阅读说明：本技术 一种基于高地隙底盘的苗带对行辅助控制方法及其机构 (Seedling belt opposite-running auxiliary control method and mechanism based on high-ground-clearance chassis ) 是由 杨洋 温兴 魏昌坤 万玲 张刚 岳璇 陈黎卿 许良元 于 2019-11-29 设计创作，主要内容包括：本发明的一种基于高地隙底盘的苗带对行辅助控制方法及其机构,属于高地隙地盘技术领域,控制方法包括如下步骤：S110,摄像头采集获取地面农作物状况视频信息传递给工控机；S120,工控机根据地面农作物状况视频信息进行分解以帧为单位的图像信息；S130,对图像信息进行预处理得到作物行信息；S140,工控机采用二次垂直投影算法对作物行信息进行处理得到横向像素坐标距离值；S150,工控机根据横向像素坐标距离值进行换算成实际环境坐标距离值；S160,工控机根据实际环境坐标距离值来控制电磁换向阀的运行状态,使高地隙地盘底盘实现苗带对行,车轮在作物行间的间隙运动,不出现压苗情况,具有灵活性,大大提高了工作效率。(The invention discloses a seedling belt opposite-running auxiliary control method based on a high-ground-clearance chassis and a mechanism thereof, belonging to the technical field of high-ground-clearance chassis, wherein the control method comprises the following steps: s110, acquiring ground crop condition video information by a camera and transmitting the information to an industrial personal computer; s120, the industrial personal computer decomposes image information with a frame as a unit according to the ground crop condition video information; s130, preprocessing the image information to obtain crop row information; s140, processing crop row information by the industrial personal computer by adopting a secondary vertical projection algorithm to obtain a transverse pixel coordinate distance value; s150, converting the distance value of the horizontal pixel coordinate into a distance value of an actual environment coordinate by the industrial personal computer; s160, the industrial personal computer controls the running state of the electromagnetic directional valve according to the coordinate distance value of the actual environment, so that the seedling belt alignment of the chassis of the high-clearance ground plate is realized, the wheels move in the gaps among crop rows, the seedling pressing condition is avoided, the flexibility is realized, and the working efficiency is greatly improved.)

1. A seedling belt pair-to-row auxiliary control method based on a high-clearance chassis is characterized by comprising the following steps:

s110, a camera (110) acquires ground crop condition video information and transmits the ground crop condition video information to an industrial personal computer (120);

s120, the industrial personal computer (120) decomposes image information with a frame as a unit according to the ground crop condition video information;

s130, preprocessing the image information to obtain crop row information;

s140, the industrial personal computer (120) processes the crop row information by adopting a secondary vertical projection algorithm to obtain a transverse pixel coordinate distance value;

s150, the industrial personal computer (120) converts the distance value of the horizontal pixel coordinate into a distance value of an actual environment coordinate;

and S160, the industrial personal computer (120) controls the running state of the electromagnetic directional valve (140) according to the actual environment coordinate distance value.

2. The seedling belt pair auxiliary control method based on the high-clearance chassis as claimed in claim 1, characterized in that: the specific method of the preprocessing in the step S130 is to extract relevant parameters through a super-green feature formula, binarize the image according to the parameters, and perform morphological processing of the expanded binary image by etching operation.

3. The seedling belt pair auxiliary control method based on the high-clearance chassis as claimed in claim 1, characterized in that: the specific content of the quadratic vertical projection algorithm in the step S140 is to preliminarily determine the crop regions at two sides of the wheel (191) by a first-time vertical projection method, and set the crop regions as ROI regions; the second vertical projection method is then used to identify the transverse pixel coordinates of the center line of the non-crop area between the two crops on either side within the ROI area.

4. The seedling belt pair auxiliary control method based on the high-clearance chassis as claimed in claim 1, characterized in that: the running state of the electromagnetic directional valve (140) is embodied into three states, if the distance value of the actual environment coordinate is greater than the wheel track, the electromagnetic directional valve (140) is opened in the forward direction, and the industrial personal computer (120) controls the opening time of the electromagnetic directional valve (140) according to the difference value; if the actual environment coordinate distance value is smaller than the wheel track, the electromagnetic directional valve (140) is reversely opened, and the industrial personal computer (120) controls the opening time of the electromagnetic directional valve (140) according to the difference value; and if the actual environment coordinate distance value is equal to the wheel track, the electromagnetic directional valve (140) does not work.

