An agricultural machine automatic navigation method fusing satellite positioning and images

Abstract

The application discloses a kind of fusion satellite positioning and image agricultural machine automatic navigation method, the present application relates to positioning technical field, obtain agricultural machine position information, obtain characteristic species information and real feature information, analyze the deviation information between position feature information and real feature information, use photoelectric sensor to record the data of wheel when agricultural machine moves, verify the number of laps route position information using verification unit, the advantages of the present application are that: by analyzing the deviation information between position feature information and real feature information, and correcting navigation route can solve the problem of unstable navigation signal and low precision, improve the stability and precision of positioning, ensure that agricultural machine can still know its approximate navigation position even if it encounters satellite positioning abnormal condition during operation, avoid the problem of positioning interruption and operation disorder, further verify the accuracy of the position information obtained by offline positioning method.

Description

Technical Field

[0001] This invention relates to the field of positioning technology, specifically to an automatic navigation method for agricultural machinery that integrates satellite positioning and imagery. Background Technology

[0002] Agricultural machinery refers to various machines used in crop cultivation and animal husbandry. Agricultural machinery includes agricultural power machinery, farmland construction machinery, soil tillage machinery, planting and fertilization machinery, plant protection machinery, farmland irrigation and drainage machinery, crop harvesting machinery, agricultural product processing machinery, animal husbandry machinery, and agricultural transportation machinery. Automatic navigation control technology is a feedback control that allows vehicles to autonomously travel along a planned path. When applied to facility agriculture, it can liberate workers from heavy, monotonous, and repetitive production processes. With social development, automatic navigation control technology is gradually being combined with image information and applied to agricultural machinery. Image information can further confirm the position of agricultural machinery.

[0003] Common satellite positioning control methods are prone to signal instability, which affects the accuracy of agricultural machinery navigation, leading to disordered agricultural machinery operations and impacting work progress and efficiency. They also fail to correct and optimize the impact of offline positioning on individual differences in agricultural machinery, resulting in deviations between offline positioning results and actual locations. Therefore, we propose an automatic navigation method for agricultural machinery that integrates satellite positioning and imagery. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic navigation method for agricultural machinery that integrates satellite positioning and imagery.

[0005] To address the problems mentioned in the background section, the present invention provides the following technical solution: a method for automatic navigation of agricultural machinery integrating satellite positioning and imagery, comprising the following steps:

[0006] S100: Collect map information and establish starting point units and working area units. The starting point is used to record the starting point and ending point of the agricultural machinery, and the working area unit is used to record the area where the agricultural machinery needs to work. When there is no information in the working area unit, starting point navigation will be generated. When there is working area information in the working area unit, a route information will be formulated for the agricultural machinery to reach the ending point after passing through the entire working area from the starting point, and the formulated navigation route information and map information will be transmitted to the agricultural machinery.

[0007] S200. Establish satellite terminal and mobile terminal. The satellite terminal receives satellite positioning information and transmits the received positioning information to the mobile terminal. The mobile terminal includes an inertial navigation unit and a vision unit. The mobile terminal uses the inertial navigation unit to collect the moving speed of the agricultural machinery in real time, analyzes the position of the agricultural machinery on the navigation route, and obtains the position information of the agricultural machinery. The vision unit is used to collect image information.

[0008] S300: Extract the environmental features and road ancillary facility features of the agricultural machinery location information on the navigation route and map information to obtain route feature information. Then, establish a coordinate system with the agricultural machinery as the center, analyze the coordinates, distance and orientation of the route feature information and the agricultural machinery to obtain location feature information, and extract the types of location feature information to obtain feature type information.

[0009] S400: Uses vision units to capture environmental information of roads, facilities and environment around agricultural machinery in real time, and extracts the types of location feature information in the image environment information according to feature type information to obtain real-time type information. Analyzes the coordinate difference and angle between the agricultural machinery position and the real-time type information, and calculates the distance between the agricultural machinery position and the real-time type information to obtain real-time feature information.

