CN112462749B - Automatic agricultural machine navigation method, automatic agricultural machine navigation system and agricultural machine - Google Patents
Automatic agricultural machine navigation method, automatic agricultural machine navigation system and agricultural machine Download PDFInfo
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- CN112462749B CN112462749B CN202010397420.3A CN202010397420A CN112462749B CN 112462749 B CN112462749 B CN 112462749B CN 202010397420 A CN202010397420 A CN 202010397420A CN 112462749 B CN112462749 B CN 112462749B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
Abstract
The invention provides an automatic agricultural machine navigation method, an automatic agricultural machine navigation system and an agricultural machine, wherein the automatic agricultural machine navigation method comprises the following steps: generating an agricultural machine travel instruction based on historical reference position information about a work area and real-time image information about an agricultural machine surroundings; and automatically navigating the agricultural machine in the work area based on the agricultural machine travel 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
Along with the maturity of civil and Beidou satellite positioning technologies of the GPS technology, the development of China's fine agriculture is rapid, wherein the intellectualization and automation of the agricultural mechanical device belong to the execution end of the fine agriculture, and the realization of the fine agriculture can be ensured.
The automatic navigation technology of the agricultural machinery can improve the operation precision and efficiency, is beneficial to increasing the grain yield and reducing the safety risk of agricultural production.
The present automatic navigation technology of agricultural machinery mainly relates to three aspects, namely, the first aspect relates to agricultural machinery pose estimation, positioning information provided by a global satellite positioning system, such as Beidou, GPS, GLONASS and other positioning systems is used for positioning the agricultural machinery, the second aspect completes path tracking of the agricultural machinery according to a preset track, and the third aspect relates to measuring transverse errors and heading angle errors by using an angle sensor, an accelerometer, a laser sensor, a visual sensor and the like based on strategies such as PID control and the like, and the third aspect relates to obstacle detection and movement decision, such as that the agricultural machinery automatically bypasses or stops advancing when encountering obstacles, and laser radars, millimeter wave radars, ultrasonic sensors, visual sensors and the like are usually adopted for detecting the obstacles.
In actual operation of the agricultural machine, the work area is often uneven, which may cause the agricultural machine to slip or shift as it travels over the work area. On the basis of adopting a global satellite positioning system, the agricultural machinery automatic navigation system can generate larger deviation on the positioning of 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 is capable of accurately positioning an agricultural machine, and particularly in a case of uneven working area, the agricultural machine automatic navigation system is still capable of accurately positioning the agricultural machine. 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 accurately navigated by the agricultural machine automatic navigation system, so as to reduce the problem of deviation in some environments caused by satellite positioning navigation.
Another advantage of the present invention is to provide an automatic agricultural machine navigation method, an automatic agricultural machine navigation system, and an agricultural machine, wherein the automatic agricultural machine 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 travel reference path through a satellite positioning manner.
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 work area to acquire the travel reference path in advance, and then the agricultural machine automatic navigation system can perform more accurate navigation for 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, so as to reduce drift of observation results in different periods in a satellite positioning manner.
According to an aspect of the present invention, there is provided an agricultural machinery automatic navigation method, comprising the steps of:
generating an agricultural machine travel instruction based on historical reference position information about a work area and real-time image information about an agricultural machine surroundings; and
and automatically navigating the agricultural machinery in the working area based on the agricultural machinery driving instruction.
According to one embodiment of the present invention, before the automatic navigation step, the agricultural machinery automatic navigation method further includes the steps of:
The historical reference position information of a device running in the working area is acquired through a satellite positioning mode.
According to one embodiment of the present invention, before the automatic navigation step, the agricultural machinery automatic navigation method further includes the steps of:
and observing the current position of the agricultural machine in a satellite positioning mode to compare the previous position information so as to calibrate a starting point, thereby correcting drift of observation results of satellite positioning in different periods.
According to an embodiment of the present 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 work area acquired by a visual detection unit.
According to an embodiment of the present invention, in the above method, the agricultural machine driving control command is generated based on the historical reference position information, the real-time position information of the agricultural machine, and the real-time image information collected by a visual detection unit.
According to one embodiment of the present invention, in the above method, a visual map matching the historical reference location is generated by acquiring image information of the environment of the device by a visual detection unit.
According to an embodiment of the present invention, in the above method, the agricultural machine travel control instruction is generated based on the historical reference position information, the visual map, the real-time position of the agricultural machine, and the real-time image information acquired 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 in the work area by means of manual operation to obtain the historical reference position information, which is used as the basis of the subsequent automatic navigation path.
