WO2020207225A1 - 用于农割作业机器的图像采集装置及其处理方法 - Google Patents
用于农割作业机器的图像采集装置及其处理方法 Download PDFInfo
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- WO2020207225A1 WO2020207225A1 PCT/CN2020/080322 CN2020080322W WO2020207225A1 WO 2020207225 A1 WO2020207225 A1 WO 2020207225A1 CN 2020080322 W CN2020080322 W CN 2020080322W WO 2020207225 A1 WO2020207225 A1 WO 2020207225A1
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- 238000003306 harvesting Methods 0.000 title claims abstract description 110
- 238000003672 processing method Methods 0.000 title claims abstract description 47
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000005520 cutting process Methods 0.000 claims description 37
- 238000012545 processing Methods 0.000 claims description 23
- 238000009313 farming Methods 0.000 claims description 19
- 230000008901 benefit Effects 0.000 description 24
- 238000009434 installation Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 9
- 238000012271 agricultural production Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
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- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/001—Steering by means of optical assistance, e.g. television cameras
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B79/00—Methods for working soil
- A01B79/005—Precision agriculture
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/02—Self-propelled combines
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Definitions
- the invention relates to the field of agricultural equipment, in particular to an image acquisition device used for agricultural harvesting machines and an image processing method thereof.
- the final job of large-scale planting operations is to harvest crops.
- the final harvest includes cutting, harvesting, and even threshing of the crops.
- large-scale harvesting machinery is essential for agricultural production. Higher harvesting efficiency can maximize harvest, and good finishing work is more conducive to subsequent re-seeding or straw recovery.
- the current harvesting machinery is basically a simple cutter machine, in conjunction with a conveying and threshing machine, to simply enlarge and expand the cutter, there are still many shortcomings.
- An existing harvesting machine is mainly composed of a header, a conveyor, a thresher and a storage bin. Moreover, manual operation of the harvesting machinery is required, because the harvesting of those areas depends on manual experience at what rate. Some harvesting machinery is equipped with a camera, but the image is difficult to fully reflect the specific status of the harvesting operation.
- Figure 1 in agricultural production, the state of traditional harvesting methods is displayed. The position of the crop to be harvested, the position of the crop that has been harvested, and the state of the crop being harvested are all status information required for traditional harvesting. For example, in a farmer's harvesting operation with a sickle, the next harvesting operation is judged from the position of the crop to be harvested.
- the position of the crop that has been harvested is behind and the position of the knife of the crop being harvested. Therefore, it can be said to be quite intelligent. A set of operating procedures. However, the existing harvesting machinery basically ignores these status information, and performs harvesting operations mechanically, repeatedly, and without differentiation.
- One of the main advantages of the present invention is to provide an image acquisition device and processing method for agricultural harvesting machines, in which the information required for harvesting operations is fully considered, and the image of the location of agricultural harvesting machines is collected with high efficiency. Process multiple captured images.
- Another advantage of the present invention is to provide an image acquisition device for agricultural harvesting machines and a processing method thereof, wherein the acquired image has the position of the crop to be harvested, the position of the crop that has been harvested, and the state of the crop being harvested. Information to assist agricultural harvesting operations.
- Another advantage of the present invention is to provide an image acquisition device and its processing method for agricultural harvesting machines, wherein the image acquisition device and its processing method are suitable for unmanned agricultural harvesting operations, reducing production costs and promoting Intelligent information coordination.
- Another advantage of the present invention is to provide an image acquisition device for agricultural cutting machines and a processing method thereof, wherein the collected images and processed images can collect the status of the cutting operation on the surface in real time, using simple and efficient control, and Increase productivity.
- Another advantage of the present invention is to provide an image acquisition device for agricultural harvesting machines and a processing method thereof, in which the acquired images comprehensively cover the operation area of the harvesting operation, and then the information required for the harvesting operation is grasped.
- Another advantage of the present invention is to provide an image acquisition device and processing method for agricultural harvesting machines, wherein based on the effectiveness of the acquired images, the processing method quickly obtains the status of the harvesting operation in real time, which is beneficial for subsequent Control execution.
