CN107926264A - A kind of harvester based on unmanned technology - Google Patents
A kind of harvester based on unmanned technology Download PDFInfo
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- CN107926264A CN107926264A CN201710994317.5A CN201710994317A CN107926264A CN 107926264 A CN107926264 A CN 107926264A CN 201710994317 A CN201710994317 A CN 201710994317A CN 107926264 A CN107926264 A CN 107926264A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of harvester based on unmanned technology, include the boundary marker transmitter of multiple edges for being placed in pending farmland；The obstacle marking transmitter of multiple barrier zones for being placed in pending farmland；It is installed on image acquisition unit, landform sonar detection unit, signal receiver, signal processing module, the execution unit of unmanned harvester；Signal processing module is used for the pending farmland region three-dimensional terrain model according to the borderline region in the pending farmland of position signal structure received, barrier zone and real-time update, and according to harvesting boundary position planning travelling line, and traffic route is sent to the execution unit.The present invention instructs control execution unit to carry out harvesting by the three-dimensional terrain model and the harvesting border in harvesting region and non-harvesting region for building pending farmland foreground area in real time, the accurate planning travelling line of science and speed, labor intensity is reduced, ensure that the stability and harvesting efficiency of harvesting.
Description
Technical field
The invention belongs to field of agricultural machinery, more particularly to a kind of harvester based on unmanned technology.
Background technology
Current crop cropper needs driver to carry out execute-in-place in cabin, and prolonged operation can not only make to drive
The person of sailing is tired out, causes mechanical casualty accident, and influences operating efficiency, has occurred the crop cropper of remote operation at present
Tool, but since orographic condition is different, harvesting zone boundary cannot determine in real time, it is impossible to vehicle is realized according to landform real-time
Accurately control, operator are difficult to ensure that stable harvesting operating mode, gather in the time and quality is difficult to ensure that.
The content of the invention
In view of the problems of the existing technology, the present invention provides a kind of harvester based on unmanned technology.
The present invention is achieved in that a kind of harvester based on unmanned technology includes：
The boundary marker transmitter of multiple edges for being placed in pending farmland；
The obstacle marking transmitter of multiple barrier zones for being placed in pending farmland；
It is installed on image acquisition unit, landform sonar detection unit, sound acquisition module, the signal of unmanned harvester
Receiver, signal processing module, execution unit；
The boundary marker transmitter and obstacle marking transmitter are used to respective positions signal being sent to the signal
Receiver；The boundary marker transmitter and obstacle marking transmitter include GPS positioning system and signal emission module；It is described
GPS positioning system is used to obtain the position signal where the boundary marker transmitter and obstacle marking transmitter, and passes through institute
Signal emission module is stated to launch the position signal；
The signal receiver is used for the position letter for receiving each boundary marker transmitter and obstacle marking transmitter
Number and be sent to the signal processing module；
Described image acquiring unit is used to obtain harvesting region and non-harvesting area image and generates harvesting boundary position number
According to being sent to signal processing module；
The landform sonar detection unit is used to obtain echo and terrain elevation data at the same time by multi-beam, according to
Terrain elevation data builds landform altitude model；
The sound collection processing module is used to gather voice signal during harvester operation in real time, and current sound is believed
Number compare with calibration voice signal during normal harvesting；If present sound signals with calibration voice signal outside threshold range,
Then harvester is sent to the signal processing module do not gather in signal；If present sound signals are with calibration voice signal in threshold value model
In enclosing, then send harvester to the signal processing module and normally gather in signal；
The signal processing module is used for position signal, the obstacle marking sent according to the boundary marker transmitter received
The terrain elevation data that the position signal of transmitter transmitting, landform sonar detection unit are sent builds the frontier district in pending farmland
The pending farmland region three-dimensional terrain model in domain, barrier zone and real-time update, and according to harvesting boundary position planning driving
Route, and traffic route is sent to the execution unit；
The execution unit is according to traffic route and vehicle location control vehicle operation；
In vehicle operation, the signal processing module does not gather in signal or harvester according to harvester and normally gathers in
Whether signal adjustment harvester stops gathering in.
Further, described image acquiring unit obtains acquisition harvesting region and non-harvesting area image simultaneously by the following method
Generation harvesting boundary position：
Step 1: the pending processing farmland of captured in real-time in harvesting process, obtains source images；
Step 2: establishing the distribution of statistics of histogram gradation of image, strengthen image pair by being segmented grey linear transformation
After degree, it is smoothed using gaussian filtering, completes the pretreatment of image；
Step 3: obtain the gray value of each pixel and the gray scale interval of image of source images；
Step 4: according to the gray value of each pixel, gray scale interval and the definite number, each segmentation threshold is calculated
The numerical value of value, according to the numerical value of each segmentation threshold, determines the borderline pixel positioned at foreground image, to determine in image
Foreground image image boundary；
Step 5: the extraction of picture edge characteristic point is completed using Canny operators；
Step 6: the landform altitude model and picture edge characteristic point established by landform sonar detection unit determine finely
Image boundary.
