CN112462749A - Agricultural machine automatic navigation method, agricultural machine automatic navigation system and agricultural machine - Google Patents
Agricultural machine automatic navigation method, agricultural machine automatic navigation system and agricultural machine Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention provides an agricultural machinery automatic navigation method, an agricultural machinery automatic navigation system and an agricultural machinery, wherein the agricultural machinery automatic navigation method comprises the following steps: generating an agricultural machine driving instruction based on historical reference position information about a working area and real-time image information about an agricultural machine surrounding environment; and automatically navigating the agricultural machine in the operation area based on the agricultural machine running instruction.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to an agricultural machinery automatic navigation method, an agricultural machinery automatic navigation system and an agricultural machinery.
Background
With the maturity of the civil and Beidou satellite positioning technologies of the GPS technology, the refined agriculture of China develops rapidly, wherein the intellectualization and automation of the agricultural mechanical device belong to the execution end of the refined agriculture, and the realization of the refined agriculture can be guaranteed.
The automatic navigation technology of the agricultural machine can improve the operation precision and efficiency, is beneficial to increasing the grain yield and reducing the safety risk of agricultural production.
At present, an automatic navigation technology of an agricultural machine mainly relates to three aspects, the first aspect is agricultural machine pose estimation, positioning information provided by a global satellite positioning system, such as a Beidou, a GPS, a GLONASS and other positioning systems is used for positioning the agricultural machine, the second aspect is path tracking of the agricultural machine is completed according to a preset track, linear walking and automatic steering are mainly related to based on strategies such as PID control and the like, transverse errors and course angle errors can be measured by using an angle sensor, an accelerometer, a laser sensor, a visual sensor and the like, the third aspect is obstacle detection and motion decision, such as the agricultural machine can automatically go around or stop moving when encountering obstacles, and the obstacles are usually detected by using a laser radar, a millimeter wave radar, an ultrasonic sensor, a visual sensor and the like.
In actual operation of agricultural machines, the working area is often uneven, which results in that the agricultural machine may slip or shift when driving in the working area. On the basis of adopting a global satellite positioning system, the agricultural machinery automatic navigation system can generate larger deviation for positioning the agricultural machinery.
Disclosure of Invention
An advantage of the present invention is to provide an agricultural machine automatic navigation method, an agricultural machine automatic navigation system and an agricultural machine, wherein the agricultural machine automatic navigation system can accurately position the agricultural machine, and especially, under the condition of uneven working area, the agricultural machine automatic navigation system can still accurately position the agricultural machine. Another advantage of the present invention is to provide an automatic navigation method, an automatic navigation system and an agricultural machine, wherein the agricultural machine can be accurately navigated by the automatic navigation system, so as to reduce the problem of deviation in some environments caused by prior navigation through satellite positioning.
Another advantage of the present invention is to provide an agricultural machine automatic navigation method, an agricultural machine automatic navigation system and an agricultural machine, wherein the agricultural machine automatic navigation system can automatically navigate the agricultural machine by combining real-time image information of an environment where the agricultural machine is located on the basis of acquiring a driving reference path by satellite positioning.
Another advantage of the present invention is to provide an agricultural machine automatic navigation method, an agricultural machine automatic navigation system, and an agricultural machine, wherein the agricultural machine can be manually controlled to travel in the working area to acquire the travel reference path in advance, and then the agricultural machine automatic navigation system can perform more accurate navigation on the agricultural machine based on the travel reference path and the information acquired in real time.
Another advantage of the present invention is to provide an agricultural machine automatic navigation method, an agricultural machine automatic navigation system and an agricultural machine, wherein the agricultural machine automatic navigation system can calibrate a starting point of the agricultural machine to reduce the drift of observation results of a satellite positioning mode at different periods.
According to one aspect of the invention, the invention provides an automatic navigation method for agricultural machinery, which comprises the following steps:
generating an agricultural machine driving instruction based on historical reference position information about a working area and real-time image information about an agricultural machine surrounding environment; and
and automatically navigating the agricultural machine in the operation area based on the agricultural machine running instruction.
According to an embodiment of the present invention, before the automatic navigation step, the agricultural machinery automatic navigation method further comprises the steps of:
and acquiring the historical reference position information of a device running in the working area by means of satellite positioning.
According to an embodiment of the present invention, before the automatic navigation step, the agricultural machinery automatic navigation method further comprises the steps of:
the current position of the agricultural machinery is observed in a satellite positioning mode to compare with the previous position information so as to calibrate the starting point, so that the drift of the observation results of the satellite positioning in different periods is corrected.
According to an embodiment of the invention, in the above method, the agricultural machine travel instruction is generated based on a travel reference path generated from the historical reference position information and image information of the working area acquired by a visual detection unit.
According to an embodiment of the invention, in the method, the agricultural machinery running control instruction is generated based on the historical reference position information, the real-time position information of the agricultural machinery and the real-time image information collected by a visual detection unit.
According to an embodiment of the present invention, in the method, a visual detection unit acquires image information of an environment where the device is located to generate a visual map matching the historical reference location.
According to an embodiment of the invention, in the above method, the agricultural machinery running control instruction is generated based on the historical reference position information, the visual map, the real-time position of the agricultural machinery, and the real-time image information collected by the visual detection unit.
