CN110209155A - The image collecting device and its processing method of work machine are cut for agriculture - Google Patents
The image collecting device and its processing method of work machine are cut for agriculture Download PDFInfo
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- CN110209155A CN110209155A CN201910280375.0A CN201910280375A CN110209155A CN 110209155 A CN110209155 A CN 110209155A CN 201910280375 A CN201910280375 A CN 201910280375A CN 110209155 A CN110209155 A CN 110209155A
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- image
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- cut
- agriculture
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- 238000003672 processing method Methods 0.000 title claims abstract description 27
- 238000003306 harvesting Methods 0.000 claims abstract description 89
- 238000005520 cutting process Methods 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims description 35
- 230000000717 retained effect Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 25
- 238000000034 method Methods 0.000 description 24
- 238000009434 installation Methods 0.000 description 17
- 238000003860 storage Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 238000012271 agricultural production Methods 0.000 description 8
- 238000004458 analytical method Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000251169 Alopias vulpinus Species 0.000 description 1
- 230000009172 bursting Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000013340 harvest operation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Environmental Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Combines (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Image Processing (AREA)
Abstract
The present invention provides a kind of agriculture and cuts work machine, it include: a body and an image collecting device, wherein described image acquisition device takes the photograph figure component and a communication equipment including one, wherein described image acquisition device is installed in the body, wherein the communication equipment, which is communicatively connected in a network, takes the photograph figure component in described, to obtain acquired image information from the figure component of taking the photograph, and then assist adjusting operating position and the operating speed of the body.A kind of image processing method is separately provided, fully considers harvesting information needed, the image for cutting work machine present position to agriculture is acquired, and expeditiously handles multiple acquired images.
Description
Technical field
The present invention relates to agricultural machinery field more particularly to a kind of image collecting devices for agriculture harvesting machine
And its image processing method.
Background technique
In agricultural production, planting the last work of operation on a large scale is harvested to crop.For the crop of stalk
For, last harvest operation includes cutting to crop, collects, even threshing etc..Currently, large-scale harvesting machinery
It is most important for agricultural production.Higher harvesting efficiency can make harvest maximize, after good round-off work is more conducive to
Continuous sowing again or stalk recycling.But substantially merely cutter machine, cooperation convey existing harvesting machinery at present
Threshing machine, merely by cutter amplificationization, broadeningization still has many shortcomings.
A kind of existing harvesting machinery is mainly made of the ceding of Taiwan, conveyer, thresher and storage warehouse.In addition, it is desirable to people
The operation harvesting machinery of work carries out operation, which kind of rate to be all by artificial with because to gather in those regions
Experience.Some harvesting machineries are provided with camera, but image is difficult comprehensively to react the particular state of harvesting.Such as figure
Shown in 1, in agricultural production, traditional harvesting mode state is demonstrated.The position of crop to be gathered in, the crop gathered in
Position, the crop gathered in state, be all status information required for traditional harvest.For example, peasant's uses reaping hook
In harvesting, the object of next harvesting is judged from the position of crop to be gathered in, the crop location gathered in is in
Behind, the lower cutter position for the crop gathered in, it can be said that being quite intelligentized a set of operating process.But it is existing
Harvesting machinery ignore fallen these status informations basically, mechanically, repeatedly, carry out harvesting to without differences.
Although large-scale operation can be rapidly completed in large-scale existing harvesting machinery, efficient operation completion is
It is unable to do without artificial experience.Need where artificial judgment carries out the harvesting of which kind of rate, bursting problem is also required to artificial intervention
It solves.Unmanned operation is difficult to complete.Moreover, state required for existing harvesting machinery cannot obtain in real time is believed
Breath, information needed for cannot comprehensively obtaining harvesting would not also make correct judgement.
In addition, because the particularity of agricultural production, required is not merely the scene around machinery.It may also be said that
Even if obtaining the scene image around machinery, it is also desirable to subsequent many identifying processings.These algorithms are for agricultural production
Cost is excessively high, takes a long time, and for harvesting stronger for real-time, the scene of mechanical surrounding is not important.Moreover, with
Length required for urban transportation is different, and there is no larger use for longer-distance scene image in agricultural production, only distant
The redundant image in wealthy soil.
In view of the needs of agriculture field produced on a large scale, adopted for image of the agriculture harvesting machine in operation
Acquisition means and its image processing method are pursued by market.
