Intelligent tractor field obstacle avoidance control system and method

Abstract

The invention discloses an intelligent tractor field obstacle avoidance control system and method, and belongs to the technical field of agricultural planting control systems. The intelligent tractorfield obstacle avoidance control system comprises a central processing module, an image collection module, a accelerator control valve extinguishing control assembly and an electric brake control assembly, wherein the central processing module is bidirectionally and electrically connected with the image collection module, the accelerator control valve extinguishing control assembly and the electric brake control assembly. According to the intelligent tractor field obstacle avoidance control system and method, a real-time camera device matched with a simple depth ranging algorithm can be used for replacing all expensive sensor devices, the production and design cost of the whole tractor obstacle avoidance system is greatly lowered, the purpose of intelligent recognition and avoidance of obstacles in front of the tractor with low cost and high precision is achieved, meanwhile early warning is achieved to a driver before tractor emergency braking avoids the obstacles, and thus abrasion ofthe tractor driving components caused by multiple times of emergency braking is lowered.

Description

technical field [0001] The invention relates to the technical field of agricultural planting control systems, in particular to an intelligent tractor field obstacle avoidance control system and method. Background technique [0002] Although my country is a large agricultural country, the development level of intelligent agriculture is relatively behind that of Europe and the United States. In 2010, Bakker, Asselt, Bontsema et al. proposed a cornfield weeding robot to record the initial path and the position of the sowing path through the tractor guidance system (A-B line), and then introduce (A-B line) into the existing automatic feeder to generate a tractor walking route map, improve navigation accuracy and achieve obstacle avoidance effects. In 2011, Takaibarawid et al. used RTK-GPS and IMU as autonomous navigation sensor, and tested the crawler tractor at different speeds, and its lateral error was 1cm to 3cm. In the same year, Noguchi et al. used a two-dimensional laser sc...

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Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides an intelligent tractor field obstacle avoidance control system and method, which solves the problem that the existing tractor obstacle avoidance system is very expensive and cannot realize the use of real-time camera equipment with a simple depth ranging algorithm. Instead of expensive sensing devices, it is impossible to achieve the purpose of intelligent identification and avoidance of obstacles in front of the tractor with low cost and high precision. It cannot reduce the wear and tear of the tractor's running components caused by multiple emergency braking, which greatly shortens the service life of the tractor's internal driving components

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