CN210130123U - Harvester with tripod head camera device - Google Patents

Abstract

The utility model provides a harvester with cloud platform camera device, wherein the harvester includes a harvester host computer, an at least cloud platform camera device to and an image processing system. The cradle head camera device is arranged on the harvester host, the cradle head camera device shoots images around the harvester host so as to adjust operation parameters of the harvester host based on the images shot by the cradle head camera device, the image processing system is arranged on the harvester host, receives the images shot by the cradle head camera device and identifies farmland information or crop information in the images.

Description

Harvester with tripod head camera device

Technical Field

The utility model relates to an agricultural mechanical equipment especially relates to a harvester that has cloud platform camera device.

Background

The harvester is a crop harvesting machine for harvesting seed grains and straws of crops such as rice, wheat and the like, and also comprises a mower and mechanical equipment for harvesting other crops. The grain harvester is an integrated machine for harvesting crops, can complete harvesting and threshing at one time, concentrates grains into a storage bin, and then conveys the grains to a transport vehicle through a conveying belt.

The harvester needs to observe the conditions of crops and farmland operation areas in the farmland all the time when harvesting operation is carried out, so that the operation parameters of the harvester can be adjusted according to the conditions of the height, the maturity, the grain plumpness and the like of the crops. The harvester in the prior art, especially the harvester with the intelligent control function, obtains images of crops and farmland areas in the farmland in a shooting mode so as to adjust harvesting operation parameters according to shot image information.

The harvester in the prior art is provided with a camera device on a body of the harvester; or the positioning information of the harvester is accurately acquired through a high-precision positioning mode, such as a high-precision RTK satellite positioning mode, and then the image information around the harvester is acquired through a third-party camera shooting mode. Such prior art harvesters suffer from at least one of the following drawbacks: firstly, when the harvester is in operation, the harvester body shakes up and down due to the vibration of the vehicle machine and the unevenness of farmland soil, so that the camera device arranged on the harvester body cannot shoot images at stable positions. Therefore, the image obtained by the imaging device is often blurred and cannot provide information support for smart work and automatic driving. Secondly, the camera device of the prior art is fixedly installed on the harvester body, and only images in a single direction, such as images in front of the harvester, can be obtained, but the shooting direction and position of the camera device cannot be adjusted according to the situation. Thirdly, in the prior art, a mobile camera device or a fixed camera device, such as an unmanned aerial vehicle camera device or a camera device fixed in a farmland, shoots images around the harvester and then transmits the images to the harvester body, so that the harvester body can read the images shot by the camera device. Although the problem of unclear image shooting is solved to some extent, images cannot be acquired from the view angle of the harvester itself based on the image captured by the camera itself or based on the position of the unmanned aerial vehicle. Therefore, the acquired image cannot be recognized well.

In addition, the harvester in the prior art needs to acquire the position information of the harvester by means of high-precision satellite positioning and then adjust the driving route of the harvester based on the position information, so that the performance requirement of the harvester is high, and the required manufacturing cost and maintenance cost are high relatively. Therefore, such a prior art image pickup apparatus is not suitable for use in the current automatic driving mode of the agricultural machine.

SUMMERY OF THE UTILITY MODEL

The utility model has the advantages of a main advantage of providing a harvester with cloud platform camera device, wherein the harvester passes through cloud platform camera device acquires the image information in harvester place farmland.

Another advantage of the present invention is to provide a harvester with a camera device, wherein the camera device is installed in a harvester body of the harvester, wherein the harvester passes through the camera device shoots images around the harvester body.

Another advantage of the present invention is to provide a harvester with a pan/tilt camera device, wherein the pan/tilt camera device is an anti-shake pan/tilt camera device, wherein the pan/tilt camera device is in the image is stably shot when the harvester main body travels, and the shooting quality of the image is improved.

Another advantage of the present invention is to provide a harvester with a camera device, wherein the camera device is set in the harvester main body, wherein the camera device is based on at least one visual image or visual image is shot at the visual field position of the harvester main body, so as to recognize the information around the harvester main body according to the shot image information.

Another advantage of the present invention is to provide a harvester with cloud platform camera device, wherein cloud platform camera device is set up in the place ahead of harvester main part, by cloud platform camera device shoots the image of harvester traffic direction, so that discern the farmland information in harvester main part the place ahead provides technical support for autopilot.

