CN203132555U - Automatic navigation three-mark locating device for operation machinery - Google Patents

Abstract

The utility model discloses an automatic navigation three-mark locating device for operation machinery. The device comprises the operation machinery and three colored marks L1, L2 and L3, wherein both the colored mark L1 and the colored mark L2 are arranged in a boundary of the same side of an operation area, the colored mark L3 is arranged in the other boundary (such as a ridge) of the operation area, a connecting line L2L3 of the colored mark L3 and the colored mark L2 is vertical to a connecting line L1L2 of the colored mark L1 and the colored mark L2, an omnibearing visual sensor is installed on the operation machinery through a tripod, a computer with a location data calculation function is also arranged on the operation machinery, and the omnibearing visual sensor is connected with the computer. According to the device, the mark spatial layout and the main mark identification can be simplified, image process steps can be reduced, the accuracy can be improved, and the device can substitute for a GPS (global position system) for location, operates fast, has a wide application range and strong practicability, and is low in cost.

Description

A kind of Work machine self-navigation three mark location devices

Technical field

The utility model is provided with mechanical field, relates to a kind of Work machine self-navigation three mark location devices.

Background technology

Realize that accurately locate in the field is the first step that agricultural machinery is implemented the precision agriculture operation; Agricultural machinery intellectuality and robotize are to reach the developing direction of agricultural machinery in the future at present.Self-navigation is to realize one of agricultural machinery intellectuality and roboticized key problem, and the location is a basic difficult problem that realizes self-navigation, also is to finish the prerequisite of executing the task.At present, GPS and common machines vision are two big hot topics of agricultural machinery self-navigation Position Research.But the obvious decline of precision and common vision location were mainly used in crop, the navigation of ridge isoline, the deficiency that can not generally use when GPS existed barrier to hinder microwave transmission.

Omnibearing vision sensor is a kind of novel vision sensor, it can provide the abundant information of 360 degree scopes, and image can not change image with the rotation of sensor, is conducive to reduce the part negative effect of wheelslip and vibrations, and low price, be widely used in the robot field; Also obtained application at the robot orientation, but its use principle and method generally are the feature objects that the feature object manually is set in operating environment or utilizes nature, extract eigenwert by image processing techniques, find unique point or unique point zone to analyze the topology location by images match then; This locatees general computation process complexity, long operational time, and practicality is not so good.Utility model patent: a kind of automatic navigating and positioning device and method (ZL200910044412.4), vehicle, robot at operation, especially operating environment is more fixing, field, greenhouse, factory building etc., and the out of use zone of GPS technology, utilize a kind of automatic navigating and positioning device and the method for the exploitation of omnibearing vision sensor and computer visual image treatment technology, this utility model can replace GPS to position at some special occasions, and travelling speed is very fast, usable range is wide, practical, low price.This utility model has used 4 signs to cooperate omnibearing vision sensor to finish the location.Utility model patent: a kind of field road automatic navigating and positioning device of agricultural machinery and method (ZL201110007784.7), narrower at the field road, arrange that 4 signs are time-consuming, what hinder agricultural machinery travels, uses the GPS price expensive and have shortcomings such as using restriction, utilizes omnibearing vision sensor and 2 a kind of road positioning methods that identify utility models.Utility model patent: a kind of automatic navigating and positioning device and method (ZL200910044412.4) require four signs and rectangular arrangement, consider the difficulty of field layout sign on the one hand, and on the other hand, the precision of rectangle also is difficult to guarantee; Ridge may also exist a side to be inconvenient to arrange the situation of sign, causes 4 signs all to arrange.Utility model patent: a kind of field road automatic navigating and positioning device of agricultural machinery and method (ZL201110007784.7) relatively are fit to the short distance road to be used, and the precision of using in than large tracts of land reduces.In Tokyo University's PhD dissertation document " Study on Localization System for Agricultural Vehicle Navigation Using Omnidirectional Vision ", the omni-directional visual positioning system of research agricultural machinery, having mentioned may be owing to the image characteristics extraction failure appears in reasons such as environmental noise in 4 identification image feature identifyings, cause wherein 1 identification information loss, the situation that 3 signs occur, but not as a positioning system, and how to realize that the method for locating do not make concrete research and analysis.

Therefore, be necessary to design a kind of Work machine automatic navigating and positioning device and method.

The utility model content

Technical problem to be solved in the utility model provides a kind of Work machine self-navigation three mark location devices, these Work machine self-navigation three mark location devices can be simplified the identifier space layout and principal mark is known differentiation, reduce image processing process, improve precision, can replace GPS to position, travelling speed is very fast, usable range is wide, practical, cost is low.

The technical solution of utility model is as follows:

A kind of Work machine self-navigation three mark location devices comprise Work machine and 3 coloured sign L ₁, L ₂And L ₃Coloured sign L ₁With coloured sign L ₂All be arranged on the boundary (on the ridge as the same side, operation field) of the same side, operation area; Coloured sign L ₃Be arranged on another boundary of operation area (as another ridge place), and coloured sign L ₃With coloured sign L ₂Line L ₂L ₃With coloured sign L ₁With coloured sign L ₂Line L ₁L ₂Vertically;

By tripod omnibearing vision sensor is installed on the Work machine; Also be provided with on the Work machine for carrying out the locator data meter

Calculate the computing machine of function; Omnibearing vision sensor is connected with computing machine.

Coloured sign L ₁With coloured sign L ₂Between distance be less than or equal to 150m.