5. The utility model provides a seedling area is to line complementary unit based on highland crack chassis which characterized in that: including frame (100), camera (110), industrial computer (120), hydraulic tank (130), solenoid directional valve (140) and hydraulic telescoping rod (150), frame (100) are gone up the front and back and all are equipped with two fixed axletree (160) and two portable axletree (170), portable axletree (170) are driven by hydraulic telescoping rod (150), portable axletree (170) cover is on fixed axletree (160), portable axletree (170) can slide along fixed axletree (160), install camera (110) on fixed axletree (160), be equipped with position sensor (180) on frame (100), position sensor (180) are connected with portable axletree (170), hydraulic tank (130) and hydraulic telescoping rod (150) oil piping connection, industrial computer (120) and solenoid directional valve (140) and camera (110) electric connection, the camera (110), the electromagnetic directional valve (140) and the hydraulic telescopic rod (150) are symmetrical about the central plane of the frame (100).

6. The seedling belt aligning auxiliary mechanism based on the high-clearance chassis as claimed in claim 5, wherein: the lower end of the movable axle (170) is fixedly connected with a wheel (191) through a connecting shaft (190), and a damping sleeve (192) is sleeved on the connecting shaft (190).

7. The seedling belt aligning auxiliary mechanism based on the high-clearance chassis as claimed in claim 5, wherein: and a limiting block (161) is arranged on the fixed axle (160), and the limiting block (161) is positioned between the camera (110) and the movable axle (170).

8. The seedling belt aligning auxiliary mechanism based on the high-clearance chassis as claimed in claim 5 or 6, wherein: the steering connecting piece (200) is arranged on the wheel (191), and the connecting shaft (190) is fixedly connected with the wheel (191) through the steering connecting piece (200).

9. The seedling belt aligning auxiliary mechanism based on the high-clearance chassis as claimed in claim 5 or 6, wherein: the shock absorption sleeve (192) is internally provided with a shock absorption spring (193) and a fixed shell (194), the fixed shell (194) comprises an upper shell (195) and a lower shell (196), and the upper shell (195) is positioned on the inner side of the lower shell (196).

10. The seedling belt aligning auxiliary mechanism based on the high-clearance chassis as claimed in claim 5 or 6, wherein: the electromagnetic directional valves (140) are arranged on two sides of the lower end face of the frame (100), and the electromagnetic directional valves (140) control the telescopic amount of the single-side hydraulic telescopic rod (150).

Technical Field

The invention belongs to the technical field of high-ground-clearance chassis, and particularly relates to a seedling belt opposite-running auxiliary control method and mechanism based on a high-ground-clearance chassis.

Background

In recent years, high-clearance trays are widely used in the agricultural field, and can be used for operations such as middle-stage plant protection and later-stage harvest. The unmanned technology is also widely applied to high-clearance ground discs, and is used for releasing manpower and saving cost. And the core of the high-clearance ground-based unmanned technology is navigation.

According to the existing regulations in China, different crops such as corn, wheat and the like have different standard spacing of crop rows. In addition, in the process of planting crops in some farmlands, the crops are not planted according to the standard spacing, and the row spacing of different crops in one farmland is different. The wheel spacing of the high-clearance ground plate needs to be changed along with the change of the row spacing of crops, so that the seedling belt is aligned, otherwise, the conditions of crop damage such as seedling pressing and the like can occur in the navigation process. Therefore, a high-clearance ground plate with adjustable wheel track appears in the market, but the wheel track adjustment of the products depends on manpower seriously, the line spacing of crops needs to be measured manually, the wheel track is adjusted manually, the labor and the effort are wasted, and the working efficiency of the high-low machine is not high.

Disclosure of Invention

1. Technical problem to be solved by the invention

The present invention aims to solve the above-mentioned deficiencies of the prior art.

2. Technical scheme

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

the invention discloses a seedling belt opposite-row auxiliary control method based on a high-clearance chassis, which comprises the following steps of:

s110, acquiring ground crop condition video information by a camera and transmitting the information to an industrial personal computer;

s120, the industrial personal computer decomposes image information with a frame as a unit according to the ground crop condition video information;

s130, preprocessing the image information to obtain crop row information;

s140, processing crop row information by the industrial personal computer by adopting a secondary vertical projection algorithm to obtain a transverse pixel coordinate distance value;

s150, converting the distance value of the horizontal pixel coordinate into a distance value of an actual environment coordinate by the industrial personal computer;

and S160, controlling the running state of the electromagnetic directional valve by the industrial personal computer according to the actual environment coordinate distance value.

Preferably, the specific method of the preprocessing in step S130 is to extract relevant parameters through an ultragreen feature formula, binarize the image according to the parameters, and perform morphological processing of the expanded binary image by etching operation.

