CN206058220U - One kind keeps away a system based on binocular vision - Google Patents
One kind keeps away a system based on binocular vision Download PDFInfo
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- CN206058220U CN206058220U CN201620803729.7U CN201620803729U CN206058220U CN 206058220 U CN206058220 U CN 206058220U CN 201620803729 U CN201620803729 U CN 201620803729U CN 206058220 U CN206058220 U CN 206058220U
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- outer sleeve
- system based
- binocular vision
- keeps away
- wheel
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Abstract
This utility model is related to one kind and keeps away a system based on binocular vision, there is provided a Herba Oryzae Reproductii harvester, Herba Oryzae Reproductii harvester include a chassis；Tray bottom is provided with auxiliary wheel and the telescoping mechanism equal with auxiliary wheel quantity；Telescoping mechanism includes outer sleeve, and the motor driven with the driver element by being connected with control unit is provided with outside outer sleeve；The infrared distance measurement unit being connected with control unit is provided with outer sleeve on the end cap of a side end；Tooth bar is provided with inner sleeve in outer sleeve, the output shaft of motor is provided with gear；Inner sleeve one end is provided with the connecting rod that end is connected with jockey pulley；Outer sleeve front end is provided with that photocentre is corresponding with motor output shaft and photographic head that be connected with control unit；Unit processed and distance host radio communication；Distance host and a hand-held mobile terminal radio communication.The system is capable of achieving to keep away automatically the function of stake, and is kept away the position of stake every time and carry out record upload, and same alarm is realized synchronization monitoring and provides data supporting subsequently to plant.
Description
Technical field
This utility model is related to one kind and keeps away a system based on binocular vision.
Background technology
China is large agricultural country, and Oryza sativa L. is one of China's Three major grain crops.Herba Oryzae Reproductii is a veriety of Oryza sativa L..It is logical
Often, two season of the Herba Oryzae Reproductii gross output value will increase by 50% than the yield of one season rice（Youxi County data in recent years in Fujian Province's are annual kinds
Plant Herba Oryzae Reproductii nearly 100,000 mu, about 600 kg of head season average yield per mu regenerates about 300 kg of season average yield per mu）Increases in grain production are played with weight
Act on.But Herba Oryzae Reproductii harvesting mechanization automaticity is still very low at present, particularly machine receives head season Herba Oryzae Reproductii, constrains
The popularization of Herba Oryzae Reproductii and development.21 century agricultural workforce is gradually shifted to social other industries, and it is aged that China is faced with population
The severe situation that change, human resources are not enough.Meanwhile, the Ministry of Agriculture requires propulsion rice planting mechanization automatization to be put important
Position, carries forward vigorously Rice Production entire mechanization automatization.These have for the development of Herba Oryzae Reproductii harvesting mechanization automatization
There is particularly important meaning.
The characteristics of Herba Oryzae Reproductii be one season rice maturation after, only about cut off on plant 2/3 position, collect spike of rice, protect
Leave 1/3 plant in face, allow its grow again one season rice, this feature receives head season Herba Oryzae Reproductii and proposes strict technical requirements to machine：
During harvester operation, road wheel must be reduced as far as possible and be rolled to regenerating season rice stub, to reduce the impact to regenerating season yield.
Emphasis develops first rice crop harvesting machinery, improves the Herba Oryzae Reproductii automatic and mechanical level of production, it is necessary to by agricultural machinery
Equipment is blended with Modernized Information Technology.With electronic technology, computer technology, sensing technology, mechanics of communication and image
The fast development of technology of identification, provides powerful technical support to the automation development of Herba Oryzae Reproductii harvester, contributes to development
Harvester Bi Chuang technologies, reduce road wheel Dui Dao Chuang and roll rate, improve the Herba Oryzae Reproductii level of production.Generally, field-crop is neat
Ground by straight line, it is parallel in the way of rule seedling.In order that harvester can in rice field contexture by self path, environment sensing is real
Existing avoidance and the key technology of navigation.The development of independent navigation Path Planning Technique, be season Herba Oryzae Reproductii harvester keep away grinding for stake
Study carefully and specify another new direction.
The content of the invention
The purpose of this utility model is to provide one kind to keep away a system based on binocular vision, is existed to overcome in prior art
Defect.