Further, the execution unit includes direction of traffic control unit, the vehicle being electrically connected with signal processing module
Throttle Opening Control unit, vehicle brake control unit；
There is the direction of traffic control unit direction controlling module and the vehicle controlled by direction control module to turn
To mechanism, direction control module is connected with signal processing module, for the harvesting boundary bit generated according to image acquisition unit
Put and signal processing module structure pending farmland borderline region and barrier zone control vehicle steering mechanism action；
The vehicle accelerator control unit includes a vehicle accelerator control module and is connected with the vehicle accelerator control module
Air throttle stroke detection module, throttle execution mechanism, the vehicle accelerator control module is connected with signal processing module, institute
State the testing result that Throttle Opening Control module is used to obtain air throttle stroke detection module, the harvesting generated according to image acquisition unit
Borderline region, barrier zone, the pending farmland area three-dimensional in the pending farmland of boundary position and signal processing module structure
Relief model control throttle execution mechanism action；
The vehicle brake control unit includes a brake unit and the fuel regulator valve being connected with the brake unit, brake
Device, the brake unit are connected with signal processing module, for the border in the pending farmland built according to signal processing module
Region, barrier zone, the folding of pending farmland region three-dimensional terrain model control fuel regulator valve and the action of brake.
A kind of unmanned harvesting method, including：
Step 1: position signal, obstacle marking that signal processing module is sent according to the boundary marker transmitter received
The position signal of transmitter transmitting builds the borderline region and barrier zone in pending farmland；
Step 2: signal processing module is real-time according to the terrain elevation data that the landform sonar detection unit received is sent
Build the three-dimensional terrain model of pending farmland foreground area；
Step 3: signal processing module sets the base of unmanned harvester according to the borderline region area in pending farmland
Quasi- harvesting speed, and according to three-dimensional terrain model setting speed limiting threshold value；
Go Step 4: signal processing module is planned according to the position signal of boundary marker transmitter and obstacle marking transmitter
Bus or train route line, and speed and speed limit threshold value control execution unit progress harvesting are gathered according to benchmark；
Step 5: the harvesting boundary position that signal processing module is generated according to harvesting region and non-harvesting area image, control
Execution unit processed completes region by harvesting and turns to non-harvesting region, and signal processing module planning travelling line and controls execution again
Component carries out harvesting.
The present invention by the boundary marker transmitters of multiple edges for being placed in pending farmland and it is multiple be placed in it is pending
The obstacle marking transmitter of the barrier zone in farmland determines harvesting region and obstacle-avoidance area, and signal processing module is according to real-time structure
The harvesting border in the three-dimensional terrain model of pending farmland foreground area and harvesting region and non-harvesting region instructs control to perform
Component carries out harvesting, the accurate planning travelling line of science and speed, reduces degree before work, ensure that the stabilization of harvesting
Property and harvesting efficiency.
Brief description of the drawings
Fig. 1 is the structure diagram of unmanned harvester provided in an embodiment of the present invention；
Fig. 2 is unmanned harvesting method flow chart provided in an embodiment of the present invention；
In figure：1st, boundary marker transmitter；2nd, obstacle marking transmitter；3rd, image acquisition unit；4th, landform sonar detects
Unit；5th, signal receiver；6th, signal processing module；7th, execution unit；8th, sound collection processing module.
Embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Describe in detail as follows.
The structure of the present invention is explained in detail below in conjunction with the accompanying drawings.
A kind of harvester based on unmanned technology includes：
The boundary marker transmitter 1 of multiple edges for being placed in pending farmland；
The obstacle marking transmitter 2 of multiple barrier zones for being placed in pending farmland；
It is installed on image acquisition unit 3, landform sonar detection unit 4, signal receiver 5, the letter of unmanned harvester
Number processing module 6, sound collection processing module 8, execution unit 7；
The boundary marker transmitter 1 and obstacle marking transmitter 2 are used to respective positions signal being sent to the letter
Number receiver 5；
The signal receiver 5 is used for the position for receiving each boundary marker transmitter 1 and obstacle marking transmitter 2
Signal is simultaneously sent to the signal processing module 6；
In embodiments of the present invention, respectively mark transmitter can use GPS positioning system, and GPS positioning system obtains each
The GPS location signal of transmitter is marked, signal receiver 5 is then sent to by signal projector.