Summary of the invention
A main advantage of the invention is to provide a kind of image collecting device and its place for cutting work machine for agriculture
Reason method, wherein fully considering harvesting information needed, the image for cutting work machine present position to agriculture is acquired, and high
Efficient handle multiple acquired images.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein acquired image has the position of crop to be gathered in, the position for the crop gathered in, the crop gathered in
State information, to assist agriculture harvesting.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein described image acquisition device and its processing method are suitable for unmanned agriculture harvesting, reduce production cost,
Intelligent information is promoted to plan as a whole.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein the state of acquired image and treated image can characterize in real time harvesting, using being simple and efficient
Control, and improve production efficiency.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein acquired image comprehensively covers the operating area of harvesting, and then grasps required for harvesting
Information.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein the validity based on acquired image, the processing method is quickly obtained the state of harvesting in real time, benefit
It is executed in subsequent control.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method is conducive to judge traveling position in subsequent control wherein the processing method auxiliarily positions the position of the work machine
It sets and speed.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, the state for the crop that wherein acquired image is auxiliarily being gathered in, conducive to harvesting is adjusted in real time
Working method maximally obtains harvesting benefit.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method allows the direct basis of subsequent control wherein utilizing effective acquired image and relatively simple processing method
Job state and reacted, suitable for unmanned operation.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein acquired image is suitable for identified, convenient that required job information is obtained from image feedback, for occurring
The problem of also available alarm in real time.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein acquired image and irredundant information, for agriculture harvesting operating area and be acquired, sufficiently
Ground is using resource and simplifies processing difficulty.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein acquired image is suitable for by remote transmission, so that remotely control harvesting becomes possible.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein acquired image is not only adapted to be simplified identification, is also suitable for being extracted information, work machine is understood quickly
State.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein described image acquisition device and described image processing method can be used as additional the of less demanding of work machine
Device configuration promotes different types of harvesting machine to evolve in machine.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein described image acquisition device is adaptively configured according to different work machines, most optimally solves installation configuration,
Promote the stability of agricultural production.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein described image acquisition device is suitable for by pool managing, so that acquired image by collaborative is handled, letter
Change treatment process, promotes processing speed.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein being fed back in real time according to presetting control program in conjunction with described image acquisition device, intelligentized unmanned operation
It can be implemented and can be supervised.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method, wherein described image acquisition device is not only adaptable, but also different types of work machine effect stability is high, is suitable for
It is widely applied.
It is of the invention another advantage is that providing a kind of image collecting device and its processing for cutting work machine for agriculture
Method provides more job states control for reference, to manual work wherein the improvement cost to work machine is lower
Comprehensively information is provided to assist.
Other advantage and characteristics of the invention are able to fully demonstrate and can be by appended rights by following detailed descriptions
The combination of the means and device specially pointed out in it is required that is achieved.
One aspect under this invention can be realized of the invention one of foregoing purpose and other purposes and advantage for agriculture
Cut the image collecting device of work machine, comprising:
One body and one takes the photograph figure component, takes the photograph figure component wherein described and is installed in the body surface, wherein the body
It is activated and carries out in harvesting, the front of Yu Suoshu body forms an operating area, wherein the acquisition for taking the photograph figure component
Range is installed on the body with being capped formula, and carries out Image Acquisition towards the operating area, wherein the body includes
One stature, at least a wheel carrier and a harvest frame, wherein the harvest frame is placed in the front of the stature, wherein the wheel carrier branch
Support is in the bottom of the stature, wherein the wheel carrier is driven the harvest frame and the stature forward to the work in front by operation
Object is cut and is conveyed.
According to one embodiment of present invention, the figure component of taking the photograph includes: an at least collector and a processor, wherein institute
State take the photograph multiple collectors of figure component by it is preparatory towards be installed on the front and side of the stature, wherein collector institute
The image of acquisition is summarized and is analyzed by processor processing.
According to one embodiment of present invention, the collector is implemented as the camera of a panorama type.
According to one embodiment of present invention, the collector is implemented as multiple wide-angle type cameras.
According to one embodiment of present invention, the collector is at least three, takes the photograph the multiple of figure component wherein described and adopts
Storage is installed on the front and side of the stature by preparatory direction, wherein collector image obtained is by the place
Reason device processing summarizes and analyzes.
According to one embodiment of present invention, the processor carries out at image according to the position that the collector is installed
Reason.
According to one embodiment of present invention, the collector further includes a distant view collector, at least a close shot
Collector and at least two side view collectors, wherein the distant view collector and the close shot collector are adapted to be mounted to institute
The front of stature is stated, and respectively to above the harvest frame and lower section, wherein the side view collector is respectively installed
In the two sides of the stature, and respectively to the two sides of the body.
According to one embodiment of present invention, the distant view collector retains towards above the wheel carrier, wherein
The close shot collector is retained towards along the position between the wheel carrier and the wheel carrier.