Another advantage of the present invention is to provide a harvester with a pan/tilt camera, wherein the pan/tilt camera is disposed at the top of the harvester body so as to capture a larger range of visual images.

Another advantage of the present invention is to provide a harvester with a cradle head camera device, wherein the cradle head camera device is a mechanical cradle head camera, wherein the mechanical cradle head camera is set up in the top of the harvester host, by the mechanical cradle head camera directly acquires stable image around the harvester host.

Another advantage of the present invention is to provide a harvester with a cradle head camera device, wherein the cradle head camera device can be based on the position of the harvester host is adjusted to shoot images of different angles and different directions, so as to obtain the images of the harvester host in different directions.

Another advantage of the present invention is to provide a harvester with a pan/tilt camera, wherein the pan/tilt camera can be rotated up and down and/or rotated left and right, through the change of the angle of shooting by the pan/tilt camera itself is shot the image of the harvester host in different visual directions.

Another advantage of the present invention is to provide a harvester with a pan/tilt camera, wherein the pan/tilt camera is an electronic pan/tilt camera, wherein the pan/tilt camera is set up in the harvester host, the image taken by the pan/tilt camera is processed by an image processing system to obtain a stable and clear image.

Another advantage of the present invention is to provide a harvester with a pan/tilt camera, wherein the image or image captured by the pan/tilt camera is identified by the image processing system to identify the operation area and the field boundary area of the field in the image.

Another advantage of the present invention is to provide a harvester with a pan/tilt camera, wherein the image processing system identifies and plans the information in the image such as the operation area, the non-operation area, and the field boundary area based on the image or image shot by the pan/tilt camera.

Another advantage of the present invention is to provide a harvester with a pan/tilt camera device, wherein the harvester host is based on the path is gone out to the regional information planning that image processing system discernment was planned to in order to realize unmanned autopilot.

Another advantage of the present invention is to provide a harvester with a camera device, wherein the image processing system identifies the kind, height, grain saturation and other information of the crops in the image based on the image shot by the camera device.

Another advantage of the present invention is to provide a harvester with a camera device, wherein the harvester host is based on the image processing system recognizes the information of crops, adjustment operation parameters, so as to realize unmanned operation.

The other advantages and features of the invention will be fully apparent from the following detailed description and realized by means of the instruments and combinations particularly pointed out in the appended claims.

According to the utility model discloses an aspect can realize aforementioned purpose and other purposes and advantage the utility model discloses a harvester with cloud platform camera device, it includes:

a harvester main machine; and

the cradle head camera device is arranged on the harvester host, and the cradle head camera device shoots images around the harvester host so as to adjust operation parameters of the harvester host based on the images shot by the cradle head camera device.

According to the utility model discloses an embodiment, cloud platform camera device is mechanical anti-shake cloud platform device, cloud platform camera device includes a cloud platform and an at least camera, wherein the cloud platform will the camera installation extremely the harvester host computer, the camera set up in the cloud platform, by the cloud platform supports the camera keeps balanced.

According to the utility model discloses an embodiment, the cloud platform is installed extremely the harvester host computer, and cloud platform movably supports the camera, wherein the camera is based on the mounted position of cloud platform is shot, in order to acquire the image in the harvester host computer field of vision scope.

According to an embodiment of the utility model, the cloud platform further includes a cloud platform mounting and an at least cloud platform moving member, wherein the cloud platform mounting is fixedly installed to the harvester host computer, the movable connection of cloud platform moving member is to the cloud platform mounting, the camera is installed to the cloud platform moves within a definite time, through the cloud platform moving member with the relative movement of cloud platform mounting keeps camera relative position's stability.

According to an embodiment of the present invention, the camera includes a camera main body and at least one camera driving device, wherein the camera main body is drivably connected to the camera driving device, and the camera main body is driven by the camera driving device to capture images in different directions of view.

According to the utility model discloses an embodiment, camera drive arrangement drive the camera main part rotates from top to bottom to the camera host computer shoots the distance the image in the farmland far away from and near the harvester host computer.

According to the utility model discloses an embodiment, the drive of camera drive arrangement the camera main part rotates about to the camera host computer shoots the image in the farmland in the different regions in harvester host computer both sides.

