An intelligent tractor field obstacle avoidance control system and method

Abstract

The invention discloses an intelligent tractor field obstacle avoidance control system and method, comprising a central processing module, an image acquisition component, an throttle control valve flameout control component and an electric brake control component, and the central processing module is respectively connected with the image capture component and the throttle control valve flameout The control component and the electric brake control component realize bidirectional electrical connection, and the invention relates to the technical field of agricultural planting control systems. The intelligent tractor field obstacle avoidance control system and method can realize the use of real-time camera equipment combined with a simple depth ranging algorithm to replace various expensive sensing devices, greatly reducing the production design cost of the entire tractor obstacle avoidance system, and achieving low cost It can intelligently identify and avoid obstacles in front of the tractor with high precision, and at the same time realize the early warning and reminder to the driver before the emergency braking of the tractor to avoid obstacles, so as to reduce the wear and tear of the tractor's driving components caused by multiple emergency braking .

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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