CN108571961A - A kind of agricultural machinery auxiliary driving navigation method and system based on machine vision - Google Patents
A kind of agricultural machinery auxiliary driving navigation method and system based on machine vision Download PDFInfo
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- CN108571961A CN108571961A CN201711455022.7A CN201711455022A CN108571961A CN 108571961 A CN108571961 A CN 108571961A CN 201711455022 A CN201711455022 A CN 201711455022A CN 108571961 A CN108571961 A CN 108571961A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000012636 effector Substances 0.000 claims abstract description 13
- 239000000203 mixture Substances 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 2
- 235000013290 Sagittaria latifolia Nutrition 0.000 claims 1
- 235000015246 common arrowhead Nutrition 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 19
- 239000000284 extract Substances 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 7
- 230000000007 visual effect Effects 0.000 description 7
- 238000012271 agricultural production Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
Abstract
The low technical problem of navigation accuracy is turned in order to solve agricultural machinery, the present invention provides a kind of, and the agricultural machinery based on machine vision assists driving navigation method and system, utilizes the image for the object of reference that navigates in the vision system acquisition farmland of agricultural machinery front end；Image processing system carries out image procossing using leading line information acquisition algorithm to the image collected, extracts the leading line of the position trend of an energy approximate fits navigation object of reference；Image processing system calculates navigation information according to the leading line of above-mentioned fitting, the information such as relative position and agricultural machinery end effector mechanism position of agricultural machinery and leading line；Above-mentioned navigation information is visually presented with to agricultural machineries' driver by navigation information display system, and driver is according to navigation information, and operation agricultural machinery, which turns to, to be adjusted, to realize auxiliary driving navigation.The present invention adjusts navigation deviation by Machine Vision Detection navigation deviation and driver, machine is combined with the advantage of driver so that whole system is cost-effective, strong applicability.
Description
Technical field
The present invention relates to the sides that a kind of air navigation aid more particularly to a kind of agricultural machinery based on machine vision assist driving navigation
Method and system.
Background technology
With the development of science and technology, Agricultural Machinery Equipment is upgraded from automation to intelligence, informationization, and farm machinery navigation technology
As the common technology and key technology of intelligent agricultural machinery equipment, just studied more and more by domestic and foreign scholars, it is also more and more
It applies in practical agricultural production on ground.Farm machinery navigation technology mainly has satellite navigation, vision guided navigation and other sensings to lead at present
Boat, such as ultrasound, laser, inertial navigation.Wherein satellite navigation is to be based on the earth absolute coordinate system, is not suitable for that agricultural machinery end is required to execute
Mechanism keeps the agricultural production link of relative position, such as intertillage, accurate harvest with crops.Satellite navigation cost is higher, and
Height is required to agricultural machinery steering mechanism, is not suitable for middle-size and small-size agricultural machinery.Vision guided navigation and the navigation of other sensings are opposite based on crop
Coordinate system is suitble to the agricultural production link for requiring agricultural machinery end effector mechanism to keep relative position with crops.Vision guided navigation phase
It navigates to other sensings, has many advantages, such as that infomation detection haves a wide reach, is abundant in content and adaptable.But view-based access control model
Or other sensing detection information control agricultural machinery turn to the method navigated, and have that navigation accuracy is low, the low disadvantage of reliability.
Invention content
This provides a kind of agricultural machinery auxiliary based on machine vision and drives the purpose of the present invention is overcoming the shortcomings of above-mentioned technology
The method for sailing navigation.
The technical solution adopted in the present invention is：
A kind of agricultural machinery auxiliary driving navigation method based on machine vision, includes the following steps：
First, the image for the object of reference that navigates in farmland is acquired using the vision system of agricultural machinery front end；
Then, image processing system carries out image procossing using leading line information acquisition algorithm to the image collected, carries
Take the leading line of the position trend of an energy approximate fits navigation object of reference；Image processing system is according to the navigation of above-mentioned fitting
The information such as the relative position of line, agricultural machinery and leading line and agricultural machinery end effector mechanism position, using navigation information acquisition algorithm
Calculate agricultural machinery end effector mechanism lateral mid-point point and the lateral offset distance of leading line, the direction of the transverse direction offset distance and size
As navigation information；
Finally, above-mentioned navigation information is visually presented with to agricultural machineries' driver, driver's root by navigation information display system
According to navigation information, operation agricultural machinery, which turns to, to be adjusted, to realize auxiliary driving navigation.