According to another aspect of the present invention, there is provided an agricultural machine autopilot method comprising the steps of:
generating an agricultural machine travel instruction based on historical reference position information about a work area and real-time image information about an agricultural machine surroundings; and
and automatically driving the agricultural machinery in the working area based on the agricultural machinery driving instruction.
According to one embodiment of the present invention, before the automatic navigation step, the agricultural machinery automatic navigation method further includes the steps of:
The historical reference position information of a device running in the working area is acquired through a satellite positioning mode.
According to one embodiment of the present invention, before the automatic navigation step, the agricultural machinery automatic navigation method further includes the steps of:
and observing the current position of the agricultural machine in a satellite positioning mode to compare the previous position information so as to calibrate a starting point, thereby correcting drift of observation results of satellite positioning in different periods.
According to an embodiment of the present invention, in the above method, the agricultural machine travel instruction is generated based on a travel reference path and image information of the work area acquired by a visual detection unit, and the travel reference path is formed based on the historical reference position information corresponding to a plurality of positions in the work area, respectively.
According to an embodiment of the present invention, in the above method, the agricultural machine driving control command is generated based on the historical reference position information, the real-time position information of the agricultural machine, 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 machinery automatic navigation system, comprising:
A processing unit;
a satellite positioning unit; and
a vision detecting unit, wherein the satellite positioning unit and the vision detecting unit are respectively connected with the processing unit in a communication way, wherein the vision detecting 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, and the processing unit determines an agricultural machine running instruction based on a prior running reference path and the surrounding environment information of the agricultural machine running in the working area in real time acquired by the vision detecting unit so as to allow the agricultural machine to be navigated through the agricultural machine running instruction, wherein the running reference path is acquired through the prior running action in the working area and by the satellite positioning unit.
According to one embodiment of the invention, the visual inspection unit is fixedly mounted to an agricultural machine body of the agricultural machine to maintain a fixed relative position of an optical axis of the visual inspection unit and a satellite antenna of the satellite positioning unit.
According to one 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 machine 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 of the cameras is held in front of an agricultural 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 detection unit arranged on the agricultural machine main body, and
a control unit, wherein the satellite positioning unit and the vision detection unit are respectively communicably connected with the processing unit, wherein the vision detection unit is used for acquiring surrounding environment information of an agricultural machine, the satellite positioning unit is used for acquiring position information of the agricultural machine, the processing unit determines an agricultural machine running instruction based on a previous running reference path and the surrounding environment information of the agricultural machine running in the working area in real time acquired by the vision detection unit, wherein the processing unit sends the agricultural machine running instruction to the control unit through the previous running action in the working area and the running reference path is acquired by the satellite positioning unit, and the agricultural machine main body is controllably connected to 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 diagram of an agricultural machine automatic navigation system according to a preferred embodiment of the present invention.
Fig. 2B is a schematic application view of the agricultural machinery automatic navigation system according to the above preferred embodiment of the present invention.
Fig. 2C is a schematic application view of the agricultural machinery automatic navigation system according to the above preferred embodiment of the present invention.
Fig. 3A is a schematic application view of the agricultural machinery automatic navigation system according to the above preferred embodiment of the present invention.
Fig. 3B is an application diagram of the agricultural machinery automatic navigation system according to the above preferred embodiment of the present invention.
FIG. 4 is a schematic diagram of an agricultural machine 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 enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention 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 appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present invention.
It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" 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 rice transplanter main body, a harvester main body, a planter main body, and the like. The agricultural machine body 10 may include a travel 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 means of the agricultural machine automatic navigation system 20, the agricultural machine 1 can precisely work in the work area 100, and particularly in the case of uneven ground in the work area 100, the agricultural machine automatic navigation system 20 does not generate large deviation due to sideslip or offset generated during driving.
The agricultural machinery automatic navigation method may include the steps of:
forming a travel reference path based on a position of a device 1000 traveling in the work area 100 by satellite positioning; and
the agricultural machine 1 is automatically navigated in the work area 100 based on an agricultural machine travel command, wherein the agricultural machine travel command is generated based on the travel reference path and the acquired environmental image information.
Specifically, in the face of a new work area 100, a device 1000 may travel along work area 100 to determine the travel reference path that can be referenced for subsequent work of agricultural machine 1. The device 1000 may be the agricultural machine 1 or may be a special mapping device 1000.