Described omnibearing vision sensor comprises loam cake, lower cover, curved surface minute surface, center needle, transparent housing, USB video camera and USB line; Described curved surface minute surface and described loam cake are bonded together, and described loam cake passes through the screw thread spinning on described transparent housing; Described lower cover intermediate hollow, and be extended with the camera lens that screw socket connects described USB video camera; Described curved surface minute surface is sphere, parabolic surface or hyperbolic curve curved surface [3 curved surfaces can be realized here, and the utility model uses the hyperboloid minute surface], has single viewpoint; Described transparent housing is enclosed within the outside of curved surface minute surface; Described center needle is fixed on and covers, and passes and be bonded in the minute surface center of curved surface minute surface; Described coloured be designated circular or conical artificial coloured sign are provided with the light source that strengthens color effects in coloured sign.

A kind of Work machine self-navigation three ID positioning methods based on described Work machine self-navigation three mark location devices may further comprise the steps:

Step 1: the omnidirectional images of gathering forward facing position by omnibearing vision sensor;

Step 2: in described omnidirectional images, identify each colored token, and obtain each colored token with respect to the position angle of the projection centre of omnibearing vision sensor;

Step 3: the absolute location coordinates that calculates Work machine; The machinery location fulfils assignment.

The method that identifies each colored token in the step 2 is:

Omnidirectional images is lined by line scan, utilize formula [re, be]=[R-(B+G)/2-|B-G|, B-(R+G)/2-|R-G|] each pixel red pixel intensity re and blue pixel intensity be in the computed image, sign adopts red combined color sign, and wherein R, G, B are respectively the red, green and blue intensity of colour component of current pixel point;

When the red pixel point intensity in the current pixel point during greater than default amount of red threshold value, judge that then current pixel point is red feature pixel;

When the blue pixel point intensity in the current pixel point during greater than default amount of blue threshold value, judge that then current pixel point is blue feature pixel;

Thereby extract red and blue feature pixel;

Be identified at according to any one that maximum red pixel distance arranges red pixel apart from maximal value in the image, Euclidean distance between any two red pixels that calculating extracts is when Euclidean distance between red pixel is judged as a red feature pixel zone during apart from maximal value less than redness; Be identified at according to any one that maximum blue pixel distance arranges blue pixel apart from maximal value in the image, Euclidean distance between any two blue pixel that calculating extracts is when Euclidean distance between blue pixel is judged as a blue feature pixel zone during apart from maximal value less than blueness; Finish the feature pixel regional compartmentalization of entire image successively; [the judgement principle of this part explanation: be 50 pixels such as the full-size in the entire image of a colored token, and because the distance of any two coloured signs is much larger than 50 pixels, if the distance of two red pixels is less than 50 so, can think that these 2 pixels belong to same sign, otherwise belong to different signs.】

On image, be initial point with the upper left corner, definition rectangular coordinate system u, v, the coordinate of each pixel are that (u v) is respectively unit with the pixel; Utilize following formula to calculate the center of gravity of the pixel in red or blue feature pixel zone; Calculate the distance of red feature pixel area pixel point center of gravity and blue feature pixel area pixel point center of gravity then; Distance restraint value according to red feature pixel area pixel point center of gravity and blue feature pixel area pixel point center of gravity judges whether to be sign, when the distance of calculating red feature pixel area pixel point center of gravity and blue feature pixel area pixel point center of gravity within distance restraint value scope, namely be judged as a sign; Otherwise judge it is not sign.[here be that combination sign refers to existing blue sign in the sign, red sign is arranged again]

$[\mathrm{Xre},\mathrm{Yre}]=[\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{Riu}/{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">n</figure-callout>}}_1,\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{Riv}/n_1]$

$[\mathrm{Xbe},\mathrm{Ybe}]=[\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{Biu}/{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">n</figure-callout>}}_2,\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{Biv}/n_2]$

In the formula:

Xre, Yre: image is handled the red identification image coordinate that calculates; Riu, Riv: the image coordinate of extracting i red identification characteristics pixel; n ₁: the pixel total amount in red feature pixel zone; Xbe, Ybe: image is handled the blue identification image coordinate that calculates; Biu, Biv: the image coordinate of extracting i blue identification characteristics pixel; n ₂: the pixel total amount in blue feature pixel zone;

If can successfully identify 3 signs, then finish sign identification;

After finishing sign identification, ask center of gravity as the coordinate of this coloured sign to all character pixels (comprising blue character pixel and red character pixel) of each coloured sign.

Obtaining each colored token in the step 2 with respect to the position angle method of the projection centre of omnibearing vision sensor is: in omnidirectional images, the coordinate of projection centre O and 3 coloured signs is directly tried to achieve azimuth angle theta after determining ₁, θ ₂And θ ₃θ wherein ₁, θ ₂And θ ₃Be respectively OL ₁With OL ₂Angle, OL ₂With OL ₃Angle and OL ₁With OL ₃Angle.[referring to Fig. 8]

The step that calculates the absolute location coordinates of Work machine in the step 3 is:

Adopt three kinds of methods to calculate 3 position candidate point I ₁～I ₃Position coordinates, calculate 3 position candidate point I ₁～I ₃Center of gravity, as the final elements of a fix (x of Work machine in the perform region ₁, y ₁);

$\left\{\begin{array}{c}{x}_1=(x_{I1}+x_{\mathrm{<figure-callout\; id="2"\; label="I"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">I</figure-callout>}2}+x_{I3})/3\\ {\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">y</figure-callout>}}_1=(y_{I1}+y_{I2}+y_{I3})/3\end{array}\right.$ X wherein _I1, x _I2, x _I3Be respectively 3 position candidate point I ₁～I ₃Horizontal ordinate; y _I1, y _I2, y _I3Be respectively 3 position candidate point I ₁～I ₃Horizontal ordinate;

Position candidate point I ₁Coordinate be:

$\{\begin{array}{c}{x}_{\mathrm{<figure-callout\; id="1"\; label="I"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">I</figure-callout>}1}=w({\mathrm{<figure-callout\; id="1"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_1+1/\tan {\mathrm{\&theta;}}_1)/(1+{{\mathrm{<figure-callout\; id="1"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_1}^2)\\ {\mathrm{<figure-callout\; id="1"\; label="y\; I"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">y</figure-callout>}}_I=c_1{x}_{\mathrm{<figure-callout\; id="1"\; label="I"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">I</figure-callout>}1}=w{c}_1({\mathrm{<figure-callout\; id="1"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_1+1/\tan {\mathrm{\&theta;}}_1)/(1+{{\mathrm{<figure-callout\; id="1"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_1}^2)\end{array},$

Wherein, c ₁=l/[tan θ ₂(w/tan θ ₁+ w/tan θ ₂-l)],

Position candidate point I ₂Coordinate be:

$\{\begin{array}{c}{x}_{\mathrm{<figure-callout\; id="2"\; label="I"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">I</figure-callout>}2}=l({\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_2+1/\tan {\mathrm{\&theta;}}_3)/(1+{{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_2}^2)\\ y_{\mathrm{<figure-callout\; id="2"\; label="I"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">I</figure-callout>}2}=c_2{x}_{\mathrm{<figure-callout\; id="2"\; label="I"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">I</figure-callout>}2}=l{c}_2({\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_2+1/\tan {\mathrm{\&theta;}}_3)/(1+{{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_2}^2)\end{array}$

Wherein, c ₂=w/[tan θ ₂(l/tan θ ₃+ l/tan θ ₂-w)]

Position candidate point I ₃Coordinate be:

$\{\begin{array}{c}{x}_{\mathrm{<figure-callout\; id="3"\; label="I"\; filenames="HDA00002684429800011.png"\; state="\{\{state\}\}">I</figure-callout>}3}=l({\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="HDA00002684429800011.png"\; state="\{\{state\}\}">c</figure-callout>}}_3+1/\tan {\mathrm{\&theta;}}_3)/(1+{{\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="HDA00002684429800011.png"\; state="\{\{state\}\}">c</figure-callout>}}_3}^2)\\ y_{\mathrm{<figure-callout\; id="3"\; label="I"\; filenames="HDA00002684429800011.png"\; state="\{\{state\}\}">I</figure-callout>}3}=c_3{x}_{\mathrm{<figure-callout\; id="1"\; label="I"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">I</figure-callout>}1}=l{c}_3({\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="HDA00002684429800011.png"\; state="\{\{state\}\}">c</figure-callout>}}_3+1/\tan {\mathrm{\&theta;}}_3)/(1+{{\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="HDA00002684429800011.png"\; state="\{\{state\}\}">c</figure-callout>}}_3}^2)\end{array}$

Wherein, c ₃=(l/tan θ ₃-w) (w/tan θ ₁-l); In the formula, w is sign L ₁To sign L ₂Distance, l for the sign L ₁To sign L ₃Distance.

Principle of work of the present utility model is: described agricultural machinery self-navigation three mark location devices comprise by tripod and are installed in omnibearing vision sensor on the Work machine, arrange on 2 coloured ridges that are identified in operating area one side respectively, arrange again one colouredly be identified on the ridge with vertical the 3rd of top 2 sign lines, computing machine and the power supply that is connected with computing machine; Described omnibearing vision sensor comprises loam cake, lower cover, curved surface minute surface, center needle, transparent housing, USB video camera and be used for USB line with the computing machine communication; Described curved surface minute surface and described loam cake are bonded together, and described loam cake screw-type screws on the described transparent housing; Described lower cover is intermediate hollow and stretches out about 4mm screw socket and connect described USB camera lens; Described curved mirror face comprises sphere, parabolic surface and hyperbolic curve curved surface, is characterized in single viewpoint, gathers large-scale data; Described transparent housing cover stays in the outside of curved mirror face, works to support the curved surface minute surface and prevents dust; Described center needle spiral shell is covering, and passes and close adhesion curve face center, can effectively prevent the minute surface reflection; Be connected with the focusing screw thread by the USB camera lens that is threaded on the transparent housing, the signal output part of this USB video camera is connected to computing machine by the USB line.Described sign, the circular or conical artificial coloured sign of design outline; Described coloured, formed by blue and red; And installation light increases colour brightness in sign.This computing machine comprises hardware and software as the control center of whole device, and software comprises to be realized image acquisition, processing, calculating and analytic function software and implement the parameter control program to Work machine issue guiding.Generating does not stop to supply power supply to this computing machine by Work machine.