- Another advantage of the present invention is to provide an image acquisition device for agricultural cutting work machines and a processing method thereof, wherein the processing method assists in positioning the position of the work machine, which facilitates the determination of the traveling position and speed in the subsequent control. .
- Another advantage of the present invention is to provide an image acquisition device for agricultural harvesting machines and a processing method thereof, wherein the acquired images assist in obtaining the status of the crops being harvested, which facilitates real-time adjustment of the working mode of harvesting operations. Maximize harvesting benefits.
- Another advantage of the present invention is to provide an image capture device for agricultural cutting machines and a processing method thereof, in which effective captured images and relatively simple processing methods are used, so that subsequent control can be performed directly according to the operating status Response, suitable for unmanned operation.
- Another advantage of the present invention is to provide an image acquisition device and processing method for agricultural cutting operation machines, in which the acquired image is suitable for identification, and it is convenient to obtain the required operation information from the image feedback. Problems can also be alerted in real time.
- Another advantage of the present invention is to provide an image acquisition device for agricultural harvesting machines and a processing method thereof, wherein the acquired images do not have redundant information, and are collected for the operation area of agricultural harvesting operations, which fully Utilize resources and simplify processing difficulties.
- Another advantage of the present invention is to provide an image acquisition device for agricultural cutting machines and a processing method thereof, wherein the acquired images are suitable for remote transmission, making it possible to remotely control the harvesting operation.
- Another advantage of the present invention is to provide an image acquisition device and processing method for agricultural cutting machines, in which the collected images are not only suitable for simplified recognition, but also suitable for extracting information to quickly understand the working machine status.
- Another advantage of the present invention is to provide an image acquisition device for agricultural cutting work machines and a processing method thereof, wherein the image acquisition device and the image processing method have low requirements on the work machine and can be configured as additional equipment For machines, promote the evolution of different types of harvesting machines.
- Another advantage of the present invention is to provide an image capture device for agricultural cutting work machines and a processing method thereof, wherein the image capture device is adaptively configured according to different work machines, the installation configuration is optimized, and the agricultural Stability of production.
- Another advantage of the present invention is to provide an image capture device for agricultural cutting machines and a processing method thereof, wherein the image capture device is suitable for overall management, so that the captured images are processed cooperatively, Simplify the processing process and increase the processing speed.
- Another advantage of the present invention is to provide an image acquisition device for agricultural cutting machines and a processing method thereof, wherein according to a preset control program, combined with real-time feedback of the image acquisition device, intelligent unmanned operation Can be achieved and can be supervised.
- Another advantage of the present invention is to provide an image acquisition device for agricultural cutting operation machines and a processing method thereof, wherein the image acquisition device is not only highly adaptable, but also has high effect stability for different types of operation machines and is suitable for a wide range of applications. application.
- Another advantage of the present invention is to provide an image acquisition device for agricultural cutting machines and a processing method thereof, in which the transformation cost of the working machines is lower, and more working conditions are provided for reference and control, which is more effective for manual operations. It also provides comprehensive information assistance.
- an image acquisition device for agricultural cutting work machines of the present invention which can achieve the foregoing objectives and other objectives and advantages, includes a body and a photographing component, wherein the photographing component is installed on On the surface of the body, where the body is activated for harvesting operations, an operation area is formed in the front of the body, and the collection range of the photographing component is covered and installed on the body and faces Image acquisition is performed in the operating area, wherein the body includes a body frame, at least one wheel frame, and a harvesting frame, wherein the harvesting frame is placed in the front of the body frame, and the wheel frame is supported on the At the bottom of the frame, the wheel frame is operated to drive the harvesting frame and the frame forward to cut and transport the crops in front.
- the photographing component includes at least one collector and a processor, wherein a plurality of collectors of the photographing component are pre-installed on the front and sides of the frame , wherein the image obtained by the collector is processed, summarized and analyzed by the processor.
- the collector is implemented as a panoramic camera.
