High-precision navigation device and method for autonomous operation in facility environment based on air-ground collaboration

Abstract

The present application discloses a high-precision navigation device for autonomous operation in a facility environment based on air-ground collaboration, including an aerial movable electromagnetic wire navigation system, an autonomous work vehicle, a positioning system and a cloud platform, wherein the aerial movable electromagnetic wire navigation system is located above a planting plot in a greenhouse of the facility, and is used to plan the operation path of the autonomous work vehicle so that the autonomous work vehicle can travel along a prescribed route; the autonomous work vehicle is located directly below the aerial movable electromagnetic wire navigation system, and relies on the aerial movable electromagnetic wire navigation system to complete high-precision operations in a facility environment; the positioning system is used to determine the plot position of the autonomous work vehicle in the greenhouse of the facility, so as to determine the next operation route; the cloud platform connects the aerial movable electromagnetic wire navigation system, the positioning system and multiple autonomous work vehicles of different plots through a 4G or 5G network to achieve centralized cloud-based control.

Description

Technical Field

[0001] The present invention belongs to the technical field of facility agriculture, and relates to a high-precision navigation device and method for autonomous operation in a facility environment based on air-ground collaboration, which provides high-precision navigation and positioning for operation platforms such as transportation, plant protection, harvesting, and inspection in the facility environment. Background Art

[0002] In recent years, the planting area of ​​facility agriculture has increased year by year, and its share in agricultural production has become increasingly larger. The use of intelligent and unmanned precise autonomous navigation operations can not only greatly liberate labor, but also improve work efficiency. Field agriculture is relatively easy to achieve unmanned operation because of its relatively simple production scenes and relatively mature navigation and positioning technologies such as GPS; however, the internal space of facility agriculture is relatively small, the scenes are relatively complex, and due to the shielding and attenuation of internal positioning signals caused by the facility frame structure and the multipath effect of communication signals, the positioning signal strength is greatly reduced, making it impossible to apply to precise positioning and navigation inside the facility. How to meet the high-precision navigation requirements required for autonomous operations such as farming, sowing, plant protection, harvesting, and logistics in facility agriculture is particularly important.

[0003] Through literature search of prior art, it was found that the invention patent with patent application number 202110137044.9 of "A monorail logistics vehicle with precise positioning for facility agriculture" uses navigation and positioning methods to lay tracks between the pillars on both sides of the facility greenhouse, so that the vehicle can travel along a fixed track. Although this method has good stability and high precision, it can only be operated on one side of the facility and cannot enter a single row to perform related operations. The invention patent with patent application number 201310670524.7 of "A visual navigation path recognition method for a greenhouse mobile robot" uses navigation and positioning methods to collect information from the camera and then process it to finally obtain navigation path information. Although this method has high precision and good real-time performance, the camera has a strong dependence on light, and it is difficult to achieve stable operation around the clock. The invention patent with patent application number 201811578485.7 of "Greenhouse autonomous operation navigation control device, method and controller" uses the time difference between the ultra-pulse width signal transmitted by the base station and the arrival of the mobile workbench to locate and navigate the mobile workbench. Although this method has good real-time performance, the dense crops inside the facility have a great interference with the signal, resulting in low positioning accuracy.

[0004] In view of the problems existing in the navigation and positioning of existing greenhouse facilities, it is urgent to invent high-precision navigation devices and methods for autonomous operations in the facility environment, so as to provide high-precision navigation and positioning for autonomous operation platforms such as transportation, plant protection, harvesting, and inspection in the facility environment. Summary of the invention

[0005] The technical problem to be solved by the present invention is to address the above shortcomings and provide a high-precision navigation device and method for autonomous operation in a facility environment based on air-ground collaboration. By building a movable electromagnetic wire above the greenhouse passage route of the facility and arranging a UWB positioning base station inside, high-precision navigation and positioning of the autonomous operation vehicle can be achieved in a complex facility environment.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] The invention discloses a high-precision navigation device for autonomous operation in a facility environment based on air-ground collaboration, comprising an electromagnetic wire navigation system, an autonomous operation vehicle, a positioning system and a cloud platform. The electromagnetic wire navigation system is located above a planting plot in a greenhouse of the facility, and is used to plan an operation path of the autonomous operation vehicle so that the autonomous operation vehicle can travel along a prescribed route. The autonomous operation vehicle is located directly below the electromagnetic wire navigation system, and relies on the electromagnetic wire navigation system to complete high-precision operations in a facility environment. The positioning system is used to determine the plot position of the autonomous operation vehicle in the greenhouse of the facility, so as to determine the next operation route. The cloud platform connects the electromagnetic wire navigation system, the positioning system and multiple autonomous operation vehicles of different plots through a 4G or 5G network to realize centralized cloud-based control.

[0008] Furthermore, the electromagnetic wire navigation system includes a signal source generator and an electromagnetic wire. The signal source generator is connected to the electromagnetic wire to provide an electromagnetic signal to the electromagnetic wire. The electromagnetic wire is arranged above the passageway of the greenhouse facility so that a relatively stable magnetic field is generated around the electromagnetic wire.

[0009] Furthermore, the electromagnetic wire navigation system also includes a first movable pulley and a second movable pulley, the first movable pulley is connected to a first travel motor, the second movable pulley is connected to a second travel motor, wherein the electromagnetic wires in the east-west direction on the north side are fixed and cannot be moved, and the electromagnetic wires in the north-south direction on the east and west sides are fixed and cannot be moved, and the electromagnetic wires between the rows can be moved in the east-west direction driven by the first movable pulley and the second movable pulley, and the electromagnetic wires generate cross electromagnetic signals and right-angle electromagnetic signals through the first movable pulley and the second movable pulley;

[0010] The electromagnetic wire navigation system also includes a guide rail, which is fixed to the greenhouse frame of the facility. The first travel motor and the second travel motor are both installed on the guide rail and can move along the guide rail. A rack is provided inside the guide rail to cooperate with the first travel motor and the second travel motor to move precisely, and the electromagnetic wires between rows are driven to move horizontally through the first movable pulley and the second movable pulley.

[0011] Furthermore, the electromagnetic wire navigation system also includes a navigation system control terminal, which is connected to the signal source generator, the first travel motor and the second travel motor. The navigation system control terminal is remotely connected to the cloud platform, and receives control instructions from the cloud platform through remote wireless communication to realize the opening and closing of the signal source generator, and the forward rotation, reverse rotation and stop of the first travel motor and the second travel motor.

[0012] Furthermore, the electromagnetic wire navigation system also includes a fixed pulley fixed to the greenhouse frame of the facility. A certain pulley is arranged at each of the three corners of the electromagnetic wire. The electromagnetic wire passes through the fixed pulley, so that the electromagnetic wire in the east-west direction on the north side is turned into the north-south direction, and the electromagnetic wire in the north-south direction on the west side is turned into the east-west direction, thereby generating a right-angle electromagnetic signal at the bend.