[0010] S500: Perform feature name intersection operation on the location feature information and the real feature information extracted from the image environment information, analyze the deviation information between the location feature information and the real feature information, and feed the deviation information back to the mobile terminal to correct the agricultural machinery location information;

[0011] S600, and simultaneously establish an offline positioning unit, which includes photoelectric sensors. The offline positioning unit records offline map information and navigation route information. When the mobile terminal cannot receive positioning information transmitted from the satellite terminal, it will record the navigation position when the positioning information transmitted from the satellite terminal is not received. The photoelectric sensors record the data of the wheels when the agricultural machinery moves, and at the same time, it collects the surrounding image information when the positioning information transmitted from the satellite terminal is not received.

[0012] S700: Collect the radius of the agricultural machinery wheels. Then, calculate the distance the agricultural machinery moves based on the wheel circumference and the number of wheel rotations. Analyze the position information of the agricultural machinery in the navigation route, obtain the rotation route position information, and establish a verification unit. Use the verification unit to verify the rotation route position information and generate unique wheel rim navigation route information for different agricultural machinery.

[0013] The S800 collects data on the number of wheels required by agricultural machinery when traversing roads with different numbers of turns and straight roads. It obtains wheel rim data for curves and wheel rim data for straight roads, calculates the difference between the wheel rim data for curves and wheel rim data for straight roads, analyzes the actual number of wheel rotations required by the agricultural machinery when turning based on this difference, and records and transmits this data to the wheel rim navigation route information to improve the wheel rim navigation route information.

[0014] As a further aspect of the present invention: In step S200, when analyzing the position of the agricultural machinery on the navigation route, the real-time collected movement speed of the agricultural machinery is divided into stages according to a set time interval to obtain stage movement speed information. The average speed in different stage movement speed information is calculated, the movement distance of the agricultural machinery is calculated, and the following are obtained: acceleration sensitivity coefficient, acceleration change within a stage, basic steering efficiency, maximum steering efficiency, steering angle influence factor, stage average steering angle, steering critical angle, and Euler number. Let the acceleration sensitivity coefficient be γ, the acceleration change within a stage be Δay, and the basic steering efficiency be η. base Let the maximum steering efficiency be η. max Let K be the factor affecting the steering angle, and θ be the average steering angle for each stage. Y Let the critical turning angle be θ0, the stage speed information be N, and the time interval be S. 间隔 Let the distance the agricultural machinery travels be Y. 距离 Let the amount of phase speed information be L, and let the Euler number be e;

[0015]

[0016] The distance the agricultural machinery travels can be calculated using the formula above.

[0017] As a further aspect of the present invention: In S200, after calculating the distance the agricultural machinery travels, an initial threshold is established. The initial setting unit is used to limit the amount of stage speed information. When the navigation route is started, the starting point of the navigation route is used as the initial point. The stage speed information is acquired in real time and its amount is analyzed. When the amount of stage speed information is equal to the initial threshold, the location of the stage speed information at that point is extracted. Then, the location information is used to cover the initial point to form a new initial point. When analyzing the position information of the agricultural machinery, the previous initial point is used as the position origin in the navigation route. At the same time, the amount of stage speed information is updated using the position origin so that the amount of stage speed information is zero at the position origin. The position of the agricultural machinery in the navigation route is analyzed by the distance the agricultural machinery travels.

[0018] As a further aspect of the present invention: In S500, when analyzing the deviation information between the location feature information and the actual feature information, the agricultural machinery location information is corrected according to the deviation information, the corrected agricultural machinery location information is fed back to the satellite terminal, and the corrected agricultural machinery location information is overlaid on the agricultural machinery location information in the navigation route information to obtain broadcast navigation information. The broadcast navigation information is transmitted to the mobile terminal and broadcast and processed internally in the agricultural machinery.

[0019] As a further aspect of the present invention: In S600, when the navigation position is not received from the satellite, a starting point unit is established. At this time, the navigation position when the satellite is not received is recorded in the starting point unit. The position information recorded in the starting point unit is used as the starting point information in the navigation route. The starting point in the starting point information is analyzed, and the feature data of the starting point in the map information is collected. The image information of the starting point is captured, and the feature data in the image information is extracted. The feature data of the starting point in the map information is verified based on the feature data in the image information, thereby further correcting the position of the agricultural machinery.

