阅读说明：本技术 一种卸粮口定位系统及定位方法和联合收获机 (Grain unloading opening positioning system and positioning method and combine harvester ) 是由 徐立章 严玉奇 孙贻新 李耀明 于 2019-08-28 设计创作，主要内容包括：本发明公开了一种卸粮口定位系统及定位方法和联合收获机,用于联合收获机高位卸粮时卸粮口的自动定位,包括承载视觉定位系统的卸粮系统和视觉自动定位系统；本发明利用RGB-D相机采集彩色图像和深度图像,经DSP图像处理器进行图像处理,再通过现场可编程逻辑门阵列FPGA进行控制,最后驱动执行机构,不仅可以实现卸粮口自动定位至粮车车厢中间位置,还可以实现在粮车车厢内已有粮食的情况下将卸粮口定位至粮食较少的位置。(The invention discloses a positioning system and a positioning method for a grain unloading port and a combined harvester, which are used for automatically positioning the grain unloading port when the combined harvester unloads grains at a high position, and comprise a grain unloading system bearing a visual positioning system and the visual automatic positioning system; the invention utilizes the RGB-D camera to collect color images and depth images, carries out image processing through the DSP image processor, controls through the field programmable gate array FPGA, and finally drives the actuating mechanism, thereby not only realizing that the grain unloading port is automatically positioned to the middle position of the carriage of the grain car, but also realizing that the grain unloading port is positioned to the position with less grains under the condition of existing grains in the carriage of the grain car.)

1. A method for positioning a grain unloading opening is characterized by comprising the following steps: the controller lifts the horizontal grain cylinder (6) to a set initial angle by the hydraulic cylinder (5), the RGB-D camera (9) collects images of a grain car carriage, the image processor acquires the four-side profile and the depth minimum value of the four-side profile of the grain car carriage, and the controller adjusts the vertical grain cylinder (4) and the horizontal grain cylinder (6) according to the four-side profile and the depth minimum value of the carriage until the grain unloading opening (8) is positioned to the middle position of the grain car carriage.

2. The grain unloading opening positioning method according to claim 1, characterized in that: the automatic positioning method further comprises the following steps: the controller judges whether grain exists in the carriage of the grain car, if so, the grain unloading port (8) is positioned to the lowest point of the grain surface in the carriage to unload the grain, and if not, the grain unloading is directly carried out.

3. The grain unloading opening positioning method according to claim 1, characterized in that: the specific process that the grain unloading opening (8) is positioned to the middle position of the carriage of the grain car is as follows:

step 1), judging whether the | a-b | is less than or equal to e1, if the | a-b | is less than or equal to e1, the grain unloading port (8) is positioned at the middle position of the carriage of the grain car in the front-back direction, the motor (1) stops running, and the step 2) is executed; if | a-b | > e1, perform step 4);

step 2), judging whether e2 is equal to or less than | c-d |, if the | c-d | > is equal to or less than e2, enabling the grain unloading port (8) to be located at the middle position of the left and right directions of the carriage of the grain car, stopping the operation of the hydraulic cylinder (5), and executing the step 3); if | c-d | > e2, performing step 5);

step 3), continuously judging whether the | a-b | ≦ e1 is true, if the | a-b ≦ e1, positioning the grain unloading port (8) to the middle position of the carriage of the grain car, and if not, executing the step 4);

step 4), judging the sizes of a and b, and when a is smaller than b, enabling the motor (1) to rotate positively to enable the grain unloading opening (8) to be close to the rear part of the carriage of the grain car; when a is more than or equal to b, the motor (1) rotates reversely to enable the grain unloading opening (8) to be close to the front of the carriage of the grain car;

step 5), judging the sizes of c and d, and when c is larger than d, lifting the horizontal grain cylinder (6) by the hydraulic cylinder (5) to reduce the distance between the grain unloading opening (8) and the circle center of the vertical grain cylinder (4); when c is less than or equal to d, the hydraulic cylinder (5) lowers the horizontal grain cylinder (6) to increase the distance between the grain unloading opening (8) and the circle center of the vertical grain cylinder (4);

wherein e1, e2 are longitudinal range and horizontal range of the middle position of the carriage of the grain car respectively; a is the minimum value of the depth of the outline of the head of the vehicle, b is the minimum value of the depth of the outline of the tail of the vehicle, c is the minimum value of the depth of the outline of the left side of the vehicle, d is the minimum value of the depth of the outline of the right side of the vehicle, and a, b, c and d all belong to the minimum values of the depths of the outlines of four.