According to the utility model discloses an embodiment, cloud platform camera device be set up in the front portion of harvester host computer the top of harvester host computer the left side of harvester host computer, right side, or the rear portion of harvester host computer.

According to the utility model discloses an embodiment, cloud platform camera device is electron cloud platform device, wherein cloud platform camera device passes through the visual angle of control camera lens and zooms, thereby prevents cloud platform camera device camera lens is shot and is shaken.

According to an embodiment of the utility model, cloud platform camera device includes a camera installation mechanism and an at least camera, wherein camera installation mechanism will camera fixedly install extremely harvester host computer.

According to the utility model discloses an embodiment, the harvester further includes an image processing system, wherein image processing system set up in the harvester host computer, image processing system receives the image that cloud platform camera device shot, and discerned the information in farmland or the information of crops in the image.

According to the utility model discloses an embodiment, image processing system utilizes the image segmentation identification technology to discern the cloud platform camera device is shot the regional information in farmland in the image is discerned the information of crops, for the confession the harvester host computer is according to the information control operating parameter who discerns.

According to the utility model discloses an embodiment, the harvester further includes a positioner and a navigation, wherein the positioner with navigation be set up in the harvester host computer, positioner acquires the positional information of harvester host computer, wherein navigation is based on positional information provides navigation.

According to the utility model discloses an embodiment, the harvester host computer include a vehicle main part, set up in a vehicle main part's an at least operating system to and a control system is driven, the vehicle main part drive operating system operation, wherein drive control system control vehicle main part's operation and control operating system's operating parameter.

According to the utility model discloses an embodiment, drive control system and acquire image processing system discernment the information of the image that cloud platform camera device shot is controlled automatically the route of traveling and the control of vehicle main part operating system's operation parameter to realize unmanned autopilot and reap the operation.

According to the utility model discloses an embodiment, the operating system includes a reaping apparatus, wherein drive control system based on cloud platform camera device shoots the crops image, control reaping apparatus broad width, reap the height and reap the speed.

According to the utility model discloses an embodiment, the operating system includes a thresher, wherein drive control system based on cloud platform camera device shoots crops image, control thresher's rotational speed and the wind speed of blowing.

Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.

These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.

Drawings

Fig. 1 is a schematic view of the overall structure of a harvester with a pan-tilt camera device according to a first preferred embodiment of the present invention.

Fig. 2 is a schematic diagram of the pan-tilt camera of the harvester according to the above preferred embodiment of the present invention.

Fig. 3 is a schematic structural diagram of the pan-tilt camera device of the harvester according to the above preferred embodiment of the present invention, wherein the pan-tilt camera device is implemented as a mechanical pan-tilt device.

Fig. 4 is a schematic view of the installed position of the pan-tilt camera of the harvester according to the above preferred embodiment of the present invention.

Fig. 5A is a schematic diagram of the image processing system of the harvester according to the above preferred embodiment of the present invention identifying the farmland area in the image captured by the pan/tilt camera device.

Fig. 5B is a schematic diagram of the image processing system of the harvester according to the above preferred embodiment of the present invention recognizing the crop in the image captured by the pan-tilt camera device.

Fig. 6 is a schematic view of another alternative embodiment of the pan-tilt camera of the harvester according to the above preferred embodiment of the present invention, wherein the pan-tilt camera is implemented as an electronic pan-tilt device.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purpose of limitation.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

Referring to fig. 1 to 5B of the drawings attached to the present specification, a harvester with a pan/tilt camera according to a first preferred embodiment of the present invention will be explained in the following description. The harvester comprises a harvester main machine 10 and at least one cradle head camera device 20, wherein the cradle head camera device 20 is arranged on the harvester main machine 10, and the cradle head camera device 20 shoots images or video images of a farmland where the harvester main machine 10 is located so that the harvester main machine 10 can control the running direction and/or operation parameters based on the images or image information shot by the cradle head camera device 20. The pan-tilt camera device 20 captures information of a farmland around the position of the harvester main unit 10 based on the position of the harvester main unit 10. It is understood that the pan-tilt camera 20 captures images within a visual field, such as images in the visual field of a driver, so as to adjust the operation parameters of the harvester main body 10, such as the driving route, the driving speed, the operation parameters and the like, according to the captured images.