The apparatus 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 drive the device 1000, or may remotely control the device 1000.
It will be appreciated that the satellite positioning unit may obtain location information of the apparatus 1000, based on which the travel reference path may be generated.
In the present embodiment, the description will be given taking an example in which the apparatus 1000 is implemented as the agricultural machine 1, that is, when the agricultural machine 1 needs to perform work on a new work area 100, the agricultural machine 1 needs to travel in the work area 100 in advance to obtain the travel reference path.
During the travel of the agricultural machine 1, position information of the agricultural machine 1 is acquired by the satellite positioning system to form the travel reference path.
It is noted that the system of images of the surroundings of the agricultural machine 1 may also be acquired to form a visual map matching the travel reference path.
In more detail, the agricultural machinery automatic navigation system 20 of the agricultural machinery 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 communicably connected to the processing unit 21. The satellite positioning unit 22 is configured to acquire satellite positioning information, and the visual detection unit 23 is configured to acquire image information of an environment in which the agricultural machinery main body 10 is located. It is to be understood that the visual detection unit 23 may be provided to the agricultural machine body 10, and the processing unit 21 may be provided to the agricultural machine body 10 or may not be provided to the agricultural machine body 10. The processing unit 21 may comprise one or more processors, which may be arranged in the agricultural machine body 10 or in other locations, and which are communicatively connected to the satellite positioning unit 22 and the visual detection unit 23, either in a wired or wireless manner.
The agricultural machine automatic navigation system 20 may further comprise a control unit 24, wherein the processing unit 21 is communicatively connected to the control unit 24, the control unit 24 being adapted to control the travel speed and travel direction of the agricultural machine body 10. The processing unit 21 generates the agricultural machine running instruction based on the information acquired by the satellite positioning unit 22 and the visual detection unit 23, and transmits the agricultural machine running instruction to the control unit 24. The control unit 24 controls the agricultural machine body 10 based on the agricultural machine travel instruction such that the agricultural machine body 10 travels or is operated within the work area 100 along a route.
Further, the automatic navigation method of the agricultural machinery comprises the following steps: when the agricultural machine 1 travels to obtain the travel reference path, the visual map is generated by acquiring an image of the environment where the agricultural machine 1 is located, which matches the travel reference path, by the visual detection unit 23.
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 visual sensor 231 may be mounted to the agricultural machine body 10 and maintain a fixed relative position to the agricultural machine body 10. It will be appreciated that the visual sensor 231 may not be mounted to the agricultural machine body 10, for example, several locations may be selected in the work area 100 to arrange the visual sensor 231. In the present embodiment, the vision sensor 231 is mounted to the agricultural machine body 10 and may be located in the advancing direction of the agricultural machine body 10 so that the vision sensor 231 may collect an image of the environment in front of the agricultural machine body 10 when the agricultural machine body 10 is traveling. It is of course understood that the visual sensor 231 may be disposed at the rear of the agricultural machine body 10, or, when the number of the visual sensors 231 is plural, at least one of the visual sensors 231 may be disposed at the front of the agricultural machine body 10, and at least one of the visual sensors 231 may be disposed at the rear of the agricultural machine body 10. Alternatively, the visual sensor 231 may be disposed around the agricultural machine body 10 to acquire an image of the environment in which the agricultural machine 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, 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 detection unit 23 is known, and when the vision sensor 231 of the vision detection unit 23 acquires an image and transmits image information to the processing unit 21, the processing unit 21 can information to build the vision map.
Further, in the automatic agricultural machinery navigation 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 visual map in real time.
That is, the visual detection unit 23 may perform not only real-time image acquisition of the surroundings of the agricultural machine main body 10 during the formation of the travel reference path, but also real-time image acquisition of the surroundings of the agricultural machine main body 10 during the actual travel or the work.
Further, in the agricultural machinery automatic navigation method, the processing unit 21 can obtain appropriate decision information by using the data acquired by the satellite positioning unit 22 and the vision detection unit 23. The agricultural machinery automatic navigation system 20 may comprise a storage unit 25, wherein the storage unit 25 and the processing unit 21 may be communicatively 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 communicatively connected to the satellite positioning unit 22 and the vision detection unit 23 to store information acquired by the satellite positioning unit 22 and the vision 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 worked, 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 vision detection unit 23 with the travel reference path to determine an appropriate path.