4. The grain unloading opening positioning method according to claim 1, characterized in that: the specific process of positioning the grain unloading opening (8) to the lowest point of the grain surface in the carriage is as follows: the image processor generates a three-dimensional point cloud of grain in the car from the depth image, judges a concave point according to the characteristics of the three-dimensional point cloud, further judges whether the minimum vertical distance between the concave point and the four-side outline of the carriage of the grain car is smaller than a set minimum value h, if so, moves the concave point to a position h, the position is a new concave point, and if not, the position of the concave point is not changed; according to the determined concave points and the positions of the grain unloading openings (8) in a world coordinate system, the controller controls the vertical grain cylinders (4) and the horizontal grain cylinders (6) to enable the grain unloading openings (8) to be positioned at positions with less grains in the carriage of the grain car.

5. The grain unloading opening positioning method according to claim 1, characterized in that: the specific process for obtaining the four-side profile and the minimum depth value of the four-side profile of the carriage of the grain car comprises the following steps: the RGB-D camera (9) collects color images and depth images of the grain car carriage and sends the color images and the depth images to the image processor, the image processor identifies the four-side contour of the grain car carriage according to the color images, and the minimum depth value of the four-side contour is detected in the depth images by the four-side contour of the grain car carriage.

6. The utility model provides a unload grain mouth positioning system which characterized in that: the automatic grain unloading system comprises a grain unloading system and a visual automatic positioning system, wherein the visual automatic positioning system realizes automatic positioning of a grain unloading port through a controller, and the grain unloading system completes all grain unloading tasks except the positioning of the grain unloading port.

7. The grain discharge outlet positioning system of claim 6, wherein: the grain unloading system comprises a grain box (3), a vertical grain cylinder (4) and a horizontal grain cylinder (6), wherein the vertical grain cylinder (4) and the horizontal grain cylinder (6) are fixedly connected through a transfer grain cylinder; the vertical grain cylinder (4) is positioned on one side of the grain box (3), a gear set (2) is arranged at the lower end of the vertical grain cylinder (4), and a pinion in the gear set (2) is in key connection with the motor (1); the horizontal grain cylinder (6) is supported above the grain box (3) through a bracket (7), and the horizontal grain cylinder (6) and the switching grain cylinder are fixedly connected with two ends of the hydraulic cylinder (5) respectively; the tail end of the horizontal grain cylinder (6) is provided with a grain unloading opening (8).

8. The grain discharge outlet positioning system of claim 6, wherein: the vision automatic positioning system comprises an RGB-D camera (9), an image processor and a controller which are connected through signals, wherein the RGB-D camera (9) is arranged at the position below the tail end of the horizontal grain cylinder (6).

9. The grain discharge outlet positioning system of claim 8, wherein: the controller adjusts the vertical grain cylinder (4) and the horizontal grain cylinder (6) according to the contour of the four sides of the carriage and the minimum depth value of the carriage until the grain unloading opening (8) is positioned to the middle position of the grain car.

10. A combine harvester characterized in that: comprising a discharge opening positioning system according to claims 6-9.

Technical Field

The invention belongs to the field of agricultural machinery automation, and particularly relates to a positioning system and a positioning method for a grain unloading port of a high-position grain unloading of a combine harvester.