According to one embodiment of present invention, the distant view collector, the close shot collector and side view acquisition
Device is respectively numbered according to the position installed, wherein the processor is acquired accordingly according to each different number
The position of device, cooperation image position collected carry out image procossing.
According to one embodiment of present invention, multiple distant view collectors are installed with a fixed spacing, plurality of
The close shot collector is installed with a fixed spacing.
According to one embodiment of present invention, the processor carries out at image according to the position that the collector is installed
Reason, wherein the close shot collector acquired image is preferentially spliced, and then with collector acquired image described in other
Splicing.
According to one embodiment of present invention, the processor carries out at image according to the position that the collector is installed
Reason, wherein the distant view collector acquired image is preferentially spliced, and then with collector acquired image described in other
Splicing.
According to one embodiment of present invention, multiple the acquired images of collector being positioned adjacent to preferentially are spelled
It connects, and then splices with collector acquired image described in other.
According to one embodiment of present invention, above the harvest frame and the distant view collector of corresponding lower section with
The close shot collector acquired image is preferentially spliced.
According to one embodiment of present invention, the close shot collector and end edge below the harvest frame end
Side view collector acquired image described in edge is preferentially spliced.
Other side under this invention, the present invention further provides an agricultures to cut work machine, comprising:
One body and an image collecting device, wherein described image acquisition device takes the photograph figure component and a communication equipment including one,
Wherein described image acquisition device is installed in the body, wherein the communication equipment, which is communicatively connected in a network, takes the photograph figure group in described
Part to obtain acquired image information from the figure component of taking the photograph, and then assists adjusting operating position and the operation speed of the body
Degree.
According to one embodiment of present invention, the communication equipment takes the photograph the upload waiting quilt of information provided by figure component for described
It obtains.
According to one embodiment of present invention, the communication equipment will be believed after the processing for taking the photograph figure component acquired image
Breath is transmitted to remote control terminal.
According to one embodiment of present invention, the figure component of taking the photograph includes: an at least collector and a processor, wherein institute
State take the photograph multiple collectors of figure component by it is preparatory towards be installed on the front and side of the body, wherein collector institute
The image of acquisition is summarized and is analyzed by processor processing.
According to one embodiment of present invention, the collector is at least three, takes the photograph the multiple of figure component wherein described and adopts
Storage is installed on the front and side of the body by preparatory direction, wherein collector image obtained is by the place
Reason device processing summarizes and reaches the communication equipment.
According to one embodiment of present invention, the processor carries out at image according to the position that the collector is installed
Reason.
Other side under this invention, the present invention further provides a kind of image processing methods that work machine is cut for agriculture
Method, which comprises the following steps:
I. more parts of images of a front part of a body and side are acquired；
II. according to the position of acquired image, stitching image；And
III. according to the image spliced, the status information for surrounding the body is obtained.
According to one embodiment of present invention, further include step after step III:
Remotely transmit the status information of the body.
According to one embodiment of present invention, in step II, according to the multiple collector institutes for being installed in the body
The position of installation carries out image procossing.
According to one embodiment of present invention, in step II, towards similar multiple collector figures collected
As preferentially being spliced.
According to one embodiment of present invention, in step II, multiple acquired images of collector for being positioned adjacent to
Preferentially spliced.
By the understanding to subsequent description and attached drawing, further aim of the present invention and advantage will be fully demonstrated.
These and other objects of the invention, feature and advantage, by following detailed descriptions, drawings and claims are obtained
To fully demonstrate.
Detailed description of the invention
Fig. 1 is the mode and schematic diagram of a scenario of a kind of agriculture harvesting.
Fig. 2 is the entirety of the image collecting device that work machine is cut for agriculture according to a preferred embodiment of the present invention
Schematic diagram.
Fig. 3 is the side of the image collecting device that work machine is cut for agriculture of above preferred embodiment according to the present invention
Schematic diagram.
Fig. 4 is the part of the image processing method that work machine is cut for agriculture of above preferred embodiment according to the present invention
Schematic diagram.
Fig. 5 is the part of the image processing method that work machine is cut for agriculture of above preferred embodiment according to the present invention
Schematic diagram.
Fig. 6 is the part of the image processing method that work machine is cut for agriculture of above preferred embodiment according to the present invention
Schematic diagram.
Fig. 7 is the signal of the image processing method that work machine is cut for agriculture of above preferred embodiment according to the present invention
Figure.
Fig. 8 is the figure that work machine is cut for agriculture of another feasible pattern of above preferred embodiment according to the present invention
As the partial schematic diagram of processing method.
Fig. 9 is the image that work machine is cut for agriculture of the above-mentioned feasible pattern of above preferred embodiment according to the present invention
The partial schematic diagram of processing method.