[0013] Furthermore, the autonomous working vehicle comprises a chassis, on which a driving mechanism, a lifting mechanism and an electromagnetic detection sensor are fixed, the driving mechanism is used to drive the overall movement of the autonomous working vehicle to achieve forward and backward movement and turning on the spot; one end of the lifting mechanism is fixed on the chassis, and the other end is connected to the electromagnetic detection sensor, which is used to adjust the height of the electromagnetic detection sensor;

[0014] The autonomous work vehicle also includes an encoder and an autonomous work vehicle control terminal. The encoder records mileage during line patrol and integrates positioning system data to achieve precise positioning. One end of the autonomous work vehicle control terminal is connected to a drive mechanism, a lifting mechanism, an electromagnetic detection sensor and an encoder, and the other end is connected to a cloud platform. By receiving control instructions from the cloud platform, the autonomous work vehicle can move forward, backward and make right-angle turns, and upload the mileage data measured by the encoder to the cloud platform.

[0015] Furthermore, the electromagnetic detection sensor is installed on the center of the chassis through a lifting mechanism. When the autonomous work vehicle turns around the center of the chassis in situ, the electromagnetic detection sensor rotates synchronously around the center of the chassis. The electromagnetic detection sensor is located directly below the electromagnetic wire. A number of vertical inductors perpendicular to the electromagnetic wire are symmetrically arranged around the electromagnetic wire, and a number of parallel inductors parallel to the electromagnetic wire are symmetrically arranged around the electromagnetic wire. The vertical inductors are used to detect electromagnetic signals perpendicular to the electromagnetic detection sensors, and the parallel inductors are used to detect electromagnetic signals parallel to the electromagnetic detection sensors, so as to ensure the acquisition of signals when the device moves forward and turns in the direction of laying the electromagnetic wire.

[0016] Furthermore, the positioning system includes a UWB positioning module and a positioning system acquisition terminal. The UWB positioning module obtains the current position of the autonomous vehicle through the autonomous vehicle's own positioning tag and positioning base station, and integrates the mileage data measured by the encoder to achieve high-precision positioning of the autonomous vehicle in the plot operation area, and can accurately distinguish the plot number and the rough position of the automatic vehicle under the electromagnetic line; the positioning acquisition system terminal is connected to the UWB positioning module at one end and to the cloud platform at the other end, and is used to upload the position coordinates of the autonomous vehicle to the cloud platform.

[0017] Furthermore, the cloud platform includes an autonomous work vehicle path planning module, an aerial movable electromagnetic wire motion control module and an autonomous work vehicle control module. The autonomous work vehicle path planning module is used to calculate the real-time position of the autonomous work vehicle and the coordinates between the work plots, and plan the driving path of the autonomous work vehicle from the current position to the work plot; the aerial movable electromagnetic wire motion control module is used for the autonomous work vehicle to turn on the signal source generator in the electromagnetic wire navigation system of the local plot before entering the work plot, to move the electromagnetic wires between rows when the autonomous work vehicle moves between plots, and to turn off the signal source generator in the electromagnetic wire navigation system of the local plot after the autonomous work vehicle leaves the plot; the autonomous work vehicle control module is used to send control instructions to the autonomous work vehicle according to the planned driving path.

[0018] A navigation method for autonomous operation in a facility environment based on air-ground collaboration, the navigation method comprising the following steps:

[0019] Step 1, patrolling the magnetic wire and going straight: when the autonomous vehicle is patrolling the line and going straight along the working route, the vertical inductances on both sides of the electromagnetic detection sensor collect the magnitude of the magnetic flux on both sides, and the collected values ​​are normalized to determine the left and right positions of the autonomous vehicle relative to the electromagnetic wire. When the position deviates, the direction of travel of the autonomous vehicle is adjusted so that the autonomous vehicle moves forward in the direction in which the electromagnetic wire is erected; if the electromagnetic wire between the rows sags, the height of the electromagnetic detection sensor to the ground is adjusted by the lifting mechanism during the autonomous vehicle patrolling the line, so that the vertical distance between the electromagnetic detection sensor and the electromagnetic wire remains basically unchanged;

[0020] Step 2, cross-line electromagnetic signal steering: When the autonomous vehicle is working straight along the working route, the parallel inductances on both sides of the electromagnetic detection sensor collect the magnitude of the magnetic flux on both sides, and the collected values ​​are normalized to determine whether the autonomous vehicle has reached the cross-line electromagnetic signal. When the magnetic flux on both sides gradually increases, it means that the autonomous vehicle is close to the cross-line electromagnetic signal. When the magnetic flux on both sides reaches the maximum, it means that the autonomous vehicle is directly below the cross-line electromagnetic signal. At this time, the autonomous vehicle rotates 90° around the center of the chassis to turn;

[0021] Step 3, horizontal movement of the electromagnetic wires between the rows: the first travel motor rotates forward, drives the electromagnetic wires between the rows on the east side to move horizontally eastward through the first movable pulley, the first travel motor stops, and the electromagnetic wires between the rows on the east side stop moving; the first travel motor rotates reversely, drives the electromagnetic wires between the rows to move horizontally westward through the first movable pulley, the first travel motor stops, and the electromagnetic wires between the rows on the east side stop moving; the second travel motor rotates forward, drives the electromagnetic wires between the rows on the west side to move horizontally eastward through the second movable pulley, the second travel motor stops, and the electromagnetic wires between the rows on the west side stop moving; the second travel motor rotates reversely, drives the electromagnetic wires between the rows on the west side to move horizontally westward through the second movable pulley, the second travel motor stops, and the electromagnetic wires between the rows on the west side stop moving;

[0022] Step 4, right-angle electromagnetic signal steering: When the autonomous vehicle is working straight along the working route, the parallel inductances on both sides of the electromagnetic detection sensor collect the magnitude of the magnetic flux on both sides, and the collected values ​​are normalized to determine whether the autonomous vehicle has reached the right-angle electromagnetic signal. When only one side of the magnetic flux gradually increases, it means that the autonomous vehicle is close to the right-angle electromagnetic signal. When the magnetic flux on one side reaches the maximum, it means that the autonomous vehicle is directly below the right-angle electromagnetic signal. At this time, the autonomous vehicle rotates 90° around the center of the chassis to turn;

[0023] Step 5, driving following the right-angle electromagnetic signal: when the autonomous vehicle detects that the right-angle electromagnetic signal of the electromagnetic wire between the rows turns, the electromagnetic wire between the rows moves horizontally westward or eastward. At this time, the right-angle electromagnetic signal moves horizontally westward or eastward along the moving direction of the electromagnetic wire, and the autonomous vehicle drives following the right-angle electromagnetic signal;

[0024] Step 6, positioning information fusion: During the movement of the autonomous vehicle, the UWB positioning tag 10 of the autonomous vehicle interacts with the positioning base station 9 to determine the current approximate position of the autonomous vehicle. The encoder on the autonomous vehicle records the precise mileage of the autonomous vehicle. When reaching the turning point of each row, that is, when the electromagnetic detection sensor detects a cross electromagnetic signal or a right-angle electromagnetic signal, the mileage of the encoder is automatically calibrated according to the actual distance of each row to ensure the accuracy of the mileage recorded by the encoder. When the autonomous vehicle loses power and resets, the UWB positioning system can provide the approximate position of the device. The controller preliminarily assigns a value to the encoder based on the approximate position. When waiting for the next turning point, the mileage of the encoder is calibrated to ensure the accuracy of the positioning of the autonomous vehicle.

[0025] Step 7, entering the operation area: When the operation starts, the staff determines the operation area of ​​the device on the cloud platform. The cloud platform determines the initial position of the operation based on the pre-set internal plot scene map of the facility greenhouse. The cloud platform sends the data string containing the initial position point of the operation to the autonomous operation vehicle. The control terminal of the autonomous operation vehicle parses the received data string and plans the driving route.