Accordingly, self-navigation three ID positioning methods that these agricultural machinery self-navigation three mark location devices are taked comprise that sign arranges, imaging system is proofreaied and correct, view data input, image processing and calculating and result export four steps: described sign setting comprises: arrange respectively on 2 coloured ridges that are identified in operating area one side, arrange again one with top 2 vertical the 3rd coloured being identified on the ridge of sign line, delta-shaped region one sides that 3 signs form are for carrying out the operation area of self-navigation location; Described imaging system is proofreaied and correct, and adopts the Matlab tool box that imaging system is proofreaied and correct, and draws camera projection centre, focal length, minute surface parameter, distortion parameter and distortion parameter, and the omni-directional visual image is proofreaied and correct; Described view data input by the real-time photographic images of omnibearing vision sensor, is imported computing machine with image by real-time interface; The image that described omnibearing vision sensor provides is 360 degree information, contains much information, and figure is circular.From the omnibearing vision sensor center more away from, the resolution step-down of image; And deform in length, therefore, the graphical analysis more complicated, but a big advantage of this omnibearing vision sensor does not change for its position angle.Described image is handled and is calculated, and is one of innovation part of the present utility model; At first, at the intensity of coloured sign color in the omnidirectional images computed image of input computing machine; Color threshold according to the experiment setting; Line by line the above-mentioned image that collects is scanned, extract the color characteristic pixel that is higher than threshold value; Judgement is divided into the feature pixel zone according to Euclidean distance; Calculate the center of gravity of the pixel in red and blue pixel point zone; Distance according to red pixel point center of gravity and blue pixel point center of gravity judges whether to be sign then.At last the center of gravity of and blue pixel unique point red according to all is as a coloured position that is identified at this image; Finish the scanning of entire image successively, search out 3 coloured positions that are identified in the image; If coloured identification characteristics point extracts below 2 or more than 4, then return previous action, carry out the analysis of next position feature dot image; If having extracted coloured identification characteristics point is 3, then according to 3 coloured positions that are identified in the image of extracting: handle the orientation angles that draws every adjacent two coloured signs and the formation of omnibearing vision sensor projection centre by image first; Its two, the location point that is identified at the space is calculated according to imaging point and spatial point relational expression in the position in image according to 3 signs and projection centre, obtains the space length that projection centre and three identifies three limits according to range formula; Utilize both sides and orientation angles to calculate leg-of-mutton another side by the cosine law, judging the right angle of hypotenuse, hypotenuse greater than the relation on other both sides and constitute outer the 3rd of 2 identification points of hypotenuse according to triangle hypotenuse theorem hypotenuse is main identification point, as the starting point that the orientation angles of image coordinate system is estimated, the while is as the point of the stationary coordinate in the space coordinates; Its three, 3 space position candidate of the orientation angles calculating omnibearing vision sensor that forms in conjunction with sign and omnibearing vision sensor; At last, the mean value of 3 position candidate coordinates obtaining is omnibearing vision sensor coordinate spatially, namely is that Work machine is in the geometry location of field road; According to the relation of Work machine self coordinate and volume coordinate, calculate guide angle and guiding distance; Result's output is according to the track route of the above-mentioned steps guide angle that obtains and the distance control Work machine that leads.

Install light fixture as the inside that colour code is known, adopt materials such as glass, transparent plastic, adopt the utility model a little less than light or also can operate night.

Beneficial effect:

Work machine self-navigation three mark location devices of the present utility model, utilize 3 signs to be horizontal arranged at right angles, according to the online omni-directional visual image that constantly provides in real time of omnibearing vision sensor, position one sub-picture, utilize image to handle and extract the position that is identified in the image, computed image distance and space length; In conjunction with by the immovable principle of omnibearing vision sensor imaging side parallactic angle, draw the position angle, calculate jointly omnibearing vision sensor in the field with respect to the sign the space absolute coordinates; Further, according to the relation of vehicle, robot self coordinate and volume coordinate, calculate guide angle and guiding distance, the locating information of necessity is provided for the navigation of Operation Van.This method is compared other localization method and is simplified identifier space layout, principal mark knowledge differentiation easily, and travelling speed is fast, and is practical, and described automatic navigating and positioning device is simple in structure, and cost is not high, is easy to be extended and applied.

Description of drawings

Fig. 1 is the structural representation of agricultural machinery self-navigation three mark location devices described in the utility model;

Fig. 2 is omnibearing vision sensor structural representation described in the utility model;

Fig. 3 is the utility model instance identification deflection figure;

Fig. 4 is the implementation step figure of agricultural machinery self-navigation three ID positioning methods described in the utility model;

Fig. 5 is the implementation step figure of agricultural machinery self-navigation three ID positioning method orientation angles estimation described in the utility model;

Fig. 6 is the utility model omnibearing vision sensor point image-forming principle;

Fig. 7 is the utility model example device high-level schematic;

Fig. 8 is the utility model example orientation angles synoptic diagram;

Fig. 9 is the utility model example location Calculation candidate point I ₁Schematic diagram calculation;

Figure 10 is the utility model example location Calculation candidate point I ₂Schematic diagram calculation;

Figure 11 is the utility model example location Calculation candidate point I ₃Schematic diagram calculation;

Figure 12 is the utility model example Principal of Fix Calculation figure.

The coloured sign L of label declaration: 1- ₁, 2-field road, 3-Work machine, the coloured sign L of 4- ₂, 5-tripod, 6-power supply, 7-computing machine, 8-omnibearing vision sensor, the coloured sign L of 9- ₃, the bent type minute surface of 10-, 11-center needle, 12-USB video camera, 13-USB line, the 14-screw thread of focusing, 15-camera lens, 16-lower cover, 17-transparent housing, 18-loam cake, 19-imaging plane, 20-hyperboloid.

Embodiment

Below with reference to the drawings and specific embodiments the utility model is described in further details:

Embodiment 1:

A kind of agricultural machinery self-navigation three mark location devices comprise the omnibearing vision sensor that is installed on the Work machine, are arranged at 3 coloured signs, the computing machine that is connected with the signal output part of omnibearing vision sensor on the ridge and are used for power supply to computer power supply.

Described omnibearing vision sensor comprises loam cake, lower cover, transparent housing, center needle, curved surface minute surface, USB video camera and is used for USB line with the computing machine communication that wherein loam cake, lower cover are installed on the transparent housing two ends respectively; Loam cake bottom is equipped with center needle, and this center needle passes and is close to curved surface minute surface center; Transparent shell supports is bonded in the curved surface minute surface that covers; The USB camera lens that is threadedly connected on the USB video camera by focusing is connected with lower cover.

Described sign, the circular or conical artificial coloured sign of design outline, described coloured, comprise blueness and redness; And installation light increases colour brightness in sign.