Figure 10 be above preferred embodiment according to the present invention for agriculture cut work machine image collecting device and its
Processing method application schematic diagram.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
The present invention provides the image collecting device and its processing method that work machine is cut for agriculture, and agricultural harvesting is made
Status information in industry is acquired and is handled in real time, direct data source is provided with supervision for subsequent control, for optimization
Operating efficiency provides basis.
For a preferred embodiment of the present invention as shown in Fig. 2 to Figure 10, it includes 10 He of a body that work machine is cut in the agriculture
One takes the photograph figure component 20, takes the photograph figure component 20 wherein described and is installed in 10 surface of body.The body 10 is activated and carries out
In harvesting, the front of Yu Suoshu body 10 forms an operating area 100, and the body 10 is only in the operating area 100
Carry out harvesting.It will be appreciated by those skilled in the art that the harvesting of the body 10 is in moving ahead to farming
Object in turn cut, conveyed, threshing and storage etc. operation.That is, the operating area of the body 10
In addition to the crop gathered in further includes cut crop and crop to be gathered in, and the operating area 100 in 100
It is mobile.
The figure component 20 of taking the photograph is installed on the body 10 with being capped formula, and carries out figure towards the operating area 100
As acquisition.That is, the acquisition range for taking the photograph figure component 20 covers the front and side of the body 10.It is worth mentioning
It is that cut operation is saved by the body 10.It is described take the photograph figure component 20 be directed to the crop gathered in and to
The operating area 100 of the crop of harvesting carries out Image Acquisition.Preferably, in the preferred embodiment, described to take the photograph figure component
20 are mounted from the front of the body 10 and both sides.That is, half mode pair around before taking the photograph figure component 20
The operating area 100 is acquired.
It is noted that 20 acquired image of figure component of taking the photograph covers the operating area 100 basically.From institute
It states and takes the photograph 20 acquired image of figure component and can react image around the body 10, after further handling, institute
The image of acquisition can express the status information of the operating area 100.
Preferably, 20 acquired image of figure component of taking the photograph can be more parts, and exporting the image provided is portion.More
Preferably, it is described take the photograph figure component 20 and exported be the operating area 100 status information.20 institute of figure component is taken the photograph according to described
The image of acquisition and obtain the state in 10 operation of body.
More, described image acquisition device takes the photograph figure component 20 and a communication equipment 30 including described, wherein the communication equipment
30 are communicatively connected in a network and take the photograph figure component 20 in described, to obtain acquired image information from the figure component 20 of taking the photograph.The figure
As acquisition device is installed in the body 10.When the body 10 executes harvesting, the figure component 20 of taking the photograph obtains institute
State the image of operating area 100, the communication equipment 30 by it is described take the photograph information provided by figure component 20 and upload to wait be acquired.It is excellent
Selection of land, the communication equipment 30 take the photograph portion image transmitting provided by figure component 20 to remote monitoring end, to guarantee to pass for described
Defeated real-time.It is highly preferred that information after the processing for taking the photograph 20 acquired image of figure component is transmitted to by the communication equipment 30
Remote control terminal, to guarantee the speed of transmission.
In the preferred embodiment, the front and side taken the photograph figure component 20 and be placed in the body 10 by distribution.Institute
It states and takes the photograph the more parts of images collected of figure component 20 and be spliced, and then transmitted by the communication equipment 30.
Specifically, as shown in Figures 2 and 3, the body 10 includes a stature 11, at least a wheel carrier 12 and a harvest frame
13, wherein the harvest frame 13 is placed in the front of the stature 11, wherein the wheel carrier 12 is supported on the bottom of the stature 11
Portion.The wheel carrier 12 driven by operation the harvest frame 13 and the stature 11 forward to the crop in front carry out cutting and it is defeated
It send.Described image acquisition device is placed in the stature 11 that work machine is cut in the agriculture.More specifically, described take the photograph figure component 20
It is placed in the stature 11, and the operating area 100 for taking the photograph 20 directions of figure component avoids acquiring 12 He of wheel carrier
The harvest frame 13.
More, in the preferred embodiment, the figure component 20 of taking the photograph includes multiple collectors and a processor 24.It is described
The multiple collectors for taking the photograph figure component 20 are installed on the front and side of the stature 11 by preparatory direction.The collector is obtained
The image obtained is summarized and is analyzed by the processor 24 processing.Preferably, the processor 24 is installed according to the collector
Position carry out image procossing.