According to one embodiment of the invention, the device is the agricultural machine with a satellite positioning unit.
According to one embodiment of the invention, the device is controlled to travel within the working area by manual operation to acquire the historical reference position information, which is used as a basis for subsequent automatic navigation paths.
According to another aspect of the present invention, the present invention provides an agricultural machinery automatic driving method, which comprises the following steps:
generating an agricultural machine driving instruction based on historical reference position information about a working area and real-time image information about an agricultural machine surrounding environment; and
and automatically driving the agricultural machinery in the operation area based on the agricultural machinery driving instruction.
According to an embodiment of the present invention, before the automatic navigation step, the agricultural machinery automatic navigation method further comprises the steps of:
and acquiring the historical reference position information of a device running in the working area by means of satellite positioning.
According to an embodiment of the present invention, before the automatic navigation step, the agricultural machinery automatic navigation method further comprises the steps of:
the current position of the agricultural machinery is observed in a satellite positioning mode to compare with the previous position information so as to calibrate the starting point, so that the drift of the observation results of the satellite positioning in different periods is corrected.
According to an embodiment of the invention, in the above method, the agricultural machine travel instruction is generated based on a travel reference path formed based on the historical reference position information corresponding to a plurality of positions within the work area, respectively, and image information of the work area acquired by a visual detection unit.
According to an embodiment of the invention, in the method, the agricultural machinery running control instruction is generated based on the historical reference position information, the real-time position information of the agricultural machinery and the real-time image information collected by a visual detection unit.
According to another aspect of the present invention, there is provided an agricultural automatic navigation system, comprising:
a processing unit;
a satellite positioning unit; and
a vision detection unit, wherein the satellite positioning unit and the vision detection unit are respectively connected with the processing unit in a communication way, wherein the vision detection unit is used for acquiring the surrounding environment information of an agricultural machine, the satellite positioning unit is used for acquiring the position information of the agricultural machine, the processing unit determines an agricultural machine driving instruction based on a previous driving reference path and the surrounding environment information acquired by the vision detection unit, wherein the agricultural machine is driven in the working area in real time, so as to allow the agricultural machine to be navigated through the agricultural machine driving instruction, and the driving reference path is acquired through the previous driving action in the working area and through the satellite positioning unit.
According to an embodiment of the present invention, the vision detecting unit is fixedly mounted to an agricultural machine main body of the agricultural machine to keep a relative position of an optical axis of the vision detecting unit and a satellite antenna of the satellite positioning unit fixed.
According to an embodiment of the invention, the processing unit generates a visual map based on the image information acquired by the visual detection unit.
According to one embodiment of the invention, the processing unit calibrates a starting point of the agricultural machinery based on the previous starting point information and the current starting point information acquired by the satellite positioning unit.
According to one embodiment of the invention, the visual detection unit comprises at least one camera and at least one camera is held in front of an agricultural machine body of the agricultural machine.
According to another aspect of the present invention, there is provided an agricultural machine comprising:
an agricultural machinery automatic navigation system; and
an agricultural machine body, the agricultural machine body comprising:
a processing unit;
a satellite positioning unit;
a visual inspection unit provided in the agricultural machine main body, and
a control unit, wherein the satellite positioning unit and the vision detection unit are respectively connected with the processing unit in a communication way, wherein the vision detection unit is used for acquiring the surrounding environment information of an agricultural machine, the satellite positioning unit is used for acquiring the position information of the agricultural machine, the processing unit determines an agricultural machine driving instruction based on a previous driving reference path and the surrounding environment information acquired by the vision detection unit, wherein the driving reference path is acquired by the satellite positioning unit through the previous driving action in the working area, the processing unit sends the agricultural machine driving instruction to the control unit, and the agricultural machine body is controllably connected with the control unit to allow the agricultural machine to be automatically navigated.
Drawings
FIG. 1 is a schematic block diagram of an agricultural machine in accordance with a preferred embodiment of the present invention.
Fig. 2A is a schematic application diagram of an automatic navigation system of an agricultural machine according to a preferred embodiment of the invention.
Fig. 2B is a schematic application diagram of the automatic navigation system of agricultural machinery according to the above preferred embodiment of the present invention.
Fig. 2C is a schematic application diagram of the automatic navigation system of agricultural machinery according to the above preferred embodiment of the present invention.
Fig. 3A is a schematic application diagram of the automatic navigation system of agricultural machinery according to the above preferred embodiment of the present invention.
Fig. 3B is a schematic application diagram of the automatic navigation system of agricultural machinery according to the above preferred embodiment of the present invention.
FIG. 4 is a schematic view of an agricultural machinery automatic navigation method according to a preferred embodiment of the present invention.
FIG. 5 is a schematic view of an agricultural machine according to another preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Referring to fig. 1 to 4, an agricultural machine 1 according to a preferred embodiment of the present invention is illustrated.
