CN106996751B - A kind of grain-transporting vehicle cereal loading condition detection method and device of view-based access control model image - Google Patents
A kind of grain-transporting vehicle cereal loading condition detection method and device of view-based access control model image Download PDFInfo
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- CN106996751B CN106996751B CN201510920948.3A CN201510920948A CN106996751B CN 106996751 B CN106996751 B CN 106996751B CN 201510920948 A CN201510920948 A CN 201510920948A CN 106996751 B CN106996751 B CN 106996751B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The present invention provides a kind of grain-transporting vehicle cereal loading condition detection method and device of view-based access control model image, and method includes: to carry out Image Acquisition to grain-transporting vehicle by colorful number camera, obtains the planar coloured image of tanker mouth and cereal；Using the planar coloured image of the filter process such as smooth, edge, straight-line detection, the complete edge profile of tanker mouth is obtained；Using image processing methods such as color space conversion and Threshold segmentations, the region of cereal in the picture on tanker is obtained；Obtained using two-dimentional algorithm of convex hull and represent the salient point of cereal edges of regions, and calculate separately these salient points to four edge lines of tanker mouth distance；Detection of the harvester to cereal loading condition when grain-transporting vehicle unloading is realized by preset threshold decision cereal in the loading condition of each distributing position of tanker mouth according to these distances of real-time measurement.Finally by cereal state and corresponding operating instruction real-time display in detection terminal.The present invention, which has, facilitates installation, maintenance, and easy to implement, detection speed is fast, and stability is strong, the higher advantage of precision.
Description
Technical field
The present invention relates to detection technique field, the grain-transporting vehicle cereal loading condition of specifically a kind of view-based access control model image
Detection method and device.
Background technique
In order to improve China's combine harvester-grain-transporting vehicle principal and subordinate's work compound efficiency and monitoring capacity, emphasis solution is needed
The certainly dynamic detection problem of grain-transporting vehicle tanker cereal loading condition.It is unloaded on grain-transporting vehicle the cereal in harvester silo
In the process, foodstuff grain should be avoided to be scattering into except grain-transporting vehicle tanker, guarantees that cereal uniformly loads in tanker again, this is just
It needs the loading condition of real-time detection tanker cereal and is adjusted with the relative position dynamic for realizing harvester and grain-transporting vehicle.
It in the prior art, mainly include following four method for the detection of tanker cereal loading condition: 1. using machinery
Sensor, this sensor include scale body, the volume of tanker cereal are obtained by tape measure, then according to the close of cereal
The bulking value spent and measured calculates amount of storage, but there are metering process complexity, the deficiency of measurement accuracy difference for this method；2. using super
Sonic sensor, the horizontally selected two o'clock in a certain height of tanker cereal, a little for emitting ultrasonic wave, another point is for connecing
It receives, to judge whether the foodstuff grain changed over time reaches known altitude, but ultrasonic sensor price general charged is expensive, maintenance
Higher cost, it is erroneous for installation；3. using 3 D laser scanning sensor, is scanned and matched rotate at high speed using three-dimensional laser radar
Prism carry out foodstuff grain surface three dimension DATA REASONING, but 3 D laser scanning sensor to operating environment requirements harshness, it is right
Operation, maintenance personnel are more demanding；4. using pressure sensor, silo bottom surface and side are calculated using pressure sensor output valve
Pressure value, and according to the model of foundation carry out foodstuff grain loading condition calculating, but using pressure sensor needs be directed to
Different tested cereal establish specific mathematical model, do not have flexibility and versatility.
In conclusion the generally existing high failure rate of sensor, the stability of existing machinery, acoustics, optics, electronic type are poor
The defects of poor with anti-adverse environment ability.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of grain-transporting vehicle cereal loading conditions of view-based access control model image
Detection method and device, speed is fast, and stability is strong, and precision is higher.
Present invention technical solution used for the above purpose is: a kind of grain-transporting vehicle cereal dress of view-based access control model image
Carry condition detection method, comprising:
Real time image collection is carried out to grain-transporting vehicle by colorful number camera, obtains the planar coloured figure of tanker mouth and cereal
Picture；
Planar coloured image is handled, the complete edge profile of tanker mouth is obtained；
By color space conversion and Threshold segmentation, the region of cereal in the picture on tanker is obtained；
The salient point for representing cereal edges of regions is obtained using two-dimentional algorithm of convex hull, and calculates separately these salient points to tanker mouth
The distance of four edge lines；
According to these distances of real-time measurement, by preset threshold decision cereal in each distributing position of tanker mouth
Loading condition, realize detection of the harvester to cereal loading condition when grain-transporting vehicle unloading.