Specifically, the collector may be implemented as multiple wide-angle type cameras, also may be implemented as a panorama
The camera of formula.In the preferred embodiment, the collector such as Fig. 3 claims distributed installation and taxonomically a referred to as distant view is adopted
Storage 21, at least a close shot collector 22, at least a side view collector 23.The distant view collector 21 and the close shot collector
22 are suitable for the front of the stature 11, respectively to 13 top of harvest frame and lower section.More specifically, the distant view is adopted
Storage 21 is acquired along the top of the wheel carrier 12, and the close shot collector 22 is along between the wheel carrier 12 and the wheel carrier 12
Position be acquired.The side view collector 23 is respectively installed on the two sides of the stature 11, to two sides crop condition
Carry out Image Acquisition.
That is, 21 acquired image of distant view collector is related to crop condition to be gathered in, the close shot
22 acquired image of collector is related to the crop gathered in.23 acquired image of side view collector and the behaviour
The position for making region 100 is related.
Preferably, the distant view collector 21, the close shot collector 22 and the side view collector 23 respectively root
It is numbered according to the position installed.The processor 24 obtains the position of corresponding collector according to each different number, matches
It closes image position collected and carries out image procossing.It is handled due to the position source according to image, processing speed gets a promotion.
Especially image mosaic is handled, and is based on the distant view collector 21, the close shot collector 22 and the side view collector 23
Place installation site, the image around the fuselage 10 can be obtained quickly, to obtain the shape of the operating area 100
State.In particular, according to the different location of the distant view collector 21, the close shot collector 22 and the side view collector 23
Type, the stature 11, the wheel carrier 12 and the harvest frame 13 in acquired image can be ignored by set.For example,
The lower edge of 21 acquired image of distant view collector is considered the harvest frame 13, and in degree for the treatment of
Preparatory shearing is ignored.For example, the top edges of 22 acquired image of close shot collector are considered institute
Harvest frame 13 is stated, and lower edge is considered wheel carrier 12, to obtain the status information for the crop cut.Example
Such as, the lower edge of 23 acquired image of side view collector is considered wheel carrier 12, thus the body 10
Part can be excluded.Therefore, 23 institute of the distant view collector 21, the close shot collector 22 and the side view collector
The image of acquisition is obtained the status information of the operating area 100 after the processor 24 rapidly preliminary treatment and splicing.
Specifically, a kind of image processing method of this preferred embodiment is as shown in Figures 4 to 6.Work machine is cut for agriculture
Described image processing method the following steps are included:
I. more parts of images of 10 front of a body and side are acquired；
II. according to the position of acquired image, stitching image；And
III. according to the image spliced, the status information for surrounding the body 10 is obtained.
Specifically, as shown in figure 4, in this preferred embodiment, multiple distant view collectors 21 are towards the harvest frame 13
Top and acquire.Multiple distant view collectors 21 are installed with a fixed spacing, so that 10 front of the body is described
Operating area 100 is capped.That is, multiple distant view collectors 21 carry out Image Acquisition for crop to be gathered in,
That is step I.
Then, according to the installation site of multiple distant view collectors 21, in turn splice acquired image, so that institute
The crop image to be gathered in for stating 13 front of harvest frame is collected.It is noted that it is different from existing image mosaic, it is not necessarily to
Each image is identified and judges picture material, but is directly received according to described in the position of installation or each image
Frame 13 is cut to splice multiple images, to obtain the comprehensive image in 10 front of body, i.e. step II.
Then, according to the image in 10 front of the body of the acquired globality of the distant view collector 21, the body
The mode of operation 100 in 10 fronts is obtained in real time and characterizes status information.Preferably, acquired image can be rear
Continuous further detailed analysis.
Specifically, as shown in figure 5, in this preferred embodiment, multiple close shot collectors 22 are towards the harvest frame 13
Lower section and the wheel carrier 12 between and acquire.Multiple close shot collectors 22 are installed with a fixed spacing, so that described
The operating area 100 at 10 middle part of body is capped.It is being gathered in that is, multiple close shot collectors 22 are directed to
Crop carries out Image Acquisition, i.e. step I.
Then, according to the installation site of multiple close shot collectors 22, in turn splice acquired image, so that institute
The crop image gathered in for stating the lower section of harvest frame 13 is collected.It is noted that it is different from existing image mosaic,
Picture material is judged without being identified to each image, but directly according to institute in the position of installation or each image
Harvest frame 13 is stated to splice multiple images, thus obtain the comprehensive image that the body 10 is working, i.e. step II.
Then, according to the body 10 of the acquired globality of the close shot collector 22 work image, the body 10
The operating area 100 in cut state obtained and characterized in real time.Preferably, acquired image can be subsequent
Further detailed analysis.