Certainly, respectively mark transmitter can use the locating scheme based on bluetooth Beacon, since Beacon positioning is a kind of
The Radio Transmission Technology of short distance low-power consumption, after appropriate bluetooth local area network access point is installed, by network configuration into based on more
The basic network connection mode of user, and ensure that bluetooth local area network access point is the main equipment of this micronetwork all the time, it is so logical
Cross detection signal strength and be obtained with farmland the respectively positional information of mark transmitter.
Described image acquiring unit 3 is used to obtain harvesting region and non-harvesting area image and generates harvesting boundary position number
According to being sent to signal processing module 6；
In embodiments of the present invention, image acquisition unit obtains acquisition harvesting region and non-harvesting region by the following method
Image simultaneously generates harvesting boundary position：
Step 1: the pending processing farmland of captured in real-time in harvesting process, obtains source images；
Step 2: establishing the distribution of statistics of histogram gradation of image, strengthen image pair by being segmented grey linear transformation
After degree, it is smoothed using gaussian filtering, completes the pretreatment of image；
Step 3: obtain the gray value of each pixel and the gray scale interval of image of source images；
Step 4: according to the gray value of each pixel, gray scale interval and the definite number, each segmentation threshold is calculated
The numerical value of value, according to the numerical value of each segmentation threshold, determines the borderline pixel positioned at foreground image, to determine in image
Foreground image image boundary；
Step 5: the extraction of picture edge characteristic point is completed using Canny operators；
Step 6: the landform altitude model and picture edge characteristic point established by landform sonar detection unit determine finely
Image boundary.
The landform sonar detection unit 4 is used to obtain echo and terrain elevation data, root at the same time by multi-beam
Landform altitude model is built according to terrain elevation data；
The signal processing module 6 is used for position signal, the obstruction buoy sent according to the boundary marker transmitter 1 received
Remember the side in the pending farmland of terrain elevation data structure that the position signal of the transmitting of transmitter 2, landform sonar detection unit 4 are sent
The pending farmland region three-dimensional terrain model in battery limit (BL) domain, barrier zone and real-time update, and according to harvesting boundary position planning
Traffic route, and traffic route is sent to the execution unit 7；
The execution unit 7 according to the traffic route and vehicle location control vehicle operation, the execution unit include with
Direction of traffic control unit, vehicle accelerator control unit, the vehicle brake control unit of signal processing module electric connection；
There is the direction of traffic control unit direction controlling module and the vehicle controlled by direction control module to turn
To mechanism, direction control module is connected with signal processing module, for the harvesting boundary bit generated according to image acquisition unit
Put and signal processing module structure pending farmland borderline region and barrier zone control vehicle steering mechanism action；
In embodiments of the present invention, first harvesting can be carried out according to field boundary navigation direction, harvester along field boundary
Harvesting, direction is turned when running to the farmland edge of a field, to gather in border as the harvesting border operation of navigation base control harvester edge；
The vehicle accelerator control unit includes a vehicle accelerator control module and is connected with the vehicle accelerator control module
Air throttle stroke detection module, throttle execution mechanism, the vehicle accelerator control module is connected with signal processing module, institute
State the testing result that Throttle Opening Control module is used to obtain air throttle stroke detection module, the harvesting generated according to image acquisition unit
Borderline region, barrier zone, the pending farmland area three-dimensional in the pending farmland of boundary position and signal processing module structure
Relief model control throttle execution mechanism action；
For sound collection processing module 8, sound collection processing module after harvester starts harvesting, receive by collection harvester
Voice signal when cutting, and using the voice signal as calibration voice signal.Since harvester is run according to traffic route, once
Sound collection processing module collection voice signal with calibration voice signal carry out contrast exceed threshold value when, then may determine that harvesting
Machine harvesting task is completed, and can be shut down at this time.
Vehicle accelerator control unit is using field boundary and farmland three-dimensional terrain model as according to control in embodiments of the present invention
The aperture of air throttle processed, for example, when image acquisition unit detects field boundary, vehicle accelerator control module control air throttle
Executing agency reduces valve opening, reduces car speed, can also be according to three-dimensional terrain model setting speed early warning value, when a certain area
When elevation difference is larger in the elevation map in domain, illustrate that the region landform is uneven, vehicle accelerator control module control air throttle is held
Row mechanism reduces valve opening, reduces car speed；
The vehicle brake control unit includes a brake unit and the fuel regulator valve being connected with the brake unit, brake
Device, the brake unit are connected with signal processing module, for the border in the pending farmland built according to signal processing module
Region, barrier zone, the folding of pending farmland region three-dimensional terrain model control fuel regulator valve and the action of brake.