The processing to planar coloured image carries out in digital signal processor.
It is described that planar coloured image is handled, obtain the complete edge profile of tanker mouth, comprising the following steps:
Utilize the smooth collected planar coloured image of Gaussian filter；
Planar coloured image is converted into gray level image；
Using edge detection method, each pixel of image is calculated in the sum of the absolute value of gradient of row, column both direction；
Interference region is removed using thresholding method, obtains tanker mouth fringe region；
Fringe region burr is removed using expansion, erosion algorithm；
Using Gauss line detection algorithm, the straightway at tanker mouth edge is obtained, and is one by conllinear straight line fitting
Straight line；
Obtain four complete edge contour lines of tanker mouth.
It is described by color space conversion and Threshold segmentation, obtain the region of cereal in the picture on tanker, including following
Step:
The tanker mouth edge of acquisition is surrounded into region as area-of-interest, and extracts Three Channel Color image respectively, is obtained
Obtain three single channel gray level images for respectively representing red green, blue；
The color region of cereal is obtained in representing red gray level image using thresholding method；
By color image from RGB color space conversion be hue, saturation, intensity color space；
It is handled in saturation degree and tone images in succession using thresholding method, obtains the color region of cereal；
Cereal region at the two of above-mentioned acquisition is carried out friendship is asked to calculate, obtains final cereal region.
A kind of grain-transporting vehicle cereal loading condition detection device of view-based access control model image, comprising:
Image capture module obtains tanker mouth and paddy for carrying out Image Acquisition to grain-transporting vehicle by colorful number camera
The planar coloured image of object；
Limb recognition module, for obtaining tanker by smooth, the planar coloured image of edge, line detection method processing
The complete edge profile of mouth；
Region identification module, for passing through color space conversion and threshold segmentation method, cereal is in image on acquisition tanker
In region；
Cereal state measuring block, the detection for realizing harvester to cereal loading condition when grain-transporting vehicle unloading.
The colorful number camera is the camera of the wide-angle lens with low distortion, obtains complete tanker mouth from depression angle
And the planar coloured image of cereal.
The cereal loading condition measurement module includes:
Range measurement submodule is obtained the salient point for representing cereal edges of regions using two-dimentional algorithm of convex hull, and calculated separately
These salient points to four edge lines of tanker mouth distance, by preset threshold decision cereal in each distribution of tanker mouth
The loading condition of position.
Further include:
Terminal display module is detected, for instructing real-time display in grain-transporting vehicle driver's cabin cereal state and corresponding operating
In the display equipment for detecting terminal.
The colorful number camera is one or more, if colorful number camera is multiple, each colorful number phase
Machine is handled and is detected on the DSP video processing board of the same multi input interface.
The invention has the advantages and beneficial effects that:
1. the present invention detects grain-transporting vehicle cereal loading condition using visual pattern processing and identification technology, relative to
Other detection methods are greatly improved on realizing speed, while guaranteeing real-time detection, can also guarantee higher essence
Degree.
2. the present invention uses most intuitive visible detection method, disturbing factor is less, relative to using ultrasonic wave or laser
Equal sensor, methods, can guarantee the identification robustness and stability of the detection of tanker cereal, and the sensor of digital camera
Costco Wholesale is lower.
3. apparatus of the present invention use the simple camera fixing support of structure, and camera pitch angle and vertical may be implemented
The adjusting of position guarantees the versatility of device this makes it possible to enable camera to observe complete tanker cereal loading condition, can
To be installed and used on the tanker of different useful loads.Installation of the bracket on tanker can be set according to specific tanker external structure
Count different fixation position and mode, convenient for loading and unloading and maintenance.
4. the present invention, which has, facilitates installation, maintenance, easy to implement, detection speed is fast, and stability is strong, and precision is higher excellent
Point.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is one embodiment principle schematic diagram of detection device of the invention；
Fig. 3 is the composition schematic diagram using the grain-transporting vehicle cereal loading condition detection device of single camera；
Fig. 4 is the structural schematic diagram of camera support in the present invention；
Fig. 5 is the schematic diagram at tanker edge and cereal region in present invention acquisition image；
Fig. 6 is the grain-transporting vehicle cereal loading condition detection device block diagram of view-based access control model image of the invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
The present invention is directed to the existing measurement method efficiency based on sensors such as machinery, ultrasonic wave, 3 D laser scanning, pressure
Lower, the deficiencies of stability is poor, higher cost, provide a kind of grain-transporting vehicle cereal loading condition detection method of view-based access control model image
And device, the real-time detection to cereal loading condition in tanker is realized using vision technique.Cereal distribution generally comprises:
" being underfilled with ", " will fill " and " being already filled with " three states.