For example, an operator drives the agricultural machine 1 to travel within the work 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 need for manipulation by the operator, during 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 installed at a front middle position of the agricultural machine body 10, for example, a lens of a camera may be directed in a traveling direction of the agricultural machine body 10 and a lens optical axis is at a fixed angle with respect to the ground. A 3D space scaling relationship of the installation position of the vision sensor 231 and the satellite antenna 221 of the satellite positioning unit 22 has been determined. The visual detection unit 23 collects the road condition information image of the traveling direction in real time and transmits the image to the processing unit 21, and the processing unit 21 processes the image, such as feature point marking and modeling, to create the visual map in real time. The satellite positioning module 222 of the satellite positioning unit 22 is capable of receiving satellite signals in real time and resolving agricultural machinery 1 position and velocity information.
Referring to fig. 2A to 2C with emphasis, in fig. 2A, an operator drives the agricultural machine 1 to travel within the work area 100, and the agricultural machine body 10 of the agricultural machine 1 is provided with the satellite positioning unit 22 and the vision detection unit 23. In fig. 2B, when the agricultural machine 1 travels in the working area 100, the satellite positioning unit 22 acquires the information of the location where the agricultural machine 1 passes, and the visual detection unit 23 acquires the information of the surrounding environment where the agricultural machine 1 passes, for example, an obstacle encountered during the travel of the agricultural machine 1, for forming the visual map and the travel reference path. In fig. 2C, after the operator drives the agricultural machine 1 to end the travel in the working area 100, the visual map and the travel reference path may be formed, 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 travel reference path, and determines the travel strategy of the agricultural machine body 10 to realize automatic navigation. For the control unit 24, the control unit 24 receives the agricultural machine travel instruction from the processing unit 21, which may be sent to the control unit 24 via a CAN bus. The control unit 24 controls the agricultural machine body 10 to travel in the work area 100 based on the agricultural machine travel instruction, thereby realizing automatic navigation.
With particular reference to fig. 3A and 3B, the agricultural machine 1 may be automatically navigated to thereby automatically drive or operate. The processing unit 21 of the agricultural machine 1 determines the final travel control instruction by the travel reference path acquired in advance and the real-time data acquired by the satellite positioning unit 22 and the visual detection unit 23. It will be appreciated that the processing unit 21 may determine the final driving control instruction by using the pre-acquired data of the driving reference path, the visual map, and the satellite positioning unit 22, and the data acquired by the visual detection unit 23 in real time.
The processing unit 21 may determine the final travel control instruction from the travel reference path acquired in advance and the data acquired in real time by the visual detection unit 23.
Notably, when the processing unit 21 analyzes that the current satellite signal is lost or a large deviation is generated, 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 agricultural machinery navigation system 20 of the agricultural machinery 1 can achieve more accurate positioning and navigation by means of the cooperation of the satellite positioning sensor and the vision sensor 231.
Further, in order to enhance the robustness of the vision-aided operation, a sign may be provided around the operation area 100 or the operation area 100, and may be, but not limited to, a sign such as a driving distance sign, a turn sign, a start sign, a stop sign, or the like. The visual detection unit 23 may recognize these identifications, thereby facilitating the positioning of the agricultural machine body 10.
Further, it is noted that when the agricultural machine 1 starts a real operation after acquiring the travel reference path, calibration may be performed at the start point to reduce errors. In detail, the processing unit 21 may acquire satellite navigation observation information of a previously accessed starting 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 drift of the satellite positioning system's observations at different times. The processing unit 21 may process the two types of observation information in a differential manner.
In detail, referring to fig. 4, the method for automatically navigating the agricultural machinery may include the steps of:
Driving within the work area 100 by controlling the apparatus 1000 to obtain the driving reference path;
automatically navigating an agricultural machine within the work area 100 based on an agricultural machine travel instruction generated from the previous travel reference path and the data acquired in real time by the vision detection unit 23;
if a stop flag is encountered, navigation may be stopped, and if no stop flag is encountered, the real-time acquisition of data to obtain the agricultural machine travel instruction in real-time is continued based on the previous travel reference path and the visual detection unit 23.
In more detail, the agricultural machinery automatic navigation method may include the steps of:
an operator controls the agricultural machine 1 to travel in the work area 100, and acquires positional information of the agricultural machine 1 by means of the satellite positioning unit 22. The location information may be stored in the storage unit 25 of the agricultural machinery automatic navigation system 20.
