Target recognition system and tractor reversing and farm tool connecting method based on same

Abstract

The invention provides a real-time and accurate target recognition system based on machine vision and a corresponding tractor reversing and farm tool connection method. The method comprises the steps:accurately extracting a special target pattern or marker of a feature point on a farm tool through deployment, which are used for real-time detection and relative position calculation of a target; substituting the feature points of the target pattern in the camera imager into a corrected camera model, so the position of the target relative to the camera can be accurately derived, i.e., the distance and a direction angle. Due to the fact that the camera and the tractor are relatively static, the relative position and direction information of respective connecting points of the agricultural implement and the tractor can be accurately measured, a navigation path is calculated and planned, and the suggested vehicle speed and the steering wheel angle are provided for a driver to refer to so that the driver can manually or automatically drive the tractor to reach the agricultural implement mounting position. Compared with a camera for directly detecting a machine, the method can greatly reduce the calculation amount of detection, and improves the accuracy, reliability and calculation speed.

Description

technical field [0001] The invention belongs to the field of agricultural machinery equipment and computer technology, and relates to a target recognition system and a method for connecting tractor reversing and agricultural implements based on the system. Background technique [0002] In agricultural production, tractors are often used in conjunction with farm tools for weeding, spraying, plowing, watering, etc., so it is necessary to install and adjust farm tools reasonably. Farm implements can be installed in a variety of ways, including figure 1 Take the three-point suspension device shown as an example, the three points at the front end of the device are fixed on the rear end of the tractor, and the rear end of the device is connected to the farm implement through the through hole in the middle of the mechanism. During installation, the bolts should be fastened to connect the suspension device with the through hole and the agricultural tool, so the relative positions o...

AI Technical Summary

Problems solved by technology

This process requires high precision (the distance error is about ±2cm, and the direction angle error is about ±1°), so the driver must accurately grasp the real-time position and direction angle relationship of the two holes, and the driver usually observes the rear of the car while working It is difficult to operate while reversing in certain situations. Experienced drivers generally have to go back and forth more than a dozen times to succeed. Moreover, the larger the tractor, the worse the vision when reversing, which increases the difficulty of reversing.

And only by visually observing the position and orientation angle relationship between the parts to be connected, the error is large

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