[0020] As a further aspect of the present invention: In S700, when calculating the moving distance of the agricultural machine based on the wheel circumference and the number of wheel rotations, the moving distance of the agricultural machine is calculated, and the position information of the agricultural machine in the navigation route is analyzed based on the moving distance of the agricultural machine and the starting point information in the navigation route.

[0021] As a further aspect of the present invention: in S700, the method for verifying the lap route location information using the verification unit is as follows:

[0022] S710. Use the verification unit to randomly record the image environment information of the wheel at different numbers of revolutions to obtain verification feature information;

[0023] S720: When the agricultural machinery receives the positioning information transmitted by the satellite, it will analyze the navigation position information of the wheels at different numbers of revolutions to obtain the wheel position information. Repeat S300 to obtain a first-level feature information.

[0024] S730. Verify the first-level feature information using the verification feature information to obtain the wheel rim difference information.

[0025] As a further aspect of the present invention: In S730, when verifying the primary feature information by calculating the verification feature information, a deviation unit is simultaneously established, and then features identical to the verification feature information are selected. Let the verification feature information be G, the primary feature information be H, the deviation unit be L, and the identical feature information be X. T ;

[0026] X T =G∩H

[0027] The above formula is used to calculate the same feature information, where ∩ is the intersection symbol. Its function in the formula is to extract the same feature information from the verification feature information and the primary feature information. Then, the values ​​from the same feature information and the primary feature information are extracted. Let the wheel rim difference information be L. 偏差 Let the numerical value of the same feature information be X. S Let the value of one feature information be H. S ;

[0028] L 偏差 = H S - X S

[0029] Calculate the rim difference information according to the above formula;

[0030] When H - L ≤ L 偏差 ≤ H + L, it is determined that the rim difference information is normal information;

[0031] When L 偏差 < H - L and L 偏差 ≥ H + L, it is determined that the rim difference information is abnormal information.

[0032] Adopting the above technical solution, compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] 1. By analyzing the deviation information between the position feature information and the real feature information and correcting the navigation route, the present invention can solve the problems of unstable navigation signal and low accuracy, and at the same time improve the stability and accuracy of positioning, ensuring that even in the case of abnormal satellite positioning during the agricultural machinery operation, the general navigation position can still be known, avoiding the problems of positioning interruption and disorderly operation, and further verifying the accuracy of the position information obtained by the offline positioning method, facilitating the switching control between satellite positioning and offline map positioning, and ensuring that the position information of the agricultural machinery can be accurately obtained under different circumstances;

[0034] 2. By obtaining the stage speed information, the present invention helps to improve the accuracy and stability of agricultural machinery navigation, reduce the accumulation of positioning errors caused by a long distance from the initial point, improve the real-time and accuracy of agricultural machinery position judgment, facilitate the operator to timely understand the agricultural machinery position adjustment situation, ensure that the agricultural machinery can still be effectively positioned in the case of satellite signal loss, avoid the operation chaos caused by positioning interruption, and enhance the adaptability and stability of the agricultural machinery navigation system in complex environments;

[0035] 3. By analyzing the position information of the agricultural machinery in the navigation route, when the satellite positioning fails, the position of the agricultural machinery can be accurately obtained, ensuring that the agricultural machinery operation proceeds according to the plan, verifying the position information of the lap route from different angles, increasing the basis and accuracy of agricultural machinery position judgment, effectively reducing the errors that may be brought by a single positioning method, more accurately judging the deviation degree between offline positioning and satellite positioning, considering the differences between different agricultural machinery individuals, making the navigation route more in line with the actual situation of each agricultural machinery, and improving the personalization and accuracy of navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the method steps in the embodiment of the present invention. Detailed Implementation

[0037] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0038] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] Example 1:

[0040] Therefore, in order to effectively solve the above problems, this application proposes an automatic navigation method for agricultural machinery that integrates satellite positioning and imagery, as shown in the accompanying drawings. Figure 1 As shown, it includes the following steps:

[0041] S100: Collect map information and establish starting point units and working area units. The starting point is used to record the starting point and ending point of the agricultural machinery, and the working area unit is used to record the area where the agricultural machinery needs to work. When there is no information in the working area unit, starting point navigation will be generated. When there is working area information in the working area unit, a route information will be formulated for the agricultural machinery to reach the ending point after passing through the entire working area from the starting point, and the formulated navigation route information and map information will be transmitted to the agricultural machinery.