The agricultural machine 1 includes an agricultural machine main body 10 and an agricultural machine automatic navigation system 20, wherein the agricultural machine automatic navigation system 20 is provided to the agricultural machine main body 10, and the type of the agricultural machine main body 10 may be, but is not limited to, a transplanter main body, a harvester main body, a seeder main body, and the like. The agricultural machine body 10 may include a traveling unit 11, a driving unit 12, a steering unit 13, and a braking unit 14. The walking unit 11 is used for walking, the driving unit 12 is used for driving the walking unit 11, the steering unit 13 is used for steering, and the braking unit 14 is used for braking.
By agricultural machinery automatic navigation system 20, agricultural machinery 1 can be in the operation of operation area 100 accurate operation, especially work as under the condition of the ground unevenness in the operation area 100, agricultural machinery automatic navigation system 20 can not produce great deviation owing to sideslip or the skew that produces in the driving process.
The automatic navigation method of the agricultural machine can comprise the following steps:
forming a travel reference path based on a position of a device 1000 traveling within the work area 100 by means of satellite positioning; and
automatically navigating the agricultural machine 1 in the working area 100 based on an agricultural machine driving instruction, wherein the agricultural machine driving instruction is generated based on the driving reference path and the collected environment image information.
Specifically, in the face of a new working area 100, one device 1000 may travel along the working area 100 to determine the travel reference path, which can be referred to for the subsequent operation of the agricultural machine 1. The device 1000 can be the agricultural machine 1 or some special surveying and mapping device 1000.
The device 1000 may be controlled by an operator to travel within the work area 100 to form the travel reference path. The operator may sit directly on the device 1000 to operate the device 1000, or may remotely control the device 1000.
It is understood that the satellite positioning unit may acquire position information of the apparatus 1000, based on which the travel reference path may be generated.
In the present embodiment, the device 1000 is implemented as the agricultural machine 1, that is, when the agricultural machine 1 needs to work on a new working area 100, the agricultural machine 1 needs to travel in the working area 100 in advance to obtain the travel reference path.
During the running process of the agricultural machine 1, the position information of the agricultural machine 1 is acquired by the satellite positioning system to form the running reference path.
It should be noted that the image system of the surroundings of the agricultural machine 1 can also be acquired to form a visual map matching the reference path of travel.
In more detail, the automatic navigation system 20 of the agricultural machine 1 comprises a processing unit 21, a satellite positioning unit 22 and a visual detection unit 23, wherein the satellite positioning unit 22 and the visual detection unit 23 are respectively connected to the processing unit 21 in a communication manner. The satellite positioning unit 22 is configured to obtain satellite positioning information, and the visual detection unit 23 is configured to obtain image information of an environment where the agricultural main body 10 is located. It is understood that the visual detection unit 23 is disposed on the agricultural machine main body 10, and the processing unit 21 may be disposed on the agricultural machine main body 10 or may not be disposed on the agricultural machine main body 10. The processing unit 21 may include one or more processors, which may be disposed at the agricultural machinery main body 10 or other locations, and the processors are communicatively connected with the satellite positioning unit 22 and the visual detection unit 23, and may be wired or wireless.
The automatic navigation system 20 of agricultural machine may further comprise a control unit 24, wherein the processing unit 21 is communicatively connected to the control unit 24, and the control unit 24 is used for controlling the walking speed and walking direction of the agricultural machine body 10. The processing unit 21 generates the agricultural machinery running instruction based on the information acquired by the satellite positioning unit 22 and the visual detection unit 23, and sends the agricultural machinery running instruction to the control unit 24. The control unit 24 controls the agricultural machine main body 10 based on the agricultural machine travel command so that the agricultural machine main body 10 travels or works in the working area 100 along a route.
Further, the automatic navigation method of the agricultural machine comprises the following steps: when the agricultural machine 1 runs to obtain the running reference path, the visual detection unit 23 is used for acquiring an image of the environment where the agricultural machine 1 is located, which is matched with the running reference path, so as to generate the visual map.
In detail, the visual detection unit 23 may include at least one visual sensor 231, and the number of the visual sensors 231 may be one, two, or more. The vision sensor 231 may be, but is not limited to, a camera.
The vision sensor 231 may be mounted to the agricultural machine body 10 and maintain a fixed relative position with the agricultural machine body 10. It is understood that the vision sensor 231 may not be installed on the agricultural machine main body 10, for example, several places may be selected in the working area 100 to arrange the vision sensor 231. In the present embodiment, the vision sensor 231 is mounted to the agricultural machine body 10 and may be located in a forward direction of the agricultural machine body 10, so that when the agricultural machine body 10 is running, the vision sensor 231 may capture an image of an environment in front of the agricultural machine body 10. It is of course understood that the vision sensor 231 may be disposed behind the agricultural machine main body 10, or when the number of the vision sensors 231 is plural, at least one vision sensor 231 may be disposed in front of the agricultural machine main body 10, and at least one vision sensor 231 may be disposed behind the agricultural machine main body 10. Alternatively, the vision sensor 231 may be disposed around the agricultural machine main body 10 to acquire an image of the environment where the agricultural machine main body 10 is located as much as possible.
The satellite positioning unit 22 may include at least one satellite antenna 221 and a satellite positioning module 222, and the satellite positioning module 222 may be, but is not limited to, an RTK satellite positioning module 222. The spatial scaling relationship between the satellite antenna 221 of the satellite positioning unit 22 and the vision sensor 231 of the vision detecting unit 23 is known, and when the vision sensor 231 of the vision detecting unit 23 acquires an image and transmits image information to the processing unit 21, the processing unit 21 can build the vision map.