Further, navigation information display mode in navigation information viewing hardware is unidirectional arrow, arrow direction with
The direction of lateral offset distance is consistent, and arrow length is in the same size with lateral offset distance.
Further, image processing flow include image preprocessing, filtering and noise reduction sound, generate fitting a straight line characteristic point and
Characteristic point fitting a straight line.
Further, navigation object of reference is crops, when operating personnel drives agricultural machinery working, adjustment in real time is needed to turn
To, it is ensured that equipment end effector mechanism is aligned crop row, or keeps certain offset distance with crop row.It might as well assume to ensure equipment end
It is D to hold executing agency to keep offset distance with crop, and is adjusted in view of avoiding driver's frequent operation from turning to, and need to set allows to navigate
Error is d, and detection navigation information is L, and practical navigation information is Ls.When definition D, L, Ls are positive value, crop row center line is indicated
(or vision-based detection leading line) is in visual field longitudinal midline (the i.e. longitudinal center of the rigid connection bodies such as video camera, equipment and tractor
Line) right side, conversely, indicating crop row center line (or vision-based detection leading line) on the left of visual field longitudinal centre line.Then actually lead
Boat information should be：
A kind of agricultural machinery auxiliary driving navigation system based on machine vision, which is characterized in that vision system is mainly by imaging
Head, camera lens and height-adjustable mounting bracket composition, camera lens are threadedly attached in camera front end composition video camera, camera shooting
Machine is by being fixed on the front end of agricultural machinery in mounting bracket；Image processing system and navigation information display system are configured in PC mono-
In body machine.
The beneficial effects of the invention are as follows：1. the present invention adjusts navigation partially by Machine Vision Detection navigation deviation and driver
Difference is combined machine with the advantage of driver so that whole system is cost-effective, strong applicability；
2. the present invention is with the lateral offset distance of vision-based detection equipment end effector mechanism lateral mid-point point and leading line
Navigation target makes Driver Steering Attention have more Objective；
3. the navigation visualizing deviations of vision-based detection are presented to driver by the present invention, general vision guided navigation is compared,
Vision calibration and Navigation Control two parts are eliminated, to keep system simpler, reliable and stable.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described.
Fig. 1 is vision system scheme of installation；
Fig. 2 is that navigation information calculates schematic diagram；
Fig. 3 is navigation information display schematic diagram.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes.
Embodiment one
A kind of agricultural machinery auxiliary driving navigation method based on machine vision, includes the following steps：
First, the image for the object of reference that navigates in farmland is acquired using the vision system of agricultural machinery front end；
Then, image processing system carries out image procossing, figure using leading line information acquisition algorithm to the image collected
As by image preprocessing, filtering and noise reduction sound, generate fitting a straight line characteristic point and characteristic point fitting a straight line and etc. after, extraction one
The leading line of the position trend of item energy approximate fits navigation object of reference；Image processing system is according to the leading line of above-mentioned fitting, agriculture
The information such as the relative position and agricultural machinery end effector mechanism position of machine and leading line are calculated using navigation information acquisition algorithm
Go out agricultural machinery end effector mechanism lateral mid-point point and the lateral offset distance of leading line, the direction of the transverse direction offset distance and size are
Navigation information；
Finally, above-mentioned navigation information is visually presented with to agricultural machineries' driver, driver's root by navigation information display system
According to navigation information, operation agricultural machinery, which turns to, to be adjusted, to realize auxiliary driving navigation.Navigation information in navigation information viewing hardware
Display mode is unidirectional arrow, and arrow direction is consistent with the lateral direction of offset distance, and arrow length is in the same size with lateral offset distance.