[0042] S200. Establish satellite terminal and mobile terminal. The satellite terminal receives satellite positioning information and transmits the received positioning information to the mobile terminal. The mobile terminal includes an inertial navigation unit and a vision unit. The mobile terminal uses the inertial navigation unit to collect the moving speed of the agricultural machinery in real time, analyzes the position of the agricultural machinery on the navigation route, and obtains the position information of the agricultural machinery. The vision unit is used to collect image information.

[0043] S300: Extract the environmental features and road ancillary facility features of the agricultural machinery location information on the navigation route and map information to obtain route feature information. Then, establish a coordinate system with the agricultural machinery as the center, analyze the coordinates, distance and orientation of the route feature information and the agricultural machinery to obtain location feature information, and extract the types of location feature information to obtain feature type information.

[0044] Location feature information can be obtained using the GPS toolkit and the Baidu Maps developer platform.

[0045] S400: Uses vision units to capture environmental information of roads, facilities and environment around agricultural machinery in real time, and extracts the types of location feature information in the image environment information according to feature type information to obtain real-time type information. Analyzes the coordinate difference and angle between the agricultural machinery position and the real-time type information, and calculates the distance between the agricultural machinery position and the real-time type information to obtain real-time feature information.

[0046] The vision unit includes cameras and sensors on the vehicle.

[0047] S500: Perform feature name intersection operation on the location feature information and the real feature information extracted from the image environment information, analyze the deviation information between the location feature information and the real feature information, and feed the deviation information back to the mobile terminal to correct the agricultural machinery location information;

[0048] S600, and simultaneously establish an offline positioning unit, which includes photoelectric sensors. The offline positioning unit records offline map information and navigation route information. When the mobile terminal cannot receive positioning information transmitted from the satellite terminal, it will record the navigation position when the positioning information transmitted from the satellite terminal is not received. The photoelectric sensors record the data of the wheels when the agricultural machinery moves, and at the same time, it collects the surrounding image information when the positioning information transmitted from the satellite terminal is not received.

[0049] S700: Collect the radius of the agricultural machinery wheels. Then, calculate the distance the agricultural machinery moves based on the wheel circumference and the number of wheel rotations. Analyze the position information of the agricultural machinery in the navigation route, obtain the rotation route position information, and establish a verification unit. Use the verification unit to verify the rotation route position information and generate unique wheel rim navigation route information for different agricultural machinery.

[0050] S800 collects data on the number of wheels required by agricultural machinery when traversing roads with different numbers of turns and straight roads, obtains wheel rim data for curves and wheel rim data for straight roads, calculates the difference between the wheel rim data for curves and wheel rim data for straight roads, analyzes the actual number of wheel rotations required by the agricultural machinery when turning based on the difference, and records and transmits it to the wheel rim navigation route information to improve the wheel rim navigation route information.

[0051] The specific workflow is as follows: A navigation route is planned for the agricultural machinery. The inertial navigation unit collects the machinery's speed in real time, analyzes its position on the navigation route, obtains position feature information, extracts the types of position feature information, obtains feature category information, uses a vision unit to collect image environment information around the machinery in real time, obtains real-world feature information, analyzes the deviation between the position feature information and the real-world feature information, feeds the deviation information back to the mobile terminal, corrects the machinery's position information, uses photoelectric sensors to record wheel data as the machinery moves, calculates the distance the machinery travels based on the wheel circumference and the number of wheel rotations, and uses a verification unit to verify the number of rotations and the route position information.

[0052] Furthermore, by analyzing the deviation between location feature information and actual feature information and correcting the navigation route, the problems of unstable navigation signals and low accuracy can be solved. At the same time, the stability and accuracy of positioning are improved, ensuring that even if satellite positioning is abnormal during agricultural machinery operation, its approximate navigation position can still be known, avoiding positioning interruption and disordered operation. It can also further verify the accuracy of location information obtained through offline positioning methods, facilitate the switching control between satellite positioning and offline map positioning, and ensure that the location information of agricultural machinery can be accurately obtained under different conditions.