Further, in the automatic navigation method for agricultural machinery, in the step of controlling the agricultural machinery 1 to automatically travel in the working area 100, the visual detection unit 23 acquires an image of an environment where the agricultural machinery 1 is located in real time to generate the real-time visual map.
That is, the visual inspection unit 23 may perform image acquisition not only in real time on the environment around the agricultural main body 10 during the formation of the travel reference path, but also in real time on the environment around the agricultural main body 10 during actual travel or work.
Further, in the automatic navigation method of agricultural machinery, the processing unit 21 can obtain appropriate decision information by using the data acquired by the satellite positioning unit 22 and the visual detection unit 23. The agricultural automatic navigation system 20 may include a storage unit 25, wherein the storage unit 25 and the processing unit 21 may be communicably connected to each other. The processing unit 21 may store information to the storage unit 25, and the storage unit 25 may also acquire information from the processing unit 21. The storage unit 25 may also be communicably connected to the satellite positioning unit 22 and the visual detection unit 23 to store information acquired by the satellite positioning unit 22 and the visual detection unit 23.
The travel reference path may be stored in the storage unit 25, and when the agricultural machine 1 is to be actually operated, the processing unit 21 may retrieve the travel reference path from the storage unit 25 and compare the real-time information acquired by the satellite positioning unit 22 and the visual detection unit 23 with the travel reference path to determine an appropriate path.
For example, the operator drives the agricultural machine 1 to travel within the working area 100 to form the travel reference path. Based on the agricultural machinery automatic navigation system 20, the agricultural machinery 1 is automatically navigated to work within the work area 100 without the operator's manipulation, in the process of which the visual detection unit 23 and the satellite positioning unit 22 provided to the agricultural machinery main body 10 acquire information in real time. The vision sensor 231 of the vision detecting unit 23 may be mounted at a front middle position of the agricultural machinery main body 10, for example, a lens of a camera may face a driving direction of the agricultural machinery main body 10 and an optical axis of the lens forms a fixed angle with the ground. The installation position of the vision sensor 231 and the 3D space conversion relationship of the satellite antenna 221 of the satellite positioning unit 22 have been determined. The visual detection unit 23 collects road condition information images of the traveling direction in real time, and transmits the images to the processing unit 21, and the processing unit 21 processes the images, such as feature point marking and modeling, to establish the real-time visual map. The satellite positioning module 222 of the satellite positioning unit 22 can receive satellite signals in real time and calculate position and speed information of the agricultural machine 1.
With reference to fig. 2A to 2C, in fig. 2A, an operator drives the agricultural machine 1 to travel in the working area 100, and the agricultural machine body 10 of the agricultural machine 1 is provided with the satellite positioning unit 22 and the visual detection unit 23. In fig. 2B, when the agricultural machine 1 travels in the working area 100, the satellite positioning unit 22 obtains the passing position information of the agricultural machine 1, and the visual detection unit 23 obtains the passing ambient environment information of the agricultural machine 1, such as an obstacle encountered during the traveling of the agricultural machine 1, so as to form the visual map and the traveling reference path. In fig. 2C, the visual map and the travel reference path may be formed after the operator drives the agricultural machine 1 to finish traveling in the working area 100, and in fig. 2C, the travel reference path is illustrated, and the visual map is not illustrated.
The processing unit 21 compares the real-time position of the agricultural machine 1 with the driving reference path, and determines a driving strategy of the agricultural machine main body 10 to realize automatic navigation. As for the control unit 24, the control unit 24 receives the agricultural machine running instruction from the processing unit 21, and the agricultural machine running instruction CAN be sent to the control unit 24 through a CAN bus. The control unit 24 controls the agricultural machine main body 10 to travel in the working area 100 based on the agricultural machine travel command, thereby realizing automatic navigation.
With reference to fig. 3A and 3B, the agricultural machine 1 can realize automatic navigation, so as to realize automatic driving or operation. The processing unit 21 of the agricultural machine 1 determines the final driving control instruction by using the driving reference path acquired in advance and real-time data detected by the satellite positioning unit 22 and the vision detection unit 23. It is understood that the processing unit 21 may determine the final driving control command by using the pre-acquired driving reference path, the visual map, and the data acquired by the satellite positioning unit 22 in real time, and the data acquired by the visual detection unit 23 in real time.
The processing unit 21 may also determine the final driving control command by using the driving reference path acquired in advance and the data acquired by the visual detection unit 23 in real time.
It should be noted that when the processing unit 21 analyzes that the current satellite signal is lost or has a large deviation, the processing unit 21 may assist navigation based on the real-time image acquired after the visual detection unit 23 and the visual map.
In this embodiment, the automatic navigation system 20 of the agricultural machine 1 can realize more accurate positioning and navigation by the way of the satellite positioning sensor and the vision sensor 231 working together.
Further, to improve the robustness of the visual assistance task, a sign may be disposed on the working area 100 or around the working area 100, and may be, but is not limited to, a sign board, such as a distance traveled sign board, a turn sign board, a start sign board, an end sign board, and the like. The visual detection unit 23 can recognize these marks, thereby facilitating the positioning of the agricultural machine main body 10.
