METHOD OF HEADLAND RECOGNITION USING 2-DIMENSIONAL LASER SENSORLIDAR AND ORCHARD ROBOT EMPLOYING THE SAME

摘要

Disclosed is a method for recognizing a bird head section using a laser sensor with improved accuracy, and an orphan robot device employing the same. The method of recognizing a bird head section using a laser sensor includes irradiating a laser radially, receiving a laser reflected from the targets, measuring a distance from the targets, clustering the targets, and clustering the targets, respectively. A step of corresponding to a fruit tree, calculating an average distance between fruit trees arranged in a fruit tree sequence arranged in the direction of progress of the fruit tree robot apparatus, and an average distance from the fruit tree nearest to the fruit tree robot apparatus in the direction of progress of the fruit tree robot apparatus. Determining whether there are n fruit trees that are continuously set at positions spaced apart from each other, and if the n fruit trees are continuously present in the fruit tree sequence, the driving is continued and the n fruit trees are not continuously present in the fruit tree sequence. If not, it includes the step of determining that it is the turning position after completing the driving to reach the last fruit tree.