[0026] The process of the autonomous vehicle entering the working plot ij (i≤m,j≤n) from the initial position is as follows: the autonomous vehicle drives along the electromagnetic wire on the north side of plot 1-1. When the electromagnetic detection sensor detects the 2# right-angle electromagnetic signal, it continues to drive forward and enters the electromagnetic signal blind spot. At this time, the electromagnetic detection sensor cannot detect the electromagnetic signal, and the autonomous vehicle continues to move forward; when the electromagnetic detection sensor detects the 2# right-angle electromagnetic signal of plot 2-1, it means entering plot 2-1. The autonomous vehicle continues to search for the electromagnetic wire and goes straight, and enters the next plot in the above manner; when the electromagnetic detection sensor detects the right-angle electromagnetic signal of plot i-1, the autonomous vehicle rotates 90° clockwise around the chassis. At this time, the electromagnetic wire in the north-south direction on the west side of plot i-1 is just within the signal detection range of the electromagnetic detection sensor. The autonomous vehicle patrols the line; when the electromagnetic detection sensor detects the 1# right-angle electromagnetic signal of plot i-2, it indicates that the autonomous vehicle has entered plot i-2, and the autonomous vehicle continues to move forward; in the above manner, it enters the next plot; when the electromagnetic detection sensor detects the 5# right-angle electromagnetic signal, the autonomous vehicle continues to move forward and enters the electromagnetic signal blind spot. At this time, the electromagnetic detection sensor cannot detect the electromagnetic signal, and the autonomous vehicle continues to move forward; when the electromagnetic detection sensor detects the 1# right-angle electromagnetic signal of plot ij, it indicates that the autonomous vehicle has entered plot ij, and the autonomous vehicle rotates 90° counterclockwise around the center of the chassis and waits for the next instruction. At this time, the electromagnetic wires between the left rows of the operation plot ij move to the left of the first row aisle, and the electromagnetic wires between the right rows move to just above the first row aisle;

[0027] Step 8, enter the inter-row operation: the autonomous operation vehicle patrols the electromagnetic wires on the north side. When the electromagnetic detection sensor detects the 1# cross electromagnetic signal, the autonomous operation vehicle continues to move forward; when the electromagnetic detection sensor detects the 2# cross electromagnetic signal, the autonomous operation vehicle rotates 90° clockwise around the center of the chassis and turns to enter the 1st aisle, and the autonomous operation vehicle patrols the electromagnetic wires between the rows; when the electromagnetic detection sensor detects the 3# right-angle electromagnetic signal, the autonomous operation vehicle rotates 90° counterclockwise around the center of the chassis and turns; the first travel motor rotates forward, and drives the electromagnetic wires between the rows and the 3# right-angle electromagnetic signal to move eastward through the first movable pulley, and the autonomous operation vehicle follows the 3# right-angle electromagnetic signal; when the electromagnetic wires between the rows move to just above the 2nd aisle, The first travel motor stops, and the 3# right-angle electromagnetic signal is at the south end of the 2nd aisle; when the autonomous vehicle moves to the bottom of the 3# right-angle electromagnetic signal, it rotates 90° counterclockwise around the center of the chassis and turns to enter the 2nd aisle, and the autonomous vehicle patrols the electromagnetic wires between the rows; when the electromagnetic detection sensor detects the 2# cross electromagnetic signal, the autonomous vehicle rotates 90° clockwise around the chassis and turns to stop; the first travel motor rotates forward, and drives the electromagnetic wires between the rows and the 2# cross electromagnetic signal to move horizontally eastward through the first movable pulley. When the electromagnetic wires between the rows move to the top of the 3rd aisle, the first travel motor stops, and the 2# cross electromagnetic signal is at the north end of the 3rd aisle; the autonomous vehicle patrols the electromagnetic wires on the north side and enters the next cycle;

[0028] At this time, if there is another working vehicle patrolling the electromagnetic wires between the rows on the west side of the plot ij, its movement process refers to step 8. The electromagnetic wires between the rows on the west side are always on the left of the electromagnetic wires between the rows on the east side. The autonomous working vehicle patrols the electromagnetic wires on the north side. When the electromagnetic detection sensor detects the 1# cross electromagnetic signal, the autonomous working vehicle rotates 90° clockwise around the center of the chassis and turns to enter the 1st row aisle. The autonomous working vehicle patrols the electromagnetic wires between the rows; when the electromagnetic detection sensor detects the 4# right-angle electromagnetic signal, the autonomous working vehicle rotates 90° counterclockwise around the center of the chassis and turns to stop; the second traveling motor rotates forward, and drives the electromagnetic wires between the rows and the 4# right-angle electromagnetic signal to move horizontally to the east through the second movable pulley; when the electromagnetic wires between the rows move to just above the 2nd row aisle, the second traveling motor stops. Stop, 4# right-angle electromagnetic signal is at the south end of the 2nd aisle; at this time, the autonomous vehicle patrols the line and goes straight. When the electromagnetic detection sensor detects the 4# right-angle electromagnetic signal, the autonomous vehicle rotates 90° counterclockwise around the center of the chassis and turns to enter the 2nd aisle. The autonomous vehicle patrols the electromagnetic wires between the rows; when the electromagnetic detection sensor detects the 2# cross electromagnetic signal, the autonomous vehicle rotates 90° clockwise around the chassis and turns to stop; the second travel motor rotates forward, and drives the electromagnetic wires between the rows and the 1# cross electromagnetic signal to move horizontally eastward through the second movable pulley. When the electromagnetic wires between the rows move to just above the 3rd aisle, the second travel motor stops, and the 1# cross electromagnetic signal is at the north end of the 3rd aisle; the autonomous vehicle patrols the electromagnetic wires on the north side and enters the next cycle;

[0029] Step 9, return to the initial position: After the automatic operation vehicle completes the operation on plot ij, it patrols back to the 1# right-angle electromagnetic signal, rotates 90 degrees clockwise around the center of the chassis, and continues to drive forward into the electromagnetic signal blind spot. At this time, the electromagnetic detection sensor cannot detect the electromagnetic signal, and the autonomous operation vehicle continues to move forward; when the electromagnetic detection sensor detects the 5# right-angle electromagnetic signal of plot i-(j-1), it indicates that it has entered the plot i-(j-1) and continues to patrol the electromagnetic line; according to the above method, it enters the next plot; after entering plot i-1, ... When the sensor detects the 1# right-angle electromagnetic signal of plot i-1, it rotates 90 degrees counterclockwise around the center of the chassis and continues to move forward into the blind spot of the electromagnetic signal. At this time, the electromagnetic detection sensor cannot detect the electromagnetic signal, and the autonomous vehicle continues to move forward; when the electromagnetic detection sensor detects the 2# right-angle electromagnetic signal of plot (i-1)-1, it indicates entering the plot i-(j-1) and continues to patrol the line and go straight, and enters the next plot in the above manner; when the electromagnetic detection sensor detects the 1# right-angle electromagnetic signal of plot 1-1, the autonomous vehicle returns to its initial position.

