array, in this research, a small integrated arc array navigation sensor module based on adaptive detection arc technology, is developed, which costs about $100, autonomous edge navigation position, and attitude detection is realized in facility agriculture environment with continuous structured corridor or roadside features. In this research, a coupling method of reducing the radius of distance sensor arrangement, adjusting the unequal center angle, and increasing the detection distance is used to realize the miniaturization of the arc array arrangement. A semicircular modular rocket was designed to slide and adjust the center angle of the distance sensor, and the longitudinal installation position of the modularized sensor was adjusted by translating the circular arc of the detection; the convenient moving arrangement under different vehicle width and detection arc characteristics is realized. An adaptive construction method of detecting a circular arc based on self-calibrating detection distance of a distance sensor is proposed, which effectively reduces the difficulty of arranging the lateral central circular arc array; the fast construction of lateral detection arc is realized. In addition, in order to improve the accuracy and stability of the pose detection, the Mahalanobis distance algorithm and the standard Kalman filter are used to optimize the estimation of the ranging information and the relative pose of the edge. The experimental results show that the small integrated arc array navigation sensor module can independently construct photoelectric detection arcs with different characteristics to detect the position and attitude of the relative edge. When the road surface is concave and convex, the small integrated arc array navigation sensor module can still maintain the stable position and attitude detection of the relative edge for more than 30 s. In addition, when the walking speed of the autonomous navigation platform is 0.15 m/s to 0.35 m/s, the detection errors of lateral deviation and heading deviation relative to the road edge are less than 40 mm and 4.5°, respectively. The small integrated arc array navigation sensor module is less affected by the change of operating speed, and still has good accuracy and stability. The results show that the modularized edge navigation sensor has the advantages of fast and convenient use, high accuracy, and low cost; it can be applied to autonomous edge navigation control in greenhouse and plant and animal factories.
Keywords: corridor environment; edge walking; facility agriculture; integration; miniaturization; modularization; navigation sensors.
Copyright © 2022 Xie, Liu, Jiang, Cai, Liu and Li.