Multi-sensor fusion farmland environment perception method used for unmanned agricultural machine

Abstract

The invention provides a multi-sensor fusion farmland environment perception method used for a unmanned agricultural machine in an agricultural machine path control technology field. The method comprises the following steps of step1, before an agricultural machine works, calibrating a camera and fusing a radar and visual sense information in space; step2, during agricultural machine working, adjusting a conversion relation of the radar and a camera coordinate in real time so that the radar and a camera realize space synchronization; step3, resolving received millimeter wave radar data by an industrial control computer, determining an effective target, selecting an area which the radar is interested in at a front portion of an agricultural machine working area, determining a most dangerous target and synchronously collecting camera images; and step4, according to radar information, determining a most dangerous target state, and according to most dangerous target image data collected by the radar and the camera, determining a type of the most dangerous target, and making the agricultural machine carry out corresponding motion by a navigation box. Accuracy of data fusion is high and identification accuracy of an obstacle in front of the agricultural machine is increased.

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 multi-sensor fusion of 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 pot...

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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 mac

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