[0030] The present invention adopts the above technical solution, and has the following technical effects compared with the prior art:

[0031] 1. Navigation is carried out by setting up movable electromagnetic wires, which has high reliability and enables high-precision line patrol navigation operations of autonomous operation vehicles;

[0032] 2. Combining the UWB positioning method with the encoder positioning method solves the problems of low UWB positioning accuracy when there are many obstructions inside the greenhouse and loss of encoder recorded data when power is off and reset, thus realizing large-scale, high-precision autonomous operation guidance inside the greenhouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0034] Figure 1 It is a schematic diagram of the structure of the movable electromagnetic wire arrangement in the air;

[0035] Figure 2 Schematic diagram of the layout and operation trajectory of the UWB positioning base station;

[0036] Figure 3 It is a schematic diagram of the inductance distribution mode of the electromagnetic detection sensor and the relative position of the cross-cross magnetic lines;

[0037] Figure 4 It is a schematic diagram of the inductance distribution mode of the electromagnetic detection sensor and the relative position of the vertical magnetic line;

[0038] Figure 5 This is a schematic diagram of the autonomous vehicle's movement;

[0039] Figure 6 This is a schematic diagram of the connection between each terminal and the cloud platform;

[0040] In the figure: 1. signal source generator; 2. electromagnetic wire; 3. first movable pulley; 4. first travel motor; 5. second movable pulley; 6. second travel motor; 7. fixed pulley; 8. guide rail; 9. positioning base station; 10. positioning tag; 11. vertical inductor; 12. parallel inductor; 13. autonomous work vehicle; 14. lifting mechanism; 15 electromagnetic detection sensor. DETAILED DESCRIPTION

[0041] Embodiment 1, as Figures 1 to 6As shown, a high-precision navigation device and method for autonomous operation in a facility environment based on air-ground collaboration includes an electromagnetic wire navigation system, an autonomous work vehicle 13, a positioning system and a cloud platform, wherein the electromagnetic wire navigation system is movable, and the electromagnetic wire navigation system is located above a planting plot in a facility greenhouse, and is used to plan the operation path of the autonomous work vehicle 13 so that the autonomous work vehicle 13 travels along a prescribed route; the autonomous work vehicle 13 is located directly below the electromagnetic wire navigation system, and relies on the electromagnetic wire navigation system to complete high-precision operations in a facility environment; the positioning system is used to determine the plot position of the autonomous work vehicle 13 in the facility greenhouse to determine the next operating route; the cloud platform connects the electromagnetic wire navigation systems, positioning systems and multiple autonomous work vehicles of different plots through 4G or 5G networks, etc., to achieve centralized cloud-based control.

[0042] The electromagnetic wire navigation system includes a signal source generator 1, an electromagnetic wire 2, a first movable pulley 3, a second movable pulley 5, three fixed pulleys 7, a first travel motor 4, a second travel motor 6, a guide rail 8 and a navigation system control terminal. The signal source generator 1 is connected to the electromagnetic wire 2 to provide an electromagnetic signal for the electromagnetic wire 2; the electromagnetic wire 2 is arranged above the passage of the greenhouse facility, and the signal source generator 1 provides an electromagnetic signal for the electromagnetic wire 2, so that a relatively stable magnetic field is generated around the electromagnetic wire 2.

[0043] The first movable pulley 3 and the second movable pulley 5 are connected to the electromagnetic wire 2, the first movable pulley 3 is connected to the first travel motor 4, the second movable pulley 5 is connected to the second travel motor 6, the electromagnetic wire 2 in the east-west direction on the north side is fixed and cannot move, the electromagnetic wire 2 in the north-south direction on the east and west sides is fixed and cannot move, and the electromagnetic wire 2 between rows can move in the east-west direction driven by the first movable pulley 3 and the second movable pulley 5, and the electromagnetic wire 2 generates a cross electromagnetic signal and a right-angle electromagnetic signal through the first movable pulley 3 and the second movable pulley 5.

[0044] The first traveling motor 4 and the second traveling motor 6 are both mounted on a guide rail 8 and can move along the guide rail; the guide rail 8 is fixed to the greenhouse frame of the facility and is provided with a rack inside to cooperate with the first traveling motor 4 and the second traveling motor 6 for precise movement, and drives the electromagnetic wire 2 between the rows to move horizontally through the first movable pulley 3 and the second movable pulley 5.

[0045] The navigation system control terminal is connected to the signal source generator 1, the first travel motor 4 and the second travel motor 6. The navigation system control terminal is remotely connected to the cloud platform, and receives control instructions from the cloud platform through remote wireless communication to realize the opening and closing of the signal source generator 1, and the forward rotation, reverse rotation and stop of the first travel motor 4 and the second travel motor 6.

[0046] The fixed pulley 7 is fixed to the greenhouse frame of the facility. Three fixed pulleys 7 are arranged at the corners of the electromagnetic wire 2. The electromagnetic wire 2 passes through the fixed pulley 7, so that the electromagnetic wire 2 in the east-west direction on the north side is turned into the north-south direction, and the electromagnetic wire 2 in the north-south direction on the west side is turned into the east-west direction, generating a right-angle electromagnetic signal at the bend.

[0047] The autonomous working vehicle 13 includes a chassis, a driving mechanism, a lifting mechanism 14, an electromagnetic detection sensor 15, an encoder and an autonomous working vehicle control terminal. The chassis is the mechanical basis of the autonomous working vehicle 13 and is used to fix the driving mechanism, the lifting mechanism 14 and the electromagnetic detection sensor 15; the driving mechanism is used to drive the overall movement of the autonomous working vehicle 13 to achieve forward and backward movement and turning on the spot; one end of the lifting mechanism 14 is fixed to the chassis and the other end is connected to the electromagnetic detection sensor 15, which is used to adjust the height of the electromagnetic detection sensor 15 to meet the needs of detecting electromagnetic wires 2 at different heights.

[0048] The electromagnetic detection sensor 15 is installed on the center of the chassis through the lifting mechanism 14. When the autonomous working vehicle 13 turns around the center of the chassis in situ, the electromagnetic detection sensor 15 rotates synchronously around the center of the chassis. The electromagnetic detection sensor 15 is located directly below the electromagnetic wire 2. A number of vertical inductors 11 perpendicular to the electromagnetic wire 2 are symmetrically arranged around the electromagnetic wire 2, and a number of parallel inductors 12 parallel to the electromagnetic wire 2 are symmetrically arranged around the electromagnetic wire 2. The vertical inductors 11 are used to detect electromagnetic signals perpendicular to the electromagnetic detection sensor 15, and the parallel inductors 12 are used to detect electromagnetic signals parallel to the electromagnetic detection sensor 15, so as to ensure the acquisition of signals for the device to move forward and turn in the direction in which the electromagnetic wire 2 is laid.

[0049] The encoder is connected to the autonomous work vehicle 13 to record mileage during line patrol and integrate positioning system data to achieve precise positioning; one end of the autonomous work vehicle control terminal is connected to the driving mechanism, lifting mechanism 14, electromagnetic detection sensor 15 and encoder, and the other end is connected to the cloud platform. By receiving control instructions from the cloud platform, the autonomous work vehicle 13 can move forward, backward and turn at right angles, and the mileage data measured by the encoder is uploaded to the cloud platform.

