Laser sensing-based method for spatial positioning of agricultural robot

A laser sensing-based method for spatial positioning of an agricultural robot, comprising:

• Step 1:
• erecting a laser radar with a ranging function in a positioning space, setting a three-dimensional coordinate system, and conducting scanning using the laser radar to obtain point cloud data of an object in the positioning space, wherein the point cloud data comprise an azimuth and a distance with respect to the laser radar;
• Step 2:
• installing a laser receiver on the agricultural robot, receiving a laser radar signal using the laser receiver during movement, and when a laser beam emitted by the laser radar irradiates the laser receiver, outputting laser signal data and elevation data h from the laser receiver;
• wherein the laser receiver comprises a filter housing configured to eliminate ambient light and two photosensitive arrays configured to sense a laser signal, and output the laser signal as sensing laser status data after signal processing;
• the photosensitive arrays are divided into several segments in a vertical direction, different segments of the photosensitive arrays sense the laser signal and express the laser signal as an elevation data h′ of the laser receiver, each frame of the laser signal data comprises a piece of the sensing laser status data and the elevation data h′ of the laser receiver, the laser receiver is kept within a range of a laser scanning plane by an electric push rod, the laser signal data and the point cloud data output by the laser radar both have a time label, and a set of the point cloud data output by the laser radar and a set of the laser signal data output by the laser receiver are obtained by conducting scanning using the laser radar for one circle;
• and
• Step 3:
• conducting time-event matching on the laser signal data obtained by the laser receiver and the point cloud data scanned by the laser radar within each scanning period of the laser radar to obtain three-dimensional coordinates of a central position of the laser receiver.