Integrated positioning method for digital agricultural machinery navigation

Abstract

The invention relates to the technical field of agricultural machinery equipment, in particular to an integrated positioning method for digital agricultural machinery navigation, which comprises the following steps: step 1, data acquisition; step 2, data processing and analysis; 3, establishing a model; and step 4, planning an advancing route and monitoring a planting environment. According to the invention, the visual positioning technology, the GPS positioning technology and the laser ranging technology are combined, so that the positioning precision is ensured, the positioning error is reduced, the acquisition equipment can monitor the obstacle condition in the advancing route in real time in the advancing process, and accurate obstacle avoidance information is provided for the acquisition equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery and equipment, and in particular to a combined positioning method for digital agricultural machinery navigation. Background Art

[0002] With the continuous development of agricultural mechanization in my country, higher requirements are being placed on the level of machinery used in agricultural production. As one of the key technologies for improving agricultural mechanization, agricultural machinery navigation technology, with its accuracy and convenience, is crucial for improving agricultural production efficiency. By integrating multiple navigation technologies, combined positioning methods can further enhance the navigation accuracy and stability of agricultural machinery, meeting the high demands of modern agriculture for mechanization and providing strong support for precision agriculture.

[0003] In some existing combined positioning methods for digital agricultural machinery navigation, the positioning and navigation method used by its acquisition equipment is a single inertial navigation. Although it can realize the navigation function of the acquisition equipment to a certain extent, due to the problem of error accumulation in the inertial navigation system, its positioning accuracy will gradually decrease after long-term operation, which may lead to inaccurate positioning, thereby affecting the navigation accuracy.

[0004] To sum up, the problem that the inertial navigation system used in some existing combined positioning methods for digital agricultural machinery navigation may affect the navigation accuracy after long-term use has become a difficult problem that needs to be solved urgently in this field. Therefore, it is necessary to propose a combined positioning method for digital agricultural machinery navigation. Summary of the Invention

[0005] To solve the above problems, the present invention provides a combined positioning method for digital agricultural machinery navigation. By combining visual positioning technology, GPS positioning technology and laser ranging technology, it ensures positioning accuracy, reduces positioning errors, and enables the collection equipment to monitor obstacles in the route in real time during travel, providing the collection equipment with accurate obstacle avoidance information.

[0006] In order to achieve the above object, the technical solution of the present invention is as follows: a combined positioning method for digital agricultural machinery navigation, comprising the following steps:

[0007] Step 1, data acquisition: The image information of the current environment is collected through the image acquisition component in the acquisition device, the acquisition device is positioned through the positioning component in the acquisition device to obtain the location information of the acquisition device, and the carbon dioxide concentration and temperature and humidity conditions in the environment are monitored in real time through the environmental information acquisition component in the acquisition device to obtain carbon dioxide concentration information and temperature and humidity information; the acquisition height of the acquisition device is adjusted through the height adjustment component in the acquisition device to form a monitoring and acquisition mode for multi-point continuous monitoring.

[0008] Step 2: Data processing and analysis: Preprocess the collected image information, location information, carbon dioxide concentration information, and temperature and humidity information, analyze the preprocessed image information to obtain the ground information of the current environment; conduct a comprehensive analysis of the preprocessed carbon dioxide concentration information and temperature and humidity information to obtain the environmental information of the current environment.

[0009] Step 3: Model establishment: Collect map information of the current environment, as well as carbon dioxide concentration information and temperature and humidity information of crop planting in the current environment in the past two years through a large Internet model, and organize them separately to establish a map database and a planting database. Based on the map database and the planting database, establish a map model and a planting monitoring model respectively; enter the ground information into the map model to correct it, and enter the environmental information into the planting monitoring model to correct it.

[0010] Step 4: Route planning and planting environment monitoring: The route of the collection equipment is planned through the map model, and laser ranging technology is used to judge the obstacles in the route in real time. When an obstacle appears in the route, the route is re-planned through the map model, and the current route is marked, and staff will go to check the specific situation; the planting monitoring model is also used to analyze the environmental information in real time to obtain the analysis results. Based on the analysis results and the planting monitoring model, the future growth of crops is predicted.

[0011] Furthermore, in step 1, each time the collection height is adjusted, the collection device will immediately monitor and collect the carbon dioxide concentration and temperature and humidity conditions in the environment through the environmental information collection component.