[0050] The positioning system includes a UWB positioning module and a positioning system acquisition terminal. The UWB positioning module obtains the current approximate position of the autonomous working vehicle 13 through the positioning tag 10 of the autonomous working vehicle 13 itself and the positioning base station 9, and integrates the mileage data measured by the encoder to achieve high-precision positioning of the autonomous working vehicle 13 in the land operation area, and can accurately distinguish the land lot number and the rough position of the automatic working vehicle under the electromagnetic wire 2; the positioning acquisition system terminal is connected to the UWB positioning module at one end and to the cloud platform at the other end, and is used to upload the position coordinates of the autonomous working vehicle 13 to the cloud platform.

[0051] The cloud platform includes an autonomous vehicle path planning module, an aerial movable electromagnetic wire motion control module and an autonomous vehicle control module. The autonomous vehicle path planning module is used to calculate the coordinates between the real-time position of the autonomous vehicle and the working plot, and plan the driving path of the autonomous vehicle 13 from the current position to the working plot; the aerial movable electromagnetic wire motion control module is used for the autonomous vehicle 13 to turn on the signal source generator 1 in the electromagnetic wire navigation system of the local plot before entering the working plot, to move the electromagnetic wire 2 between rows when the autonomous vehicle moves between plots, and to turn off the signal source generator 1 in the electromagnetic wire navigation system of the local plot after the autonomous vehicle 13 leaves the plot; the autonomous vehicle control module is used to send control instructions to the autonomous vehicle 13 according to the planned driving path.

[0052] The present invention provides a navigation method for autonomous operation in a facility environment based on air-ground collaboration, comprising the following steps:

[0053] Step 1, magnetic line navigation: When the autonomous vehicle 13 is working along the working route, the vertical inductors 11 on both sides of the electromagnetic detection sensor 15 collect the magnitude of the magnetic flux on both sides, normalize the collected values, and determine the left and right positions of the autonomous vehicle 13 relative to the electromagnetic wire 2. When the position deviates, adjust the direction of the autonomous vehicle 13 so that the autonomous vehicle 13 moves along the direction of the electromagnetic wire 2. If the electromagnetic wire 2 between the rows sags, the height of the electromagnetic detection sensor 15 above the ground is adjusted by the lifting mechanism 14 during the autonomous vehicle 13 patrolling the line, so that the vertical distance between the electromagnetic detection sensor 15 and the electromagnetic wire 2 remains basically unchanged.

[0054] Step 2, cross-line electromagnetic signal steering navigation: When the autonomous work vehicle 13 is working straight along the work route, the parallel inductors 12 on both sides of the electromagnetic detection sensor 15 collect the magnitude of the magnetic flux on both sides, and normalize the collected values ​​to determine whether the autonomous work vehicle 13 has reached the cross-line electromagnetic signal. When the magnetic flux on both sides gradually increases, it means that the autonomous work vehicle 13 is close to the cross-line electromagnetic signal. When the magnetic flux on both sides reaches the maximum, it means that the autonomous work vehicle 13 is directly below the cross-line electromagnetic signal. At this time, the autonomous work vehicle 13 rotates 90° around the center of the chassis to turn.

[0055] Step 3, horizontal movement of the electromagnetic wires 2 between the rows: the first travel motor 4 rotates forward, and drives the electromagnetic wires 2 between the rows on the east side to move horizontally eastward through the first movable pulley 3, the first travel motor 4 stops, and the electromagnetic wires 2 between the rows on the east side stop moving; the first travel motor 4 reverses, and drives the electromagnetic wires 2 between the rows to move horizontally westward through the first movable pulley 3, the first travel motor 4 stops, and the electromagnetic wires 2 between the rows on the east side stop moving; the second travel motor 6 rotates forward, and drives the electromagnetic wires 2 between the rows on the west side to move horizontally eastward through the second movable pulley 5, the second travel motor 6 stops, and the electromagnetic wires 2 between the rows on the west side stop moving; the second travel motor 6 reverses, and drives the electromagnetic wires 2 between the rows on the west side to move horizontally westward through the second movable pulley 5, the second travel motor 6 stops, and the electromagnetic wires 2 between the rows on the west side stop moving;

[0056] Step 4, right-angle electromagnetic signal steering navigation: When the autonomous work vehicle 13 is working straight along the work route, the parallel inductors 12 on both sides of the electromagnetic detection sensor 15 collect the magnitude of the magnetic flux on both sides, and normalize the collected values ​​to determine whether the autonomous work vehicle 13 has reached the right-angle electromagnetic signal. When only one side of the magnetic flux gradually increases, it means that the autonomous work vehicle 13 is close to the right-angle electromagnetic signal. When the magnetic flux on one side reaches the maximum, it means that the autonomous work vehicle 13 is directly below the right-angle electromagnetic signal. At this time, the autonomous work vehicle 13 rotates 90° around the center of the chassis to turn.

[0057] Step 5, navigation by following right-angle electromagnetic signals: When the autonomous working vehicle 13 detects that the right-angle electromagnetic signal of the electromagnetic wires 2 between the rows turns, the electromagnetic wires 2 between the rows move horizontally westward or eastward. At this time, the right-angle electromagnetic signal moves horizontally westward or eastward along the movement direction of the electromagnetic wires 2, and the autonomous working vehicle 13 follows the right-angle electromagnetic signal.

[0058] Step 6, positioning information fusion: During the movement of the autonomous vehicle 13, the UWB positioning tag 10 of the autonomous vehicle 13 interacts with the positioning base station 9 to determine the current approximate position of the autonomous vehicle 13. The encoder on the autonomous vehicle 13 records the precise mileage of the autonomous vehicle 13. When it reaches the turning point of each row, that is, when the electromagnetic detection sensor 15 detects a cross electromagnetic signal or a right-angle electromagnetic signal, the mileage of the encoder is automatically calibrated according to the actual distance of each row to ensure the accuracy of the mileage recorded by the encoder. When the autonomous vehicle 13 loses power and resets, the UWB positioning system can provide the approximate position of the device. The controller preliminarily assigns a value to the encoder based on the approximate position. When waiting for the next turning point, the mileage of the encoder is calibrated to ensure the accuracy of the positioning of the autonomous vehicle 13.

[0059] Step 7, enter the operation area navigation: When the operation starts, the staff determines the operation area of ​​the device on the cloud platform. The cloud platform determines the initial position of the operation based on the pre-set internal plot scene map of the facility greenhouse. The cloud platform sends the data string containing the initial position point of the operation to the autonomous operation vehicle 13. The control terminal of the autonomous operation vehicle parses the received data string and plans the driving route.