- the collector is implemented as a plurality of wide-angle cameras.
- the number of the collectors is at least three, wherein the plurality of collectors of the photographing assembly are pre-installed on the front and the sides of the frame, wherein the collectors
- the obtained images are processed, summarized and analyzed by the processor.
- the processor performs image processing according to the position where the collector is installed.
- the collector further includes a distant scene collector, at least one close scene collector, and at least two side scene collectors, wherein the long scene collector and the close scene collector are suitable for installation At the front of the body frame, and respectively facing above and below the harvesting frame, wherein the side scene collectors are respectively installed on both sides of the body frame, and respectively face the two sides of the body side.
- the distant view collector maintains an orientation along the upper side of the wheel frame
- the close-range collector maintains its orientation along a position between the wheel frame and the wheel frame
- the distant scene collector, the close scene collector, and the side scene collector are respectively numbered according to the installed position, wherein the processor obtains corresponding numbers according to each different number.
- the position of the collector is matched with the position where the image is collected for image processing.
- a plurality of the distant view collectors are installed at a certain interval, and a plurality of the close-range collectors are installed at a certain interval.
- the processor performs image processing according to the position where the collector is installed, wherein the images collected by the close-range collector are spliced first, and then combined with the images collected by other collectors Splicing.
- the processor performs image processing according to the position where the collector is installed, wherein the images collected by the distant view collector are spliced first, and then combined with the images collected by other collectors Splicing.
- the images collected by a plurality of the collectors in adjacent positions are spliced preferentially, and then are spliced with the images collected by other collectors.
- the images collected by the distant view collector and the close view collector located above and correspondingly below the harvesting rack are preferentially stitched.
- the images collected by the close-range collector located below the end of the harvesting frame and the side-view collector at the edge of the end are preferentially spliced.
- the present invention further provides an agricultural cutting machine including a body and an image acquisition device, wherein the image acquisition device includes a photographing component and a communication machine, wherein the image acquisition device is Installed on the body, wherein the communication machine is communicably connected to the photographing component to obtain collected image information from the photographing component, thereby assisting in adjusting the working position and operating speed of the body.
- the communication device uploads the information provided by the photographing component to be acquired.
- the communication machine transmits the processed information of the image collected by the photographing component to the remote control terminal.
- the photographing component includes: at least one collector and a processor, wherein a plurality of collectors of the photographing component are pre-installed on the front and sides of the body , Wherein the image obtained by the collector is processed, summarized and analyzed by the processor.
- the number of the collectors is at least three, and the plurality of collectors of the photographing assembly are pre-installed on the front and sides of the body, and the collectors are The obtained images are processed and aggregated by the processor and transmitted to the communication device.
- the processor performs image processing according to the position where the collector is installed.
- the present invention further provides an image processing method for agricultural cutting machines, wherein the image processing method includes the following steps:
- step III further comprising the steps:
- the state information of the body is transmitted remotely.
- step II image processing is performed according to the positions where the multiple collectors installed in the body are installed.
- step II images collected by a plurality of the collectors with similar orientations are preferentially stitched.
- step II the images collected by a plurality of adjacent collectors are preferentially stitched.
- Figure 1 is a schematic diagram of an agricultural harvesting method and scene.
- Fig. 2 is an overall schematic diagram of an image acquisition device for a farming machine according to a preferred embodiment of the present invention.
- Fig. 3 is a schematic side view of an image capture device for a farming machine according to the above preferred embodiment of the present invention.
- Fig. 4 is a partial schematic diagram of an image processing method for a farming machine according to the above preferred embodiment of the present invention.
- Fig. 5 is a partial schematic diagram of an image processing method for a farming machine according to the above preferred embodiment of the present invention.
- Fig. 6 is a partial schematic diagram of an image processing method for a farming machine according to the above preferred embodiment of the present invention.
- Fig. 7 is a schematic diagram of an image processing method for a farming machine according to the above preferred embodiment of the present invention.
- Fig. 8 is a partial schematic diagram of an image processing method for a farming machine according to another feasible manner of the above-mentioned preferred embodiment of the present invention.