In embodiments of the present invention, vehicle brake control unit is using field boundary and farmland three-dimensional terrain model as according to control
The action of fuel regulator valve, brake processed, for example, when image acquisition unit detects field boundary, brake unit control combustion
Oil control valve reduces aperture, while brake acts, and reduces car speed, can also be according to three-dimensional terrain model setting speed early warning
Value, when elevation difference is larger in some region of elevation map, illustrates that the region landform is uneven, brake unit control fuel oil control
Valve processed reduces aperture, while brake acts, and reduces car speed；
In embodiments of the present invention, boundary marker transmitter 1 is at least four, each described boundary marker transmitter is put
Edge in pending farmland.
In embodiments of the present invention, obstacle marking transmitter 2 includes at least one group of obstacle marking transmitter group, every group of obstacle
Mark transmitter group includes at least three obstacle marking transmitters；
Obstacle marking transmitter group described in one group is set at each obstacle in pending farmland；
Multiple obstacle marking transmitters of one group of obstacle marking transmitter group are respectively provided with around at each group of obstacle.
In embodiments of the present invention, execution unit 7 includes controlling with the direction of traffic that signal processing module is electrically connected single
Member, vehicle accelerator control unit, vehicle brake control unit.
In embodiments of the present invention, unmanned harvesting method includes：
S101, signal processing module are sent out according to position signal, the obstacle marking of the boundary marker transmitter transmission received
The position signal of emitter transmitting builds the borderline region and barrier zone in pending farmland；
The real-time structure of terrain elevation data that S102, signal processing module are sent according to the landform sonar detection unit received
Build the three-dimensional terrain model of pending farmland foreground area；
S103, signal processing module set the benchmark of unmanned harvester according to the borderline region area in pending farmland
Speed is gathered in, and according to three-dimensional terrain model setting speed limiting threshold value；
S104, signal processing module are planned according to the position signal of boundary marker transmitter and obstacle marking transmitter and driven a vehicle
Route, and speed and speed limit threshold value control execution unit progress harvesting are gathered according to benchmark；
The harvesting boundary position that S105, signal processing module are generated according to harvesting region and non-harvesting area image, control
Execution unit completes region by harvesting and turns to non-harvesting region, and signal processing module planning travelling line and controls enforcement division again
Part carries out harvesting.
The present invention by the boundary marker transmitters 1 of multiple edges for being placed in pending farmland and it is multiple be placed in it is pending
The obstacle marking transmitter 2 of the barrier zone in farmland determines harvesting region and obstacle-avoidance area, and signal processing module 6 is according to real-time structure
The three-dimensional terrain model and the harvesting border in harvesting region and non-harvesting region for building pending farmland foreground area instruct control to hold
Row component 7 carries out harvesting, the accurate planning travelling line of science and speed, reduces degree before work, ensure that harvesting
Stability and harvesting efficiency.
The above is only the preferred embodiments of the present invention, and not makees limitation in any form to the present invention,
Every technical spirit according to the present invention belongs to any simple modification made for any of the above embodiments, equivalent variations and modification
In the range of technical solution of the present invention.
Claims (4)
- A kind of 1. harvester based on unmanned technology, it is characterised in that including：The boundary marker transmitter of multiple edges for being placed in pending farmland；The obstacle marking transmitter of multiple barrier zones for being placed in pending farmland；It is installed on image acquisition unit, landform sonar detection unit, sound collection processing module, the signal of unmanned harvester Receiver, signal processing module, execution unit；The boundary marker transmitter and obstacle marking transmitter are used to respective positions signal being sent to the signal reception Device；The boundary marker transmitter and obstacle marking transmitter include GPS positioning system and signal emission module；The GPS Alignment system is used to obtain the position signal where the boundary marker transmitter and obstacle marking transmitter, and passes through the letter Number transmitting module launches the position signal；The signal receiver is for receiving the position signal of each boundary marker transmitter and obstacle marking transmitter simultaneously It is sent to the signal processing module；Described image acquiring unit is used to obtain harvesting region and non-harvesting area image and generates harvesting boundary position data hair Give signal processing module；The landform sonar detection unit is used to obtain echo and terrain elevation data at the same time by multi-beam, according to landform Altitude data builds landform altitude model；The sound collection processing module be used in real time gather harvester operation when voice signal, and by present sound signals with Calibration voice signal during normal harvesting compares；If present sound signals with calibration voice signal outside threshold range, to The signal processing module sends harvester and does not gather in signal；If present sound signals are with calibration voice signal in threshold range It is interior, then send harvester to the signal processing module and normally gather in signal；The signal processing module is used for position signal, the obstacle marking transmitting sent according to the boundary marker transmitter received The borderline region in the pending farmland of terrain elevation data structure that the position signal of device transmitting, landform sonar detection unit are sent, The pending farmland region three-dimensional terrain model of barrier zone and real-time update, and according to harvesting boundary position planning roadway Line, and traffic route is sent to the execution unit；The execution unit is according to traffic route and vehicle location control vehicle operation；In vehicle operation, the signal processing module does not gather in signal according to harvester or harvester normally gathers in signal Whether adjustment harvester stops gathering in.