[0060] The process of the autonomous working vehicle 13 entering the working plot ij (i≤m, j≤n) from the initial position is as follows: the autonomous working vehicle 13 travels along the electromagnetic wire 2 on the north side of the plot 1-1. When the electromagnetic detection sensor 15 detects the 2# right-angle electromagnetic signal, it continues to travel forward and enters the electromagnetic signal blind spot. At this time, the electromagnetic detection sensor 15 cannot detect the electromagnetic signal, and the autonomous working vehicle 13 continues to move forward; when the electromagnetic detection sensor 15 detects the 2# right-angle electromagnetic signal of the plot 2-1, it indicates that it has entered the plot 2-1. The autonomous working vehicle 13 continues to search for the electromagnetic wire 2 and goes straight, and enters the next plot in the above manner; when the electromagnetic detection sensor 15 detects the right-angle electromagnetic signal of the plot i-1, the autonomous working vehicle 13 rotates 90° clockwise around the chassis and turns. At this time, the north-south direction on the west side of the plot i-1 The electromagnetic wire 2 is just within the signal detection range of the electromagnetic detection sensor 15, and the autonomous vehicle 13 is patrolling the line; when the electromagnetic detection sensor 15 detects the 1# right-angle electromagnetic signal of plot i-2, it indicates that the autonomous vehicle has entered plot i-2, and the autonomous vehicle 13 continues to move forward; in the above manner, it enters the next plot; when the electromagnetic detection sensor 15 detects the 5# right-angle electromagnetic signal, the autonomous vehicle 13 continues to move forward and enters the electromagnetic signal blind spot. At this time, the electromagnetic detection sensor 15 cannot detect the electromagnetic signal, and the autonomous vehicle 13 continues to move forward; when the electromagnetic detection sensor 15 detects the 1# right-angle electromagnetic signal of plot ij, it indicates that the autonomous vehicle 13 has entered plot ij, and the autonomous vehicle rotates 90° counterclockwise around the center of the chassis and waits for the next instruction. At this time, the electromagnetic wire 2 between the left rows of the operation plot ij moves to the left of the first row aisle, and the electromagnetic wire 2 between the right rows moves to just above the first row aisle.

[0061] Step 8, enter the row-to-row operation navigation: the autonomous operation vehicle 13 patrols the electromagnetic wire 2 on the north side, and when the electromagnetic detection sensor 15 detects the 1# cross electromagnetic signal, the autonomous operation vehicle continues to move forward; when the electromagnetic detection sensor 15 detects the 2# cross electromagnetic signal, the autonomous operation vehicle 13 rotates 90° clockwise around the center of the chassis and turns to enter the 1st aisle, and the autonomous operation vehicle 13 patrols the electromagnetic wire 2 between the rows; when the electromagnetic detection sensor 15 detects the 3# right-angle electromagnetic signal, the autonomous operation vehicle 13 rotates 90° counterclockwise around the center of the chassis and turns; the first travel motor 4 rotates forward, and drives the electromagnetic wire 2 and the 3# right-angle electromagnetic signal between the rows to move eastward through the first movable pulley 3, and the autonomous operation vehicle 13 follows the 3# right-angle electromagnetic signal; when the electromagnetic wire 2 between the rows moves to the top of the 2nd aisle When the autonomous vehicle 13 moves to the right below the 3# right-angle electromagnetic signal, it rotates 90° counterclockwise around the center of the chassis and turns to enter the 2# aisle. The autonomous vehicle 13 patrols the electromagnetic wire 2 between the rows. When the electromagnetic detection sensor 15 detects the 2# cross electromagnetic signal, the autonomous vehicle 13 rotates 90° clockwise around the chassis and turns to stop. The first traveling motor 4 rotates forward, driving the electromagnetic wire 2 between the rows and the 2# cross electromagnetic signal to move horizontally eastward through the first movable pulley 3. When the electromagnetic wire 2 between the rows moves to the top of the 3# aisle, the first traveling motor 4 stops, and the 2# cross electromagnetic signal is at the north end of the 3# aisle. The autonomous vehicle 13 patrols the electromagnetic wire 2 on the north side and enters the next cycle.

[0062] At this time, if there is another working vehicle patrolling the electromagnetic wire 2 between the rows on the west side of the plot ij, its movement process refers to step 8, and the electromagnetic wire 2 between the rows on the west side is always on the left of the electromagnetic wire 2 between the rows on the east side. The autonomous working vehicle 13 patrols the electromagnetic wire 2 on the north side. When the electromagnetic detection sensor 15 detects the 1# cross electromagnetic signal, the autonomous working vehicle 13 rotates 90° clockwise around the center of the chassis and turns to enter the 1st row aisle. The autonomous working vehicle 13 patrols the electromagnetic wire 2 between the rows; when the electromagnetic detection sensor 15 detects the 4# right-angle electromagnetic signal, the autonomous working vehicle 13 rotates 90° counterclockwise around the center of the chassis and turns to stop; the second travel motor 6 rotates forward, and drives the electromagnetic wire 2 between the rows and the 4# right-angle electromagnetic signal to move horizontally to the east through the second movable pulley 5; when the electromagnetic wire 2 between the rows moves to just above the 2nd row aisle, the second travel motor 6 stops, and the 4# right-angle electromagnetic signal is at the south end of the 2nd row aisle; at this time, the autonomous working vehicle 13 patrols the line Go straight, when the electromagnetic detection sensor 15 detects the 4# right-angle electromagnetic signal, the autonomous work vehicle 13 rotates 90° counterclockwise around the center of the chassis and turns to enter the 2nd aisle of the row, and the autonomous work vehicle 13 patrols the electromagnetic wire 2 between the rows; when the electromagnetic detection sensor 15 detects the 2# cross electromagnetic signal, the autonomous work vehicle 13 rotates 90° clockwise around the chassis and turns to stop; the second travel motor 6 rotates forward, and drives the electromagnetic wires between the rows and the 1# cross electromagnetic signal to move horizontally eastward through the second movable pulley 5. When the electromagnetic wire 2 between the rows moves to just above the 3rd aisle, the second travel motor 6 stops, and the 1# cross electromagnetic signal is at the north end of the 3rd aisle; the autonomous work vehicle 13 patrols the electromagnetic wire 2 on the north side and enters the next cycle.

[0063] Step 9, return to the initial position navigation: After the automatic operation vehicle completes the operation on the plot ij, it patrols back to the 1# right-angle electromagnetic signal, rotates 90 degrees clockwise around the center of the chassis, and continues to drive forward into the electromagnetic signal blind spot. At this time, the electromagnetic detection sensor 15 cannot detect the electromagnetic signal, and the autonomous operation vehicle 13 continues to move forward; when the electromagnetic detection sensor 15 detects the 5# right-angle electromagnetic signal of the plot i-(j-1), it indicates that it has entered the plot i-(j-1) and continues to patrol the electromagnetic line 2; according to the above method, it enters the next plot; after entering the plot i-1, when the electromagnetic detection sensor When the sensor 15 detects the 1# right-angle electromagnetic signal of plot i-1, it rotates 90 degrees counterclockwise around the center of the chassis and continues to move forward into the blind spot of the electromagnetic signal. At this time, the electromagnetic detection sensor 15 cannot detect the electromagnetic signal, and the autonomous work vehicle 13 continues to move forward; when the electromagnetic detection sensor 15 detects the 2# right-angle electromagnetic signal of plot (i-1)-1, it indicates that it has entered the plot i-(j-1) and continues to patrol the line and go straight, and enters the next plot in the above manner; when the electromagnetic detection sensor 15 detects the 1# right-angle electromagnetic signal of plot 1-1, the autonomous work vehicle 13 returns to the initial position.

[0064] The description of the present invention is given for the purpose of illustration and description, and is not intended to be exhaustive or to limit the invention to the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for particular uses.