For achieving the above object, the technical solution of the utility model is：One kind keeps away a system based on binocular vision, there is provided one
Herba Oryzae Reproductii harvester, the Herba Oryzae Reproductii harvester include a chassis；The tray bottom two ends are provided with and are located along the same line
Driving wheel and directive wheel；The tray bottom both sides are respectively arranged with the auxiliary wheel being located along the same line；The chassis bottom
Portion is provided with the telescoping mechanism equal with auxiliary wheel quantity；The telescoping mechanism includes an outer sleeve, arranges outside the outer sleeve
The motor for having and being driven by driver element；Inner sleeve is provided with the outer sleeve；The end of a side end in the outer sleeve
Cover one is provided with for the infrared distance measurement unit that matches with the inner sleeve and be connected with a control unit；In the inner sleeve
Tooth bar is provided with, the output shaft of the motor is provided with the gear being meshed with the tooth bar；Described inner sleeve one end is provided with company
Bar, the auxiliary wheel are connected to the end of the connecting rod；The outer sleeve front end is provided with photographic head, and the photocentre of the photographic head
With the output shaft of the motor in the same horizontal line；It is single that the photographic head is connected to the control by high-definition image capture card
Unit；The driver element is connected with described control unit；Described control unit is also connected with one first wireless communication unit, and this
One wireless communication unit is matched with second wireless communication unit for being connected to a distance host；The distance host is also with one
Three wireless communication units are connected, the 4th wireless communication unit on the 3rd wireless communication unit and a hand-held mobile terminal
Match somebody with somebody.
In one embodiment of this utility model, the chassis front end is provided with the ceding of Taiwan of harvesting spike of rice and spike of rice is taken off
The sheller unit of grain.
In one embodiment of this utility model, the driving wheel is located at front end, and directive wheel is located at rear end, or driving wheel is located at
Rear end, directive wheel are located at front end.
In one embodiment of this utility model, the chassis upper is additionally provided with the steering wheel that control directive wheel is turned to.
In one embodiment of this utility model, the chassis upper arranges the promising ceding of Taiwan, sheller unit and driving wheel and provides
The electromotor of power, the outfan of the electromotor are connected with change speed gear box.
In one embodiment of this utility model, the end cap is arranged at the end on the outer sleeve away from connecting rod；It is described
Inner sleeve is provided with rubber seal away from another end cap, the other end of the outer sleeve are also equipped with the end of connecting rod, institute
State connecting rod to pass from rubber seal.
In one embodiment of this utility model, the chassis upper rear end is provided with seat.
In one embodiment of this utility model, the hydraulic push rod of control taiwan cut off and landing on the chassis, is additionally provided with.
Compared to prior art, this utility model has the advantages that：The system is capable of achieving the function of keeping away automatically stake,
By the identification positioning to rice stub in course, and carried out to regenerating rice stub by controlling Herba Oryzae Reproductii harvester driven-mechanism
Avoid.And kept away the position of stake every time and carry out record upload, same alarm is realized synchronization monitoring and for follow-up harvesting and is planted
Plant and data supporting is provided.Additionally, adopting single wheel drive, two auxiliary wheels of harvester can carry out stretching motion, improve in the past
The drawbacks of harvester can be rolled to rice stubble during Herba Oryzae Reproductii harvesting is carried out, it is possible to increase the yield of Herba Oryzae Reproductii；Adopt
With pinion and rack, the stroke of two auxiliary wheels can be preferably controlled, is better achieved and is kept away a batch function.
Description of the drawings
Construction schematic front views of the Fig. 1 for this utility model embodiment one.
Construction diagrammatic top views of the Fig. 2 for this utility model embodiment one.
Fig. 3 is the organigram of telescoping mechanism in this utility model embodiment one.
Fig. 4 is another schematic diagram of the construction of telescoping mechanism in this utility model embodiment one.
Construction schematic front views of the Fig. 5 for this utility model embodiment two.
Fig. 6 is the schematic diagram of Herba Oryzae Reproductii harvester detecting system in this utility model embodiment one.
Schematic diagrams of the Fig. 7 for one medium-long range main frame of this utility model embodiment.
Fig. 8 is the schematic diagram of handheld terminal in this utility model embodiment one.
In figure：1- chassis, 10- infrared distance measurement units, 11- electromotors, 12- change speed gear boxes, 13- steering wheels, 14- seats, 15-
Hydraulic push rod, the 2- cedings of Taiwan, 3- sheller units, 4- driving wheels, 5- directive wheels, 6- auxiliary wheels, 7- outer sleeves, 71- end caps, 72- rubbers
Glue sealing ring, 73- photographic head, 8- inner sleeves, 81- tooth bars, 82- connecting rods, 9- gears.
Specific embodiment
Below in conjunction with the accompanying drawings, the technical solution of the utility model is specifically described.