Specifically, as shown in fig. 6, in this preferred embodiment, multiple side view collectors 23 are towards the body 10
Two sides and acquire.Multiple side view collectors 23 are separately mounted on the left and right sides of the body 10, so that the body
The crop condition of 10 two sides is acquired.That is, generally, the side view collector 23 to the place for having gathered in end and
Place to be gathered in respectively carries out Image Acquisition, i.e. step I.
Then, according to the installation site of multiple nearside scape collectors 23, in turn splice acquired image, so that
Place and the place image to be gathered in for having gathered in end are collected.It is noted that it is different from existing image mosaic,
Picture material is judged without being identified to each image, but directly according to the position of installation, such as it is mounted on the machine
The side view collector 23 in 10 left side of body obtains the crop condition for having gathered in end, and the side view for being mounted on 10 right side of body is adopted
Storage 23 obtains the crop condition in place to be gathered in, to obtain the state quilt for the left and right crop that the body 10 is working
It obtains, and then the position where the available body 10, i.e. step II.
Then, according to the side view collector 23 10 side image of body collected, the body 10 moves ahead
Direction and speed can be obtained, and guarantee accurate, the auxiliary raising harvesting efficiency of line direction before gathering in.
More, the distant view collector 21, the close shot collector 22 and the side view collector 23 are collected
Image is conclusively spliced, and obtains the image of the operating area 100 of the body 10.As shown in fig. 7, the body 10
Three side states by comprehensive acquisition.Figure component 20 is taken the photograph described in preferably to finally obtain similar to the body 10 from the top down
Viewing angle, the position including the crop and crop to be gathered in and harvesting gathered in place.
More, described image processing method further includes step after step III:
Remotely transmit the status information of the body 10.
As shown in Figure 10, the working condition of the body 10 can be obtained remotely.Further, 10 quilt of body
Remotely control the parameter in harvesting.For example, the close shot collector 22 and the side view collector more than 23 are collected
Obtain crop in image and the harvest frame 13 have certain gap, that is, the body 10 work more deviate required for
Crop area is gathered in, needs fully to fill up the harvest frame 13, to realize efficient crop.More specifically, for example, anti-
In the image of feedback, obtains having in the harvest frame 13 and gathering in crop compared with left side 80%, then can remotely obtain this shape
State information, and adjust the preceding line direction of the body 10 to the left, so that the harvest frame 13 is adequately coated crop to be gathered in.
Certainly, for 10 operation of body adjustment can by the operation of remote manual, can also by blas Lai
Adjustment, by the obtained image of described image acquisition device, auxiliary control is to realize unmanned agricultural production.
The image collecting device that work machine is cut for agriculture of another feasible pattern of above preferred embodiment of the invention
It is set forth, such as Fig. 8 to Fig. 9, wherein it includes that a body 10A and one takes the photograph figure component 20A that work machine is cut in the agriculture, wherein the machine
The agriculture of body 10A and the structure and above preferred embodiment for taking the photograph figure component 20A cut work machine the body 10 and
It is described to take the photograph that figure component 20 is similar, and the present invention repeats no more.
Different from the embodiment described above, fig. 4 to fig. 6 is according to of a sort installation site stitching image last three
A different the distant view collector 21A, the close shot collector 22A and side view collector 23A synthesizes last again
Image.In present embodiment, according to the distant view collector 21A, the close shot collector 22A and the side view collector
The position of 23A, preferably the collector acquired image similar in stitching position, then subsequently processing is a image.
Preferentially, it is adopted with the distant view collector 21A of corresponding lower section with the close shot above the harvest frame 13A
Storage 22A acquired image is first spliced.As shown in figure 8, multiple distant view collector 21A and multiple close shots acquire
It is neighbouring that device 22A is considered installation site.That is, the distant view collector 21A and close shot collector 22A is for opposite
The harvest frame 13A with position crop to be gathered in and gathering in crop carry out Image Acquisition, i.e. step I.
Then, according to the distant view collector 21A and the close shot for being located above the harvest frame 13A and corresponding lower section
The installation site of collector 22A, in turn splices acquired image, so that being located above the harvest frame 13A and under corresponding
Square image is collected.It is noted that it is different from existing image mosaic, without being identified and judgement figure to each image
As content, but directly according to the position of installation, so that obtaining the crop on a certain position body 10A is cut front and back
Comprehensive image, i.e. step II.
Then, the mode of operation 100A according to the image of a certain position body 10A, in front of the body 10A
It is obtained in real time and characterizes status information.Preferably, acquired image can be similar by subsequent further detailed analysis
In the visual angle of traditional artificial cutting.
