Farmland environment sensing method used for agricultural machinery navigation

Abstract

The present invention provides a farmland environment sensing method used for the agricultural machinery navigation in the agricultural machinery path control technology field. The farmland environment sensing method concretely comprises the following steps of 1, before an agricultural machinery works, calibrating a camera, and fusing the radar and visual information in space; 2 when the agricultural machinery works, using a distance detection device 1 to detect the height change between the radar and the ground, using a distance detection device 2 to detect the height change between the camera and the ground, and real-timely adjusting to convert the coordinates of the radar and the camera to enable the radar and the camera to synchronize in space; 3 using an industrial control computer tocalculate the received millimeter wave radar data, determining an effective target and a most dangerous target, and synchronously acquiring the images of the camera; 4 according to the radar information, determining the state of the most dangerous target, and according to the image data of the most dangerous target acquired by the radar and the camera, determining the type of the most dangerous target, and using a navigation box to control the agricultural machinery to act correspondingly. The method of the present invention is high in data fusion precision, and enables the obstacle identification accuracy to be improved.

Description

technical field [0001] The invention relates to an automatic U-turn path planning and a control method thereof, in particular to a farmland environment perception method for agricultural machinery navigation. 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, r...

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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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