Further, it is noted that when the agricultural machine 1 starts to operate actually after acquiring the travel reference path, calibration may be performed at a starting point to reduce errors. In detail, the processing unit 21 may acquire satellite navigation observation information of a previously accessed start point from the storage unit 25, and acquire real-time satellite navigation observation information from the satellite positioning unit 22. The processing unit 21 processes the two types of observation information to correct the drift of the observation values of the satellite positioning system at different periods. The processing unit 21 may process the two types of observation information in a differential manner.
In detail, referring to fig. 4, the automatic navigation method for agricultural machinery may include the following steps:
obtaining the travel reference path by controlling the device 1000 to travel within the work area 100;
then automatically navigating the agricultural machine in the working area 100 based on an agricultural machine running instruction, wherein the agricultural machine running instruction is generated by the previous running reference path and the data acquired by the visual detection unit 23 in real time;
if a stop sign is met, the navigation can be stopped, and if the stop sign is not met, data are continuously acquired in real time based on the previous running reference path and the visual detection unit 23 to obtain the agricultural machine running instruction in real time.
In more detail, the agricultural machinery automatic navigation method can comprise the following steps:
the operator controls the agricultural machine 1 to travel in the working area 100, and obtains the position information of the agricultural machine 1 by the satellite positioning unit 22. The position information may be stored in the storage unit 25 of the agricultural automatic navigation system 20.
During the driving of the agricultural machine 1, the satellite positioning module 222 of the satellite positioning unit 22 may receive the position information gi of the agricultural machine 1 to form the driving reference path G ═ { gi, i ═ 1, …, N }. The visual inspection unit 23 collects images to form the visual map M in which the travel reference paths are matched with each other.
For example, the visual map M may be generated by a feature point-based image stitching technique. Each position gi of the agricultural machine 1 can have at least one corresponding image Ii (top view with inverse perspective change). It is to be understood that when the number of the vision sensors 231 of the vision detecting unit 23 is plural, the image Ii corresponding to each position gi may also be plural. The adjacent gi and gi-1 correspond to Ii and Ii-1 which contain overlapping portions. The feature points of the overlapped part can be used as the basis for splicing the two images, and by analogy, all the images are spliced to obtain the visual map. The visual map may be a 2D map or a 3D map.
Of course, it should be understood by those skilled in the art that the formation of the visual map M is not limited to the above-described examples.
After acquiring the driving reference path, the agricultural machine 1 may start real work, in this process, the agricultural machine 1 may obtain a position signal S and an image Img by the satellite positioning unit 22 and the vision detecting unit 23, and the processing unit 21 may calculate a driving heading deviation of the agricultural machine 1 based on the driving reference path G, the vision map M, the real-time position signal S and the real-time image Img, so as to output a driving steering angle β, β ═ driving control (G, M, S, Img). The driveControl function contains the handling of the loss of the position signal S or the numerical exception.
It is understood that, after acquiring the travel reference path, the processing unit 21 acquires ground image information of the working area 100 using the vision detecting unit 23, and can recognize a ground track. The processing unit 21 acquires a satellite positioning track by using the satellite positioning unit 22 recorded before, and can fuse a ground track and the satellite positioning track to generate a final agricultural machine running instruction.
That is, the agricultural machinery automatic navigation system 20 may memorize the travel reference path, perform automatic navigation using the travel reference path, and perform correction in combination with the information detected by the visual detection unit 23 to generate the final agricultural machinery travel command.
Further, when the agricultural machine 1 recognizes a stop mark or reaches a work termination position, the agricultural machine 1 stops working, and if the agricultural machine 1 does not recognize the stop mark or reaches the work termination position, the automatic agricultural machine navigation system 20 continues to acquire image information and satellite positioning information to generate the agricultural machine driving instruction.
According to another aspect of the present invention, the present invention provides an agricultural machinery automatic driving method, wherein the automatic driving method comprises the steps of:
generating the agricultural machinery running instruction based on historical reference position information on the working area 100 and real-time image information on the environment around the agricultural machinery; and
and automatically driving the agricultural machinery in the operation area 100 based on the agricultural machinery driving instruction.
It is understood that the historical reference location information is used for reference by the agricultural machines traveling or working within the work area 100.
It is understood that a reference position information of the apparatus 1000 traveling in the working area 100 may be acquired by means of satellite positioning to acquire the travel reference path, and then the travel reference path may be acquired
And controlling the agricultural machine 1 to automatically travel in the working area 100 based on the agricultural machine travel instruction, wherein the agricultural machine travel instruction is generated based on the travel reference path and the image information of the working area 100 acquired by the visual detection unit 23.
It is understood that the reference position information is information of each position through which the apparatus 1000 travels, and the reference position information may form the travel reference path through processing. The reference position information can provide navigation for the agricultural machine 1 when driving next time.
Specifically, in the face of a new working area 100, one device 1000 may travel along the working area 100 to determine the travel reference path, which can be referred to for the subsequent operation of the agricultural machine 1. The device 1000 can be the agricultural machine 1 or some special surveying and mapping device 1000.