During travel 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 travel reference path g= { gi, i=1, …, N }. The visual detection unit 23 acquires images to form the visual map M in which the travel reference paths match each other.
For example, the visual map M may be generated based on an image stitching technique of feature points. Each position gi of the agricultural machine 1 may have at least one corresponding image Ii (top view through reverse perspective variation). It is understood that, when the number of the visual sensors 231 of the visual detection unit 23 is plural, the image Ii corresponding to each position gi may be plural. The Ii and Ii-1 corresponding to adjacent gi and gi-1 contain overlapping portions. The feature points of the overlapping part can be used as the basis for splicing two images, and the like, 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 examples.
After the travel reference path is acquired, the agricultural machine 1 may start a real operation, in which the agricultural machine 1 may obtain a position signal S and an image Img by means of the satellite positioning unit 22 and the vision detection unit 23, and the processing unit 21 may calculate a travel heading deviation of the agricultural machine 1 based on the travel reference path G, the vision map M, the real-time position signal S, and the real-time image Img, thereby outputting a travel steering angle β, β=drivecontrol (G, M, S, img). The driveControl function contains the handling of the loss of the position signal S or numerical anomalies.
It is understood that, after the travel reference path is acquired, the processing unit 21 acquires the ground image information of the work area 100 using the visual detection unit 23, and can recognize a ground track. The processing unit 21 acquires satellite positioning trajectories using the previously recorded satellite positioning units 22 and is able to fuse the ground trajectories and satellite positioning trajectories to generate the final agricultural machine travel instruction.
That is, the agricultural machinery automatic navigation system 20 may memorize the travel reference path, perform automatic navigation using the travel reference path while correcting in combination with the information detected by the visual detection unit 23 to generate the final agricultural machinery travel instruction.
Further, when the agricultural machine 1 recognizes a stop sign or reaches a job end position, the agricultural machine 1 stops the job, and if the agricultural machine 1 does not recognize a stop sign or reaches a job end position, the agricultural machine automatic navigation system 20 continues to collect image information and satellite positioning information to generate the agricultural machine running instruction.
According to another aspect of the present invention, there is provided an agricultural machine autopilot method, wherein said autopilot method comprises the steps of:
Generating the agricultural machine travel instruction based on historical reference position information about the work area 100 and real-time image information about the agricultural machine surroundings; and
the agricultural machine is automatically driven in the work area 100 based on the agricultural machine travel instruction.
It will be appreciated that the historical reference location information is used for reference by the agricultural machinery traveling or working within the work area 100.
It will be appreciated that a reference position of the apparatus 1000 traveling in the work area 100 may be acquired by satellite positioning to obtain the travel reference path, and then
The agricultural machinery 1 is controlled to automatically travel in the work area 100 based on the agricultural machinery travel instruction generated based on the travel reference path and the image information of the work area 100 acquired by the visual detection unit 23.
It will be appreciated 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 at the next driving.
Specifically, in the face of a new work area 100, a device 1000 may travel along work area 100 to determine the travel reference path that can be referenced for subsequent work of agricultural machine 1. The device 1000 may be the agricultural machine 1 or may be a special mapping device 1000.
The apparatus 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 drive the device 1000, or may remotely control the device 1000.
In the present embodiment, the description will be given taking an example in which the apparatus 1000 is implemented as the agricultural machine 1, that is, when the agricultural machine 1 needs to perform a job on a new work area 100, the agricultural machine 1 first travels in the work area 100 to obtain the travel reference path.
During the travel of the agricultural machine 1, position information of the agricultural machine 1 is acquired by the satellite positioning system to form the travel reference path.
It is noted that the system of images of the surroundings of the agricultural machine 1 may also be acquired to form a visual map matching the travel reference path.
According to another aspect of the present invention, referring to fig. 5, and simultaneously referring to fig. 1-4, 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, the agricultural machine body 10 being controllably coupled to the agricultural machine autopilot system 30. The processing unit 21, the satellite positioning unit 22 and the visual detection unit 23 may be comprised, wherein the satellite positioning unit 22 and the visual detection unit 23 are communicatively connected to the processing unit 21, respectively. The satellite positioning unit 22 is configured to acquire satellite positioning information, and the visual detection unit 23 is configured to acquire image information of an environment in which the agricultural machinery main body 10 is located.