Claims

1. A navigation method for autonomous operation in a facility environment based on air-ground collaboration, characterized in that: The navigation method is applied to a navigation method for autonomous operation in a facility environment based on air-ground collaboration. The autonomous operation high-precision navigation device comprises an electromagnetic wire navigation system and an autonomous operation vehicle (13). The autonomous operation vehicle (13) is located directly below the electromagnetic wire navigation system. The electromagnetic wire navigation system is movable. The electromagnetic wire navigation system is located above a planting plot in a greenhouse of the facility and is used to plan an operation path of the autonomous operation vehicle (13) so that the autonomous operation vehicle (13) travels along a prescribed route. The autonomous operation vehicle (13) relies on the electromagnetic wire navigation system to complete high-precision operations in the facility environment. The navigation device also includes a positioning system, the positioning system being used to determine the location of the plot of land where the autonomous working vehicle (13) is located in the greenhouse of the facility, so as to determine the next operation route; The navigation device also includes a cloud platform, which connects electromagnetic wire navigation systems, positioning systems and multiple autonomous working vehicles in different plots through 4G or 5G networks to achieve centralized cloud-based control; The electromagnetic wire navigation system comprises a signal source generator (1) and an electromagnetic wire (2), wherein the signal source generator (1) is connected to the electromagnetic wire (2) to provide an electromagnetic signal to the electromagnetic wire (2), and the electromagnetic wire (2) is arranged above a passageway of a greenhouse facility so that a relatively stable magnetic field is generated around the electromagnetic wire (2); The autonomous working vehicle (13) comprises a chassis, on which a driving mechanism, a lifting mechanism (14) and an electromagnetic detection sensor (15) are fixed, the driving mechanism being used to drive the overall movement of the autonomous working vehicle (13) to achieve forward and backward movement and turning on the spot; one end of the lifting mechanism (14) is fixed to the chassis, and the other end is connected to the electromagnetic detection sensor (15) and is used to adjust the height of the electromagnetic detection sensor (15), and the electromagnetic detection sensor (15) is located directly below the electromagnetic wire (2); The navigation method comprises the following steps: Magnetic patrol straight navigation: when the autonomous working vehicle (13) is working along the working route and following the line to work straight, the magnitude of the magnetic flux on both sides is collected, the collected values ​​are normalized, and the left and right positions of the autonomous working vehicle (13) relative to the electromagnetic wire (2) are determined. When the position deviates, the moving direction of the autonomous working vehicle (13) is adjusted so that the autonomous working vehicle (13) moves forward along the direction in which the electromagnetic wire (2) is erected; if the electromagnetic wire (2) between the rows sags, during the process of the autonomous working vehicle (13) patrolling the line, the height of the electromagnetic detection sensor (15) above the ground is adjusted so that the vertical distance between the electromagnetic detection sensor (15) and the electromagnetic wire (2) remains substantially unchanged; Cross-line electromagnetic signal steering navigation: When the autonomous working vehicle (13) is working straight along the working route, the magnitude of the magnetic flux on both sides is collected, and the collected values ​​are normalized to determine whether the autonomous working vehicle (13) has reached the cross-line electromagnetic signal. When the magnetic flux on both sides gradually increases, it indicates that the autonomous working vehicle (13) is close to the cross-line electromagnetic signal. When the magnetic flux on both sides reaches the maximum, it indicates that the autonomous working vehicle (13) is directly below the cross-line electromagnetic signal. At this time, the autonomous working vehicle (13) rotates 90 degrees to turn; Right-angle electromagnetic signal steering navigation: When the autonomous working vehicle (13) is working straight along the working route, the magnitude of the magnetic flux on both sides is collected, and the collected values ​​are normalized to determine whether the autonomous working vehicle (13) has reached the right-angle electromagnetic signal. When only one side of the magnetic flux gradually increases, it indicates that the autonomous working vehicle (13) is close to the right-angle electromagnetic signal. When the magnetic flux on one side reaches the maximum, it indicates that the autonomous working vehicle (13) is directly below the right-angle electromagnetic signal. At this time, the autonomous working vehicle (13) rotates 90 degrees to turn. Navigation by right-angle electromagnetic signal patrol: When the autonomous working vehicle (13) detects that the right-angle electromagnetic signal of the electromagnetic wire (2) between the rows turns, the electromagnetic wire (2) between the rows moves horizontally westward or eastward. At this time, the right-angle electromagnetic signal moves horizontally westward or eastward along the moving direction of the electromagnetic wire (2), and the autonomous working vehicle (13) follows the right-angle electromagnetic signal for travel.

2. The navigation method for autonomous operation in a facility environment based on air-ground collaboration as claimed in claim 1, characterized in that: The electromagnetic wire (2) comprises an electromagnetic wire fixedly arranged at the periphery of the working area, wherein the electromagnetic wires in three connected directions are fixed; The electromagnetic wire (2) also includes an electromagnetic wire arranged between rows in the working area, where the electromagnetic wire is movable.

3. The navigation method for autonomous operation in a facility environment based on air-ground collaboration as claimed in claim 1, characterized in that: The electromagnetic wire navigation system further comprises a movable pulley, the movable pulley being connected to a traveling motor, the electromagnetic wires (2) between the rows being movable driven by the movable pulley, the electromagnetic wires (2) between the rows generating right-angle electromagnetic signals via the movable pulley, and the electromagnetic wires (2) between the rows generating cross electromagnetic signals with the fixed electromagnetic wires (2) during movement; The electromagnetic wire navigation system also includes a guide rail (8), which is fixed to the greenhouse frame of the facility. The travel motors are installed on the guide rail (8) and can move along the guide rail. A rack is provided inside the guide rail (8) to cooperate with the travel motor to move accurately, and the electromagnetic wires (2) between the rows are driven to move horizontally through a movable pulley.

4. The navigation method for autonomous operation in a facility environment based on air-ground collaboration as claimed in claim 1, characterized in that: The electromagnetic wire navigation system further comprises a navigation system control terminal, the navigation system control terminal being connected to the signal source generator (1) and the travel motor, the navigation system control terminal being remotely connected to a cloud platform, receiving control instructions from the cloud platform via remote wireless communication, thereby realizing the opening and closing of the signal source generator (1) and the forward, reverse and stop of the travel motor.

5. The navigation method for autonomous operation in a facility environment based on air-ground collaboration as claimed in claim 1, characterized in that: The electromagnetic wire navigation system further comprises a fixed pulley (7) which is fixed to the greenhouse frame of the facility. A fixed pulley (7) is provided at each of the three corners of the fixed electromagnetic wire (2). The electromagnetic wire (2) passes through the fixed pulley (7), so that the electromagnetic wire (2) in the east-west direction on the north side is turned into the north-south direction, and the electromagnetic wire (2) in the north-south direction on the west side is turned into the east-west direction, thereby generating a right-angle electromagnetic signal at the turning point.

6. The navigation method for autonomous operation in a facility environment based on air-ground collaboration as claimed in claim 1, characterized in that: The autonomous working vehicle (13) further comprises an encoder and an autonomous working vehicle control terminal. The encoder is used to record mileage during line patrol and to integrate positioning system data to achieve precise positioning. One end of the autonomous working vehicle control terminal is connected to a driving mechanism, a lifting mechanism (14), an electromagnetic detection sensor (15) and the encoder, and the other end is connected to a cloud platform. By receiving control instructions from the cloud platform, the autonomous working vehicle (13) can move forward, backward and turn at right angles, and the mileage data measured by the encoder is uploaded to the cloud platform.

