【摘要】 传统粮食收获过程中收割作业和卸粮作业是分开的,为了提高粮食收获效率,采用收获机-运粮车协同作业的方式,以实现不停车卸粮,并利用视觉检测粮箱装载状态,提供相对位置调整策略。首先,建立了收获机-运粮车模型,根据模型分析收获机与运粮车的位置关系;其次,对相机的安装位置和安装方式进行设计,采用相机俯仰角度和垂直位置可调的固定支架,保证方法和装置的通用性;最后,采用具有低畸变广角的彩色数字相机获取图像后利用视觉算法进行处理,得到粮箱装载状态。实验结果表明:本方法能够通过视觉检测出粮箱装载状态,根据装载状态调节运粮车与收获机的相对位置。更多还原

【Abstract】 Traditional grain harvesting processes are separate from harvesting and unloading operations.In order to improve the efficiency of grain harvest, the method of cooperative operation of harvester and grain cart was adopted to realize grain unloading without stopping.Using vision to detect the loading status of grain box, the relative position adjustment strategy is provided.Firstly, the geometric model of harvester-grain cart is established, and the position relation between harvester and grain cart is analyzed.Secondly, the installation position and installation method of the camera are designed. The fixed bracket with adjustable pitching angle and vertical position of the camera is adopted to ensure the universality of the method and device.Finally, a color digital camera with low distortion and wide angle is used to obtain the image and then the vision algorithm is used to process the image.The experimental results show that this method can detect the loading state of grain box visually and adjust the relative position of grain cart and harvester according to the loading state.更多还原