Background

Along with the development of agricultural modernization in China, the combined harvester increasingly adopts high-level grain discharge in the operation process, namely grain in a grain box of the combined harvester is conveyed to a carriage of a grain vehicle special for transporting grain through a packing auger grain cylinder. However, the grain unloading process of the domestic combine harvester is mostly completed by manual operation of a harvester driver, whether the grain unloading opening is aligned with a carriage of a grain car or not is determined through visual observation, the driver needs to observe the position of the grain unloading opening and adjust the grain unloading opening through a manual operating handle, so that the operation difficulty of the driver is increased, and the working efficiency is reduced.

Disclosure of Invention

The invention aims to provide a positioning system and a positioning method for a grain unloading port of a combine harvester for high-position grain unloading, so as to solve the problem of high-position grain unloading of the combine harvester in China at present, reduce the labor intensity of a driver and improve the working efficiency of harvesting operation.

The invention realizes the purpose through the following technical scheme:

a method for positioning a grain unloading port comprises the steps that a hydraulic cylinder is lifted to a set initial angle by a controller, an RGB-D camera collects images of a carriage of a grain car, an image processor acquires the four-side profile and the minimum depth value of the four-side profile of the carriage of the grain car, the controller adjusts a vertical grain barrel and a horizontal grain barrel according to the four-side profile and the minimum depth value of the carriage of the grain car until the grain unloading port is positioned at the middle position of the carriage of the grain car, the controller judges whether grain exists in the carriage of the grain car, if so, the grain unloading port is positioned at the position of the lowest point of the surface of the grain in the carriage to unload the grain, and if not, the grain is directly.

Further, the minimum depth of the four-side contour comprises a minimum depth a of the vehicle head contour, a minimum depth b of the vehicle tail contour, a minimum depth c of the vehicle left side contour and a minimum depth d of the vehicle right side contour.

Further, the specific process of positioning the grain unloading opening to the middle position of the carriage of the grain car comprises the following steps:

step 1), judging whether the | a-b | is less than or equal to e1, if the | a-b | is less than or equal to e1, stopping the motor when the grain unloading port is positioned at the middle position in the front-back direction of the carriage of the grain car, and executing the step 2); if | a-b | > e1, perform step 4);

step 2), judging whether e2 is equal to or less than | c-d |, if the | c-d | > is equal to or less than e2, stopping the operation of the hydraulic cylinder when the grain unloading port is positioned at the middle position of the left and right directions of the carriage of the grain car, and executing the step 3); if | c-d | > e2, performing step 5);

step 3), continuously judging whether the | a-b | ≦ e1 is true, if the | a-b ≦ e1, positioning the grain unloading port to the middle position of the carriage of the grain car, and if not, executing the step 4);

step 4), judging the sizes of a and b, and when a is less than b, rotating the motor forward to enable the grain unloading opening to be close to the rear of the carriage of the grain car; when a is more than or equal to b, the motor rotates reversely, so that the grain unloading opening is close to the front of the carriage of the grain car;

step 5), judging the sizes of c and d, and when c is larger than d, lifting the horizontal grain cylinder by the hydraulic cylinder to reduce the distance between the grain unloading opening and the center of the vertical grain cylinder; when c is less than or equal to d, the hydraulic cylinder lowers the horizontal grain cylinder to increase the distance between the grain unloading opening and the center of the vertical grain cylinder;

wherein e1, e2 are the longitudinal range and the transverse range of the middle position of the carriage of the grain car respectively.

Further, the images of the grain car carriage comprise color images and depth images.

Further, the specific process of positioning the grain unloading opening to the lowest point on the grain surface in the grain car comprises the following steps: the image processor generates a three-dimensional point cloud of grain in the car from the depth image, judges a concave point according to the characteristics of the three-dimensional point cloud, further judges whether the minimum vertical distance between the concave point and the four-side outline of the carriage of the grain car is smaller than a set minimum value h, if so, moves the concave point to a position h, the position is a new concave point, and if not, the position of the concave point is not changed; according to the determined concave points and the positions of the grain unloading openings in the world coordinate system, the controller controls the vertical grain cylinders and the horizontal grain cylinders to enable the grain unloading openings to be positioned at the positions with less grains in the carriage of the grain car.

