Navigation and remote monitoring system for miniature agricultural machine based on DSP (Digital Signal Processor) and binocular vision

Abstract

The invention discloses a navigation and remote monitoring system for a miniature agricultural machine based on a DSP (Digital Signal Processor) and binocular vision. The navigation and remote monitoring system comprises a binocular vision navigation subsystem and a remote monitoring subsystem, wherein the binocular vision navigation subsystem comprises an image acquisition device, a DSP image processing device and a control device. The image acquisition device is a binocular vision CCD (Charge Coupled Device) camera which is used for transmitting the acquired analog video signal to a video decoder and converting the acquired analog video signal into a digital video signal; the digital video signal is processed by the DSP image processing device according to a binocular vision technology to obtain three-dimensional coordinates of a navigation path and a barrier; the three-dimensional coordinates are calibrated by the camera to obtain a navigation parameter which is output to the control device, that is to say, the navigation parameter is decoded by a singlechip computer; and a control signal is transmitted to a hydraulic system for further controlling on / off of a corresponding hydraulic oil path so as to realize advance and left-right steering of the miniature agricultural machine and lifting of machines and tools. Meanwhile, image information can be transmitted to a remote PC (Personal Computer) in a real time; and if emergency situations (such as failure of an automatic navigation system, barrier appearing in front and the like) occur, the machine can be remotely controlled by a user.

Description

technical field [0001] The invention relates to a navigation system for agricultural machinery, in particular to a navigation and remote monitoring system based on DSP and binocular vision suitable for micro-agricultural machinery, which can realize autonomous walking of micro-agricultural machinery in the field and remote monitoring of users. Background technique [0002] my country is a large developing agricultural country. In recent years, although the level of agricultural mechanization in my country has been greatly improved, the level of intelligence is still low. low difficulty. According to statistics, labor costs account for an average of 45% of the production costs of major crops such as rice and wheat in my country, while labor costs for agricultural products in developed countries account for less than 10%. Therefore, the use of intelligent agricultural machinery navigation system instead of manual operation has indescribable advantages. At present, machine vis...

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Problems solved by technology

[0002] my country is a large developing agricultural country. In recent years, although the level of agricultural mechanization in my country has been greatly improved, the level of intelligence is still low. low difficulty

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