[0012] Furthermore, in step one, when positioning the acquisition device, several ground positioning points are set, and the acquisition device is positioned using GPS multi-point positioning; during the positioning process, the location information obtained by positioning the acquisition device using all ground positioning points is sorted and comprehensively analyzed to obtain the final location information of the acquisition device.

[0013] Furthermore, in step 2, when pre-processing the image information, position information, carbon dioxide concentration information, and temperature and humidity information, filtering is used to pre-process them.

[0014] The above scheme has the following beneficial effects:

[0015] 1. The present invention combines visual positioning technology, GPS positioning technology and laser ranging technology to ensure positioning accuracy, reduce positioning errors, and enable the acquisition equipment to monitor obstacles in the route in real time during travel, providing the acquisition equipment with accurate obstacle avoidance information.

[0016] 2. This invention, through the integrated use of image acquisition components, positioning components, environmental information collection components, and height adjustment components, enables multi-dimensional, continuous, and precise monitoring of farmland environments. This multi-point, continuous monitoring acquisition model ensures comprehensive and accurate data, providing a solid foundation for subsequent data processing and analysis.

[0017] 3. The present invention collects map information and historical planting data of the current environment through a large Internet model, and establishes a map database and a planting database, which provides a rich data source for the establishment of the map model and the planting monitoring model, and improves the practicality and accuracy of the map model and the planting monitoring model.

[0018] Furthermore, the collection equipment includes a controller and a mobile vehicle. The controller is electrically connected to a cloud processor and a staff terminal. The mobile vehicle is provided with a positioning component for positioning the mobile vehicle. A fixed box is fixedly connected to the top of the mobile vehicle. The inner wall of the fixed box is vertically slidably fitted with a collection box. An opening is provided on the top of the fixed box, and the opening is located in the movement path of the collection box. A telescopic part is fixedly connected to the bottom wall of the collection box, and the controller is used to control the extension and retraction of the output shaft of the telescopic part.

[0019] A transmission component and an image acquisition component for acquiring images of the current environment are provided on the output shaft of the telescopic member. The positioning component is located below the transmission component, and the transmission component is located below the image acquisition component.

[0020] The transmission assembly includes a transmission block fixedly connected to the output shaft of the telescopic member, and both ends of the transmission block are hinged with a transmission frame, and the end of the transmission frame away from the transmission block is hinged with an axe-shaped tooth block. Rotating rods are symmetrically provided in the collection box, and one end of the rotating rod is rotatably engaged with an inner side wall of the collection box, and the other end of the rotating rod passes through the other side wall of the collection box and extends outside the collection box. The axe-shaped tooth blocks are all located in the collection box and are fixedly connected to the rotating rods adjacent to them.

[0021] The upper part of the inner wall of the collection box is symmetrically and laterally slidably fitted with a collection plate. Through holes are opened on both sides of the collection box, and the through holes are located in the movement path of the adjacent collection plates. The bottom of the collection plates are fixedly connected with a collection rack, and the collection racks are engaged with the adjacent axe-shaped tooth blocks.

[0022] A height adjustment component for adjusting the height of the collection box is provided on one side of the collection box, and the height adjustment component is located below the image collection component.

[0023] The collection boards are equipped with environmental information collection components for collecting the carbon dioxide concentration and temperature and humidity conditions in the current environment, as well as energy conversion components for converting solar energy into electrical energy. The environmental information collection components are located above the positioning components, and the energy conversion components are located above the adjacent environmental information collection components.

[0024] Beneficial effects: The height of the collection box can be flexibly adjusted through the height adjustment component, so that the image collection component and the environmental information collection component can collect information on the image, carbon dioxide concentration, and temperature and humidity conditions of the current environment at different heights, thereby improving the flexibility of the collection equipment; through the setting of the energy conversion component, the collection equipment can be self-powered without an external power supply, reducing operating costs and improving the flexibility of the collection equipment.

[0025] Furthermore, the image acquisition component includes a camera fixedly connected to the output shaft of the telescopic part, and the controller is used to receive image information captured by the camera and send the image information to the cloud processor. The cloud processor processes the image information to obtain ground information of the current environment, and simulates a simulated map of the current environment based on the ground information. The route of the mobile vehicle is planned according to the simulated map, the planned route is organized into movement information, and the movement information is sent to the controller, which controls the mobile vehicle to move according to the route.