7. The navigation method for autonomous operation in a facility environment based on air-ground collaboration as claimed in claim 1, characterized in that: The navigation method further comprises the following steps: Navigation into the work area: When the work starts, the staff determines the work area of ​​the device on the cloud platform. The cloud platform determines the initial position of the work based on the pre-set internal plot scene map of the facility greenhouse. The cloud platform sends a data string containing the initial position point of the work to the autonomous work vehicle (13). The control terminal of the autonomous work vehicle parses the received data string and plans the driving route. The process of the autonomous working vehicle (13) entering the working plot ij (i≤m, j≤n) from the initial position is as follows: the autonomous working vehicle (13) drives along the electromagnetic wire (2) on the north side of plot 1-1. When it detects the 2# right-angle electromagnetic signal, it continues to drive forward and enters the electromagnetic signal blind area. At this time, no electromagnetic signal is detected, and the autonomous working vehicle (13) continues to move forward; when the right-angle electromagnetic signal of plot 2-12# is detected, it means that the autonomous working vehicle (13) has entered plot 2-1. The autonomous working vehicle (13) continues to search for the electromagnetic wire (2) and drives straight, and enters the next plot in the above manner; when the electromagnetic detection sensor (15) detects the right-angle electromagnetic signal of plot i-1, the autonomous working vehicle (13) rotates 90° clockwise. At this time, the electromagnetic wire (2) on the north-south direction on the west side of plot i-1 is just within the electromagnetic signal detection range. The autonomous vehicle (13) patrols the line; when the 1# right-angle electromagnetic signal of plot i-2 is detected, it indicates that the autonomous vehicle has entered plot i-2, and the autonomous vehicle (13) continues to move forward; in the above manner, it enters the next plot; when the electromagnetic detection sensor (15) detects the 5# right-angle electromagnetic signal, the autonomous vehicle (13) continues to move forward and enters the electromagnetic signal blind area. At this time, no electromagnetic signal is detected, and the autonomous vehicle (13) continues to move forward; when the 1# right-angle electromagnetic signal of plot ij is detected, it indicates that the autonomous vehicle (13) has entered plot ij, and the autonomous vehicle rotates 90° counterclockwise to wait for the next instruction. At this time, the electromagnetic wire (2) between the left rows of the operation plot ij moves to the left of the first row aisle, and the electromagnetic wire (2) between the right rows moves to just above the first row aisle.

8. The navigation method for autonomous operation in a facility environment based on air-ground collaboration as claimed in claim 1, characterized in that: The navigation method further comprises the following steps: Entering the navigation for inter-row operation: the autonomous operation vehicle (13) patrols the electromagnetic wire (2) on the north side. When the 1# cross electromagnetic signal is detected, the autonomous operation vehicle continues to move forward. When the electromagnetic detection sensor (15) detects the 2# cross electromagnetic signal, the autonomous operation vehicle (13) rotates 90° clockwise around the center of the chassis and turns to enter the first aisle. The autonomous operation vehicle (13) patrols the electromagnetic wire (2) between the rows. When the 3# right-angle electromagnetic signal is detected, the autonomous operation vehicle (13) rotates 90° counterclockwise. The electromagnetic wire (2) between the rows and the 3# right-angle electromagnetic signal move eastward, and the autonomous operation vehicle (13) follows the 3# right-angle electromagnetic signal. When the electromagnetic wire (2) between the rows moves to the top of the 2# aisle, the electromagnetic wire (2) between the rows ) stops moving, and the 3# right-angle electromagnetic signal is at the south end of the 2nd aisle; when the autonomous working vehicle (13) moves to the bottom of the 3# right-angle electromagnetic signal, it rotates 90° counterclockwise and turns to enter the 2nd aisle, and the autonomous working vehicle (13) patrols the electromagnetic wire (2) between the rows; when the 2# cross electromagnetic signal is detected, the autonomous working vehicle (13) rotates 90° clockwise and turns to stop; the travel motor rotates forward, and the electromagnetic wire (2) between the rows and the 2# cross electromagnetic signal move horizontally eastward. When the electromagnetic wire (2) between the rows moves to the top of the 3rd aisle, the electromagnetic wire (2) between the rows stops moving, and the 2# cross electromagnetic signal is at the north end of the 3rd aisle; the autonomous working vehicle (13) patrols the electromagnetic wire (2) on the north side and enters the next cycle; At this time, if there is another working vehicle patrolling the electromagnetic wire (2) between the rows on the west side of the plot ij, its movement process enters the step of navigation between the rows. The electromagnetic wire (2) between the rows on the west side is always on the left of the electromagnetic wire (2) between the rows on the east side. The autonomous working vehicle (13) patrols the electromagnetic wire (2) on the north side. When the 1# cross electromagnetic signal is detected, the autonomous working vehicle (13) rotates 90° clockwise and enters the first row aisle. The autonomous working vehicle (13) patrols the electromagnetic wire (2) between the rows. When the 4# right-angle electromagnetic signal is detected, the autonomous working vehicle (13) rotates 90° counterclockwise and stops. The electromagnetic wire (2) between the rows and the 4# right-angle electromagnetic signal move horizontally to the east. When the electromagnetic wire (2) between the rows moves to the top of the second row aisle, the electromagnetic wire (2) between the rows The magnetic wire (2) stops moving, and the 4# right-angle electromagnetic signal is at the south end of the 2nd aisle. At this time, the autonomous vehicle (13) patrols the line and goes straight; when the 4# right-angle electromagnetic signal is detected, the autonomous vehicle (13) rotates 90° counterclockwise and turns to enter the 2nd aisle, and the autonomous vehicle (13) patrols the electromagnetic wire (2) between the rows; when the 2# cross electromagnetic signal is detected, the autonomous vehicle (13) rotates 90° clockwise and stops; the electromagnetic wire between the rows and the 1# cross electromagnetic signal move horizontally eastward. When the electromagnetic wire (2) between the rows moves to the top of the 3rd aisle, the electromagnetic wire between the rows stops moving, and the 1# cross electromagnetic signal is at the north end of the 3rd aisle; the autonomous vehicle (13) patrols the north side electromagnetic wire (2) and enters the next cycle.

9. The navigation method for autonomous operation in a facility environment based on air-ground collaboration as claimed in claim 7 or 8, characterized in that: The navigation method further comprises the following steps: Navigation back to the initial position: After the automatic operation vehicle completes the operation on plot ij, it patrols back to the 1# right-angle electromagnetic signal. The autonomous operation vehicle (13) rotates 90 degrees clockwise and continues to move forward into the electromagnetic signal blind spot. At this time, no electromagnetic signal is detected, and the autonomous operation vehicle (13) continues to move forward; when the 5# right-angle electromagnetic signal of plot i-(j-1) is detected, it indicates that it has entered the plot i-(j-1) and continues to patrol the electromagnetic line (2); in the above manner, it enters the next plot; after entering plot i-1, when the plot is detected When the 1# right-angle electromagnetic signal of block i-1 is detected, the autonomous working vehicle (13) rotates counterclockwise 90 degrees and continues to move forward into the blind spot of the electromagnetic signal. At this time, no electromagnetic signal is detected and the autonomous working vehicle (13) continues to move forward; when the 2# right-angle electromagnetic signal of block (i-1)-1 is detected, it indicates that the autonomous working vehicle (13) has entered the block i-(j-1) and continues to patrol the line and move straight, and enters the next block in the above manner; when the electromagnetic detection sensor (15) detects the 1# right-angle electromagnetic signal of block 1-1, the autonomous working vehicle (13) returns to the initial position.

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