As shown in Figure 1, the grain-transporting vehicle cereal loading condition detection method of view-based access control model image of the invention, including walk as follows
It is rapid:
Step 11, Image Acquisition is carried out to grain-transporting vehicle by colorful number camera, the plane for obtaining tanker mouth and cereal is color
Chromatic graph picture；
Step 12, using the planar coloured image of the filter process such as smooth, edge, straight-line detection, the complete of tanker mouth is obtained
Whole edge contour；
Step 13, using image processing methods such as color space conversion and Threshold segmentations, cereal is obtained on tanker in image
In region；
Step 14, the salient point for representing cereal edges of regions is obtained using two-dimentional algorithm of convex hull, and calculates separately these salient points
To the distance of four edge lines of tanker mouth；
Step 15, each in tanker mouth by preset threshold decision cereal according to these distances of real-time measurement
" being underfilled with " of distributing position, " will fill " and " being already filled with " three loading conditions realize that harvester is unloaded to grain-transporting vehicle
The detection of cereal loading condition when grain.
The above method of the invention carries out image to grain-transporting vehicle by the colorful number camera with low distortion wide-angle lens
Acquisition obtains the planar coloured image of tanker mouth and cereal；Tanker mouth edge line and cereal area are extracted from the color image
Domain, and determine the salient point in the cereal region, to measure these salient points to the distance of edge line to judge cereal in tanker mouth
The state of each distributing position is not required to the entire outer surface pattern of cereal inside measurement tanker.Thus make calculating work very big
Ground simplifies, so as to flexibly rapidly detect to tanker cereal loading condition.
Method shown in above-mentioned Fig. 1 in specific implementation, can also be first in grain-transporting vehicle to cereal loading condition detection device
It is arranged and installs, including colorful number camera, wide-angle lens, detection terminal (including installing the dsp board card of software and showing
Display screen) etc.；
The embodiment of the grain-transporting vehicle cereal loading condition detection method of view-based access control model image of the invention is specifically described below.
As shown in Figure 2 and Figure 3: colorful number camera 31 and wide-angle lens 32 pass through fixed bracket 33 and are mounted on grain-transporting vehicle grain
The narrow side side of case 34, and Image Acquisition is carried out to the detected cereal 35 in tanker 34, the image collected passes through video
Data line 36 is transferred to detection terminal 37 (including DSP video acquisition and processing board and display screen 38), wherein DSP video
Acquisition and processing board are used to acquire the color image that colorful number camera 31 observes obtained tanker 34 and cereal 35, Ke Yi
The color image is temporarily stored in the storage medium of dsp board card, and is analyzed and processed using acquired image data, and
It carries out detection and judges operation, finally will test as the result is shown on display screen 38；
Specifically, detection device is arranged and is installed in the driver's cabin of grain-transporting vehicle and tanker, colorful number camera 31
(see Fig. 3) it can be seen that be detected tanker 34 edge contour and Qi Nei cereal 35 color (yellow) region, then be used into
The detection of row cereal loading condition.The wide-angle lens 32 (see Fig. 3) of low distortion can guarantee that colorful number camera 31 can obtain
The image of big field range, i.e. piece image include the lesser tanker edge contour that completely distorts.Fixed bracket 33 (see Fig. 3)
The adjusting that camera pitch angle and upright position may be implemented, this makes it possible to so that camera is observed complete tanker cereal dress
Load state guarantees the versatility of device, can install and use on the tanker of different useful loads.Detect terminal 37 (see Fig. 3) peace
In the driver's cabin of grain-transporting vehicle, the loading of cereal in tanker is monitored in real time by display screen 38 (see Fig. 3) convenient for affected personnel
State status, and adjusted according to the relative position dynamic that condition prompting carries out harvester and grain-transporting vehicle.The machinery of fixed bracket 33
Structure passes through spiral shell as shown in figure 4, camera 41 is fixed on the part 42 with U type slot by threaded hole below first
Bolt 43 is fixed together with the convex pedestal 44 with threaded hole, and such threaded hole realizes the movement tune of camera pitch angle
Section, U type slot realize the motor adjustment of camera upright position, integrally pacify camera and above-mentioned part finally by support frame 45
Mounted in tanker side, structure that support frame 45 is moved back using vertical support face, it is therefore an objective to camera overlook view tanker be avoided to generate
It blocks.Installation of the fixed bracket 33 on tanker can design different fixation position and side according to specific tanker external structure
Formula, convenient for loading and unloading and maintenance.