Additionally, the close shot collector 22A below the end the harvest frame 13A and side view described in end edge
Collector 23A acquired image is first spliced.As shown in figure 9, side view collector 23A described in side is adopted with multiple close shots
It is neighbouring that storage 22A is considered installation site.That is, the side view collector 23A and close shot collector 22A is directed to phase
Image Acquisition, i.e. step I are carried out to the crop of the end the harvest frame 13A gathering in crop and gathering in.
Then, the close shot collector 22A below the end the harvest frame 13A is adopted with side view described in end edge
The installation site of storage 23A, in turn splices acquired image, so that the image for being located at the end the harvest frame 13A is adopted
Collection.It is noted that it is different from existing image mosaic, picture material is judged without being identified to each image, and
It is the position directly according to installation, so that obtaining the crop on a certain position body 10A is cut the comprehensive of front and back
Image, i.e. step II.
Then, the mode of operation 100A according to the image of a certain position body 10A, in front of the body 10A
It is obtained in real time and characterizes status information.Preferably, acquired image can be similar by subsequent further detailed analysis
In the visual angle of traditional artificial cutting.In present embodiment, the edge working condition of the body 10A is further obtained, is convenient for
Auxiliary adjusts operating position and the operating speed of the body 10A.
It is noted that all collectors, including the distant view collector 21A, the close shot collector
22A and the side view collector 23A acquired image are conclusively spliced, and obtain the operation of the body 10A
The image of region 100A.As shown in fig. 7, state is by comprehensive acquisition before and after the operation of the body 10A.It is preferably described to take the photograph
Figure component 20A finally obtains the viewing angle similar to the body 10A from the top down, the crop including gathering in and due-in
The position of the crop cut and harvesting in place.
As shown in Figure 10, the working condition of body 10A described in present embodiment can be obtained remotely.Further
Ground, the body 10A are remotely controlled the parameter in harvesting.For example, the close shot collector 22A and the side view are adopted
It obtains crop in the more acquired images of storage 23A and the harvest frame 13A has certain gap, that is, the body 10A
Work gathers in crop area required for more deviateing, and needs the harvest frame 13A close to crop to be gathered in, to realize height
The crop of efficiency.More specifically, for example, in the image of feedback, obtains having in the harvest frame 13A having compared with left side and not gathered in
Crop shows in the side view collector 23A, then can remotely obtain this status information, and adjusts the body 10A
Preceding line direction to the left so that the harvest frame 13A is adequately coated crop to be gathered in.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention exists
It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (26)
1. work machine is cut in an agriculture characterized by comprising
One body and one takes the photograph figure component, takes the photograph figure component wherein described and is installed in the body surface, wherein the body is opened
It moves and carries out in harvesting, the front of Yu Suoshu body forms an operating area, wherein the acquisition range for taking the photograph figure component
It is installed on to capped formula the body, and carries out Image Acquisition towards the operating area, wherein the body includes all over the body
Frame, at least a wheel carrier and a harvest frame, wherein the harvest frame is placed in the front of the stature, wherein the wheel carrier is supported on
The bottom of the stature, wherein the wheel carrier driven by operation the harvest frame and the stature forward to the crop in front into
Row cutting and conveying.
2. work machine is cut in agriculture according to claim 1, wherein the figure component of taking the photograph includes: at least at a collector and one
Device is managed, wherein the multiple collectors for taking the photograph figure component are installed on the front and side of the stature by preparatory direction, wherein
The collector image obtained is summarized and is analyzed by processor processing.
3. work machine is cut in agriculture according to claim 2, wherein the collector is implemented as the camera shooting of a panorama type
Head.
4. work machine is cut in agriculture according to claim 2, wherein the collector is implemented as multiple wide-angle type cameras.
5. work machine is cut in agriculture according to claim 2, wherein the collector is at least three, wherein described take the photograph figure group
Multiple collectors of part are installed on the front and side of the stature by preparatory direction, wherein collector figure obtained
As being summarized and being analyzed by processor processing.
6. work machine is cut in the agriculture stated according to claim 4 or 5, wherein the processor is pacified according to the collector
The position of dress carries out image procossing.
7. work machine is cut in agriculture according to claim 5, wherein the collector further include a distant view collector,
An at least close shot collector and at least two side view collectors, wherein the distant view collector and the close shot collector are fitted
In the front for being installed on the stature, and respectively to above the harvest frame and lower section, wherein the side view collector quilt
The two sides of the stature are respectively installed on, and respectively to the two sides of the body.
8. work machine is cut in agriculture according to claim 7, wherein the distant view collector is protected along the top of the wheel carrier
Direction is held, wherein the close shot collector is retained towards along the position between the wheel carrier and the wheel carrier.
9. work machine is cut in agriculture according to claim 5, wherein the distant view collector, the close shot collector, and
The side view collector is respectively numbered according to the position installed, wherein the processor is numbered according to each different
To the position of corresponding collector, image position collected is cooperated to carry out image procossing.