It should be noted that the pan-tilt camera 20 is mounted to the harvester main unit 10, wherein the image and image information captured by the pan-tilt camera 20 is transmitted to the harvester main unit 10, so that the harvester main unit 10 can adjust the operation parameters based on the information. The pan-tilt camera device 20 is mounted to the harvester main body 10, wherein the pan-tilt camera device 20 takes a clear image when the harvester main body 10 shakes. In other words, the pan/tilt/camera device 20 is an anti-shake camera device, and can prevent the harvester main body 10 from mechanical vibration and shake due to unevenness of the sky and the ground during shooting. The harvester main unit 10 controls a traveling path and operation parameters under the operation of an operator or automatically based on the image information shot by the pan-tilt camera 20, so as to realize the operation of the harvester. In other words, the harvester main body 10 adjusts operation and operation parameters based on the image information captured by the pan-tilt camera 20, so as to realize precise operation and/or unmanned automatic operation.

In the first preferred embodiment of the present invention, the pan/tilt/camera device 20 is a mechanical pan/tilt/camera device, wherein the pan/tilt/camera device 20 is carried to the harvester host 10 through a mechanical connection mode, and the pan/tilt/camera device 20 realizes an anti-shake shooting image through a mechanical anti-shake mode. It is to be understood that the type of pan/tilt camera 20 described herein is merely exemplary and not limiting. Thus, other types of structures and mounting arrangements are also applicable here.

As shown in fig. 1 to 3, the pan/tilt/zoom camera 20 includes a pan/tilt head 21 and at least one camera 22, wherein the pan/tilt head 21 mounts the camera 22 to the harvester main body 10, and the pan/tilt head 21 fixes the mounting position of the camera 22. The bottom end of the pan/tilt head 21 is loaded to the harvester main unit 10, and the pan/tilt head 21 is fixed by the harvester main unit 10, wherein the upper end of the pan/tilt head 21 is disposed to be connected to the camera 22. The camera 22 is supported by the pan/tilt head 21 while being relatively balanced so as to stably take an image or a movie. The camera 22 captures images or images around the harvester main body 10 under the supporting action of the pan/tilt head 21, wherein the camera 22 captures images within the field of view of the harvester main body 10 based on the installation position of the pan/tilt head 21 as a reference. It is understood that the camera 22 of the pan/tilt camera 20 captures at least one visual image based on the position of the harvester main body 10. In other words, the camera 22 of the pan/tilt/camera device 20 obtains the image based on the visual field of the harvester main body 10, so as to avoid the problem of inaccurate image data caused by the change of the position of the camera device 20 and the position of the harvester main body 10.

It is worth mentioning that an autonomous vehicle needs to acquire accurate vehicle positioning information, generally high-precision satellite positioning information, in order to identify and acquire a route on which the vehicle travels in an autonomous driving mode, and the autonomous vehicle needs to update information of obstacles, road surface vehicles, road surface pedestrians, and the like existing in a road at a moment to realize an autonomous driving function in a high-speed running state. The utility model discloses an image that the harvester acquireed is the image data information corresponding to the crops cereal in the farmland, wherein the image is based on vehicle current position acquires the peripheral image of vehicle. The harvester does not need satellite positioning information with too high precision, and only needs satellite positioning (GPS positioning or Beidou positioning and the like) with ordinary meter-level precision. Accordingly, the images acquired and processed by the harvester are different from those of an autonomous vehicle, and therefore the path plan and driving pattern formed by the harvester is also different. It can be appreciated that the utility model discloses a harvester is based on the discernment of vision the region in farmland and the recognition mode of autopilot function and autopilot car are different.

The pan/tilt head 21 of the pan/tilt head camera 20 further comprises a pan/tilt head fixing member 211 and at least one pan/tilt head moving member 212, wherein the pan/tilt head moving member 212 is movably connected to the pan/tilt head fixing member 211. The pan/tilt fixing member 211 is fixedly provided to the harvester main body 10, wherein the camera 22 is mounted to the pan/tilt moving member 212. The pan/tilt moving member 212 of the pan/tilt head 21 movably supports the camera 22, so that the camera 22 keeps stable relative position when the harvester main unit 10 shakes, and a clear image is taken.