Embodiment one：
This utility model provides one kind and keeps away a system based on binocular vision, as shown in Figure 1 to Figure 3, there is provided a Herba Oryzae Reproductii is received
Cutting mill, the Herba Oryzae Reproductii harvester include a chassis 1；1 bottom two ends of the chassis are provided with the driving being located along the same line
Wheel 4 and directive wheel 5；1 two bottom sides of the chassis are respectively arranged with the auxiliary wheel 6 being located along the same line；The tray bottom
It is provided with the telescoping mechanism equal with auxiliary wheel quantity；The telescoping mechanism includes an outer sleeve 7, is provided with outside the outer sleeve
With the motor driven by driver element；Inner sleeve 8 is provided with the outer sleeve；The end cap of a side end in the outer sleeve
One is provided with 71 for the infrared distance measurement unit 10 that matches with the inner sleeve and be connected with a control unit；The inner sleeve
Tooth bar 81 is provided with inside, the output shaft of the motor is provided with the gear 9 being meshed with the tooth bar；Described inner sleeve one end is arranged
There is connecting rod 82, the auxiliary wheel 6 is connected to the end of the connecting rod；The outer sleeve front end is provided with photographic head 73, and described takes the photograph
The photocentre of picture head is with the output shaft of the motor in the same horizontal line；The photographic head is connected to by high-definition image capture card
Described control unit；The driver element is connected with described control unit；Described control unit also with one first radio communication list
Unit is connected, and first wireless communication unit is matched with second wireless communication unit for being connected to a distance host；It is described long-range
Main frame is also connected with one the 3rd wireless communication unit, and the 3rd wireless communication unit is wireless with the 4th on a hand-held mobile terminal
Communication unit is matched.
In order to allow those skilled in the art further to connect, one kind that this utility model proposed keeps away a system based on binocular vision,
Illustrate with reference to the control method and existing software of the system, in the declarative procedure involved existing software with
And control method is not the object protected by this utility model.
The left side visual pattern and right side vision figure of acquiring unit scene rice stub are distinguished by the photographic head of the left and right sides
Picture, and it is uploaded to control unit.Left side visual pattern and right side visual pattern to obtaining carries out primary pretreatment.To described
Image acquisition unit is demarcated.Secondary pretreatment, edge are carried out to left side visual pattern and right side visual pattern respectively to carry
Take and corner recognition.Image to obtaining carries out conjugated image matching, and obtains the depth information of live rice stub.Control unit
Positioning distance measuring is carried out according to depth information to live rice stub, the range information away from live rice stub, and Modeling Calculation scene rice is calculated
Whether the distance of stake to photographic head photocentre, judge the live rice stub on travel path.By the jockey pulley wheel width of initial acquisition, even
The inner sleeve that the distance of pole length, inner sleeve length and motor output shaft away from end cap 71 and infrared distance measurement unit are obtained is away from end cap
71 distance, calculates the relative position relation of live rice stub and auxiliary wheel, determines motor pulse-width, and then determines that jockey pulley is traversing
Direction and distance.Motor drive information of the driver element according to the single output of control, by Motor drive rack drives jockey pulley
Live rice stub is avoided, and is continued on, until the harvesting of Herba Oryzae Reproductii harvester is finished.
When finding to there is live rice stub on travel path, the image and positional information of acquisition are uploaded to far by video camera
Journey main frame is recorded.Distance host is issued to the ambulatory handheld of operator according to correspondence generation warning message is avoided every time
Terminal.It is that follow-up harvesting and sowing provide data message.
Further, in the present embodiment, the chassis front end is provided with the ceding of Taiwan 2 of harvesting spike of rice and spike of rice is taken off
The sheller unit 3 of grain.
Further, in the present embodiment, the driving wheel is located at front end, and directive wheel is located at rear end.
Further, in the present embodiment, the driving wheel and directive wheel are large diameter wheel so that chassis is liftoff more
It is high.
Further, in the present embodiment, the chassis upper is additionally provided with the steering wheel 13 that control directive wheel 5 is turned to.
Further, in the present embodiment, the chassis upper arranges the promising ceding of Taiwan, sheller unit and driving wheel and provides power
Electromotor 11, the outfan of the electromotor is connected with change speed gear box 12, and the driving wheel is passed by band with gear box output end
It is dynamic to be connected.
Further, in the present embodiment, end cap 71 is arranged at end of the outer sleeve away from connecting rod；It is remote on outer sleeve
End cap is also equipped with the end of connecting rod, those end caps play a part of spacing and prevent mud from entering in sleeve.It is described outer
The other end of sleeve is provided with rubber seal 72, and the connecting rod 82 is passed from rubber seal, and the rubber seal plays anti-
The effect that only mud is entered in sleeve.