The utility model also provides a kind of and above-mentioned automatic navigating and positioning device corresponding self-navigation localization method, comprise sign setting, imaging system correction, view data input, image processing and calculating and result's output, described sign setting comprises: arrange respectively on 2 coloured ridges that are identified in operating area one side, arrange again one with top 2 vertical the 3rd coloured being identified on the ridge of sign line, delta-shaped region one sides that 3 signs form are for carrying out the operation area of self-navigation location;

Described imaging system is proofreaied and correct, and adopts the Matlab tool box that imaging system is proofreaied and correct, and draws camera projection centre, focal length, minute surface parameter, distortion parameter and distortion parameter, and the omni-directional visual image is proofreaied and correct;

Described view data input comprises: include look by omnibearing vision sensor shooting in real time and be identified at interior image and import computing machine;

Described image is handled and is calculated and comprises: at first, and at the intensity of coloured sign color in the omnidirectional images computed image of input computing machine; According to calculating the color threshold of setting; Line by line the above-mentioned image that collects is scanned, extract the color characteristic pixel that is higher than threshold value; Judgement is divided into the feature pixel zone according to Euclidean distance; Calculate the center of gravity of the pixel in red and blue pixel point zone; Distance according to red pixel point center of gravity and blue pixel point center of gravity judges whether to be sign then.At last the center of gravity of and blue pixel unique point red according to all is as a coloured position that is identified at this image; Finish the scanning of entire image successively, search out 3 coloured positions that are identified in the image:

A) if it is not 3 that coloured identification characteristics point extracts, then return previous action, carry out the analysis of next position feature dot image;

B) if having extracted coloured identification characteristics point is 3, then according to 3 coloured positions that are identified in the image of extracting:

1) handles the orientation angles that draws 3 coloured signs and the formation of omnibearing vision sensor projection centre by image;

2) according to 3 positions that are identified in the image, calculate the location point that is identified at the space according to imaging point and spatial point relational expression, obtain the space length on projection centre and three signs, three limits according to range formula; Utilize both sides and orientation angles to calculate leg-of-mutton another side by the cosine law, judging the right angle of hypotenuse, hypotenuse greater than the relation on other both sides and constitute outer the 3rd of 2 identification points of hypotenuse according to triangle hypotenuse theorem hypotenuse is main identification point, as the starting point that the orientation angles of image coordinate system is estimated, the while is as the point of the stationary coordinate in the space coordinates;

3) orientation angles that combination sign and omnibearing vision sensor form is calculated 3 space position candidate of omnibearing vision sensor;

4) 2) and 3) mean value of three position candidate coordinates obtaining is omnibearing vision sensor coordinate spatially, namely is that Work machine is in the geometry location of field road; According to the relation of Work machine self coordinate and volume coordinate, calculate guide angle and guiding distance;

Result's output is according to the track route of the above-mentioned steps guide angle that obtains and the distance control Work machine that leads.

Embodiment 1:

As Fig. 1, present embodiment comprises that 3 red combination signs [namely identify L ₁, the sign L ₂With sign L ₃], sign L ₁, the sign L ₂Be separately positioned on the boundary of the same side between the operation area, sign L ₁With sign L ₂Between distance arrange according to operation area length arrange (in the practice, according to present experimental result ,≤150m); Omnibearing vision sensor is connected on the Work machine by tripod, and described Work machine can be automatically, semi automatic machine or robot; Work machine will constantly be supplied with computer power supply to practice software to treatment of picture.

As Fig. 2, described omnibearing vision sensor comprises curved surface minute surface, center needle, USB video camera, USB line, focusing screw thread, camera lens, lower cover, transparent housing and loam cake; Curved surface minute surface and described loam cake are bonded together; Described loam cake screw-type screws on the described transparent housing; Described lower cover is intermediate hollow and stretches out the 4mm screw socket and connect described USB camera lens; Described transparent housing is socketed on curved surface minute surface outside, with support curved surface minute surface, and works to prevent dust; Described center needle covers by on being threaded in, and passes and close adhesion curved surface minute surface center, can effectively prevent the minute surface reflection; The USB camera lens is threaded in down and covers, and the focusing screw thread is installed on the USB camera lens, and the signal output part of described USB camera lens is connected with computing machine by the USB line.

As Fig. 3, during the omnibearing vision sensor imaging, (Z) (x y) in any direction on the same straight line, is identical with respect to the azimuth angle theta of the projection centre of omnibearing vision sensor to spatial point P with the picture point p that forms for X, Y.Based on image-forming principle, projection centre, imaging point and spatial point spatially are on the same straight line.

As Figure 4 and 5, described agricultural machinery self-navigation three ID positioning methods of present embodiment comprise the setting of implementation step sign, view data input, image processing and calculating and result's output.Specifically describe as follows:

Sign arranges: before the Work machine operation, arrange respectively on 2 coloured ridges that are identified in operating area one side, arrange again one with top 2 vertical the 3rd coloured being identified on the ridge of sign line, delta-shaped region one sides that 3 signs form are for carrying out the operation area of self-navigation location.

Imaging system is proofreaied and correct, and adopts the Matlab tool box that imaging system is proofreaied and correct, and draws camera projection centre, focal length, minute surface parameter, distortion parameter and distortion parameter, and the omni-directional visual image is proofreaied and correct;

The view data input: take 360 ° of images in real time by omnibearing vision sensor, the three unities is piece image only, and by in the reservoir in the real-time interface input computing machine.