In other words, when the harvester main unit 10 vibrates or shakes, such as mechanical vibration or shake generated when harvesting work is performed in a farm field, the pan head fixing member 21 of the pan head 21 vibrates in synchronization with the harvester main unit 10, wherein the pan head moving member 212 of the pan head 21 moves relative to the pan head fixing member 211, and the vibration generated by the pan head fixing member 211 is neutralized, thereby maintaining the position of the camera 22 stable. In detail, the pan/tilt/zoom moving member 212 and the moving/fixing member 211 shake or vibrate in the vertical direction, the horizontal direction, and the front-rear direction to keep the photographing position of the camera 22 stable, thereby photographing stable image information.

As shown in fig. 3, the camera 22 of the pan/tilt camera device 20 is disposed on the pan/tilt moving member 212 of the pan/tilt head 21, wherein the camera 22 is fixedly or movably mounted to the pan/tilt moving member 212 of the pan/tilt head 21. Preferably, the camera 22 is movably disposed on the pan/tilt/move member 212, wherein the camera 22 can rotate based on the upper end of the pan/tilt/move member 212 to capture images in different view directions. Optionally, the camera 22 is fixedly mounted to the upper end of the pan/tilt movement member 212, wherein the camera 22 captures images within a designated visual field range, such as within a visual field in front of the harvester main unit 10, under the fixed supporting action of the pan/tilt unit 21.

The camera 22 includes a camera body 221 and at least one camera driving device 222, wherein the camera driving device 222 drives the camera body 221 to move so as to capture images of different directions of view. The camera main body 221 is movably disposed on the pan/tilt/zoom moving member 212, wherein the camera main body 221 is driven by the camera driving device 222 to be rotatable in an up/down direction to capture images of farmlands and crops at positions remote and near the harvester main body 10. It can be understood that when the camera main body 221 is driven by the camera driving device 222 to rotate downwards, the camera main body 221 captures an image of the vicinity of the harvester main body 10, so as to clearly identify the crop information in the image. When the camera main body 221 is driven to rotate upward by the camera driving device 222, the camera main body 221 captures an image of a remote place of the harvester main body 10, so that a working area and a field boundary area of the field are recognized through the image.

The camera driving device 222 drives the camera main body 221 to rotate in the left-right direction, so that the camera main body 221 captures left and right images of the harvester main body 10 to identify the worked area 200 and the non-worked area 100 of the agricultural field, and the field boundary area 300.

Fig. 4 of the drawings of the present application shows several alternative mounting manners and mounting positions of the pan-tilt camera 20 to the harvester main body 10. In the first preferred embodiment of the present invention, the pan/tilt camera device 20 of the harvester is disposed at the front position, the upper top position, the left side, the right side, the rear position, and the like of the harvester main body 10. It is understood that the mounting position of the pan/tilt/camera 20 is different, the image is different, and the information recognized from the image is different. It can be understood that the pan-tilt camera 20 disposed at the front side of the harvester main body 10 captures an image of the front of the harvester main body 10, and when the harvester travels forward, the pan-tilt camera 20 at the front side of the harvester main body 10 captures the operation condition of the harvester main body 10, so as to adjust the travel path, operation parameters, and the like of the harvester main body 10 according to the captured operation condition.

The pan/tilt camera 20 provided at the rear side of the harvester main body 10 captures an image of the rear side of the harvester main body 10, and the pan/tilt camera 20 captures an image of the worked area 200 when the harvester is traveling forward. Whether the harvesting operation of the harvester main machine 10 is qualified or not is identified by identifying the image of the operated area 200 shot by the holder camera 20 at the rear side of the harvester main machine 10, so that the operation parameters of the harvester main machine 10 can be adjusted conveniently. It can be understood that, through the image captured by the pan-tilt camera 20 disposed at the rear side of the harvester main body 10, the harvester main body 10 recognizes whether the crop in the worked area 200 is completely harvested, whether crop particles are left, and the like. The harvester host 10 is adjusted for operating parameters based on the information identified in the image to improve harvesting operations. It should be noted that, during the reverse driving, the images captured by the pan/tilt/camera device 20 provide the reverse images for the driver.

The pan/tilt camera 20 provided at the upper end of the harvester main body 10 captures an image of a long distance of the harvester main body 10, so that a working area, a field boundary area, and the like of a field are recognized based on the image. Preferably, the pan/tilt/zoom camera 20 disposed at the top end of the upper portion of the harvester main body 10 is a rotatable pan/tilt/zoom camera.