- 2. the harvester as claimed in claim 1 based on unmanned technology, it is characterised in that described image acquiring unit passes through Following methods obtain harvesting region and non-harvesting area image and generate harvesting boundary position：Step 1: the pending processing farmland of captured in real-time in harvesting process, obtains source images；Step 2: establishing the distribution of statistics of histogram gradation of image, strengthen picture contrast by being segmented grey linear transformation Afterwards, it is smoothed using gaussian filtering, completes the pretreatment of image；Step 3: obtain the gray value of each pixel and the gray scale interval of image of source images；Step 4: according to the gray value of each pixel, gray scale interval and the definite number, each segmentation threshold is calculated Numerical value, according to the numerical value of each segmentation threshold, determines the borderline pixel positioned at foreground image, before determining in image The image boundary of scape image；Step 5: the extraction of picture edge characteristic point is completed using Canny operators；Step 6: the landform altitude model and picture edge characteristic point established by landform sonar detection unit determine precise image Border.
- 3. the harvester as claimed in claim 1 based on unmanned technology, it is characterised in that the execution unit includes and letter Direction of traffic control unit that number processing module is electrically connected, vehicle accelerator control unit, vehicle brake control unit；The direction of traffic control unit has a direction controlling module and the vehicle steering machine controlled by direction control module Structure, direction control module are connected with signal processing module, for the harvesting boundary position that is generated according to image acquisition unit and The borderline region in the pending farmland of signal processing module structure and barrier zone control vehicle steering mechanism action；The vehicle accelerator control unit includes a vehicle accelerator control module and the section being connected with the vehicle accelerator control module Valve stroke detection module, throttle execution mechanism, the vehicle accelerator control module are connected with signal processing module, the oil Door control module is used for the testing result for obtaining air throttle stroke detection module, the harvesting border generated according to image acquisition unit Position and borderline region, barrier zone, the pending farmland region dimensional topography in the pending farmland of signal processing module structure Model cootrol throttle execution mechanism acts；The vehicle brake control unit includes a brake unit and the fuel regulator valve, the brake that are connected with the brake unit, The brake unit is connected with signal processing module, for the frontier district in the pending farmland built according to signal processing module Domain, barrier zone, the folding of pending farmland region three-dimensional terrain model control fuel regulator valve and the action of brake.
- A kind of 4. unmanned harvesting method, it is characterised in that including：Step 1: position signal, obstacle marking that signal processing module is sent according to the boundary marker transmitter received are launched The position signal of device transmitting builds the borderline region and barrier zone in pending farmland；Step 2: signal processing module is built in real time according to the terrain elevation data that the landform sonar detection unit received is sent The three-dimensional terrain model of pending farmland foreground area；Step 3: the benchmark that signal processing module sets unmanned harvester according to the borderline region area in pending farmland is received Speed is cut, and according to three-dimensional terrain model setting speed limiting threshold value；Step 4: signal processing module plans roadway according to the position signal of boundary marker transmitter and obstacle marking transmitter Line, and speed and speed limit threshold value control execution unit progress harvesting are gathered according to benchmark；Step 5: the harvesting boundary position that signal processing module is generated according to harvesting region and non-harvesting area image, control are held Row component completes region by harvesting and turns to non-harvesting region, and signal processing module planning travelling line and controls execution unit again Carry out harvesting.
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| CN107743758A (en) * | 2017-11-07 | 2018-03-02 | 北京勇搏科技有限公司 | A kind of unpiloted seeder depositing seed |
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| CN107831770A (en) * | 2017-11-07 | 2018-03-23 | 北京勇搏科技有限公司 | A kind of unmanned harvester |
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| WO2020206946A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Lodging driving planning system of automatic harvester, and method thereof |
| CN114051781A (en) * | 2021-12-07 | 2022-02-18 | 清博（昆山）智能科技有限公司 | Intelligent navigation system for cooperative operation agricultural mechanical equipment |
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