Farmland environment perception method for unmanned agricultural machinery

Abstract

The invention provides a farmland environment perception method for manless driving of a farm machinery in the technical field of farm machinery control. The farmland environment perception method for the manless driving of the farm machinery specifically comprises the steps of step 1, calibrating a camera before the operation of the farm machinery so as to fuse radar information and visual information in space; step 2, during the operation of the farm machinery, enabling a distance detection device I to detect height change between the radar and the ground, enabling a distance detection device II to detect height change between the camera and the ground, and adjusting conversion between coordinates of the radar and the camera in real time so that the radar and the camera are synchronized in space; step 3, enabling an industrial control computer to calculate received millimeter-wave radar data, determining an effective target, determining the most dangerous target and synchronously collecting camera images; and step 4, judging the state of the most dangerous target according to radar information; judging the type of the most dangerous target according to image data, collected by the radar and the camera, of the most dangerous target; and enabling a navigation box to control the farm machinery to do corresponding actions. The farmland environment perception method for the manless driving of the farm machinery has the advantages that the data fusion accuracy is high and the obstacle identification accuracy is improved.

Description

technical field [0001] The invention relates to an environment perception method in unmanned driving, in particular to a farmland environment perception method in 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 potential of farmland, rationally use...

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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 machinery The farmland environment perception method for driving, the invention realizes the perception of the farmland environment, has high perception accuracy, high accuracy in identifying obstacles in front of the agricultural machinery, and improves the reliability of the agricultural machinery when it is unmanned

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