In the color region of the edge wheel profile and cereal that extract tanker, by machine vision method, smooth, side is utilized
The filter process color image such as edge, straight-line detection, obtain tanker mouth complete edge profile, then by conllinear edge fitting be one
Straight line, extraction obtain the edge wheel profile 51 of tanker mouth as shown in Figure 5, and it is empty to carry out color to acquired color image
Between transformation and Threshold segmentation processing, cereal region 52 as shown in Figure 5 is extracted from color picture background.
The salient point for representing cereal edges of regions is obtained using two-dimentional algorithm of convex hull, and calculates separately these salient points to tanker mouth
The distance of four edge lines.It is each in tanker mouth by preset threshold decision cereal according to the distance of real-time measurement
The state of distributing position: (1) when distance is greater than preset threshold value (as shown in 53 situations in Fig. 5), then in this institute
Cereal loading condition in distributed areas is " being underfilled with "；(2) when distance is less than preset threshold value and is greater than zero (as schemed
In 5 shown in 54 situations), then the cereal loading condition for distributed areas where selecting at this is " will fill "；When distance is equal to zero
When (as shown in 55 situations in Fig. 5), then the cereal loading condition for distributed areas where selecting at this is " being already filled with ".
To sum up, mainly there are three key contents for detection method of the invention.Firstly, since being the wide-angle lens using low distortion
Head chooses suitable colorful number camera and directly determines the correctness of image information of detected tanker cereal of acquisition and complete
Face property.Secondly, analysis is handled as needed after obtaining sufficient image data, chooses optimal algorithm and then improve the essence of detection
Degree, speed and stability.Finally, using the fixation bracket of adjustable camera pitch angle and upright position, so as in different dresses
It is used on the tanker of carrying capacity, the versatility of ensuring method and device.
According to another aspect of the present invention, as shown in fig. 6, the embodiment of the present invention also provides a kind of view-based access control model image
Grain-transporting vehicle cereal loading condition detection device 6, comprising:
Image capture module 61 obtains tanker mouth and cereal for carrying out Image Acquisition to grain-transporting vehicle by digital camera
Planar coloured image；
Limb recognition module 62, for obtaining by planar coloured images of filter process such as smooth, edge, straight-line detections
Obtain the complete edge profile of tanker mouth；
Region identification module 63, for obtaining tanker by image processing methods such as color space conversion and Threshold segmentations
The region of upper cereal in the picture；
Cereal state measuring block 64, the detection for realizing harvester to cereal loading condition when grain-transporting vehicle unloading.
Terminal display module 65 is detected, for instructing real-time display in grain-transporting vehicle driver's cabin cereal state and corresponding operating
In the display equipment of interior detection terminal.
Preferably, above system further include:
The fixation bracket of fine-tuning camera pitch angle and upright position.
The cereal loading condition measurement module includes:
Range measurement submodule is obtained the salient point for representing cereal edges of regions using two-dimentional algorithm of convex hull, and calculated separately
These salient points to four edge lines of tanker mouth distance, by preset threshold decision cereal in each distribution of tanker mouth
The loading condition of position.
The grain-transporting vehicle cereal loading condition detection device of view-based access control model image provided by the invention, mainly by with low abnormal
The colorful number camera for becoming wide-angle lens carries out Image Acquisition to grain-transporting vehicle, utilizes the digital signal processor in detection terminal
(DSP) the real-time processing for carrying out image obtains tanker mouth edge line and cereal region, and determines the salient point in the cereal region,
To measure these salient points to the distance of edge line to judge that cereal in the state of each distributing position of tanker mouth, is not required to measure
The entire outer surface pattern of cereal inside tanker.Simplify calculating work greatly, so as to flexibly rapidly right
Tanker cereal loading condition is detected.