Image is handled and is calculated: the image of input is called in the program from reservoir move; Carry out line by line image being scanned, utilize red and blue pixel intensity (sign adopts redness or blueness or red combined color sign) in formula (1) the difference computed image, set threshold value red and blue combination sign extraction amount of color according to experiment value, when the red pixel point intensity in the computed image when setting the amount of red threshold value, be red feature pixel; When the blue pixel point intensity in the computed image when setting the amount of blue threshold value, be blue feature pixel; Extract red and blue feature pixel.Maximum red pixel distance arranges red pixel apart from maximal value in the image according to being identified at arbitrarily, calculating extracts Euclidean distance between red pixel, when Euclidean distance between red pixel is judged as a red feature pixel zone during apart from maximal value less than redness; Maximum blue pixel distance arranges blue pixel apart from maximal value in the image according to being identified at arbitrarily, calculating extracts Euclidean distance between blue pixel, when Euclidean distance between blue pixel is judged as a blue feature pixel zone during apart from maximal value less than blueness; Finish the feature pixel regional compartmentalization of entire image successively.

[re,be]=[R-(B+G)/2-|B-G|,B-(R+G)/2-|R-G|] （1）

R, G, B: red, green and blue brightness; Re: extract red pixel brightness; Be: extract blue pixel brightness.

On image, be initial point with the upper left corner, definition rectangular coordinate system u, v, (u v) is respectively unit with the pixel to the coordinate of each pixel; Utilize formula (2) to calculate the center of gravity of the pixel in red and blue feature pixel zone; Calculate the distance of red feature pixel area pixel point center of gravity and blue feature pixel area pixel point center of gravity then; Distance restraint value (the distance restraint value is verified by experiment by empirical value) according to red feature pixel area pixel point center of gravity and blue feature pixel area pixel point center of gravity judges whether to be sign, when the distance of calculating red feature pixel area pixel point center of gravity and blue feature pixel area pixel point center of gravity within distance restraint value scope, namely be judged as a sign; Otherwise judge it is not sign.

$[\mathrm{Xre},\mathrm{Yre}]=[\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{Riu}/{\mathrm{<figure-callout\; id="1"\; label="n"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">n</figure-callout>}}_1,\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{Riv}/n_1]---\left(2\right)$

$[\mathrm{Xbe},\mathrm{Ybe}]=[\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{Biu}/{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">n</figure-callout>}}_2,\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}\mathrm{Biv}/n_2]$

In the formula:

Xre, Yre: image is handled the red identification image coordinate that calculates; Riu, Riv: the image coordinate of extracting i red identification characteristics pixel; n ₁:: the pixel total amount in red feature pixel zone.Xbe, Ybe: image is handled the blue identification image coordinate that calculates; Biu, Biv: extract i blue identification characteristics pixel image coordinate; n ₂:: the pixel total amount in blue feature pixel zone.

If can successfully extract 3 of coloured identification characteristics points, program will be proceeded following work, draw result of calculation; If it is not 3 that coloured identification characteristics point extracts, then return the computing machine previous action, carry out the analysis of next position feature dot image.

After extracting 3 coloured positions that are identified at image, handle to draw the orientation angles θ that 3 coloured signs and omnibearing vision sensor form by image ₁, θ ₂, θ ₃, as Fig. 3, the angular error of obtaining is little, is that the utility model mainly one of is used.

As Fig. 6, space coordinates XYZ and imaging plane xy, a, b, c(are wherein

) be bi-curved structural parameters,, general producer provides standard value; Can draw the hyperboloid expression formula according to Hyperbolic Equation:

$\frac{{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+Y^2}{a^2}-\frac{Z^2}{b^2}=-1(Z>0)---\left(3\right)$

In the formula, a is hyperboloid half imaginary axis, m; B is hyperboloid half real axis, m; X, Y, Z are respectively the D coordinates value of putting on the hyperboloid, m.

(Z) incident ray focuses on focus O to spatial point P for X, Y _M(0,0 ,+c) point after the hyperboloid reflection, focuses on projection centre O _C(0,0 ,-c) point, imaging surface form the picture point p corresponding with spatial point P (x, y); Draw by geometric relationship

$Z=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+{\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">Y</figure-callout>}}^2}\tan \mathrm{\&alpha;}+c---\left(4\right)$

$\mathrm{\&gamma;}={\tan }^{-1}\frac{f}{\sqrt{x^2+y^2}}---\left(5\right)$

Obtain according to (4) and (5) formula

$\mathrm{\&alpha;}={\tan }^{-1}\frac{({\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+c^2)\sin \mathrm{\&gamma;}-2\mathrm{bc}}{(b^2-c^2)\cos \mathrm{\&gamma;}}---\left(6\right)$

In formula (4)～(6), f is camera focus, mm; α is the depression angle, (°); γ is for looking up the angle, (°).

By Fig. 3,

tanθ=Y/X=y/x （7）

By how much mathematics distortion, namely draw picture point p coordinate x, y and spatial point P coordinate X, the relational expression of Y (8)

$[\left.\begin{array}{c}x\\ y\end{array}\right]=\frac{f(b^2-c^2)}{({\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+c^2)Z-2\mathrm{<figure-callout\; id="2"\; label="bc\; X"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">bc</figure-callout>}\sqrt{X^{}}\sqrt{{}^2+{\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">Y</figure-callout>}}^2+Z^2}}[\left.\begin{array}{c}X\\ Y\end{array}\right]---\left(8\right)$

As Fig. 7, consider that sensor generally is installed on the tractor by tripod in the positioning system, be the XY plane with ground, be positioning system height H (m) from the level ground to the hyperboloidal mirror focus height on the definition Z axle, picture point p coordinate x then, y and spatial point P coordinate X, the relational expression of Y is

$[\left.\begin{array}{c}x\\ y\end{array}\right]=\frac{f(b^2-c^2)}{({\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+c^2)(Z+c-H)-2\mathrm{<figure-callout\; id="2"\; label="bc\; X"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">bc</figure-callout>}\sqrt{X^{}}\sqrt{{}^2+{\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">Y</figure-callout>}}^2+{(Z+c-H)}^2}}[\left.\begin{array}{c}X\\ Y\end{array}\right]---\left(9\right)$

In the formula, H is system height, m; F is camera focus, mm.

