收获机-运粮车系统装载状态在线检测装置  

Load Status Detection in Cooperative Operation of Harvester-grain Cart

作　　者：刘丹[1,2,3] 王卓 白晓平[1,3] 赵泳嘉 Liu Dan;Wang Zhuo;Bai Xiaoping;Zhao Yongjia(Shenyang Institute of Automation,Chinese Academy of Sciences,shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100049,China;Liaoning Key Laboratory of Intelligent Technology for Agricultural Equipment,Shenyang 110016,China)

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110016 [2]中国科学院大学,北京100049 [3]辽宁省农业装备智能化技术重点实验室,沈阳110016

出　　处：《农机化研究》2021年第12期254-258,共5页Journal of Agricultural Mechanization Research

基　　金：国家重点研发计划项目(2017YFD0700403)。

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。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.

关 键 词：收获机-运粮车 视觉检测 装载状态 相对位置 

分 类 号：S225[农业科学—农业机械化工程] S229[农业科学—农业工程]