[0026] Beneficial effects: Through real-time image acquisition, intelligent route planning and automated navigation, continuous and efficient monitoring of the current environment is achieved, which not only improves the frequency and density of data collection, but also ensures the accuracy and consistency of data, providing strong support for precision agricultural management.

[0027] Furthermore, the height adjustment assembly includes a double-sided rack fixedly connected to the inner wall of the fixed box, and one end of the rotating rod located outside the collection box is coaxially fixedly connected to a gear, and the gear is engaged with the double-sided rack.

[0028] Beneficial effect: By fixing the double-sided rack to the inner wall of the fixed box and engaging with the gear at the outer end of the rotating rod, a stable lifting mechanism is formed, which ensures the stability and accuracy of the collection box during the lifting process and avoids collection errors caused by shaking or misalignment.

[0029] Furthermore, the environmental information collection component includes a carbon dioxide concentration sensor and a temperature and humidity sensor fixedly connected to the bottom of the collection board. The controller is used to receive the carbon dioxide concentration information collected by the carbon dioxide concentration sensor and the temperature and humidity information collected by the temperature and humidity sensor, and send the carbon dioxide concentration information and temperature and humidity information to the cloud processor. The cloud processor judges the environmental conditions of the current environment, organizes the judgment results into environmental information, and sends the environmental information to the controller, which sends the environmental information to the staff terminal.

[0030] Beneficial Effects: The CO2 concentration sensor and temperature and humidity sensor can monitor the CO2 concentration, temperature and humidity in the current environment in real time, ensuring the real-time and accurate data. After receiving this data, the controller analyzes it through the cloud processor and can quickly determine the current environmental conditions to ensure the smooth progress of agricultural production.

[0031] Furthermore, the energy conversion assembly includes a solar panel fixedly connected to the top of the collection board.

[0032] Beneficial effects: Solar panels can convert solar energy into electrical energy, providing a continuous energy supply for the entire collection equipment, enabling it to operate for a long time without an external power supply, reducing dependence on external energy and improving the economy and practicality of the collection equipment.

[0033] Furthermore, the positioning component includes a laser rangefinder fixedly connected to the side wall of the mobile vehicle and a GPS locator embedded in the mobile vehicle. The controller is used to receive the distance signal between the mobile vehicle and the obstacle monitored by the laser rangefinder, and send the distance signal to the cloud processor. The cloud processor corrects the route of the mobile vehicle, obtains the correction result, and sends the correction result to the controller. The controller controls the mobile vehicle to adjust its route.

[0034] The controller is also used to perform multi-point positioning operations on the position of the mobile vehicle through the GPS locator.

[0035] Beneficial Effects: The laser rangefinder monitors the distance between the mobile vehicle and obstacles in real time, ensuring that the mobile vehicle can detect and avoid obstacles promptly. The controller sends the distance signal to the cloud processor, which quickly corrects the route to avoid collisions, improving the safety and reliability of the mobile vehicle during travel.

[0036] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the method steps of the combined positioning method for digital agricultural machinery navigation of the present invention.

[0038] Figure 2 This is an axonometric diagram of the acquisition equipment in the combined positioning method for digital agricultural machinery navigation of the present invention.

[0039] Figure 3 This is an axonometric diagram of the internal structure of the fixed box in the combined positioning method for digital agricultural machinery navigation of the present invention.

[0040] Figure 4 This is an axonometric diagram of the internal structure of the collection box in the combined positioning method for digital agricultural machinery navigation of the present invention.

[0041] Figure 5 This is a front cross-sectional schematic diagram of the acquisition equipment in the combined positioning method for digital agricultural machinery navigation of the present invention.

[0042] The figure marks in the drawings of the specification include: 1. mobile vehicle; 2. fixed box; 3. collection box; 4. camera; 5. transmission block; 6. transmission frame; 7. axe-shaped gear block; 8. rotating rod; 9. collection plate; 10. collection rack; 11. double-sided rack; 12. gear; 13. solar panel; 14. laser rangefinder. DETAILED DESCRIPTION

[0043] The following is further described in detail through specific implementation methods:

[0044] Example 1:

[0045] As attached Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown: The combined positioning method for digital agricultural machinery navigation includes the following steps:

[0046] Step 1, data collection: The staff collects image information of the current environment through the image acquisition component in the acquisition device, locates the acquisition device through the positioning component in the acquisition device to obtain the location information of the acquisition device, and monitors the carbon dioxide concentration and temperature and humidity in the environment in real time through the environmental information acquisition component in the acquisition device to obtain carbon dioxide concentration information and temperature and humidity information.