After sensor installed and fixed, the height of system can be considered fixedly constant H, because

Be constant; Therefore, when spatial point Z value can be determined, through the mathematical formulae conversion, (X was Y) with picture point p coordinate (x, y) relational expression between (10) to draw spatial point P coordinate

$[\left.\begin{array}{c}X\\ Y\end{array}\right]=\frac{\{f(b^4-c^4)(Z+c-H)+\sqrt{4b^2{c}^2{(b^2-c^2)}^2{(Z+c-H)}^2({\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">f</figure-callout>}}^2+x^2+y^2)}\}}{f^2{(b^2-c^2)}^2-4b^2{c}^2(x^2+y^2)}[\left.\begin{array}{c}X\\ Y\end{array}\right]---\left(10\right)$

Therefore, according to (10) formula, a, b, c, f and H are definite value, if extract identification characteristics draw the position p that is identified in the image (x, y), (Z), wherein Z sets by 1/2 of sign height for X, Y to calculate the location point P that is identified at the space according to imaging point and spatial point relational expression (10);

Obtain the space length on projection centre and 3 sign 3 limits according to range formula; Utilize both sides and position angle (θ by the cosine law ₁, θ ₂, θ ₃) calculate leg-of-mutton another side;

Judge Δ L according to hypotenuse greater than the relation on other both sides ₁L ₂L ₃The angle θ that hypotenuse and hypotenuse are right ₂, determine to constitute 2 identification point L of hypotenuse simultaneously ₂, L ₃The 3rd outer L ₁Be main identification point, as the definite starting point in the position angle of image coordinate system, in order to determine θ ₁, θ ₂, θ ₃Order; Simultaneously, as the point of the stationary coordinate in the space coordinates (as point of fixity on initial point, x axle or the y axle);

As Fig. 9-12, among the identifier space coordinate system xy, according to the circumference theorem, by L ₁L ₂Straight line and deflection θ ₁Form circular arc S ₁, in like manner, by deflection θ ₁～θ ₃Form corresponding circular arc S ₁～S ₃Under free from error situation, 3 circular arcs intersect at same point; But in most cases, because the existence of distinguishing, measuring equal error may produce 3 intersection I ₁～I ₃, I wherein ₁Be S ₁With S ₂Intersection point; I ₂Be S ₂With S ₃Intersection point; I ₃Be S ₁With S ₃Intersection point, the center of gravity of 3 intersection points is as the position of sensor.

As Fig. 9, draw according to geometric relationship:

θ ₁=α ₁+β ₁ (11)

θ ₂=α ₂+β ₂+π/2 (12)

$\tan {\mathrm{\&alpha;}}_1=\frac{w-y_{I1}}{x_{I1}}---\left(13\right)$

$\tan {\mathrm{\&beta;}}_1=\frac{y_{I1}}{x_{I1}}---\left(14\right)$

$\tan {\mathrm{\&alpha;}}_2=\frac{x_{I1}}{y_{I1}}---\left(15\right)$

$\tan {\mathrm{\&beta;}}_2=\frac{w-y_{I1}}{l-x_{I1}}---\left(16\right)$

Drawn by formula (11～16):

$\tan {\mathrm{\&theta;}}_1=\tan ({\mathrm{\&alpha;}}_1+{\mathrm{\&beta;}}_1)=\frac{\frac{w}{x_{I1}}}{1-\frac{{\mathrm{wy}}_{I1}-{\mathrm{<figure-callout\; id="1"\; label="y\; I"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">y</figure-callout>}}_I^1}{x_{I1}^2}}=\frac{{\mathrm{wx}}_{I1}}{x_{I1}^2+y_{I1}^2-{\mathrm{wy}}_{I1}}---\left(17\right)$

In like manner:

$\tan {\mathrm{\&theta;}}_2=\tan ({\mathrm{\&alpha;}}_2+{\mathrm{\&beta;}}_2+\mathrm{\&pi;}/2)=\frac{{\mathrm{ly}}_{I1}-{\mathrm{wx}}_{I1}}{x_{I1}^2+y_{I1}^2-{\mathrm{lx}}_{I1}-{\mathrm{wy}}_{I1}}---\left(18\right)$

Become system of equations:

$\{\begin{array}{c}{x}_{I1}^2+y_{I1}^2-{\mathrm{wy}}_{I1}-\frac{{\mathrm{<figure-callout\; id="1"\; label="wx\; I"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">wx</figure-callout>}}_I}{\tan {\mathrm{\&theta;}}_1}=0\\ x_{I1}^2+y_{I1}^2-{\mathrm{lx}}_{I1}-{\mathrm{wy}}_{I1}-\frac{{\mathrm{ly}}_{I1}-{\mathrm{<figure-callout\; id="1"\; label="wx\; I"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">wx</figure-callout>}}_I}{\tan {\mathrm{\&theta;}}_2}=0\end{array}---\left(20\right)$

System of equations (20) following formula deducts following formula and draws:

$\frac{l}{\tan {\mathrm{\&theta;}}_2}{y}_{I1}+(l-\frac{w}{\tan {\mathrm{\&theta;}}_1}-\frac{w}{\tan {\mathrm{\&theta;}}_2})x_{I1}=0---\left(21\right)$

When $l-\frac{w}{\tan {\mathrm{\&theta;}}_1}-\frac{w}{\tan {\mathrm{\&theta;}}_2}\&NotEqual;0$ The time,

$y_{I1}=\frac{\frac{1}{\tan {\mathrm{\&theta;}}_2}}{(\frac{w}{\tan {\mathrm{\&theta;}}_1}+\frac{w}{\tan {\mathrm{\&theta;}}_2}-l)}{x}_{I1}---\left(22\right)$