[0053] Example 2:

[0054] Based on Embodiment 1, as shown in the accompanying drawings of the specification. Figure 1 As shown in S200, when analyzing the position of the agricultural machinery on the navigation route, the real-time collected movement speed of the agricultural machinery is divided into stages according to a set time interval to obtain stage movement speed information. The average speed in different stages is calculated, the movement distance of the agricultural machinery is calculated, and the following are obtained: acceleration sensitivity coefficient, acceleration change within a stage, basic steering efficiency, maximum steering efficiency, steering angle influence factor, stage average steering angle, steering critical angle, and Euler number. Let the acceleration sensitivity coefficient be γ, the acceleration change within a stage be Δay, and the basic steering efficiency be η. base Let the maximum steering efficiency be η. max Let K be the factor affecting the steering angle, and θ be the average steering angle for each stage. Y Let the critical turning angle be θ0, the stage speed information be N, and the time interval be S. 间隔 Let the distance the agricultural machinery travels be Y. 距离 Let the amount of phase speed information be L, and let the Euler number be e;

[0055]

[0056] The distance the agricultural machinery travels is calculated using the formula above.

[0057] In S200, after calculating the distance the agricultural machinery travels, an initial threshold is established. The initial setting unit is used to limit the amount of stage speed information. When the navigation route is started, the starting point of the navigation route is used as the initial point. The stage speed information is acquired in real time and its amount is analyzed. When the amount of stage speed information is equal to the initial threshold, the location of the stage speed information at that point is extracted. Then, the location information is overwritten to form a new initial point. When analyzing the position information of the agricultural machinery, the previous initial point is used as the position origin in the navigation route. At the same time, the amount of stage speed information is updated using the position origin so that the amount of stage speed information is zero at the position origin. The position of the agricultural machinery in the navigation route is analyzed by the distance the agricultural machinery travels.

[0058] Establish a time interval adjustment model that comprehensively considers factors such as the acceleration of agricultural machinery, steering angle, terrain slope, and soil moisture. By monitoring these parameters in real time, the time interval setting is continuously optimized using machine learning algorithms.

[0059] In S500, when analyzing the deviation between location feature information and actual feature information, the agricultural machinery location information is corrected according to the deviation information. The corrected agricultural machinery location information is fed back to the satellite terminal. At the same time, the corrected agricultural machinery location information is overwritten in the navigation route information to obtain broadcast navigation information. The broadcast navigation information is transmitted to the mobile terminal and processed for broadcasting within the agricultural machinery.

[0060] In S600, when the navigation position is not received from the satellite, a starting point unit is established. The navigation position when the satellite is not received is recorded in the starting point unit. The position information recorded in the starting point unit is used as the starting point information in the navigation route. The starting point in the starting point information is analyzed, and the feature data of the starting point in the map information is collected. The image information of the starting point is captured, and the feature data in the image information is extracted. The feature data of the starting point in the map information is verified based on the feature data in the image information, thereby further correcting the position of the agricultural machinery.

[0061] The specific workflow is as follows: The real-time speed of the agricultural machinery is divided into stages according to a set time interval to obtain stage speed information. The average speed in different stages is calculated, the distance the agricultural machinery moves is calculated, and an initial threshold is established. When analyzing the position information of the agricultural machinery, the previous initial point is used as the position origin in the navigation route. The number of stage speed information is updated. The position of the agricultural machinery in the navigation route is analyzed by the distance the agricultural machinery moves. The position information of the agricultural machinery is corrected according to the deviation information and then broadcast. When the navigation position is not received from the satellite, the position information recorded in the starting unit is used as the starting point information in the navigation route.

[0062] Furthermore, obtaining phase speed information helps improve the accuracy and stability of agricultural machinery navigation, reduces the accumulation of positioning errors caused by the long distance of the initial point, improves the real-time performance and accuracy of agricultural machinery position judgment, facilitates operators to understand the position adjustment of agricultural machinery in a timely manner, ensures that agricultural machinery can continue to be effectively positioned even when satellite signals are lost, avoids operational chaos caused by positioning interruption, and enhances the adaptability and stability of agricultural machinery navigation system in complex environments.