The device has several big advantages such as quick, high-precision, stabilization, all automatic measurement.It can be examined in real time using the device
The cereal loading condition of grain-transporting vehicle is surveyed, to realize the dynamic adjustment of the relative position of harvester and grain-transporting vehicle, avoids foodstuff grain
It is scattering into except grain-transporting vehicle tanker, guarantees that cereal uniformly loads in tanker.Use the detection method of visual pattern technology can be with
Substitute traditional mechanical and pressure type detection method, and in speed, stability, cost will better than using ultrasonic wave and
The detection method of three-dimensional laser.
Finally, it should be understood that all implementations in the above method also can suitable for the Installation practice
Reach identical technical effect, details are not described herein.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of grain-transporting vehicle cereal loading condition detection method of view-based access control model image characterized by comprising
Real time image collection is carried out to grain-transporting vehicle by colorful number camera, obtains the planar coloured image of tanker mouth and cereal；
Planar coloured image is handled, the complete edge profile of tanker mouth is obtained；
By color space conversion and Threshold segmentation, the region of cereal in the picture on tanker is obtained；
The salient point for representing cereal edges of regions is obtained using two-dimentional algorithm of convex hull, and calculates separately these salient points to four, tanker mouth
The distance of edge line；
According to these distances of real-time measurement, by preset threshold decision cereal each distributing position of tanker mouth dress
Load state realizes detection of the harvester to cereal loading condition when grain-transporting vehicle unloading.
2. detection method according to claim 1, it is characterised in that: the processing to planar coloured image is in digital signal
It is carried out in processor.
3. detection method according to claim 1, it is characterised in that: it is described that planar coloured image is handled, obtain grain
The complete edge profile of case mouth, comprising the following steps:
Utilize the smooth collected planar coloured image of Gaussian filter；
Planar coloured image is converted into gray level image；
Using edge detection method, each pixel of image is calculated in the sum of the absolute value of gradient of row, column both direction；
Interference region is removed using thresholding method, obtains tanker mouth fringe region；
Fringe region burr is removed using expansion, erosion algorithm；
Using Gauss line detection algorithm, the straightway at tanker mouth edge is obtained, and is one straight by conllinear straight line fitting
Line；
Obtain four complete edge contour lines of tanker mouth.
4. detection method according to claim 1, it is characterised in that: it is described by color space conversion and Threshold segmentation, it obtains
Obtain the region of cereal in the picture on tanker, comprising the following steps:
The tanker mouth edge of acquisition is surrounded into region as area-of-interest, and extracts Three Channel Color image respectively, obtains three
A single channel gray level image for respectively representing red green, blue；
The color region of cereal is obtained in representing red gray level image using thresholding method；
By color image from RGB color space conversion be hue, saturation, intensity color space；
It is handled in saturation degree and tone images in succession using thresholding method, obtains the color region of cereal；
Cereal region at the two of above-mentioned acquisition is carried out friendship is asked to calculate, obtains final cereal region.
5. a kind of grain-transporting vehicle cereal loading condition detection device of view-based access control model image characterized by comprising
Image capture module obtains tanker mouth and cereal for carrying out Image Acquisition to grain-transporting vehicle by colorful number camera
Planar coloured image；
Limb recognition module, for obtaining tanker mouth by smooth, the planar coloured image of edge, line detection method processing
Complete edge profile；
Region identification module, for by color space conversion and threshold segmentation method, obtaining cereal on tanker in the picture
Region；
Cereal state measuring block, the detection for realizing harvester to cereal loading condition when grain-transporting vehicle unloading；The cereal
Loading condition measurement module includes: range measurement submodule, represents the convex of cereal edges of regions using the acquisition of two-dimentional algorithm of convex hull
Point, and these salient points are calculated separately to the distance of four edge lines of tanker mouth, existed by preset threshold decision cereal
The loading condition of each distributing position of tanker mouth.
6. detection device as described in claim 5, which is characterized in that the colorful number camera is the wide-angle with low distortion
The camera of camera lens obtains the planar coloured image of complete tanker mouth and cereal from depression angle.
7. detection device as described in claim 5, which is characterized in that further include:
Terminal display module is detected, for detecting cereal state and corresponding operating instruction real-time display in grain-transporting vehicle driver's cabin
In the display equipment of terminal.
8. detection device as described in claim 5, which is characterized in that the colorful number camera is one or more, if
Colorful number camera be it is multiple, then each colorful number camera the same multi input interface DSP video processing board it is enterprising
Row processing and detection.
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| 《基于二维凸包的TSP 算法》;刘宏兵等;《计算机工程与设计》;20091231;正文第1954-1957页 * |
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