Accordingly, the pan/tilt camera 20 disposed on the left or right side of the harvester main unit 10 captures an image of the left or right side of the harvester main unit 10. Based on the image of the left or right side of the harvester host 10, the condition of the crop in the field in the image is recognized, so that the no-work area 100, the work area 200, and the field boundary area 300 are recognized.

As shown in fig. 1 and 3, the harvester further includes an image processing system 30, a positioning device 40, and a navigation system 50, wherein the image processing system 30, the positioning device 40, and the navigation system 50 are disposed on the harvester main body 10. The positioning device 40 acquires position information of the harvester main unit 10, and transmits the acquired position information to the harvester main unit 10. The navigation system 50 provides navigation information to the harvester main unit 10 based on the positioning information of the positioning device 40. The image processing system 30 identifies the non-worked region 100, the worked region 200, and the field boundary region 300 from the image based on the image of the field acquired by the pan/tilt camera 20.

Preferably, the image processing system 30 identifies the non-worked region 100, the worked region 200, and the field boundary region 300 from an image using image segmentation identification techniques. It will be appreciated that the image processing system 30 may also identify regions and boundary information in the image in other ways. Therefore, in the first preferred embodiment of the present invention, the manner in which the image processing system 30 identifies the image is herein provided by way of example only, and not by way of limitation.

As shown in fig. 5A and 5B, the image processing system 30 identifies the region and the field boundary of the farmland in the image, and identifies the types of crops, the height of the crops, the grain fullness, the thickness of the stalks, and other information in the farmland based on the image around the harvester host 10 captured by the pan-tilt camera 20.

It should be noted that the image processing system 30 performs segmentation recognition on the image acquired by the pan/tilt camera 20 by any one segmentation recognition method selected from a threshold-based segmentation method, a region-based segmentation method, an edge-based segmentation method, a particular theory-based segmentation method, and the like, so as to recognize a region and a boundary in the image. Preferably, the image processing system 30 utilizes a depth learning algorithm to identify the image segmentation and to perform region segmentation and boundary definition on the image. In other words, the image processing system 30 identifies the region and boundary of the corresponding farmland in the image by using a deep learning algorithm, so that the harvester main body 10 can drive and work according to the identified and divided region and boundary. More preferably, the image processing system 30 utilizes an image segmentation identification technique in which the depth learning algorithm is a convolutional neural network algorithm to identify the non-worked region 100, the worked region 200, and the field boundary region 300 in the corresponding farm field from the image.

It is worth mentioning that the processing algorithm utilized by the image processing system 30 is merely exemplary in nature and not limiting. Therefore, the image processing system 30 may also use other algorithms to perform segmentation recognition on the acquired image to identify the region and boundary of the farmland in the image.

It is understood that the image processing system 30 is an image processor disposed in the harvester main unit 10, wherein the image processor receives the image or video captured by the pan-tilt camera 20 and identifies information in the image or video. The harvester main machine 10 correspondingly operates and controls the running path and adjusts the parameters of the operation according to the information identified by the image processing system 30.

As shown in fig. 1 and 3, the harvester main body 10 further includes a vehicle main body 11, an operation system 12 disposed on the vehicle main body 11, and a driving control system 13, wherein the operation system 12 is drivingly connected to the vehicle main body 11, and the vehicle main body 11 drives the operation system 12 to operate, so as to drive the operation system 12 to harvest crops. The driving control system 13 controls the traveling of the vehicle body 11 and controls the work of the work system 12. It is worth mentioning that the driving control system 13 has an unmanned driving mode and an operational driving mode. When the harvester is in the unmanned mode, the driving control system 13 controls the vehicle body 11 to automatically operate and the work of the work system 12. Accordingly, when the harvester is in the operation driving mode, the driving control system allows the driver to operate the operation of the vehicle body 11 and control the operation of the working system by manual operation.

In the first preferred embodiment of the present invention, the driving control system 13 controls the traveling of the vehicle body 11 and controls the harvesting operation of the operation system 12. In other words, the driving control system 13 controls the adjustment of the operation parameters of the operation system 12 during the traveling of the vehicle body 11. The driving control system 13 acquires information that the image processing system 30 recognizes the kind of crop, the height of the crop, the degree of full grain, the diameter of the crop stalk, etc. in the image, and adjusts the operation parameters of the operation system 12 based on the acquired information, for example, adjusts the operation speed of the operation system 12, the width of the operation, the height of the operation, the parameters of the threshing process, etc.