The agricultural machine autopilot system 30 may further include the control unit 24, wherein the processing unit 21 is communicatively connected to the control unit 24A, the control unit 24A being configured to control the travel speed and travel direction of the agricultural machine body 10. The processing unit 21 generates the agricultural machine running instruction based on the information acquired by the satellite positioning unit 22 and the visual detection unit 23, and transmits the agricultural machine running instruction to the control unit 24A. The control unit 24A controls the agricultural machine body 10 based on the agricultural machine travel instruction such that the agricultural machine body 10 travels or is operated within the work area 100 along a route.
The control unit 24A may control the travel unit 11, the driving unit 12, the steering unit 13, and the braking unit 14 of the agricultural machine 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 automatic agricultural machine navigation method comprises the following steps: when the agricultural machine 1 travels to obtain the travel reference path, the visual map is generated by acquiring an image of the environment where the agricultural machine 1 is located, which matches the travel reference path, by the visual detection unit 23.
In detail, the visual detection unit 23 may include at least one of the visual sensors 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 visual sensor 231 may be mounted to the agricultural machine body 10 and maintain a fixed relative position to the agricultural machine body 10. It will be appreciated that the visual sensor 231 may not be mounted to the agricultural machine body 10, for example, several locations may be selected in the work area 100 to arrange the visual sensor 231. In the present embodiment, the vision sensor 231 is mounted to the agricultural machine body 10 and may be located in the advancing direction of the agricultural machine body 10 so that the vision sensor 231 may collect an image of the environment in front of the agricultural machine body 10 when the agricultural machine body 10 is traveling. It is of course understood that the visual sensor 231 may be disposed at the rear of the agricultural machine body 10, or, when the number of the visual sensors 231 is plural, at least one of the visual sensors 231 may be disposed at the front of the agricultural machine body 10, and at least one of the visual sensors 231 may be disposed at the rear of the agricultural machine body 10. Alternatively, the visual sensor 231 may be disposed around the agricultural machine body 10 to acquire an image of the environment in which the agricultural machine body 10 is located as much as possible.
The satellite positioning unit 22 may include at least one of the satellite antenna 221 and one of the satellite positioning modules 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 detection unit 23 is known, and when the vision sensor 231 of the vision detection unit 23 acquires an image and transmits image information to the processing unit 21, the processing unit 21 can information to build the vision map.
Further, in the automatic agricultural machine navigation method, in the automatic agricultural machine driving method, in the step of controlling the agricultural machine 1 to automatically travel in the working area 100, the visual detection unit 23 acquires an image of an environment in which the agricultural machine 1 is located in real time to generate the visual map in real time.
That is, the visual detection unit 23 may perform not only real-time image acquisition of the surroundings of the agricultural machine main body 10 during the formation of the travel reference path, but also real-time image acquisition of the surroundings of the agricultural machine main body 10 during the actual travel or the work.
Further, in the automatic agricultural machinery navigation method and the automatic agricultural machinery 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 may comprise the storage unit 25, wherein the storage unit 25 and the processing unit 21 may be communicatively 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 communicatively connected to the satellite positioning unit 22 and the vision detection unit 23 to store information acquired by the satellite positioning unit 22 and the vision 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 worked, 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 vision detection unit 23 with the travel reference path to determine an appropriate path.
For example, an operator drives the agricultural machine 1 to travel within the work area 100 to form the travel reference path. Based on the agricultural machinery autopilot system 30, the agricultural machinery 1 is automatically navigated to travel or work within the work area 100 without the operator's manipulation, during which the vision 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 installed at a front middle position of the agricultural machine body 10, for example, a lens of a camera may be directed in a traveling direction of the agricultural machine body 10 and a lens optical axis is at a fixed angle with respect to the ground. A 3D space scaling relationship of the installation position of the vision sensor 231 and the satellite antenna 221 of the satellite positioning unit 22 has been determined. The visual detection unit 23 collects the road condition information image of the traveling direction in real time and transmits the image to the processing unit 21, and the processing unit 21 processes the image, such as feature point marking and modeling, to create the visual map in real time. The satellite positioning module 222 of the satellite positioning unit 22 is capable of receiving satellite signals in real time and resolving agricultural machinery 1 position and velocity information.
The processing unit 21 compares the real-time position of the agricultural machine 1 with the travel reference path, and determines a travel strategy of the agricultural machine body 10 to realize automatic driving. For the control unit 24A, the control unit 24A receives the agricultural machine travel instruction from the processing unit 21, which may be sent to the control unit 24A through a CAN bus. The control unit 24A controls the agricultural machine body 10 to automatically travel in the work area 100 based on the agricultural machine travel instruction.
