The invention relates to a 
visual navigation based multi-
crop row detection method, which belongs to the related field of 
machine vision navigation and 
image processing, and aims to quickly and accurately extract a plurality of 
ridge lines in farmland and meet the requirements of the real-time navigation and positioning of 
agricultural machinery. The invention provides an agricultural 
machine vision navigation based multi-
crop row detection method, which comprises the steps: calibrating camera parameters, acquiring video and image frames, and carrying out 
distortion correction for the image; dividing a 
crop ridge line area, extracting navigation positioning points by using the 
vertical projection method, and calculating the world coordinates of the positioning points; using the random straight line detection method to calculate the positioning points, and detecting the straight lines on which crop 
ridge rows are positioned; and obtaining the position of each crop ridge row in a world coordinate 
system relative to the agricultural operation machinery by calculation according to the slope parameters and intercept parameters of the straight lines. Compared with the traditional technology, the technical scheme of the invention greatly reduces 
time complexity and space complexity, and also improves the accuracy and the real-time of navigation.