AUTONOMOUS TRACTOR HAVING CROP HIGHT SENSING ALGORITHM AND HIGHT CORRECTING ALGORITHM

摘要

The present invention relates to a tractor for agricultural work, there is provided an autonomous driving tractor with a height sensing algorithm capable of inclined correction. According to the present invention, the tractor is provided with a stereo camera installed in front of the tractor, a posture measurement sensor installed at the center of gravity of the tractor to measure the tilt value of the tractor, and a control unit for autonomous driving for autonomous driving of the tractor, and a stereo camera Is configured to photograph an object in front of the tractor during autonomous driving, the posture measurement sensor is configured to measure the tractor's pitch, yaw, and roll values, and the autonomous driving control unit comprises at least two stereos input from the stereo camera. It is configured to calculate the height of the front object based on the image, the autonomous driving control unit is configured to correct the height of the front object using the measured pitch, yaw, roll values of the tractor, and the autonomous driving control unit calculates the It is configured to determine whether to raise or lower the height of the tractor's garage or continue autonomous driving or stop autonomous driving based on the height of the forward object.