The device 1000 may be controlled by an operator to travel within the work area 100 to form the travel reference path. The operator may sit directly on the device 1000 to operate the device 1000, or may remotely control the device 1000.
In the present embodiment, the device 1000 is implemented as the agricultural machine 1, that is, when the agricultural machine 1 needs to work on a new working area 100, the agricultural machine 1 first travels in the working area 100 to obtain the travel reference path.
During the running process of the agricultural machine 1, the position information of the agricultural machine 1 is acquired by the satellite positioning system to form the running reference path.
It should be noted that the image system of the surroundings of the agricultural machine 1 can also be acquired to form a visual map matching the reference path of travel.
According to another aspect of the present invention, referring to fig. 5 and fig. 1 to 4, the present invention provides an agricultural machine autopilot system 30, an agricultural machine 1 may include the agricultural machine body 10 and the agricultural machine autopilot system 30, and the agricultural machine body 10 is controllably connected to the agricultural machine autopilot system 30. May comprise the processing unit 21, the satellite positioning unit 22 and the visual detection unit 23, wherein the satellite positioning unit 22 and the visual detection unit 23 are respectively communicably connected to the processing unit 21. The satellite positioning unit 22 is configured to obtain satellite positioning information, and the visual detection unit 23 is configured to obtain image information of an environment where the agricultural main body 10 is located.
The agricultural automatic driving system 30 may further include the control unit 24, wherein the processing unit 21 is communicably connected to the control unit 24A, and the control unit 24A is used for controlling the traveling speed and the traveling direction of the agricultural main body 10. The processing unit 21 generates the agricultural machinery running instruction based on the information acquired by the satellite positioning unit 22 and the visual detection unit 23, and sends the agricultural machinery running instruction to the control unit 24A. The control unit 24A controls the agricultural machine main body 10 based on the agricultural machine travel command so that the agricultural machine main body 10 travels or works in the working area 100 along a route.
The control unit 24A may control the traveling unit 11, the driving unit 12, the steering unit 13, and the braking unit 14 of the agricultural machine main body 10. The walking unit 11 is used for walking, the driving unit 12 is used for driving the walking unit 11, the steering unit 13 is used for steering, and the braking unit 14 is used for braking.
Further, the agricultural machinery automatic navigation method and the agricultural machinery automatic driving method comprise the following steps: when the agricultural machine 1 runs to obtain the running reference path, the visual detection unit 23 is used for acquiring an image of the environment where the agricultural machine 1 is located, which is matched with the running reference path, so as to generate the visual map.
In detail, the visual detection unit 23 may include at least one visual sensor 231, and the number of the visual sensors 231 may be one, two, or more. The vision sensor 231 may be, but is not limited to, a camera.
The vision sensor 231 may be mounted to the agricultural machine body 10 and maintain a fixed relative position with the agricultural machine body 10. It is understood that the vision sensor 231 may not be installed on the agricultural machine main body 10, for example, several places may be selected in the working area 100 to arrange the vision sensor 231. In the present embodiment, the vision sensor 231 is mounted to the agricultural machine body 10 and may be located in a forward direction of the agricultural machine body 10, so that when the agricultural machine body 10 is running, the vision sensor 231 may capture an image of an environment in front of the agricultural machine body 10. It is of course understood that the vision sensor 231 may be disposed behind the agricultural machine main body 10, or when the number of the vision sensors 231 is plural, at least one vision sensor 231 may be disposed in front of the agricultural machine main body 10, and at least one vision sensor 231 may be disposed behind the agricultural machine main body 10. Alternatively, the vision sensor 231 may be disposed around the agricultural machine main body 10 to acquire an image of the environment where the agricultural machine main body 10 is located as much as possible.
The satellite positioning unit 22 may include at least one of the satellite antenna 221 and the satellite positioning module 222, and the satellite positioning module 222 may be, but is not limited to, an RTK satellite positioning module 222. The spatial scaling relationship between the satellite antenna 221 of the satellite positioning unit 22 and the vision sensor 231 of the vision detecting unit 23 is known, and when the vision sensor 231 of the vision detecting unit 23 acquires an image and transmits image information to the processing unit 21, the processing unit 21 can build the vision map.
Further, in the agricultural machinery automatic navigation method and the agricultural machinery automatic driving method, in the step of controlling the agricultural machinery 1 to automatically travel in the working area 100, the visual detection unit 23 acquires an image of an environment where the agricultural machinery 1 is located in real time to generate the real-time visual map.
That is, the visual inspection unit 23 may perform image acquisition not only in real time on the environment around the agricultural main body 10 during the formation of the travel reference path, but also in real time on the environment around the agricultural main body 10 during actual travel or work.
Further, in the agricultural automatic navigation method and the agricultural automatic driving method, the processing unit 21 can obtain appropriate decision information by using the data acquired by the satellite positioning unit 22 and the visual detection unit 23. The agricultural autopilot system 30 can include the memory unit 25, wherein the memory unit 25 and the processing unit 21 can be communicatively coupled to each other. The processing unit 21 may store information to the storage unit 25, and the storage unit 25 may also acquire information from the processing unit 21. The storage unit 25 may also be communicably connected to the satellite positioning unit 22 and the visual detection unit 23 to store information acquired by the satellite positioning unit 22 and the visual detection unit 23.