- Fig. 9 is a partial schematic diagram of an image processing method for a farming machine in the above feasible manner according to the above preferred embodiment of the present invention.
- Fig. 10 is an application schematic diagram of an image acquisition device and a processing method thereof for a farming machine according to the above-mentioned preferred embodiment of the present invention.
- the invention provides an image acquisition device for agricultural harvesting machines and a processing method thereof, which collect and process status information in agricultural harvesting operations in real time, provide a direct data source for subsequent control and supervision, and optimize operation efficiency Provide the basis.
- the agricultural cutting operation machine includes a body 10 and a photographing assembly 20, wherein the photographing assembly 20 is installed on the surface of the body 10.
- an operation area 100 is formed in the front of the machine body 10, and the machine body 10 only performs harvesting operations in the operation area 100.
- the harvesting operation of the body 10 sequentially performs operations such as cutting, conveying, threshing, and storing crops during the forward movement.
- the operation area 100 of the body 10 includes not only crops being harvested, but also crops that have been cut and crops to be harvested, and the operation area 100 is mobile.
- the image capturing component 20 is installed on the body 10 in a covering manner, and collects images toward the operating area 100. In other words, the collection range of the image capturing component 20 covers the front and the sides of the body 10. It is worth mentioning that the cutting operation has been saved by the body 10.
- the imaging component 20 collects images of the crops being harvested and the operation area 100 of the crops to be harvested.
- the photographing assembly 20 is installed from the front and both sides of the body 10. That is to say, the imaging component 20 collects the operation area 100 in the front half of the periphery.
- the image collected by the imaging component 20 basically covers the operating area 100.
- the images collected from the photographing component 20 can reflect the images around the body 10, and after further processing, the collected images can express the state information of the operating area 100.
- the image captured by the image capturing component 20 may be multiple copies, and the image provided by the output is one copy. More preferably, the output of the photographing component 20 is the status information of the operation area 100. The operating state of the body 10 is obtained according to the images collected by the photographing component 20.
- the image acquisition device includes the photographing component 20 and a communication device 30, wherein the communication device 30 is communicably connected to the photographing component 20 to obtain information from the photographing component 20 Collected image information.
- the image capture device is installed in the body 10.
- the photographing component 20 acquires an image of the operating area 100
- the communication device 30 uploads the information provided by the photographing component 20 to be acquired.
- the communication machine 30 transmits an image provided by the photographing component 20 to the remote monitoring terminal, thereby ensuring real-time transmission. More preferably, the communication machine 30 transmits the processed information of the image collected by the photographing component 20 to the remote control terminal, so as to ensure the transmission speed.
- the photographing component 20 is distributed on the front and side of the body 10.
- the multiple images collected by the photographing component 20 are spliced and then transmitted through the communication machine 30.
- the body 10 includes a body frame 11, at least one wheel frame 12, and a harvesting frame 13, wherein the harvesting frame 13 is placed at the front of the body frame 11.
- the wheel frame 12 is supported on the bottom of the body frame 11.
- the wheel frame 12 is operated to drive the harvesting frame 13 and the body frame 11 forward to cut and transport the crops in front.
- the image acquisition device is placed on the frame 11 of the agricultural cutting machine. More specifically, the photographing component 20 is placed on the body frame 11, and the operation area 100 that the photographing component 20 faces avoids collecting the wheel frame 12 and the harvesting frame 13.
- the image capturing component 20 includes multiple collectors and a processor 24.
- the multiple collectors of the photographing assembly 20 are pre-installed on the front and sides of the body frame 11 in an orientation.
- the images obtained by the collector are processed, summarized and analyzed by the processor 24.
- the processor 24 performs image processing according to the position where the collector is installed.
- the collector may be implemented as a plurality of wide-angle cameras, or may be implemented as a panoramic camera.
- the collectors are called distributed installations as shown in FIG. 3 and classified as a long-range collector 21, at least one close-range collector 22, and at least one side-view collector 23.