The working system 12 further comprises at least one harvesting device 121, at least one conveying device 122, and at least one threshing device 123, wherein the conveying device 122 is configured to receive the crop harvested by the harvesting device 121, and convey the crop to the threshing device 123, so that the threshing device 123 threshes the crop. The harvesting device 121, the conveying device 122, and the threshing device 123 of the working system are respectively drivingly connected to the vehicle body 11, and the harvesting device 121, the conveying device 122, and the threshing device 123 of the working system 12 are driven by the vehicle body 11 to operate and work.

The driving control system 13 controls the width, height, and speed of the harvesting device 121 according to the image information recognized by the image processing system 30. It can be understood that, when the density of the crops in the farmland is large, the information of the crops in the farmland captured by the pan-tilt camera 20 is recognized by the image processing system 30, wherein the driving control system 13 controls any one of the operation parameters of reducing the harvesting amplitude, increasing the harvesting height, and reducing the harvesting speed of the harvesting device 121 according to the image information recognized by the image processing system 30.

The driving control system 13 controls the conveying speed, the conveying power, and the like of the conveying device 122 based on the image information recognized by the image processing system 30. It can be understood that, when stems of crops in a farmland are thick, heights of the crops are high, and the density is high, the information of the crops in the farmland, which is captured by the pan-tilt camera 20, is recognized by the image processing system 30, wherein the driving control system 13 controls to increase the conveying speed of the conveying device 122, increase the conveying power and other operation parameters according to the image information recognized by the image processing system 30.

The driving control system 13 controls the threshing parameters of the threshing device 123 according to the image information recognized by the image processing system 30. It is understood that the grain fullness, grain size, moisture content, dryness, type of crop fruit, etc. of the crop in the field. It will be appreciated that the image processing system 30 identifies crop information of the crop in the field, wherein the driving control system 13 adjusts threshing parameters of the threshing device, such as blowing power, rotational speed of the threshing bin, etc., according to the image information identified by the image processing system 30.

Referring to fig. 6 of the drawings accompanying the present application, another alternative embodiment of a pan/tilt camera 20A of a harvester according to a first preferred embodiment of the present invention is illustrated in the following description. In the present alternative embodiment, the pan/tilt/zoom camera 20A controls the angle of view and zooming of the lens inside the camera, so as to prevent the camera from shaking.

Accordingly, the pan/tilt/zoom apparatus 20A includes a camera mounting mechanism 21A and at least one video camera 22A, wherein the camera mounting mechanism 21A loads the video camera 22A to the harvester main body 10. The bottom end of the camera mounting mechanism 21A is loaded to the harvester main body 10, and the camera mounting mechanism 21A is fixed by the harvester main body 10, wherein the upper end of the camera mounting mechanism 21A is provided to be connected to the video camera 22A. The video camera 22A is supported by the camera mounting mechanism 21A in a relatively balanced state so as to stably take an image or a video. The camera 22A captures images or images around the harvester main body 10 under the supporting action of the camera mounting mechanism 21A, wherein the camera 22A captures images within the field of view of the harvester main body 10 based on the mounting position of the camera mounting mechanism 21A as a reference.

It can be understood that the camera 22A of the pan/tilt camera 20A captures at least one visual image based on the position of the harvester main body 10. In other words, the camera 22A of the pan/tilt/camera device 20A acquires the image based on the visual field of the harvester main unit 10, so as to avoid the problem of inaccurate image data caused by the position change between the camera device 20A and the harvester main unit 10.

It will be understood by those skilled in the art that the embodiments of the present invention as described above and shown in the drawings are given by way of example only and are not limiting of the present invention. The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments without departing from the principles, embodiments of the present invention may have any deformation or modification.

Claims (20)

1. A harvester with cloud platform camera device, its characterized in that includes:

a harvester main machine; and

the cradle head camera device is arranged on the harvester host, and the cradle head camera device shoots images around the harvester host so as to adjust operation parameters of the harvester host based on the images shot by the cradle head camera device.