10. work machine is cut in agriculture according to claim 5, the plurality of distant view collector is pacified with a fixed spacing
Dress, the plurality of close shot collector are installed with a fixed spacing.
11. work machine is cut in agriculture according to claim 5, wherein the position that the processor is installed according to the collector
Set carry out image procossing, wherein the close shot collector acquired image is preferentially spliced, and then with collector described in other
Acquired image splicing.
12. work machine is cut in agriculture according to claim 5, wherein the position that the processor is installed according to the collector
Set carry out image procossing, wherein the distant view collector acquired image is preferentially spliced, and then with collector described in other
Acquired image splicing.
13. work machine is cut in agriculture according to claim 5, wherein multiple the acquired images of collector being positioned adjacent to
Preferentially spliced, and then is spliced with collector acquired image described in other.
14. work machine is cut in agriculture according to claim 13, wherein being located above the harvest frame and corresponding to the institute of lower section
Distant view collector is stated preferentially to be spliced with the close shot collector acquired image.
15. work machine is cut in agriculture according to claim 13, wherein being located at the close shot below the harvest frame end
Collector is preferentially spliced with side view collector acquired image described in end edge.
16. work machine is cut in an agriculture characterized by comprising
One body and an image collecting device, wherein described image acquisition device takes the photograph figure component and a communication equipment including one, wherein
Described image acquisition device is installed in the body, wherein the communication equipment, which is communicatively connected in a network, takes the photograph figure component in described,
To obtain acquired image information from the figure component of taking the photograph, and then assist adjusting operating position and the operating speed of the body.
17. work machine is cut in agriculture according to claim 13, wherein the communication equipment is taken the photograph described provided by figure component
Information is uploaded to wait and is acquired.
18. work machine is cut in agriculture according to claim 13, wherein to take the photograph figure component collected by described for the communication equipment
Information is transmitted to remote control terminal after the processing of image.
19. work machine is cut in agriculture according to claim 17, wherein the figure component of taking the photograph includes: an at least collector and one
Processor, wherein the multiple collectors for taking the photograph figure component are installed on the front and side of the body by preparatory direction,
Described in collector image obtained summarized and analyzed by processor processing.
20. work machine is cut in agriculture according to claim 20, wherein the collector is at least three, wherein described take the photograph figure
Multiple collectors of component are installed on the front and side of the body by preparatory direction, wherein the collector is obtained
Image is summarized by processor processing and reaches the communication equipment.
21. work machine is cut in agriculture according to claim 20, wherein what the processor was installed according to the collector
Position carries out image procossing.
22. a kind of image processing method for cutting work machine for agriculture, which comprises the following steps:
I. more parts of images of a front part of a body and side are acquired；
II. according to the position of acquired image, stitching image；And
III. according to the image spliced, the status information for surrounding the body is obtained.
23. according to claim 22 described image processing method, wherein further including step after step III:
Remotely transmit the status information of the body.
24. according to claim 22 described image processing method, wherein in step II, according to being installed in the more of the body
The position that a collector is installed carries out image procossing.
25. according to claim 24 described image processing method, wherein in step II, towards similar multiple collectors
Acquired image is preferentially spliced.
26. according to claim 24 described image processing method, wherein in step II, multiple collectors for being positioned adjacent to
Acquired image is preferentially spliced.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910280375.0A CN110209155B (en) | 2019-04-09 | 2019-04-09 | Image acquisition device for agricultural cutting operation machine and processing method thereof |
| US17/602,726 US20220167555A1 (en) | 2019-04-09 | 2020-03-20 | Image acquisition device and processing method for agricultural harvesting operation machine |
| JP2021559955A JP7397880B2 (en) | 2019-04-09 | 2020-03-20 | Image collection device and processing method for agricultural mowing machines |
| EP20788625.0A EP3954190B1 (en) | 2019-04-09 | 2020-03-20 | Image acquisition device and processing method for agricultural harvesting operation machine |
| AU2020256953A AU2020256953B2 (en) | 2019-04-09 | 2020-03-20 | Image acquisition device and processing method for agricultural harvesting operation machine |
| PCT/CN2020/080322 WO2020207225A1 (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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910280375.0A CN110209155B (en) | 2019-04-09 | 2019-04-09 | Image acquisition device for agricultural cutting operation machine and processing method thereof |
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| CN110209155A true CN110209155A (en) | 2019-09-06 |
| CN110209155B CN110209155B (en) | 2024-07-16 |
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Cited By (1)
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| WO2020207225A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Image acquisition device and processing method for agricultural harvesting operation machine |
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