Agricultural machinery unmanned navigation method based on farmland environment perception

Abstract

The invention provides an agricultural machinery unmanned navigation method based on farmland environment perception, which is in the technical field of in agricultural machinery control. The agricultural machinery unmanned navigation method specifically comprises the steps of: step 1, calibrating a camera before agricultural machinery operates, and fusing radar and visual information spatially; step 2, during the operation of the agricultural machinery, detecting height variations between a radar and the ground by means of a distance detection device 1, detecting height variations between thecamera and the ground by means of a distance detection device 2, and adjusting conversion of radar and camera coordinates in real time, so that the radar and the camera are spatially synchronized; step 3, calculating millimeter-wave radar data by means of an industrial control computer, determining an effective target, determining the most dangerous target, and acquiring camera images synchronously; step 4, and judging a state of the most dangerous target based on the radar information, planning a walking path according to a motion state by means of the industrial control computer, judging atype of the most dangerous target according to image data of the most dangerous target acquired by means of the radar and the camera, and controlling the agricultural machinery to do corresponding actions by means of a navigation box. The agricultural machinery unmanned navigation method is high in data fusion precision, and improves the accuracy degree of identifying an obstacle.

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

Images