[0047] When locating the data collection equipment, the staff used GPS multi-point positioning. First, they set up several ground positioning points in the current environment, and used each ground positioning point to locate the data collection equipment. This information was then collated and analyzed to determine the final location of the data collection equipment.

[0048] Staff also adjust the collection height of the data collection device using the height adjustment component in the device, enabling a multi-point continuous monitoring and collection mode. During this process, each time the collection height is adjusted, the device immediately monitors and collects the carbon dioxide concentration, temperature and humidity in the environment through the environmental information collection component.

[0049] Step 2: Data processing and analysis: After completing the collection of image information, location information, carbon dioxide concentration information, and temperature and humidity information, the staff will pre-process the collected image information, location information, carbon dioxide concentration information, and temperature and humidity information by filtering, and analyze the pre-processed image information to obtain the ground information of the current environment. At the same time, the pre-processed carbon dioxide concentration information and temperature and humidity information will be comprehensively analyzed to obtain the environmental information of the current environment.

[0050] Step 3: Model Building: After obtaining the current ground and environmental information, staff collected map information of the current environment, as well as carbon dioxide concentration and temperature and humidity information for crops grown in the current environment over the past two years, through a large internet model. These data were compiled to create a map database and a planting database. Based on these databases, a map model and a planting monitoring model were then created. Staff then entered the ground information into the map model for correction, and the environmental information into the planting monitoring model for correction, ensuring their accuracy.

[0051] Step 4: Route Planning and Planting Environment Monitoring: After the map model and planting monitoring model are established, the collection equipment's route is planned based on the map model. Laser ranging technology is used to identify obstacles along the route in real time. If an obstacle appears along the route, the route is replanned using the map model and the current route is marked. Staff then visit the site to verify the situation.

[0052] The staff also conducts real-time analysis of environmental information through the planting monitoring model to obtain analysis results. At this time, the staff predicts the future growth of crops based on the analysis results and the planting monitoring model.

[0053] By combining visual positioning technology, GPS positioning technology and laser ranging technology, positioning accuracy is ensured, positioning errors are reduced, and the acquisition equipment can monitor obstacles in the route in real time during travel, providing accurate obstacle avoidance information for the acquisition equipment, thereby achieving precise navigation.

[0054] Example 2:

[0055] like Figure 2 、 Figure 3 、 Figure 4 and Figure 5As shown, the difference from Example 1 is that the collection device includes a controller and a mobile vehicle 1. The controller is electrically connected to the cloud processor and the staff terminal. The mobile vehicle 1 is equipped with a positioning assembly for positioning the mobile vehicle 1. A fixed box 2 is integrally formed on the top of the mobile vehicle 1. The inner wall of the fixed box 2 is vertically slidably engaged with the collection box 3. The top of the fixed box 2 has an opening located in the movement path of the collection box 3. A telescopic member is bolted to the bottom wall of the collection box 3. The controller is used to control the extension and retraction of the telescopic member's output shaft. In this embodiment, the telescopic member uses an electric telescopic rod.

[0056] A transmission assembly and an image acquisition assembly for acquiring images of the current environment are provided on the output shaft of the electric telescopic rod. The positioning assembly is located below the transmission assembly, and the transmission assembly is located below the image acquisition assembly.

[0057] The image acquisition component includes a camera 4 fixedly connected to the output shaft of the electric telescopic rod by screws. The controller is used to receive image information captured by the camera 4 and send the image information to the cloud processor. The cloud processor processes the image information to obtain ground information of the current environment. Based on the ground information, the route of the mobile vehicle 1 is planned, the planned route is organized into movement information, and the movement information is sent to the controller. The controller controls the mobile vehicle 1 to move according to the route.