Navigation object of reference is crops, when operating personnel drives agricultural machinery working, needs to adjust steering in real time, it is ensured that equipment end
It holds executing agency to be aligned crop row, or certain offset distance is kept with crop row.Might as well assume to ensure equipment end effector mechanism with
It is D that crop, which keeps offset distance, and is adjusted in view of avoiding driver's frequent operation from turning to, and need to set allows navigation error as d, detection
Navigation information is L, and practical navigation information is Ls.When definition D, L, Ls are positive value, expression crop row center line (or vision-based detection is led
Course line) on the right side of visual field longitudinal midline (i.e. the longitudinal centre lines of the rigid connection bodies such as video camera, equipment and tractor), conversely,
Indicate crop row center line (or vision-based detection leading line) on the left of visual field longitudinal centre line.Then practical navigation information should be：
The advantageous effect of the present embodiment is：
1. the present invention adjusts navigation deviation by navigate deviation and driver of Machine Vision Detection, by machine and driver
Advantage combines so that whole system is cost-effective, strong applicability；
2. the present invention is with the lateral offset distance of vision-based detection equipment end effector mechanism lateral mid-point point and leading line
Navigation target makes Driver Steering Attention have more Objective；
3. the navigation visualizing deviations of vision-based detection are presented to driver by the present invention, general vision guided navigation is compared,
Vision calibration and Navigation Control two parts are eliminated, to keep system simpler, reliable and stable.
Embodiment two
As shown in Figure 1, a kind of agricultural machinery based on machine vision assists driving navigation system, the system hardware include camera lens 4,
Camera 5, mounting bracket 6 and PC all-in-one machines 10.9 front end of tractor connects equipment 7 by trifilar suspension 8, and mounting bracket 6 is fixed
Mounted on 7 front end of equipment.Camera lens 4 and camera 5 are connected through a screw thread composition video camera, and video camera is fixedly mounted on the frame 6
End.Mounting bracket 6 it is height-adjustable, pass through and adjust video camera mounting height, it is ensured that lateral one ridge of covering of camera field of view 11
Upper all crop rows, and each half of covering or more the line-spacing in both sides, it is ensured that in 11 longitudinally covered a line of camera field of view at least 4 and
The above crop 2.
Four kinds of typical navigation deviation situations are illustrated in figure 2, wherein dotted rectangle is camera field of view 11, and fine line is
The leading line of fitting a straight line after image procossing, dashed middle line are the vertical of the rigid connection bodies such as video camera, equipment and tractor
To center line.In figure B be 11 lower boundary of camera field of view and equipment 73 longitudinal pitch of end effector mechanism, l be leading line and
11 lower boundary intersection point of camera field of view and 11 lower boundary midpoint spacing of camera field of view, a are the navigation drift angle of vision-based detection, and L is
Detect navigation information.Then the navigation information shown in Fig. 2 in the case of four kinds is respectively：
L=- (l+B tan a) (2-a)
L=l-B tan a (2-b)
L=l+B tan a (2-c)
L=- (l-B tan a) (2-d)
As shown in figure 3, showing that navigation information includes vision-based detection leading line (fine line expression) on PC all-in-one machines, visual field is vertical
(unidirectional arrow indicates that arrow initiating terminal is circle, and circle center is vertical in visual field for (dotted line expression) and navigation information to the midline
On to the midline).Arrow direction is that instruction driver operates agricultural machinery steering direction, and arrow length is practical navigation information size, when
When being shown as circle, indicate that detection navigation deviation L is allowing in navigation deviation range [D-d, D+d].Agricultural machineries' driver is according to regarding
Feel the relative position of detection leading line and visual field longitudinal midline, understands the rigid connection bodies such as video camera, equipment and tractor and make
The drift angle situation of object row center line understands the cross of equipment end executing agency lateral mid-point point and leading line according to unidirectional arrow
It turns to and adjusts to offset distance situation, while according to unidirectional arrow direction and size operation agricultural machinery, until unidirectional arrow disappears, that is, navigate
Deviation control is allowing to navigate in deviation range.
The foregoing is merely the preferred embodiment of the present invention, it is not wishing to limit the scope of the invention to above-described embodiment
In.It should be appreciated by the person skilled in the art that without departing from the spirit or essential characteristics of the invention, the present invention can
With otherwise, structure, arrangement, and realized with other elements and component.
