Visual navigation system and navigation method thereof for agricultural vehicle

Abstract

The invention provides a low-cost, high efficiency and intelligent visual navigation system and a navigation method thereof for an agricultural vehicle. The visual navigation system for the agricultural vehicle of the invention, comprises a visual navigation platform module, and a navigation path detection module, a steering control module and a safety early-warning module which are connected with the visual navigation platform module; wherein the navigation path detection module is used for real-time acquiring, treating and analyzing images to obtain navigation path parameters; the steering control module is used for obtaining the work speed and turning angle state of a directive wheel of the agricultural vehicle, and implementing steering with a prescribed angle based on the navigation path parameters; and the safety early-warning module is used for detecting circumference environment information for alarming by analysis and contrast. The visual navigation system and a navigation method thereof for an agricultural vehicle of the invention can achieve the purpose of auxiliary drive, can enhance work precision and work efficiency, can reduce labor intensity of a driver, can reduce energy consumption, and can raise intelligentized level.

Description

technical field [0001] The invention relates to an agricultural equipment navigation system and its navigation method, in particular to an agricultural vehicle visual navigation system and its navigation method. Background technique [0002] Automatic navigation of agricultural vehicles is of great significance in improving operation accuracy and efficiency, reducing labor intensity of drivers, saving energy and reducing consumption, and improving the level of intelligence. The positioning of farmland vehicles is the key to realize automatic navigation. Without accurate and fast self-positioning, there can be no automatic navigation. Self-positioning is mainly the perception of the vehicle's own pose and heading angle. In recent decades, ultrasound, sonar navigation, laser detection navigation, microwave radar navigation, inertial navigation system (IMU), visual navigation, global satellite positioning navigation, etc. have been paid attention to by many researchers. Throug...

AI Technical Summary

Problems solved by technology

However, there are relatively few researches on the application of GPS in the field of agricultural vehicle navigation, and there is a certain gap with the world's advanced level. The main bottleneck is the high purchase cost of GPS equipment, which hinders the application of GPS navigation system in agricultural vehicles; and, When the satellite signal encounters obstacles such as trees and buildings or is interfered by radio waves, the signal will fail. Once it fails, it will take a long time to capture the satellite again, which will delay the working time. Therefore, simply using GPS technology cannot guarantee Driving safety can only be used as a powerful tool to assist navigation

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