- the long-range collector 21 and the close-range collector 22 are adapted to the front of the frame 11 and face upward and downward of the harvesting frame 13 respectively. More specifically, the distant view collector 21 collects along the upper side of the wheel frame 12, and the close view collector 22 collects along the position between the wheel frame 12 and the wheel frame 12.
- the side scene collectors 23 are respectively installed on both sides of the body frame 11 to collect images of crop conditions on both sides.
- the images collected by the distant view collector 21 are related to the state of the crop to be harvested
- the images collected by the close-range collector 22 are related to the crop being harvested.
- the image collected by the side view collector 23 is related to the position of the operation area 100.
- the distant view collector 21, the close view collector 22, and the side view collector 23 are respectively numbered according to the installed positions.
- the processor 24 obtains the position of the corresponding collector according to each different number, and performs image processing in accordance with the position where the image is collected. Since the processing is based on the location of the image, the processing speed is increased.
- image splicing processing based on the installation position of the distant view collector 21, the close view collector 22, and the side view collector 23, the images around the body 10 can be obtained quickly, thereby obtaining The state of the operating area 100.
- the body frame 11, the wheel frame 12, and the harvester in the collected images Shelf 13 can be omitted by default.
- the lower edge of the image collected by the distant view collector 21 may be regarded as the harvesting frame 13, and is pre-cut or ignored in the processing degree.
- the upper edge of the image collected by the close-range collector 22 may be regarded as the harvesting frame 13, and the lower edge may be regarded as the wheel frame 12, so as to obtain status information of the crop being cut.
- the lower edge of the image collected by the side view collector 23 can be regarded as the wheel frame 12, so that part of the body 10 can be excluded. Therefore, the images collected by the distant view collector 21, the close view collector 22, and the side view collector 23 are quickly and preliminarily processed by the processor 24 and spliced to obtain the status information of the operation area 100 .
- FIGS. 4 to 6 An image processing method of this preferred embodiment is shown in FIGS. 4 to 6.
- the image processing method for agricultural cutting machines includes the following steps:
- a plurality of the distant view collectors 21 collect toward the upper side of the harvesting rack 13.
- a plurality of the distant view collectors 21 are installed at a certain interval so that the operation area 100 at the front of the body 10 is covered.
- a plurality of the distant view collectors 21 performs image collection for the crops to be harvested, that is, step 1.
- the collected images are sequentially spliced, so that the image of the crop to be harvested in front of the harvesting rack 13 is collected. It is worth mentioning that, unlike the existing image stitching, there is no need to identify each image to determine the content of the image, but directly based on the installation position or the harvesting frame 13 in each image to stitch multiple images. Thus, a comprehensive image in front of the body 10 is obtained, that is, step II.
- the operating state 100 in front of the body 10 is acquired in real time and represents state information.
- the collected images can be further analyzed in detail later.
- a plurality of the close-range collectors 22 collects toward the bottom of the harvesting frame 13 and between the wheel frames 12.
- a plurality of the close-range collectors 22 are installed at a certain interval so that the operation area 100 in the middle of the body 10 is covered. That is to say, a plurality of the close-range collectors 22 perform image collection for the crops being harvested, that is, step 1.
- the collected images are sequentially spliced, so that the images of the crops being harvested under the harvesting rack 13 are collected. It is worth mentioning that, unlike the existing image stitching, there is no need to identify each image to determine the content of the image, but directly based on the installation position or the harvesting frame 13 in each image to stitch multiple images. In this way, a comprehensive image of the working body 10 is obtained, that is, step II.
- the cutting state in the operation area 100 of the body 10 is acquired and characterized in real time.
- the collected images can be further analyzed in detail later.
- a plurality of side scene collectors 23 collect toward both sides of the body 10.
- a plurality of side scene collectors 23 are respectively installed on the left and right sides of the body 10 so that the crop status on both sides of the body 10 can be obtained. That is to say, generally, the side scene collector 23 performs image collection on the field where the harvest has been completed and the field to be harvested separately, that is, step I.