Definition:

c ₁=l/[tanθ ₂(w/tanθ ₁+w/tanθ ₂-l)] (23)

Can obtain intersection I ₁Coordinate figure:

$\left\{\begin{array}{c}{x}_{I1=}w({\mathrm{<figure-callout\; id="1"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_1+1/\tan {\mathrm{\&theta;}}_1)/(1+{{\mathrm{<figure-callout\; id="1"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_1}^2)\\ y_{I1}=c_1{x}_{I1}={\mathrm{wc}}_1({\mathrm{<figure-callout\; id="1"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_1+1/\tan {\mathrm{\&theta;}}_1)/(1+{{\mathrm{<figure-callout\; id="1"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_1}^2)\end{array}---\left(24\right)\right.$

As Figure 10, in like manner obtain I ₂Coordinate figure.

Position candidate point I ₂Coordinate be:

$\{\begin{array}{c}{x}_{I2}=l({\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_2+1/\tan {\mathrm{\&theta;}}_3)/(1+{{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_2}^2)\\ y_{I2}=c_2{x}_{I2}={\mathrm{lc}}_2({\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_2+1/\tan {\mathrm{\&theta;}}_3)/(1+{{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">c</figure-callout>}}_2}^2)\end{array}$

Wherein, c ₂=w/[tan θ ₂(l/tan θ ₃+ l/tan θ ₂-w)]

As Figure 11, according to geometric relationship, draw:

θ ₁=α ₁+β ₁ (25)

θ ₃=α ₃+β ₃ (26)

$\tan {\mathrm{\&alpha;}}_1=\frac{w-y_{I3}}{x_{I3}}---\left(27\right)$

$\tan {\mathrm{\&beta;}}_1=\frac{y_{I3}}{x_{I3}}---\left(28\right)$

$\tan {\mathrm{\&alpha;}}_3=\frac{l-x_{I3}}{w-y_{I3}}---\left(29\right)$

$\tan {\mathrm{\&beta;}}_3=\frac{x_{I3}}{w-y_{I3}}---\left(30\right)$

According to intersection I ₁Mathematics, how much computing method can draw

$\left\{\begin{array}{c}{x}_{I3=}l({\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="HDA00002684429800011.png"\; state="\{\{state\}\}">c</figure-callout>}}_3+1/\tan {\mathrm{\&theta;}}_3)/(1+{{\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="HDA00002684429800011.png"\; state="\{\{state\}\}">c</figure-callout>}}_3}^2)\\ y_{I3}=c_3{x}_{I1}={\mathrm{lc}}_3({\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="HDA00002684429800011.png"\; state="\{\{state\}\}">c</figure-callout>}}_3+1/\tan {\mathrm{\&theta;}}_3)/(1+{{\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="HDA00002684429800011.png"\; state="\{\{state\}\}">c</figure-callout>}}_3}^2)\end{array}---\left(31\right)\right.$

Wherein, c ₃=(l/tan θ ₃-w)/(w/tan θ ₁-l).

As Figure 12, for improving bearing accuracy, 3 intersection points (position candidate of sensor the location) (I that uses different calculation methods to obtain ₁～I ₃) coordinate and reduce the possible positioning error of candidate point according to their average coordinates value, obtain the center of gravity of 3 intersection points according to (32) formula, namely be that Work machine is in the geometry location in field.

$\{\begin{array}{c}{x}_1=(x_{I1}+x_{I2}+x_{I3})/3\\ {\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HDA00002684429800011.png,HDA00002684429800061.png"\; state="\{\{state\}\}">y</figure-callout>}}_1=(y_{I1}+y_{I2}+y_{I3})/3\end{array}---\left(32\right)$

Omnibearing vision sensor is installed on the Work machine 3, has namely realized the geometry location of Work machine 3 in this farm work district; According to the coordinate system of Work machine 3 and the space coordinates transformational relation of operation area 2, calculate guide angle and guiding distance.

Result's output, guide angle and guiding distance are transported to the computing machine as steering control device, carry out the track route of Work machine.

Claims (3)

1. Work machine self-navigation three mark location devices is characterized in that, comprise Work machine and 3 coloured sign L ₁, L ₂And L ₃Coloured sign L ₁With coloured sign L ₂All be arranged on the boundary of the same side, operation area; Coloured sign L ₃Be arranged on another boundary of operation area, and coloured sign L ₃With coloured sign L ₂Line L ₂L ₃With coloured sign L ₁With coloured sign L ₂Line L ₁L ₂Vertically;

By tripod omnibearing vision sensor is installed on the Work machine; Also be provided with on the Work machine for the computing machine of carrying out the locator data computing function; Omnibearing vision sensor is connected with computing machine.

2. Work machine self-navigation three mark location devices according to claim 1 is characterized in that coloured sign L ₁With coloured sign L ₂Between distance be less than or equal to 150m.

3. Work machine self-navigation three mark location devices according to claim 2 is characterized in that described omnibearing vision sensor comprises loam cake, lower cover, curved surface minute surface, center needle, transparent housing, USB video camera and USB line; Described curved surface minute surface and described loam cake are bonded together, and described loam cake passes through the screw thread spinning on described transparent housing; Described lower cover intermediate hollow, and be extended with the camera lens that screw socket connects described USB video camera; Described curved surface minute surface is sphere, parabolic surface or hyperbolic curve curved surface, has single viewpoint; Described transparent housing is enclosed within the outside of curved surface minute surface; Described center needle is fixed on and covers, and passes and be bonded in the minute surface center of curved surface minute surface; Described coloured be designated circular or conical artificial coloured sign are provided with the light source that strengthens color effects in coloured sign.

Images