[0058] The transmission assembly includes a transmission block 5 fixedly connected to the output shaft of the electric telescopic rod, and both ends of the transmission block 5 are hinged with a transmission frame 6. The transmission frame 6 is hinged with an axe-shaped tooth block 7 at one end away from the transmission block 5. A rotating rod 8 is symmetrically provided in the collection box 3. One end of the rotating rod 8 is rotatably matched with an inner side wall of the collection box 3, and the other end of the rotating rod 8 passes through the other side wall of the collection box 3 and extends to the outside of the collection box 3. The axe-shaped tooth blocks 7 are all located in the collection box 3 and are integrally formed with the rotating rod 8 adjacent to it.

[0059] The upper part of the inner wall of the collection box 3 is symmetrically and laterally slidably fitted with a collection plate 9. Through holes are opened on both sides of the collection box 3, and the through holes are located in the movement path of the adjacent collection plate 9. The bottom of the collection plate 9 is welded with a collection rack 10, and the collection rack 10 is engaged with the adjacent axe-shaped tooth block 7.

[0060] A height adjustment component for adjusting the height of the collection box 3 is provided on one side of the collection box 3, and the height adjustment component is located below the image collection component.

[0061] The height adjustment assembly includes a double-sided rack 11 integrally formed on the inner wall of the fixed box 2 , and one end of the rotating rod 8 located outside the collection box 3 is coaxially fixed with a gear 12 , and the gear 12 is engaged with the double-sided rack 11 .

[0062] The collection board 9 is provided with an environmental information collection component for collecting the carbon dioxide concentration and temperature and humidity conditions in the current environment, as well as an energy conversion component for converting solar energy into electrical energy. The environmental information collection components are all located above the positioning components, and the energy conversion components are all located above the adjacent environmental information collection components.

[0063] The environmental information collection component includes a carbon dioxide concentration sensor and a temperature and humidity sensor fixedly connected to the bottom of the collection board 9 by screws. The controller is used to receive the carbon dioxide concentration information collected by the carbon dioxide concentration sensor and the temperature and humidity information collected by the temperature and humidity sensor, and send the carbon dioxide concentration information and temperature and humidity information to the cloud processor. The cloud processor judges the environmental conditions of the current environment, organizes the judgment results into environmental information, and sends the environmental information to the controller, which sends the environmental information to the staff terminal.

[0064] The energy conversion assembly includes a solar panel 13 embedded on the top of the collection panel 9.

[0065] The positioning component includes a laser rangefinder 14 fixedly connected to the side wall of the mobile vehicle 1 by screws and a GPS locator embedded in the mobile vehicle 1. The controller is used to receive the distance signal between the mobile vehicle 1 and the obstacle monitored by the laser rangefinder 14, and send the distance signal to the cloud processor. The cloud processor corrects the route of the mobile vehicle 1, obtains the correction result, and sends the correction result to the controller. The controller controls the mobile vehicle 1 to adjust its route.

[0066] The controller is also used to perform multi-point positioning operations on the position of the mobile vehicle 1 through a GPS locator.

[0067] The specific implementation process is as follows: Figure 4 As shown, the staff first controls the output shaft of the electric telescopic rod to extend through the controller, so that it drives the camera 4 and the transmission block 5 to move upward, and the transmission block 5 drives the transmission frame 6 to swing, so that it drives the axe-shaped tooth block 7 to swing with it.

[0068] During the swinging process, the axe-shaped tooth block 7 will drive the adjacent collection rack 10 to move horizontally, so that it drives the collection plate 9 to move horizontally. The collection plate 9 drives the carbon dioxide concentration sensor and the temperature and humidity sensor to move horizontally, thereby collecting the carbon dioxide concentration and temperature and humidity conditions, obtaining carbon dioxide concentration information and temperature and humidity information, and integrating them into environmental information.

[0069] During this process, since the acquisition board 9 moves laterally, it will not block the camera 4. The camera 4 moves from the acquisition box 3 to above the acquisition box 3 to acquire images of the current environment.

[0070] After completing the image acquisition of the current environment, the controller sends the image information to the cloud processor, which processes the image information to obtain the ground information of the current environment. Based on the ground information, the cloud processor plans the route of the mobile vehicle 1, organizes the planned route into movement information, and sends the movement information to the controller, which controls the mobile vehicle 1 to move according to the route.