[0063] Example 3:

[0064] Based on Embodiment 2, as shown in the accompanying drawings of the specification. Figure 1As shown, in S700, when calculating the moving distance of the agricultural machinery based on the wheel circumference and the number of wheel rotations, the moving distance of the agricultural machinery is calculated, and the position information of the agricultural machinery on the navigation route is analyzed based on the moving distance of the agricultural machinery and the starting point information in the navigation route;

[0065] In S700, the method for verifying the number-of-turns route position information by the verification unit is as follows:

[0066] S710. Use the verification unit to randomly record the image environment information of the wheel at different numbers of turns to obtain verification feature information;

[0067] S720. When the agricultural machinery receives the positioning information transmitted by the satellite terminal, it will analyze the navigation position information of the wheel at different numbers of turns to obtain the wheel rim position information, repeat S300, and obtain first-level feature information;

[0068] S730. Use the verification feature information to verify the first-level feature information to obtain wheel rim difference information;

[0069] In S730, when calculating the verification of the first-level feature information by the verification feature information, a deviation unit will be established synchronously, and then the same feature details of the first-level feature information and the verification feature information will be screened out. Let the verification feature information be G, let the first-level feature information be H, let the deviation unit be L, and let the same feature information be X T ;

[0070] X T =G∩H

[0071] The same feature information is calculated through the above formula, where ∩ is the intersection symbol, and its function in the above formula is to extract the same feature information in the verification feature information and the first-level feature information, and then extract the numerical values in the same feature information and the first-level feature information. Let the wheel rim difference information be L 偏差 , let the numerical value of the same feature information be X S , let the numerical value of the first-level feature information be H S ;

[0072] L 偏差 =H S -X S

[0073] The wheel rim difference information is calculated according to the above formula;

[0074] When H - L ≤ L 偏差 ≤ H + L, it is determined that the wheel rim difference information is normal information;

[0075] When L 偏差 < H - L and L 偏差 ≥ H + L, it is determined that the wheel rim difference information is abnormal information;

[0076] In S730, after obtaining the wheel rim difference information, the actual location information of the agricultural machinery is analyzed based on the wheel rim difference information. Then, the wheel rim navigation route information is corrected based on the actual location information of the agricultural machinery and recorded in the mobile terminal to obtain the unique wheel rim navigation route information of different agricultural machinery.

[0077] A wheel rim position information prediction model is established. Based on the historical driving trajectory, speed change trend and operation task characteristics of agricultural machinery, the possible position of the wheel in the future number of revolutions is predicted. By updating the model parameters in real time, it can adapt to different operation scenarios and changes in agricultural machinery status. When the satellite positioning signal is unstable or lost, the wheel rim position information provided by the prediction model is used as a reference to assist in offline positioning calculation, ensuring the continuity and accuracy of agricultural machinery position information.

[0078] The specific workflow is as follows: Calculate the distance the agricultural machinery travels; analyze the position information of the agricultural machinery in the navigation route based on the distance traveled and the starting point information in the navigation route; use the verification unit to randomly record the image environment information of the wheels at different numbers of revolutions; when the agricultural machinery receives the positioning information transmitted from the satellite, it will analyze the navigation position information of the wheels at different numbers of revolutions to obtain the wheel rim position information; repeat S300 to obtain primary feature information; use the verification feature information to verify the primary feature information to obtain wheel rim difference information; use the deviation unit to convert the primary feature information into range information to calculate the wheel rim difference information; use the actual position information of the agricultural machinery to correct the wheel rim navigation route information to obtain the unique wheel rim navigation route information for different agricultural machinery.

[0079] Furthermore, by analyzing the location information of agricultural machinery in the navigation route, the location of agricultural machinery can be accurately obtained when satellite positioning fails, ensuring that agricultural machinery operations are carried out as planned. The location information of the loop route is verified from different angles, which increases the basis and accuracy of the judgment of the location of agricultural machinery, effectively reduces the error that may be caused by a single positioning method, and more accurately judges the degree of deviation between offline positioning and satellite positioning. It takes into account the differences between different agricultural machinery, making the navigation route more in line with the actual situation of each agricultural machinery, and improving the personalization and accuracy of navigation.