2. The harvester of claim 1, wherein said pan-tilt camera is a mechanical anti-shake pan-tilt device comprising a pan-tilt and at least one camera, wherein said pan-tilt mounts said camera to said harvester host, said camera being mounted to said pan-tilt, said camera being balanced by said pan-tilt supporting said camera.

3. The harvester of claim 2, wherein said pan head is mounted to said harvester main body and said pan head movably supports said camera, wherein said camera captures images based on a mounting position of said pan head to capture images within a field of view of said harvester main body.

4. The harvester of claim 3, wherein said pan head further comprises a pan head mount fixedly mounted to said harvester main body and at least one pan head moving member movably connected to said pan head mount, said camera being mounted to said pan head moving member, said camera being held stationary relative to said camera by relative movement of said pan head moving member and said pan head mount.

5. A harvester according to any one of claims 2 to 4 wherein said camera includes a camera body and at least one camera drive, wherein said camera body is driveably connected to said camera drive, said camera body being driven by said camera drive to capture images in different directional fields of view.

6. The harvester of claim 5, wherein said camera drive drives said camera body to rotate up and down for said camera host to capture images of agricultural fields at distances both far and near said harvester host.

7. The harvester according to claim 5, wherein said camera driving means drives said camera body to rotate left and right so that said camera main body takes images of farmlands in different areas on both sides of said harvester main body.

8. The harvester according to any one of claims 1 to 4, wherein the pan-tilt camera is disposed at a front portion of the harvester main body, a top portion of the harvester main body, a left side, a right side of the harvester main body, or a rear portion of the harvester main body.

9. The harvester according to claim 5, wherein the pan-tilt camera is disposed at a front portion of the harvester main unit, a top portion of the harvester main unit, a left side, a right side of the harvester main unit, or a rear portion of the harvester main unit.

10. The harvester according to claim 6, wherein the pan-tilt camera is disposed at a front portion of the harvester main unit, a top portion of the harvester main unit, a left side, a right side of the harvester main unit, or a rear portion of the harvester main unit.

11. The harvester according to claim 7, wherein the pan-tilt camera is disposed at a front portion of the harvester main unit, a top portion of the harvester main unit, a left side, a right side of the harvester main unit, or a rear portion of the harvester main unit.

12. The harvester of claim 1, wherein said pan-tilt camera is an electronic pan-tilt, wherein said pan-tilt camera prevents camera shake of said pan-tilt camera lens by controlling the angle of view and zoom of the lens.

13. The harvester of claim 12, wherein said pan-tilt camera assembly includes a camera mounting mechanism and at least one video camera, wherein said camera mounting mechanism fixedly mounts said video camera to said harvester host.

14. The harvester according to claim 1, wherein the harvester further comprises an image processing system, wherein the image processing system is disposed in the harvester host, receives the image captured by the pan-tilt camera, and identifies information of farmland or crops in the image.

15. The harvester of claim 14, wherein the image processing system identifies information about the region of the field in the image captured by the pan-tilt camera using image segmentation identification techniques, and identifies information about the crop for the harvester host to control operating parameters based on the identified information.

16. The harvester of claim 14, wherein the harvester further comprises a positioning device and a navigation system, wherein the positioning device and the navigation system are disposed at the harvester host, the positioning device acquiring location information of the harvester host, wherein the navigation system provides navigation information based on the location information.

17. The harvester of claim 16, wherein said harvester main unit includes a vehicle body, at least one work system disposed on said vehicle body, and a steering control system, said vehicle body driving said work system to operate, wherein said steering control system controls operation of said vehicle body and controls work parameters of said work system.

18. The harvester according to claim 17, wherein said driving control system acquires information of the image photographed by said pan-tilt camera recognized by said image processing system, automatically controls a traveling route of said vehicle body and controls working parameters of said working system to realize unmanned automatic driving and harvesting work.

19. The harvester of claim 18, wherein said work system includes a harvesting device, and wherein said steering control system controls said harvesting device width, harvesting height, and harvesting speed based on said crop images captured by said pan-tilt camera.

20. The harvester of claim 18, wherein said operating system includes a threshing device, and wherein said drive control system controls the speed of rotation and the air speed of the air blast of said threshing device based on said crop images captured by said pan-tilt camera.

Images