- the collected images are sequentially spliced, so that the images of the field that has been harvested and the field to be harvested are collected.
- the installation position such as the side view collector 23 installed on the left side of the body 10
- the side view collector 23 installed on the right side of the body 10 obtains the crop status of the field to be harvested, so as to obtain the status of the left and right crops that the body 10 is working on, and then obtain all the crops.
- the location of the body 10 is step II.
- the forward direction and speed of the body 10 can be obtained, ensuring the accuracy of the forward direction of harvesting, and assisting in improving the harvesting efficiency.
- the images collected by the distant view collector 21, the close view collector 22, and the side view collector 23 are finally stitched together to obtain the image of the operating area 100 of the body 10.
- the three-sided state of the body 10 is comprehensively obtained.
- the photographing component 20 finally obtains an observation angle similar to that of the body 10 from top to bottom, including the crops being harvested, the crops to be harvested, and the location of the harvesting operations in the field.
- the image processing method after step III, further includes the steps:
- the status information of the body 10 is transmitted remotely.
- the working state of the body 10 can be obtained remotely. Further, the machine body 10 is remotely controlled for parameters in the harvesting operation. For example, there is a certain gap between the crops obtained from the images collected by the close-range collector 22 and the side-view collector 23 and the harvesting frame 13, that is, the work of the body 10 is relatively deviated from the required crop area. , The harvesting rack 13 needs to be fully filled to achieve high-efficiency crops. More specifically, for example, in the feedback image, it is obtained that 80% of the left side of the harvesting rack 13 is harvesting crops, then this status information can be obtained remotely, and the forward direction of the body 10 can be adjusted to the left. The harvesting rack 13 can fully cover the crops to be harvested.
- the adjustment of the operation of the body 10 can be manually operated remotely, or can be adjusted by a predetermined program, and the image obtained by the image acquisition device is assisted to control to realize unmanned agricultural production.
- FIGS. 8-9 Another possible way of the above-mentioned preferred embodiment of the present invention is an image acquisition device for agricultural cutting machines, as shown in FIGS. 8-9, wherein the agricultural cutting machine includes a body 10A and a photographing assembly 20A.
- the structure of the body 10A and the photographing component 20A is similar to the body 10 and the photographing component 20 of the agricultural harvesting machine in the above-mentioned preferred embodiment, and will not be repeated in the present invention.
- FIGS. 4 to 6 are mosaic images according to the same type of installation position, and the last three different perspective collectors 21A, close-range collectors 22A, and side-view collectors 23A Then composite the final image.
- the images collected by the collectors with similar positions are preferably spliced, and then processed subsequently As an image.
- the images collected by the long-range collector 21A and the close-range collector 22A located above and correspondingly below the harvesting rack 13A are spliced first.
- the multiple distant view collectors 21A and the multiple close-range collectors 22A are considered to be adjacent to each other in installation positions.
- the distant view collector 21A and the close view collector 22A perform image collection for the crops to be harvested and the crops being harvested at the same position relative to the harvesting rack 13A, that is, step I.
- the collected images are sequentially spliced so that they are located above and correspondingly below the harvesting rack 13A
- the image is captured. It is worth mentioning that, unlike the existing image stitching, there is no need to identify each image to determine the content of the image, but directly based on the installation position, so as to obtain the crop at a certain position of the body 10A before and after being cut. A comprehensive picture, step II.
- the operating state 100A in front of the body 10A is acquired in real time and represents state information.
- the collected images can be further analyzed in detail later, similar to the viewing angle of traditional manual cutting.
- the images collected by the close-range collector 22A located below the end of the harvesting frame 13A and the side-view collector 23A at the edge of the end are spliced first.
- the side scene collector 23A on one side and the multiple close scene collectors 22A are considered to be installed adjacent to each other.
- the side view collector 23A and the close view collector 22A perform image collection for the crops being harvested and the crops that have been harvested opposite to the end of the harvesting rack 13A, that is, step I.