[0080] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for automatic navigation of agricultural machinery integrating satellite positioning and imagery, characterized in that, Includes the following steps: S100: Collect map information and establish starting point units and working area units. The starting point is used to record the starting point and ending point of the agricultural machinery, and the working area unit is used to record the area where the agricultural machinery needs to work. When there is no information in the working area unit, starting point navigation will be generated. When there is working area information in the working area unit, a route information will be formulated for the agricultural machinery to reach the ending point after passing through the entire working area from the starting point, and the formulated navigation route information and map information will be transmitted to the agricultural machinery. S200. Establish satellite terminal and mobile terminal. The satellite terminal receives satellite positioning information and transmits the received positioning information to the mobile terminal. The mobile terminal includes an inertial navigation unit and a vision unit. The mobile terminal uses the inertial navigation unit to collect the moving speed of the agricultural machinery in real time, analyzes the position of the agricultural machinery on the navigation route, and obtains the position information of the agricultural machinery. The vision unit is used to collect image information. S300: Extract the environmental features and road ancillary facility features of the agricultural machinery location information on the navigation route and map information to obtain route feature information. Then, establish a coordinate system with the agricultural machinery as the center, analyze the coordinates, distance and orientation of the route feature information and the agricultural machinery to obtain location feature information, and extract the types of location feature information to obtain feature type information. S400: Uses vision units to capture environmental information of roads, facilities and environment around agricultural machinery in real time, and extracts the types of location feature information in the image environment information according to feature type information to obtain real-time type information. Analyzes the coordinate difference and angle between the agricultural machinery position and the real-time type information, and calculates the distance between the agricultural machinery position and the real-time type information to obtain real-time feature information. S500: Perform feature name intersection operation on the location feature information and the real feature information extracted from the image environment information, analyze the deviation information between the location feature information and the real feature information, and feed the deviation information back to the mobile terminal to correct the agricultural machinery location information; S600, and simultaneously establish an offline positioning unit, which includes photoelectric sensors. The offline positioning unit records offline map information and navigation route information. When the mobile terminal cannot receive positioning information transmitted from the satellite terminal, it will record the navigation position when the positioning information transmitted from the satellite terminal is not received. The photoelectric sensors record the data of the wheels when the agricultural machinery moves, and at the same time, it collects the surrounding image information when the positioning information transmitted from the satellite terminal is not received. S700: Collect the radius of the agricultural machinery wheels. Then, calculate the distance the agricultural machinery moves based on the wheel circumference and the number of wheel rotations. Analyze the position information of the agricultural machinery in the navigation route, obtain the rotation route position information, and establish a verification unit. Use the verification unit to verify the rotation route position information and generate unique wheel rim navigation route information for different agricultural machinery. The S800 collects data on the number of wheels required by agricultural machinery when traversing roads with different numbers of turns and straight roads. It obtains wheel rim data for curves and wheel rim data for straight roads, calculates the difference between the wheel rim data for curves and wheel rim data for straight roads, analyzes the actual number of wheel rotations required by the agricultural machinery when turning based on this difference, and records and transmits this data to the wheel rim navigation route information to improve the wheel rim navigation route information.

2. The method for automatic navigation of agricultural machinery integrating satellite positioning and imagery according to claim 1, characterized in that: In step S200, when analyzing the position of the agricultural machinery on the navigation route, the real-time collected movement speed of the agricultural machinery is divided into stages according to a set time interval to obtain stage movement speed information. The average speed in different stages is calculated, the movement distance of the agricultural machinery is calculated, and the following parameters are obtained: acceleration sensitivity coefficient, acceleration change within a stage, basic steering efficiency, maximum steering efficiency, steering angle influence factor, stage average steering angle, critical steering angle, and Euler number. Let the acceleration sensitivity coefficient be γ, the acceleration change within a stage be Δay, and the basic steering efficiency be η. base Let the maximum steering efficiency be η. max Let K be the factor affecting the steering angle, and θ be the average steering angle for each stage. Y Let the critical turning angle be θ0, the stage speed information be N, and the time interval be S. 间隔 Let the distance the agricultural machinery travels be Y. 距离 Let the amount of phase speed information be L, and let the Euler number be e; The distance the agricultural machinery travels can be calculated using the formula above.

