Chinese experts use a omnidirectional vision sensor to propose a new visual positioning system for agricultural machinery automatic navigation. The system is simple in structure and operation, low in cost and strong in application. It is expected to change the situation that the agricultural machinery automatic navigation and positioning system basically relies on the expensive global navigation system GPS.
In 2010, the No. 1 Document of the Central Government clearly pointed out that it is necessary to improve the ability of agricultural science and technology innovation and promotion, and strive to achieve major breakthroughs in key areas and core technologies. In recent years, the development of biological production robots , agricultural machinery automation, and intelligence are the hotspots in the field of agricultural engineering in the world. Especially in China, with the support of the national "three rural" policy, agricultural mechanization, automation and agricultural robot research have developed in recent years. rapid. Agricultural machinery automation is one of the key technologies to realize modern precision agriculture, improve productivity and reduce fertilization and pesticide application; realizing agricultural machinery automation can effectively solve the impact of agricultural labor population reduction. Real-time positioning is to find out the location of the working machine in space, is the premise to complete other tasks, and is the basic problem to realize the automatic movement of biological production robots and agricultural machinery. A large number of studies have been carried out by different countries in the world. Global navigation system GPS automatic navigation is the most used method. Due to the high price and the accuracy of GPS depends on the working position, GPS has certain limitations in agricultural machinery navigation applications. When working in farmland, especially in mountainous areas, GPS hinders microwave transmission due to obstacles such as trees and mountains, which causes a significant decrease in accuracy; and GPS cannot be used in greenhouses, and greenhouse agriculture is an important part of modern agriculture.
Omni-directional vision sensor is a new type of vision sensor with a single viewpoint, each image can provide information within 360° range, and the image does not change with the rotation of the sensor, which is beneficial to reduce wheel slip and vibration. Part of the negative impact; and cheap, has been widely used in the field of robotics in recent years.
In order to develop an agricultural machinery automatic navigation system with strong practicability, good performance and commercialization, the researchers use the omnidirectional vision sensor to provide rich image information and accurate and easy to find azimuth angle of space objects. Positioning system. In the research, based on the identification azimuth angle formed by the artificially identified image features extracted from the omnidirectional image, a positioning algorithm based on the circular theorem was developed, and then the program development and experimental research were carried out. The test results show the effectiveness of the system. In a small-area indoor test, the positioning accuracy of the system is close to that of real-time kinematic RTK (GPS), reaching the centimeter level.
The system is simple and practical, and has low cost; the scope of use, location and working time have distinct characteristics--not only can be used in the outdoor field environment instead of GPS, but also in indoor greenhouses; it can also be used at night. The successful research of this positioning system will bring new revolutionary progress to the automation, intelligentization of agricultural machinery and the navigation and positioning research of agricultural robots.
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