The travel reference path may be stored in the storage unit 25, and when the agricultural machine 1 is to be actually operated, the processing unit 21 may retrieve the travel reference path from the storage unit 25 and compare the real-time information acquired by the satellite positioning unit 22 and the visual detection unit 23 with the travel reference path to determine an appropriate path.
For example, the operator drives the agricultural machine 1 to travel within the working area 100 to form the travel reference path. Based on the agricultural machine autopilot system 30, the agricultural machine 1 is automatically navigated to travel or work within the work area 100 without the need for the operator to manipulate, in the course of which the visual detection unit 23 and the satellite positioning unit 22 provided to the agricultural machine main body 10 acquire information in real time. The vision sensor 231 of the vision detecting unit 23 may be mounted at a front middle position of the agricultural machinery main body 10, for example, a lens of a camera may face a driving direction of the agricultural machinery main body 10 and an optical axis of the lens forms a fixed angle with the ground. The installation position of the vision sensor 231 and the 3D space conversion relationship of the satellite antenna 221 of the satellite positioning unit 22 have been determined. The visual detection unit 23 collects road condition information images of the traveling direction in real time, and transmits the images to the processing unit 21, and the processing unit 21 processes the images, such as feature point marking and modeling, to establish the real-time visual map. The satellite positioning module 222 of the satellite positioning unit 22 can receive satellite signals in real time and calculate position and speed information of the agricultural machine 1.
The processing unit 21 compares the real-time position of the agricultural machine 1 with the driving reference path, and determines the driving strategy of the agricultural machine main body 10 to realize automatic driving. For the control unit 24A, the control unit 24A receives the agricultural machine running instruction from the processing unit 21, and the agricultural machine running instruction CAN be sent to the control unit 24A through a CAN bus. The control unit 24A controls the agricultural machine main body 10 to automatically travel in the working area 100 based on the agricultural machine travel command.
It should be noted that when the processing unit 21 analyzes that the current satellite signal is lost or has a large deviation, the processing unit 21 may assist navigation based on the real-time image acquired after the visual detection unit 23 and the visual map.
Further, to improve the robustness of the visual assistance task, a sign may be disposed on the working area 100 or around the working area 100, and may be, but is not limited to, a sign board, such as a distance traveled sign board, a turn sign board, a start sign board, an end sign board, and the like. The visual detection unit 23 can recognize these marks, thereby facilitating the positioning of the agricultural machine main body 10.
Further, it is noted that when the agricultural machine 1 starts to operate actually after acquiring the travel reference path, calibration may be performed at a starting point to reduce errors. In detail, the processing unit 21 may acquire satellite navigation observation information of a previously accessed start point from the storage unit 25, and acquire real-time satellite navigation observation information from the satellite positioning unit 22. The processing unit 21 processes the two types of observation information to correct the drift of the observation values of the satellite positioning system at different periods. The processing unit 21 may process the two types of observation information in a differential manner.
In more detail, the agricultural machinery automatic navigation method and the agricultural machinery automatic driving method may include the steps of:
the operator controls the agricultural machine 1 to travel in the working area 100, and obtains the position information of the agricultural machine 1 by the satellite positioning unit 22. The position information may be stored in the storage unit 25 of the agricultural automatic driving system 30.
During the driving of the agricultural machine 1, the satellite positioning module 222 of the satellite positioning unit 22 may receive the position information gi of the agricultural machine 1 to form the driving reference path G ═ { gi, i ═ 1, …, N }. The visual inspection unit 23 collects images to form the visual map M in which the travel reference paths are matched with each other.
For example, the visual map M may be generated by a feature point-based image stitching technique. Each position gi of the agricultural machine 1 can have at least one corresponding image Ii (top view with inverse perspective change). It is to be understood that when the number of the vision sensors 231 of the vision detecting unit 23 is plural, the image Ii corresponding to each position gi may also be plural. The adjacent gi and gi-1 correspond to Ii and Ii-1 which contain overlapping portions. The feature points of the overlapped part can be used as the basis for splicing the two images, and by analogy, all the images are spliced to obtain the visual map. The visual map may be a 2D map or a 3D map.
Of course, it should be understood by those skilled in the art that the formation of the visual map M is not limited to the above-described examples.
After acquiring the driving reference path, the agricultural machine 1 may start real work, in this process, the agricultural machine 1 may obtain a position signal S and an image Img by the satellite positioning unit 22 and the vision detecting unit 23, and the processing unit 21 may calculate a driving heading deviation of the agricultural machine 1 based on the driving reference path G, the vision map M, the real-time position signal S and the real-time image Img, so as to output a driving steering angle β, β ═ driving control (G, M, S, Img). The driveControl function contains the handling of the loss of the position signal S or the numerical exception.
It is understood that, after acquiring the travel reference path, the processing unit 21 acquires ground image information of the working area 100 using the vision detecting unit 23, and can recognize a ground track. The processing unit 21 acquires a satellite positioning track by using the satellite positioning unit 22 recorded before, and can fuse a ground track and the satellite positioning track to generate a final agricultural machine running instruction.