3. The method for automatic navigation of agricultural machinery integrating satellite positioning and imagery according to claim 2, characterized in that: In step S200, after calculating the distance the agricultural machinery travels, an initial threshold is established. The initial setting unit is used to limit the amount of stage speed information. When the navigation route is started, the starting point of the navigation route is used as the initial point. The stage speed information is acquired in real time and its amount is analyzed. When the amount of stage speed information is equal to the initial threshold, the location of the stage speed information is extracted. Then, the location information is used to overwrite the initial point to form a new initial point. When analyzing the position information of the agricultural machinery, the previous initial point is used as the position origin in the navigation route. At the same time, the amount of stage speed information is updated using the position origin so that the amount of stage speed information is zero at the position origin. The position of the agricultural machinery in the navigation route is analyzed by the distance the agricultural machinery travels.

4. The method for automatic navigation of agricultural machinery integrating satellite positioning and imagery according to claim 1, characterized in that: In S500, when analyzing the deviation information between the location feature information and the actual feature information, the agricultural machinery location information is corrected according to the deviation information, and the corrected agricultural machinery location information is fed back to the satellite terminal. At the same time, the corrected agricultural machinery location information is overwritten in the navigation route information to obtain broadcast navigation information. The broadcast navigation information is transmitted to the mobile terminal and broadcast and processed internally in the agricultural machinery.

5. The method for automatic navigation of agricultural machinery integrating satellite positioning and imagery according to claim 1, characterized in that: In S600, when the navigation position is not received from the satellite, a starting point unit is established. The navigation position when the satellite is not received is recorded in the starting point unit. The position information recorded in the starting point unit is used as the starting point information in the navigation route. The starting point in the starting point information is analyzed, and the feature data of the starting point in the map information is collected. The image information of the starting point is captured, and the feature data in the image information is extracted. The feature data of the starting point in the map information is verified based on the feature data in the image information, thereby further correcting the position of the agricultural machinery.

6. The method for automatic navigation of agricultural machinery integrating satellite positioning and imagery according to claim 5, characterized in that: In S700, when calculating the travel distance of the agricultural machine based on the wheel circumference and the number of wheel rotations, the travel distance of the agricultural machine is calculated, and the position information of the agricultural machine in the navigation route is analyzed based on the travel distance of the agricultural machine and the starting point information in the navigation route.

7. The method for automatic navigation of agricultural machinery integrating satellite positioning and imagery according to claim 6, characterized in that: In S700, the method for verifying the lap route location information using the verification unit is as follows: S710. Use the verification unit to randomly record the image environment information of the wheel at different numbers of revolutions to obtain verification feature information; S720: When the agricultural machinery receives the positioning information transmitted by the satellite, it will analyze the navigation position information of the wheels at different numbers of revolutions to obtain the wheel position information. Repeat S300 to obtain a first-level feature information. S730. Verify the first-level feature information using the verification feature information to obtain the wheel rim difference information.

8. The method for automatic navigation of agricultural machinery integrating satellite positioning and imagery according to claim 7, characterized in that: In step S730, when verifying the primary feature information by calculating the verification feature information, a deviation unit is simultaneously established. Then, features that are identical to the primary feature information and the verification feature information are selected. Let the verification feature information be G, the primary feature information be H, the deviation unit be L, and the identical feature information be X. T ; X T =G∩H The above formula is used to calculate the same feature information, where ∩ is the intersection symbol. Its function in the formula is to extract the same feature information from the verification feature information and the primary feature information. Then, the values ​​from the same feature information and the primary feature information are extracted. Let the wheel rim difference information be L. 偏差 Let X be the numerical value of the same feature information. S Let the value of one feature information be H. S ; L 偏差 =H S -X S The wheel rim difference information is calculated based on the above formula; When HL≤L 偏差 When the value is ≤H+L, the wheel rim difference information is considered normal. When L 偏差 <H - L and L 偏差 ≥ H + L, it is determined that the rim difference information is abnormal information.

9. The method for automatic navigation of agricultural machinery integrating satellite positioning and imagery according to claim 8, characterized in that: In S730, after obtaining the wheel rim difference information, the actual location information of the agricultural machinery is analyzed based on the wheel rim difference information. The wheel rim navigation route information is then corrected based on the actual location information of the agricultural machinery and recorded in the mobile terminal to obtain the unique wheel rim navigation route information for different agricultural machinery.

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