Preferably, the detailed content of the quadratic vertical projection algorithm in step S140 is to preliminarily determine crop regions on both sides of the wheel by a first quadratic vertical projection method, and set the crop regions as ROI regions; the second vertical projection method is then used to identify the transverse pixel coordinates of the center line of the non-crop area between the two crops on either side within the ROI area.

Preferably, the running state of the electromagnetic directional valve is embodied in three states, if the actual environment coordinate distance value is greater than the wheel track, the electromagnetic directional valve is opened in the forward direction, and the industrial personal computer controls the opening time of the electromagnetic directional valve according to the difference value; if the actual environment coordinate distance value is smaller than the wheel track, the electromagnetic directional valve is reversely opened, and the industrial personal computer controls the opening time of the electromagnetic directional valve according to the difference value; and if the distance value of the actual environment coordinate is equal to the wheel track, the electromagnetic directional valve does not work.

The utility model provides a seedling area is to going complementary unit based on highland crack chassis, which comprises a vehicle rack, the camera, the industrial computer, hydraulic tank, solenoid directional valve and hydraulic telescoping rod, all be equipped with two fixed axletree and two portable axletrees around on the frame, portable axletree is driven by hydraulic telescoping rod, portable axletree cover is on fixed axletree, portable axletree can slide along fixed axletree, install the camera on the fixed axletree, be equipped with position sensor on the frame, position sensor is connected with portable axletree, hydraulic tank and hydraulic telescoping rod oil pipe are connected, industrial computer and solenoid directional valve and camera electric connection, the camera, solenoid directional valve and hydraulic telescoping rod all are symmetrical about the frame central plane.

Preferably, the lower end of the movable axle is fixedly connected with the wheels through a connecting shaft, and a damping sleeve is sleeved on the connecting shaft.

Preferably, a limiting block is arranged on the fixed axle and positioned between the camera and the movable axle.

Preferably, the wheels are provided with steering connecting pieces, and the connecting shaft is fixedly connected with the wheels through the steering connecting pieces.

Preferably, the damping sleeve is internally provided with a damping spring and a fixed shell, the fixed shell comprises an upper shell and a lower shell, and the upper shell is positioned on the inner side of the lower shell.

Preferably, the electromagnetic directional valves are arranged on two sides of the lower end face of the frame, and the electromagnetic directional valves control the telescopic amount of the single-side hydraulic telescopic rod.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:

the invention aims to provide a seedling belt alignment auxiliary control method and a seedling belt alignment auxiliary control mechanism based on a high-ground-clearance chassis, which aim to ensure that when a high-ground-clearance chassis enters a farmland to work, cameras respectively arranged right above two front wheels of the high-ground-clearance chassis shoot images in a certain range in front of the two front wheels of the high-ground-clearance chassis in real time, then the images are analyzed quickly, axle lengths on the left side and the right side of the high-ground-clearance chassis are respectively changed through an electro-mechanical and hydraulic comprehensive distance adjusting module, so that the seedling belt alignment of the high-ground-clearance chassis is realized, the gap movement of wheels between crop rows does not occur, the seedling pressing condition is realized, the flexibility is realized, and the working efficiency is greatly improved.

Drawings

FIG. 1 is a schematic structural diagram of a seedling belt alignment auxiliary control method based on a high-clearance chassis and a mechanism thereof;

FIG. 2 is a side view of the seedling belt alignment auxiliary control method and mechanism based on high-clearance chassis of the invention;

FIG. 3 is a schematic structural diagram of a damping sleeve of a seedling belt alignment auxiliary control method and mechanism thereof based on a high-clearance chassis;

FIG. 4 is a diagram of a camera capturing picture of a seedling belt alignment auxiliary control method based on a high-clearance chassis and a mechanism thereof;

fig. 5 is an algorithm calculation chart of the seedling belt pair auxiliary control method and mechanism thereof based on the high-clearance chassis.

The reference numerals in the schematic drawings illustrate:

100. a frame; 110. a camera; 120. an industrial personal computer; 130. a hydraulic oil tank; 140. an electromagnetic directional valve; 150. a hydraulic telescopic rod; 160. a fixed axle; 161. a limiting block; 170. a movable axle; 180. a position sensor; 190. a connecting shaft; 191. a wheel; 192. a shock-absorbing sleeve; 193. a damping spring; 194. a stationary case; 195. an upper shell; 196. a lower case; 200. a steering linkage.

Detailed Description

In order to facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings, in which several embodiments of the invention are shown, but which may be embodied in many different forms and are not limited to the embodiments described herein, but rather are provided for the purpose of providing a more thorough disclosure of the invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present; when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; the terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; as used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.