Night panoramic vision relative positioning system and method of autonomous navigation tractor

Abstract

The invention relates to a night panoramic vision relative positioning system and method of an autonomous navigation tractor. The system comprises three groups of binocular vision systems, an Ethernet switch and an industrial control computer, wherein each group of vision system comprises two short wave infrared cameras which are fixed in the same horizontal directions; the three groups of binocular vision systems are arranged in an equilateral triangle mode, so as to form a panoramic vision set each two of which form 120 degrees, and are connected to the industrial control computer through the Ethernet switch. The positioning method comprises the following steps: the three groups of binocular vision systems detect the same target in the environment in three directions at the same time, so that vehicle motion is elicited reversely, displacement vectors in different coordinate systems are formed, the displacement vectors are converted to the same coordinate system, and relative positioning is realized. The system is reasonable in design, simple in structure, convenient to operate, effectively improves the night positioning accuracy of the tractor by detecting the motion state of the tractor in multiple directions and performing data fusion on detection results, and provides data support for navigation.

Description

Technical field [0001] The invention relates to a navigation and positioning system for agricultural machinery, in particular to a positioning system suitable for tractors working at night, and a method for positioning using the system, in particular to an autonomous navigation tractor night panoramic visual relative positioning system and method. Background technique [0002] At present, my country's autonomous navigation tractors mainly use satellite systems such as GPS or Beidou for positioning. However, the satellite signal is relatively weak, and it is easy to be interfered and the tractor cannot work normally. Therefore, it is necessary to use machine vision for auxiliary positioning. Agricultural tractors based on machine vision navigation can detect their own motion status through the vision system, provide status parameters for the autonomous navigation decision-making system, and significantly improve the level of intelligence of agricultural machinery. However, the ...

AI Technical Summary

Problems solved by technology

However, the traditional vision system is easily affected by light, especially the night vision system basically cannot work normally, which has a great impact on the tractor's night operation

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