- the installation positions of the close-range collector 22A under the end of the harvesting rack 13A and the side-view collector 23A at the edge of the end are sequentially spliced with the collected images so that they are located at the end of the harvesting rack 13A
- the images are collected. It is worth mentioning that, unlike the existing image stitching, there is no need to identify each image to determine the content of the image, but directly based on the installation position, so as to obtain the crop at a certain position of the body 10A before and after being cut. A comprehensive picture, step II.
- the operating state 100A in front of the body 10A is acquired in real time and represents state information.
- the collected images can be further analyzed in detail later, similar to the viewing angle of traditional manual cutting.
- the edge working state of the machine body 10A is further obtained, which is convenient to assist in adjusting the working position and working speed of the machine body 10A.
- the images collected by all the collectors are finally stitched to obtain the body An image of the operation area 100A of 10A.
- the state before and after operation of the body 10A is comprehensively obtained.
- the image capturing component 20A finally obtains an observation angle similar to that of the body 10A from top to bottom, including the crops being harvested and the crops to be harvested, and the location of the harvesting operations in the field.
- the working state of the body 10A in this embodiment can be obtained remotely. Further, the machine body 10A is remotely controlled for parameters in the harvesting operation. For example, there is a certain gap between the crops obtained from the images collected by the close-range collector 22A and the side-view collector 23A and the harvesting rack 13A, that is, the work of the body 10A is relatively deviated from the required crop area , The harvesting rack 13A needs to be close to the crops to be harvested to achieve high-efficiency crops.
- the feedback image it is obtained that there are unharvested crops on the left side of the harvesting rack 13A and displayed in the side view collector 23A, then this status information can be obtained remotely and adjusted The forward direction of the body 10A is to the left, so that the harvesting frame 13A fully covers the crops to be harvested.
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Abstract
Description
Claims (26)
- 一农割作业机器,其特征在于,包括:一机体和一摄图组件,其中所述摄图组件被安装于所述机体表面,其中所述机体被启动而进行收割作业中,于所述机体的前部形成一操作区域,其中所述摄图组件的采集范围被覆盖式地安装于所述机体,并朝向所述操作区域进行图像采集,其中所述机体包括一身架、至少一轮架和一收割架,其中所述收割架被置于所述身架的前部,其中所述轮架支撑在所述身架的底部,其中所述轮架***作而带动所述收割架和所述身架向前对前方的作物进行切割和输送。