[0071] The laser rangefinder 14 will monitor the obstacles encountered by the mobile vehicle 1 during its movement in real time. When the mobile vehicle 1 encounters an obstacle during its movement, it will be monitored by the laser rangefinder 14 to obtain a distance signal, which will be sent to the cloud processor. The cloud processor will correct the route of the mobile vehicle 1, obtain the correction result, and send the correction result to the controller, which will control the mobile vehicle 1 to adjust its route.

[0072] During this process, the staff also performs multi-point positioning operations on the mobile vehicle 1 through the GPS locator to determine the specific location of the mobile vehicle 1.

[0073] The axe-shaped tooth block 7 will also drive the adjacent rotating rod 8 to rotate during the swinging process, so that it drives the gear 12 to rotate. At this time, since the gear 12 is engaged with the double-sided rack 11, it will move vertically during the rotation process. Figure 3 and Figure 4 As shown, when the electric telescopic rod's output shaft extends, gear 12 rotates, driving the collection box 3 upward, thereby adjusting the collection height. By controlling the extension length of the electric telescopic rod's output shaft, personnel can collect environmental information at different radial heights. By comparing changes in environmental information at different radial heights, they can determine its changing trend and predict future changes in the current environment.

[0074] When the solar panel 13 is exposed to direct sunlight, the solar panel 13 can convert solar energy into electrical energy to supply energy to the collection equipment.

[0075] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A combined positioning method for digital agricultural machinery navigation, characterized in that: The following steps are involved: Step 1: Data collection: The image acquisition component in the acquisition device collects image information of the current environment, and the positioning component in the acquisition device locates the acquisition device to obtain the location information of the acquisition device. The environmental information acquisition component in the acquisition device monitors the carbon dioxide concentration and temperature and humidity in the environment in real time to obtain carbon dioxide concentration information and temperature and humidity information. The height adjustment component in the acquisition device adjusts the acquisition height of the acquisition device to form a multi-point continuous monitoring and acquisition mode. Step 2: Data processing and analysis: pre-process the collected image information, location information, carbon dioxide concentration information, and temperature and humidity information, and analyze the pre-processed image information to obtain the ground information of the current environment; Comprehensively analyze the carbon dioxide concentration information and temperature and humidity information after preprocessing to obtain the environmental information of the current environment; Step 3: Model establishment: Use the internet's large model to collect map information of the current environment, as well as information on carbon dioxide concentration and temperature and humidity during the past two years of crop cultivation. These information is then collated to establish a map database and a planting database. Based on these databases, a map model and a planting monitoring model are established. Ground information is entered into the map model for correction, and environmental information is entered into the planting monitoring model for correction. Step 4: Route planning and planting environment monitoring: The route of the collection equipment is planned through the map model, and laser ranging technology is used to judge the obstacles in the route in real time. When an obstacle appears in the route, the route is re-planned through the map model, and the current route is marked, and staff will go to check the specific situation; the planting monitoring model is also used to analyze the environmental information in real time to obtain the analysis results. Based on the analysis results and the planting monitoring model, the future growth of crops is predicted.

2. The combined positioning method for digital agricultural machinery navigation according to claim 1, characterized in that: In step 1, after each adjustment of the collection height is completed, the collection device will immediately monitor and collect the carbon dioxide concentration and temperature and humidity conditions in the environment through the environmental information collection component.

3. The combined positioning method for digital agricultural machinery navigation according to claim 2, characterized in that: In step one, when positioning the acquisition device, several ground positioning points are set, and the acquisition device is positioned using GPS multi-point positioning. During the positioning process, the location information obtained by positioning the acquisition device using all ground positioning points is sorted and comprehensively analyzed to obtain the final location information of the acquisition device.

4. The combined positioning method for digital agricultural machinery navigation according to claim 3, characterized in that: In step 2, when pre-processing the image information, position information, carbon dioxide concentration information, and temperature and humidity information, filtering is used to pre-process them.