Further, in the present embodiment, the chassis upper rear end is provided with seat 14, facilitates driver to sit on.
Further, in the present embodiment, the hydraulic push rod 15 of control taiwan cut off and landing is additionally provided with the chassis, the ceding of Taiwan is made
The Oryza sativa L. of differing heights can be gathered in.
Embodiment two：Its structure is identical with embodiment one, and difference is that driving wheel is located at rear end, and directive wheel is located at front end,
As shown in Figure 5.
It is more than preferred embodiment of the present utility model, all changes made according to technical solutions of the utility model are produced
Function without departing from technical solutions of the utility model scope when, belong to protection domain of the present utility model.
Claims (8)
1. one kind keeps away a system based on binocular vision, it is characterised in that provide a Herba Oryzae Reproductii harvester, the Herba Oryzae Reproductii harvester
Including a chassis；The tray bottom two ends are provided with the driving wheel and directive wheel being located along the same line；The tray bottom
Both sides are respectively arranged with the auxiliary wheel being located along the same line；The tray bottom is provided with equal with auxiliary wheel quantity stretching
Mechanism；The telescoping mechanism includes an outer sleeve, is provided with and the motor driven by driver element outside the outer sleeve；It is described
Inner sleeve is provided with outer sleeve；One is provided with the outer sleeve on the end cap of a side end for matching with the inner sleeve
And the infrared distance measurement unit being connected with a control unit；Tooth bar is provided with the inner sleeve, the output shaft of the motor is arranged
There is the gear being meshed with the tooth bar；Described inner sleeve one end is provided with connecting rod, and the auxiliary wheel is connected to the end of the connecting rod；
The outer sleeve front end is provided with photographic head, and the output shaft of the photocentre of the photographic head and the motor is in same horizontal line
On；The photographic head is connected to described control unit by high-definition image capture card；The driver element and described control unit
It is connected；Described control unit is also connected with one first wireless communication unit, and it is remote that first wireless communication unit is connected to one with one
The second wireless communication unit matching of journey main frame；The distance host is also connected with one the 3rd wireless communication unit, the 3rd nothing
Line communication unit is matched with the 4th wireless communication unit on a hand-held mobile terminal.
2. one kind according to claim 1 keeps away a system based on binocular vision, it is characterised in that the chassis front end is arranged
The ceding of Taiwan for having harvesting spike of rice and the sheller unit that threshing is carried out to spike of rice.
3. one kind according to claim 1 keeps away a system based on binocular vision, it is characterised in that the driving wheel is located at front
End, directive wheel are located at rear end, or driving wheel is located at rear end, and directive wheel is located at front end.
4. one kind according to claim 1 keeps away a system based on binocular vision, it is characterised in that the chassis upper also sets
It is equipped with the steering wheel that control directive wheel is turned to.
5. one kind according to claim 1 keeps away a system based on binocular vision, it is characterised in that the chassis upper is arranged
The promising ceding of Taiwan, sheller unit and driving wheel provide the electromotor of power, and the outfan of the electromotor is connected with change speed gear box.
6. one kind according to claim 1 keeps away a system based on binocular vision, it is characterised in that the end cap is arranged at institute
State the end away from connecting rod on outer sleeve；The inner sleeve is away from being also equipped with another end cap, the overcoat on the end of connecting rod
The other end of cylinder is provided with rubber seal, and the connecting rod is passed from rubber seal.
7. one kind according to claim 1 keeps away a system based on binocular vision, it is characterised in that the chassis upper rear end
It is provided with seat.
8. one kind according to claim 1 keeps away a system based on binocular vision, it is characterised in that also set up on the chassis
There is the hydraulic push rod of control taiwan cut off and landing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620803729.7U CN206058220U (en) | 2016-07-28 | 2016-07-28 | One kind keeps away a system based on binocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620803729.7U CN206058220U (en) | 2016-07-28 | 2016-07-28 | One kind keeps away a system based on binocular vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206058220U true CN206058220U (en) | 2017-03-29 |
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ID=58379464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620803729.7U Expired - Fee Related CN206058220U (en) | 2016-07-28 | 2016-07-28 | One kind keeps away a system based on binocular vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206058220U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110089263A (en) * | 2018-01-29 | 2019-08-06 | 迪尔公司 | Monitor and control system for harvester |
-
2016
- 2016-07-28 CN CN201620803729.7U patent/CN206058220U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110089263A (en) * | 2018-01-29 | 2019-08-06 | 迪尔公司 | Monitor and control system for harvester |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170329 Termination date: 20190728 |