Farm machine unmanned navigation method based on farmland environment perception

Abstract

The invention provides a farm machine unmanned navigation method based on farmland environment perception. Particularly, the method comprises the following steps of 1, before operation of the farm machine, performing calibration on a video camera, and performing spatial fusion on a radar and visual information; 2, in farm machine operation, detecting height change between the radar and ground by a first distance detecting device, detecting height change between the image camera and the ground by a second distance detecting device, and performing real-time adjustment on coordinate conversion between the radar and the image camera so that spatial synchronization between the radar and the image camera is realized; 3, resolving received millimeter wave radar data by an industrial control computer, determining an effective target and a most dangerous target, and synchronously acquiring video camera images; and 4, determining the state of the most dangerous target and planning a walking path by the industrial control computer, determining a target type according to the image data of the most dangerous target which is acquired by the radar and the video camera, and making the farm machine act by a navigation box. The arm machine unmanned navigation method has advantages of high data fusion precision and effective accuracy in obstacle identification.

Description

technical field [0001] The invention relates to an environment perception method in unmanned driving, in particular to a farmland environment perception method in unmanned agricultural machinery. Background technique [0002] Precision agriculture technology is considered to be the frontier of the development of agricultural science and technology in the 21st century, and it is one of the modern agricultural production management technologies with the highest technological content and the strongest integration and comprehensiveness. Precision agriculture technology implements a set of modern agricultural operation technology and management system based on spatial variation, positioning, timing, and quantification. It is a new type of agricultural technology that fully combines information technology and agricultural production. [0003] The rapid development of the application of precision agriculture can fully tap the maximum production potential of farmland, rationally use...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the defects in the prior art, the purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art, solve the technical problem that the unmanned agricultural machinery in the prior art cannot perceive the farmland environment, and provide an unmanned agricultural machinery The farmland environment perception method for driving, the invention realizes the perception of the farmland environment, has high perception accuracy, high accuracy in identifying obstacles in front of the agricultural machinery, and improves the reliability of the agricultural machinery when it is unmanned

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