Claims (5)
1. a kind of agricultural machinery based on machine vision assists driving navigation method, which is characterized in that include the following steps：
First, the image for the object of reference that navigates in farmland is acquired using the vision system of agricultural machinery front end；
Then, image processing system carries out image procossing, extraction one using leading line information acquisition algorithm to the image collected
The leading line of the position trend of item energy approximate fits navigation object of reference；Image processing system is according to the leading line of above-mentioned fitting, agriculture
The information such as the relative position and agricultural machinery end effector mechanism position of machine and leading line are calculated using navigation information acquisition algorithm
Go out agricultural machinery end effector mechanism lateral mid-point point and the lateral offset distance of leading line, the direction of the transverse direction offset distance and size are
Navigation information；
Finally, above-mentioned navigation information is visually presented with to agricultural machineries' driver by navigation information display system, and driver is according to leading
Boat information, operation agricultural machinery, which turns to, to be adjusted, to realize auxiliary driving navigation.
2. a kind of agricultural machinery based on machine vision according to claim 1 assists driving navigation method, which is characterized in that lead
Navigation information display mode in boat presentation of information hardware is unidirectional arrow, and arrow direction is consistent with the lateral direction of offset distance, arrow
Head length is in the same size with lateral offset distance.
3. a kind of agricultural machinery based on machine vision according to claim 2 assists driving navigation method, which is characterized in that figure
As process flow includes image preprocessing, filtering and noise reduction sound, generates fitting a straight line characteristic point and characteristic point fitting a straight line.
4. a kind of agricultural machinery based on machine vision according to claim 3 assists driving navigation method, which is characterized in that lead
Boat object of reference is crops.
5. a kind of agricultural machinery based on machine vision assists driving navigation system, which is characterized in that vision system mainly by camera,
Camera lens and height-adjustable mounting bracket composition, camera lens are threadedly attached in camera front end composition video camera, video camera
By the front end for being fixed on agricultural machinery in mounting bracket；Image processing system and navigation information display system are configured in PC one
In machine.
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| CN201711455022.7A CN108571961A (en) | 2017-12-28 | 2017-12-28 | A kind of agricultural machinery auxiliary driving navigation method and system based on machine vision |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110243372A (en) * | 2019-06-18 | 2019-09-17 | 北京中科原动力科技有限公司 | Intelligent agricultural machinery navigation system and method based on machine vision |
| CN110647153A (en) * | 2019-10-21 | 2020-01-03 | 兰剑智能科技股份有限公司 | Unmanned transport vehicle simulation method and device based on steering wheel offset distance and computer equipment |
| CN112684483A (en) * | 2021-01-22 | 2021-04-20 | 浙江理工大学 | Navigation deviation perception based on satellite and vision fusion and information acquisition method thereof |
| IT202000005686A1 (en) * | 2020-03-17 | 2021-09-17 | Cnh Ind Italia Spa | Autonomous driving system in agriculture using infrared camera |
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| CN105783935A (en) * | 2016-03-07 | 2016-07-20 | 河北科技大学 | Visual navigation method for agricultural machine |
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Patent Citations (5)
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| JP2008230296A (en) * | 2007-03-16 | 2008-10-02 | Mazda Motor Corp | Vehicle drive supporting system |
| US20090319170A1 (en) * | 2008-06-20 | 2009-12-24 | Tommy Ertbolle Madsen | Method of navigating an agricultural vehicle, and an agricultural vehicle implementing the same |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110243372A (en) * | 2019-06-18 | 2019-09-17 | 北京中科原动力科技有限公司 | Intelligent agricultural machinery navigation system and method based on machine vision |
| CN110647153A (en) * | 2019-10-21 | 2020-01-03 | 兰剑智能科技股份有限公司 | Unmanned transport vehicle simulation method and device based on steering wheel offset distance and computer equipment |
| IT202000005686A1 (en) * | 2020-03-17 | 2021-09-17 | Cnh Ind Italia Spa | Autonomous driving system in agriculture using infrared camera |
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| CN112684483A (en) * | 2021-01-22 | 2021-04-20 | 浙江理工大学 | Navigation deviation perception based on satellite and vision fusion and information acquisition method thereof |
| CN112684483B (en) * | 2021-01-22 | 2024-02-06 | 浙江理工大学 | Navigation deviation sensing and information acquisition method based on satellite and vision fusion |
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