Notably, when the processing unit 21 analyzes that the current satellite signal is lost or a large deviation is generated, 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, in order to enhance the robustness of the vision-aided operation, a sign may be provided around the operation area 100 or the operation area 100, and may be, but not limited to, a sign such as a driving distance sign, a turn sign, a start sign, a stop sign, or the like. The visual detection unit 23 may recognize these identifications, thereby facilitating the positioning of the agricultural machine body 10.
Further, it is noted that when the agricultural machine 1 starts a real operation after acquiring the travel reference path, calibration may be performed at the start point to reduce errors. In detail, the processing unit 21 may acquire satellite navigation observation information of a previously accessed starting 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 drift of the satellite positioning system's observations at different times. The processing unit 21 may process the two types of observation information in a differential manner.
In more detail, the agricultural automatic navigation method may include the steps of:
an operator controls the agricultural machine 1 to travel in the work area 100, and acquires positional information of the agricultural machine 1 by means of the satellite positioning unit 22. The location information may be stored in the storage unit 25 of the agricultural automatic driving system 30.
During travel 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 travel reference path g= { gi, i=1, …, N }. The visual detection unit 23 acquires images to form the visual map M in which the travel reference paths match each other.
For example, the visual map M may be generated based on an image stitching technique of feature points. Each position gi of the agricultural machine 1 may have at least one corresponding image Ii (top view through reverse perspective variation). It is understood that, when the number of the visual sensors 231 of the visual detection unit 23 is plural, the image Ii corresponding to each position gi may be plural. The Ii and Ii-1 corresponding to adjacent gi and gi-1 contain overlapping portions. The feature points of the overlapping part can be used as the basis for splicing two images, and the like, 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 examples.
After the travel reference path is acquired, the agricultural machine 1 may start a real operation, in which the agricultural machine 1 may obtain a position signal S and an image Img by means of the satellite positioning unit 22 and the vision detection unit 23, and the processing unit 21 may calculate a travel heading deviation of the agricultural machine 1 based on the travel reference path G, the vision map M, the real-time position signal S, and the real-time image Img, thereby outputting a travel steering angle β, β=drivecontrol (G, M, S, img). The driveControl function contains the handling of the loss of the position signal S or numerical anomalies.
It is understood that, after the travel reference path is acquired, the processing unit 21 acquires the ground image information of the work area 100 using the visual detection unit 23, and can recognize a ground track. The processing unit 21 acquires satellite positioning trajectories using the previously recorded satellite positioning units 22 and is able to fuse the ground trajectories and satellite positioning trajectories to generate the final agricultural machine travel instruction.
That is, the agricultural machinery automatic driving system 30 may memorize the travel reference path, perform automatic navigation using the travel reference path, and correct in conjunction with the information detected by the visual detection unit 23 to generate the final agricultural machinery travel instruction.
Further, when the agricultural machine 1 recognizes a stop sign or reaches a job end position, the agricultural machine 1 stops the job, and if the agricultural machine 1 does not recognize a stop sign or reaches a job end position, the agricultural machine automatic driving system 30 continues to collect image information and satellite positioning information to generate the agricultural machine running 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 by way of example only and are not limiting. The objects of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.
Claims (8)
1. An automatic navigation method of an agricultural machine is characterized by comprising the following steps:
acquiring historical reference position information of a previous running behavior of a device in an operation area in a satellite positioning mode, and acquiring real-time position information of the device running in the operation area in real time;
forming a travel reference path based on a plurality of the historical reference position information of the device in a work area;
acquiring image information of the surrounding environment of the device through a visual detection unit to generate a visual map matched with the running reference path;
generating an agricultural machine driving instruction based on the driving reference path, the visual map matched with the driving reference path, the real-time position information of the device and the real-time image information acquired by the visual detection unit, wherein the real-time position information is compared with the driving reference path to determine the path of the device, and navigation is assisted based on the real-time image information and the visual map; and
and automatically navigating the agricultural machinery in the working area based on the agricultural machinery driving instruction.
2. The agricultural machinery automatic navigation method according to claim 1, wherein before the automatic navigation step, the agricultural machinery automatic navigation method further comprises the steps of: and observing the current position of the agricultural machine in a satellite positioning mode to compare the previous position information so as to calibrate a starting point, thereby correcting drift of observation results of satellite positioning in different periods.
