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Integrated navigation method and navigation system of combined harvester based on Beidou and vision

A combined harvester and integrated navigation technology, applied in the field of combine harvester navigation, can solve problems affecting navigation accuracy, etc., and achieve the effects of improving navigation accuracy, suppressing interference, and high real-time performance

Active Publication Date: 2020-01-17
JIANGSU UNIV
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Problems solved by technology

This method does not need to manually collect points before operation, and can realize autonomous navigation path planning, but there are still some shortcomings in real-time alignment of the operation boundary, and in different harvesting operation directions, the use of a single visual sensor may cause large image distortion. Affects navigation accuracy

Method used

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  • Integrated navigation method and navigation system of combined harvester based on Beidou and vision
  • Integrated navigation method and navigation system of combined harvester based on Beidou and vision
  • Integrated navigation method and navigation system of combined harvester based on Beidou and vision

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Embodiment Construction

[0037] The present invention will be further explained below in conjunction with the drawings.

[0038] The embodiment of the present invention provides a combined navigation method for a combine harvester based on Beidou and vision. A set of Beidou equipment and two vision sensors are used to collect the attitude information of the harvester, and adjust according to the attitude deviation information, so that the harvester follows the planned operation path Driving.

[0039] Such as figure 1 As shown, the specific process of a combined navigation method for a combine harvester based on Beidou and vision is as follows:

[0040] S1, install Beidou equipment, visual sensors and a grain loss real-time monitoring system for combine harvesters, measure the installation parameters of visual sensors and set the initial deviation threshold range

[0041] Such as figure 2 As shown, the Beidou equipment includes a Beidou antenna and a Beidou signal receiving module. The Beidou antenna is conne...

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Abstract

The invention discloses an integrated navigation method and navigation system of a combined harvester based on Beidou and vision. A Beidou device analyzes the relationship between a positioning pointand a planned path to obtain a real-time deflection state of the harvester; a vision sensor collects an image comprising a harvester cutting platform boundary and an operation boundary, extracts and fits two boundary lines through image processing, and analyzes the relationship between the two lines to obtain the real-time deflection state of the harvester; the validity of horizontal position deviation and heading angle deviation information obtained by Beidou and vision is judged through a set threshold range, and statistics is performed on a parameter adjustment threshold range according tothe valid information; the optimal estimate of the valid deviation information is obtained by the Kalman filtering algorithm, and then is trained and predicted by using a BP neural network; and the BPneural network predicts an output optimal swath width for adjusting the visual lateral position deviation, predicts an output expected turning angle of the harvester, converts the expected turning angle into a control signal by a control unit, and adjusts a steering mechanism of the harvester to realize automatic driving.

Description

Technical field [0001] The invention relates to a navigation method for a combine harvester, in particular to a navigation method and a navigation system for a combine harvester based on Beidou and visual navigation, and belongs to the field of intelligent agricultural machinery equipment. Background technique [0002] With the introduction of precision agriculture, my country's agriculture is gradually developing in the direction of intelligence, and automatic navigation technology for agricultural vehicles has become an important research branch. The current main navigation technologies include satellite navigation, machine vision, inertial navigation, laser and radar, etc. [0003] Satellite navigation is not limited by light. Especially with the continuous improvement and development of Beidou satellite navigation location services, it is imperative to study high-precision navigation systems. However, the use of satellite positioning technology alone in the agricultural machin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01S19/48
CPCG05D1/0246G05D1/0223G05D1/0221G05D1/0278G05D1/0276G01S19/48
Inventor 陈进孙佳丽陈海文宋杰
Owner JIANGSU UNIV
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