Further, the specific process for obtaining the four-side contour and the minimum depth value of the four-side contour of the carriage of the grain car comprises the following steps: the RGB-D camera collects color images and depth images of the grain car carriage and sends the color images and the depth images to the image processor, the image processor identifies the four-side contour of the grain car carriage according to the color images, and the minimum depth value of the four-side contour is detected in the depth images by the four-side contour of the grain car carriage.

The utility model provides an unload grain mouth positioning system, is including unloading grain system and vision automatic positioning system, vision automatic positioning system realizes unloading grain mouth automatic positioning through the controller, it accomplishes except unloading the whole grain tasks of unloading of grain mouth location to unload the grain system.

In the technical scheme, the grain unloading system comprises a grain box, a vertical grain cylinder and a horizontal grain cylinder, wherein the vertical grain cylinder and the horizontal grain cylinder are fixedly connected through a transfer grain cylinder; the vertical grain cylinder is positioned on one side of the grain tank, a gear set is arranged at the lower end of the vertical grain cylinder, and a pinion in the gear set is in key connection with the motor; the horizontal grain cylinder is supported above the grain box through a bracket, and the horizontal grain cylinder and the switching grain cylinder are fixedly connected with two ends of the hydraulic cylinder respectively; the tail end of the horizontal grain cylinder is provided with a grain unloading opening.

In the technical scheme, the automatic visual positioning system comprises an RGB-D camera, an image processor and a controller which are connected through signals, the RGB-D camera is installed at the position, close to the lower portion of the tail end of the horizontal grain cylinder, and comprises an infrared emitter, a color camera and an infrared receiver.

In the technical scheme, the controller adjusts the vertical grain cylinder and the horizontal grain cylinder according to the outline of the four sides of the carriage and the minimum depth value of the carriage until the grain unloading opening is positioned to the middle position of the grain car.

A combine harvester comprises the grain unloading opening positioning system.

Compared with the prior art, the invention has the beneficial effects that:

(1) the vision-based automatic positioning system for the grain unloading port, provided by the invention, uses an RGB-D camera to obtain a color image and a depth image, and adopts DSP + FPGA to process the images, so that the quick positioning of the grain unloading port can be realized.

(2) The vision-based automatic positioning system and positioning method for the grain unloading port not only can automatically position the grain unloading port to the middle position of the carriage of the grain car by detecting the four-side contours of the carriage of the grain car and the depth values of the four-side contours of the carriage of the grain car, but also can automatically position the grain unloading port to a position with less grains in the carriage of the grain car by generating three-dimensional point cloud of the grains in the grain car according to depth image information when the grains exist in the carriage of the grain car.

Drawings

FIG. 1 is a schematic structural view of a positioning system of a grain unloading opening of the present invention;

FIG. 2 is a schematic view of the positioning principle of the grain unloading port of the present invention;

fig. 3 is a schematic view of an installation position of the RGB-D camera according to the present invention, fig. 3(a) is a front view, and fig. 3(b) is a bottom view;

FIG. 4 is a flow chart of the positioning of the grain unloading opening of the present invention;

FIG. 5 is an image processing flow diagram of the present invention;

FIG. 6 is a flow chart of the present invention with the discharge outlet positioned to the middle of the car body of the grain cart;

FIG. 7 is a schematic view of the process of positioning the grain discharge outlet to a position with less grain in the grain cart according to the present invention.

The grain discharging device comprises a motor 1, a gear set 2, a grain tank 3, a vertical grain cylinder 4, a hydraulic cylinder 5, a horizontal grain cylinder 6, a support 7, a grain discharging opening 8, a RGB-D camera 9, an infrared emitter 901, a color camera 902 and an infrared receiver 903.

Detailed Description

The invention will be further described with reference to the drawings, but the scope of the invention is not limited thereto.