- 根据权利要求1所述的农割作业机器,其中所述摄图组件包括至少一采集器和一处理器,其中所述摄图组件的多个采集器被预先朝向地安装于所述身架的前部与侧部,其中所述采集器所获得的图像被所述处理器处理汇总并分析。
- 根据权利要求2所述的农割作业机器,其中所述采集器被实施为一个全景式的摄像头。
- 根据权利要求2所述的农割作业机器,其中所述采集器被实施为多个广角式摄像头。
- 根据权利要求2所述的农割作业机器,其中所述采集器为至少三个,其中所述摄图组件的多个采集器被预先朝向地安装于所述身架的前部与侧部,其中所述采集器所获得的图像被所述处理器处理汇总并分析。
- 根据权利要求4或者5所述述的农割作业机器,其中所述处理器按照所述采集器所安装的位置进行图像处理。
- 根据权利要求5所述的农割作业机器,其中所述采集器进一步地包括一远景采集器、至少一近景采集器、以及至少两侧景采集器,其中所述远景采集器和所述近景采集器被适于安装于所述身架的前部,且分别地朝向所述收割架上方与下方,其中所述侧景采集器被分别地安装于所述身架的两侧,且分别地朝向所述机体的两侧。
- 根据权利要求7所述的农割作业机器,其中所述远景采集器沿着所述轮架的上方保持朝向,其中所述近景采集器沿着所述轮架与所述轮架之间的位置而保持朝向。
- 根据权利要求5所述的农割作业机器,其中所述远景采集器、所述近景采集器,以及所述侧景采集器分别地根据所安装的位置被编号,其中所述处理器根据每个不同的编号得到相应的采集器的位置,配合图像所采集的位置进行图像 处理。
- 根据权利要求5所述的农割作业机器,其中多个所述远景采集器被以一定间距地安装,其中多个所述近景采集器被以一定间距地安装。
- 根据权利要求5所述的农割作业机器,其中所述处理器按照所述采集器所安装的位置进行图像处理,其中所述近景采集器所采集的图像被优先拼接,进而与其他所述采集器所采集的图像拼接。
- 根据权利要求5所述的农割作业机器,其中所述处理器按照所述采集器所安装的位置进行图像处理,其中所述远景采集器所采集的图像被优先拼接,进而与其他所述采集器所采集的图像拼接。
- 根据权利要求5所述的农割作业机器,其中位置邻近的多个所述采集器所采集图像被优先地拼接,进而与其他所述采集器所采集的图像拼接。
- 根据权利要求13所述的农割作业机器,其中位于所述收割架上方和对应下方的所述远景采集器与所述近景采集器所采集的图像被优先拼接。
- 根据权利要求13所述的农割作业机器,其中位于所述收割架端部下方的所述近景采集器与端部边缘所述侧景采集器所采集的图像被优先拼接。
- 一农割作业机器,其特征在于,包括:一机体和一图像采集装置,其中所述图像采集装置包括一摄图组件和一通信机,其中所述图像采集装置被安装于所述机体,其中所述通信机被可通信地连接于所述摄图组件,以从所述摄图组件获得所采集图像信息,进而辅助调整所述机体的工作位置和作业速度。
- 根据权利要求16所述的农割作业机器,其中所述通信机将所述摄图组件所提供的信息上传等待被获取。
- 根据权利要求16所述的农割作业机器,其中所述通信机将所述摄图组件所采集的图像的处理后信息传输至远程控制端。
- 根据权利要求17所述的农割作业机器,其中所述摄图组件包括至少一采集器和一处理器,其中所述摄图组件的多个采集器被预先朝向地安装于所述机体的前部与侧部,其中所述采集器所获得的图像被所述处理器处理汇总并分析。
- 根据权利要求19所述的农割作业机器,其中所述采集器为至少三个,其中所述摄图组件的多个采集器被预先朝向地安装于所述机体的前部与侧部,其中所述采集器所获得的图像被所述处理器处理汇总并传至所述通信机。
- 根据权利要求19所述的农割作业机器,其中所述处理器按照所述采集器所安装的位置进行图像处理。
- 一种用于农割作业机器的图像处理方法,其特征在于,包括以下步骤:I.采集一机体前部与侧部的多份图像;II.根据所采集的图像的位置,拼接图像;以及III.根据所拼接的图像,获得围绕所述机体的状态信息。
- 根据权利要求22所述图像处理方法,其中在步骤III之后,进一步地包括步骤:远程地传输所述机体的状态信息。
- 根据权利要求22所述图像处理方法,其中在步骤II中,按照被安装于所述机体的多个采集器所安装的位置进行图像处理。
- 根据权利要求24所述图像处理方法,其中在步骤II中,朝向相近的多个所述采集器所采集的图像被优先地拼接。
- 根据权利要求24所述图像处理方法,其中在步骤II中,位置邻近的多个所述采集器所采集图像被优先地拼接。
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JP2021559955A JP7397880B2 (ja) | 2019-04-09 | 2020-03-20 | 農業刈り作業機械のための画像収集装置及びその処理方法 |
US17/602,726 US20220167555A1 (en) | 2019-04-09 | 2020-03-20 | Image acquisition device and processing method for agricultural harvesting operation machine |
CA3135646A CA3135646A1 (en) | 2019-04-09 | 2020-03-20 | Image acquisition device and processing method for agricultural harvesting operation machine |
EP20788625.0A EP3954190A4 (en) | 2019-04-09 | 2020-03-20 | IMAGE CAPTURE DEVICE AND PROCESSING METHOD FOR AGRICULTURAL HARVESTER |
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CN201910280375.0A CN110209155B (zh) | 2019-04-09 | 2019-04-09 | 用于农割作业机器的图像采集装置及其处理方法 |
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