3. The method for automatic navigation of an agricultural machine of claim 1, wherein the device is the agricultural machine with a satellite positioning unit.
4. An agricultural machinery automatic navigation method according to claim 3, wherein the apparatus is controlled to travel on the work area by a manual operation to acquire the historical reference position information, which is used as a basis for a subsequent automatic navigation path.
5. An agricultural machinery automatic navigation system, comprising:
the system comprises a satellite positioning unit, a control unit and a control unit, wherein the satellite positioning unit is used for acquiring historical reference position information of the prior running behavior of an agricultural machine in an operation area and acquiring real-time position information of the agricultural machine running in the operation area in real time;
the visual detection unit is used for acquiring the surrounding environment information of the agricultural machinery;
the processing unit is in communication connection with the satellite positioning unit and the visual detection unit, and is used for forming a previous running reference path according to historical reference position information corresponding to a plurality of positions of the agricultural machine in the working area respectively and generating a visual map matched with the running reference path based on the surrounding environment information;
The processing unit is further used for determining an agricultural machine driving instruction based on the prior driving reference path, the visual map matched with the driving reference path, real-time position information of the agricultural machine driving in the working area in real time and surrounding environment information of the agricultural machine driving in the working area in real time, which is acquired by the visual detection unit, so as to allow the agricultural machine to be navigated through the agricultural machine driving instruction, wherein the processing unit compares the real-time position information with the driving reference path to determine the path of the agricultural machine, and the processing unit assists navigation based on real-time image information and the visual map.
6. The agricultural implement automatic navigation system according to claim 5, wherein said visual inspection unit is fixedly mounted to an agricultural implement body of said agricultural implement to maintain a fixed relative position of an optical axis of said visual inspection unit and a satellite antenna of said satellite positioning unit.
7. The agricultural machine automatic navigation system according to claim 5, wherein the visual detection unit includes at least one camera and at least one of the cameras is held in front of an agricultural machine body of the agricultural machine.
8. An agricultural machine, comprising:
an agricultural machinery automatic navigation system; and
an agricultural machine body, the agricultural machine body comprising:
the system comprises a satellite positioning unit, a control unit and a control unit, wherein the satellite positioning unit is used for acquiring historical reference position information of the prior running behavior of an agricultural machine in an operation area and acquiring real-time position information of the agricultural machine running in the operation area in real time;
the visual detection unit is arranged on the agricultural machine main body and is used for acquiring surrounding environment information of the agricultural machine; and
a control unit, wherein the control unit is communicably connected with the satellite positioning unit and the vision detection unit, the control unit is used for forming a previous running reference path according to historical reference position information corresponding to a plurality of positions of the agricultural machine in the working area respectively, and generating a vision map matched with the running reference path based on the surrounding environment information;
the control unit is further used for determining an agricultural machine driving instruction based on the prior driving reference path, the visual map matched with the driving reference path, real-time position information of the agricultural machine driving in the working area in real time and surrounding environment information of the agricultural machine driving in the working area in real time, which is acquired by the visual detection unit, so as to allow the agricultural machine to be navigated through the agricultural machine driving instruction, wherein the control unit compares the real-time position information with the driving reference path to determine the path of the agricultural machine, and assists navigation based on real-time image information and the visual map.
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| CN202010397420.3A CN112462749B (en) | 2020-05-12 | 2020-05-12 | Automatic agricultural machine navigation method, automatic agricultural machine navigation system and agricultural machine |
| 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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| CN114115214B (en) * | 2021-05-14 | 2024-04-05 | 丰疆智能科技股份有限公司 | Agricultural machinery driving method, system, equipment and storage medium based on vision |
| CN113778103A (en) * | 2021-09-19 | 2021-12-10 | 南京农业大学 | Automatic driving system based on Beidou navigation and vision technology |
| CN113778110B (en) * | 2021-11-11 | 2022-02-15 | 山东中天宇信信息技术有限公司 | Intelligent agricultural machine control method and system based on machine learning |
| CN114631478B (en) * | 2022-03-25 | 2023-01-20 | 安徽科技学院 | Corn breeding field selfing ear counting device and control method |
| CN115047506A (en) * | 2022-04-14 | 2022-09-13 | 安徽理工大学 | Agricultural machinery combined navigation system based on GNSS-INS and vision |
| CN115240452B (en) * | 2022-09-23 | 2022-12-09 | 山东科翔智能科技有限公司 | Intelligent agricultural machinery big dipper navigation autopilot auxiliary system |
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