That is, the agricultural machinery autopilot system 30 may memorize the travel reference path, perform automatic navigation using the travel reference path, and perform correction in combination with the information detected by the visual detection unit 23 to generate the final agricultural machinery travel command.
Further, when the agricultural machine 1 recognizes a stop sign or reaches a work termination position, the agricultural machine 1 stops working, and if the agricultural machine 1 does not recognize the stop sign or reaches the work termination position, the agricultural machine automatic driving system 30 continues to acquire image information and satellite positioning information to generate the agricultural machine driving instruction.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (15)
1. An automatic navigation method of agricultural machinery is characterized by comprising the following steps:
generating an agricultural machine driving instruction based on historical reference position information about a working area and real-time image information about an agricultural machine surrounding environment; and
and automatically navigating the agricultural machine in the operation area based on the agricultural machine running instruction.
2. The agricultural automatic navigation method according to claim 1, wherein prior to the automatic navigation step, the agricultural automatic navigation method further comprises the steps of:
and acquiring the historical reference position information of a device running in the working area by means of satellite positioning.
3. The agricultural automatic navigation method according to claim 1, wherein prior to the automatic navigation step, the agricultural automatic navigation method further comprises the steps of:
the current position of the agricultural machinery is observed in a satellite positioning mode to compare with the previous position information so as to calibrate the starting point, so that the drift of the observation results of the satellite positioning in different periods is corrected.
4. The automatic agricultural machine navigation method according to any one of claims 1 to 3, wherein in the above method, the agricultural machine travel instruction is generated based on a travel reference path formed based on the historical reference position information corresponding to a plurality of positions within the work area, respectively, and image information of the work area acquired by a visual detection unit.
5. The automatic navigation method for agricultural machinery according to any one of claims 1 to 3, wherein in the above method, the agricultural machinery running control command is generated based on the historical reference position information, the real-time position information of the agricultural machinery and the real-time image information collected by a visual detection unit.
6. The method according to claim 2, wherein in the method, a visual detection unit is used to obtain image information of the environment where the device is located so as to generate a visual map matching the historical reference position.
7. The agricultural machinery automatic navigation method according to claim 6, wherein in the above method, the agricultural machinery running control instruction is generated based on the historical reference position information, the visual map, the real-time position of the agricultural machinery, and the real-time image information collected by the visual detection unit.
8. The method for automatic navigation of agricultural machinery according to claim 2 or 6, wherein the device is the agricultural machinery with a satellite positioning unit.
9. The agricultural machinery automatic navigation method according to claim 8, wherein the device is controlled to travel in the working area by a manual operation to acquire the historical reference position information, which is used as a basis for a subsequent automatic navigation path.
10. An agricultural machinery automatic navigation system, characterized by, includes:
a processing unit;
a satellite positioning unit; and
a vision detection unit, wherein the satellite positioning unit and the vision detection unit are respectively connected with the processing unit in a communication way, wherein the vision detection unit is used for acquiring the surrounding environment information of an agricultural machine, the satellite positioning unit is used for acquiring the position information of the agricultural machine, the processing unit determines an agricultural machine driving instruction based on a previous driving reference path and the surrounding environment information acquired by the vision detection unit, wherein the agricultural machine is driven in the working area in real time, so as to allow the agricultural machine to be navigated through the agricultural machine driving instruction, and the driving reference path is acquired through the previous driving action in the working area and through the satellite positioning unit.
11. The agricultural automatic navigation system of claim 10, wherein the vision detection unit is fixedly mounted to an agricultural machine body of the agricultural machine to maintain a fixation of a relative position of an optical axis of the vision detection unit and a satellite antenna of the satellite positioning unit.
12. The agricultural automatic navigation system of claim 10, wherein the processing unit generates a visual map based on the image information acquired by the visual detection unit.
13. The agricultural machinery automatic navigation system of claim 10, wherein the processing unit calibrates a start point of the agricultural machinery based on previous start point information and current start point information acquired by the satellite positioning unit.
14. The agricultural automatic navigation system of claim 10, wherein the visual detection unit includes at least one camera and at least one camera is held in front of an agricultural body of the agricultural machine.
15. An agricultural machine, comprising:
an agricultural machinery automatic navigation system; and
an agricultural machine body, the agricultural machine body comprising:
a processing unit;
a satellite positioning unit;
a visual inspection unit provided in the agricultural machine main body, and
a control unit, wherein the satellite positioning unit and the vision detection unit are respectively connected with the processing unit in a communication way, wherein the vision detection unit is used for acquiring the surrounding environment information of an agricultural machine, the satellite positioning unit is used for acquiring the position information of the agricultural machine, the processing unit determines an agricultural machine driving instruction based on a previous driving reference path and the surrounding environment information acquired by the vision detection unit, wherein the driving reference path is acquired by the satellite positioning unit through the previous driving action in the working area, the processing unit sends the agricultural machine driving instruction to the control unit, and the agricultural machine body is controllably connected with the control unit to allow the agricultural machine to be automatically navigated.
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| PCT/CN2021/088476 WO2021227792A1 (en) | 2020-05-12 | 2021-04-20 | Agricultural machine automatic navigation method, agricultural machine automatic navigation system, and agricultural machine |
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