5. The combined positioning method for digital agricultural machinery navigation according to claim 4, characterized in that: The collection device comprises a controller and a mobile vehicle (1), wherein the controller is electrically connected to a cloud processor and a staff terminal, and a positioning component for positioning the mobile vehicle (1) is provided on the mobile vehicle (1); a fixed box (2) is fixedly connected to the top of the mobile vehicle (1), and a collection box (3) is vertically slidably matched with the inner wall of the fixed box (2), and an opening is opened on the top of the fixed box (2), and the opening is located in the movement path of the collection box (3); a telescopic member is fixedly connected to the inner bottom wall of the collection box (3), and the controller is used to control the telescopic movement of the output shaft of the telescopic member; The output shaft of the telescopic member is provided with a transmission assembly and an image acquisition assembly for acquiring images of the current environment, the positioning assembly is located below the transmission assembly, and the transmission assembly is located below the image acquisition assembly; The transmission assembly comprises a transmission block (5) fixedly connected to the output shaft of the telescopic member, both ends of the transmission block (5) are hingedly connected to a transmission frame (6), and one end of the transmission frame (6) away from the transmission block (5) is hingedly connected to an axe-shaped tooth block (7), and a rotating rod (8) is symmetrically provided in the collection box (3), one end of the rotating rod (8) is rotatably matched with an inner side wall of the collection box (3), and the other end of the rotating rod (8) passes through the other side wall of the collection box (3) and extends to the outside of the collection box (3), and the axe-shaped tooth blocks (7) are all located in the collection box (3) and are fixedly connected to the rotating rod (8) adjacent thereto; A collection plate (9) is symmetrically and laterally slidably fitted on the upper inner side wall of the collection box (3). Through holes are provided on both sides of the collection box (3), and the through holes are located in the movement path of the adjacent collection plate (9). The bottom of the collection plate (9) is fixedly connected with a collection rack (10), and the collection rack (10) is meshed with the adjacent axe-shaped tooth block (7). A height adjustment component for adjusting the height of the collection box (3) is provided on one side of the collection box (3), and the height adjustment component is located below the image collection component; The collection board (9) is provided with an environmental information collection component for collecting the carbon dioxide concentration and temperature and humidity conditions in the current environment, and an energy conversion component for converting solar energy into electrical energy. The environmental information collection component is located above the positioning component, and the energy conversion component is located above the adjacent environmental information collection component.

6. The combined positioning method for digital agricultural machinery navigation according to claim 5, characterized in that: The image acquisition component includes a camera (4) fixedly connected to the output shaft of the telescopic member, and a controller is used to receive image information captured by the camera (4), and send the image information to a cloud processor. The cloud processor processes the image information to obtain ground information of the current environment, and simulates a simulation map of the current environment based on the ground information. The travel route of the mobile vehicle (1) is planned according to the simulation map, and the planned travel route is organized into movement information, and the movement information is sent to the controller, and the controller controls the mobile vehicle (1) to move according to the travel route.

7. The combined positioning method for digital agricultural machinery navigation according to claim 6, characterized in that: The height adjustment assembly includes a double-sided rack (11) fixedly connected to the inner wall of the fixed box (2), and one end of the rotating rod (8) located outside the collection box (3) is coaxially fixedly connected to a gear (12), and the gear (12) is meshed with the double-sided rack (11).

8. The combined positioning method for digital agricultural machinery navigation according to claim 7, characterized in that: The environmental information collection component includes a carbon dioxide concentration sensor and a temperature and humidity sensor fixedly connected to the bottom of the collection board (9); the controller is used to receive the carbon dioxide concentration information collected by the carbon dioxide concentration sensor and the temperature and humidity information collected by the temperature and humidity sensor, and send the carbon dioxide concentration information and the temperature and humidity information to the cloud processor, which judges the environmental conditions of the current environment, organizes the judgment results into environmental information, and sends the environmental information to the controller, which sends the environmental information to the staff terminal.

9. The combined positioning method for digital agricultural machinery navigation according to claim 8, characterized in that: The energy conversion assembly includes a solar panel (13) fixedly connected to the top of the collection panel (9).

10. The combined positioning method for digital agricultural machinery navigation according to claim 9, characterized in that: The positioning component includes a laser rangefinder (14) fixedly connected to the side wall of the mobile vehicle (1) and a GPS locator embedded in the mobile vehicle (1); a controller is used to receive a distance signal between the mobile vehicle (1) and an obstacle monitored by the laser rangefinder (14), and send the distance signal to a cloud processor. The cloud processor corrects the travel route of the mobile vehicle (1), obtains a correction result, and sends the correction result to the controller. The controller controls the mobile vehicle (1) to adjust its travel route; The controller is also used to perform multi-point positioning operations on the position of the mobile vehicle (1) through a GPS locator.

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