KR101594737B1 - Autonomous combines visual image evaluation devices - Google Patents

Autonomous combines visual image evaluation devices Download PDF

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Publication number
KR101594737B1
KR101594737B1 KR1020150128393A KR20150128393A KR101594737B1 KR 101594737 B1 KR101594737 B1 KR 101594737B1 KR 1020150128393 A KR1020150128393 A KR 1020150128393A KR 20150128393 A KR20150128393 A KR 20150128393A KR 101594737 B1 KR101594737 B1 KR 101594737B1
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KR
South Korea
Prior art keywords
inclination angle
base
inclination
driving
base frame
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Application number
KR1020150128393A
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Korean (ko)
Inventor
박수곤
김완수
김연수
이바울
이대현
김용주
Original Assignee
충남대학교산학협력단
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
    • G01M11/30—Testing of optical devices, constituted by fibre optics or optical waveguides
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/02—Self-propelled combines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G12—INSTRUMENT DETAILS
    • G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G12B5/00—Adjusting position or attitude, e.g. level, of instruments or other apparatus, or of parts thereof; Compensating for the effects of tilting or acceleration, e.g. for optical apparatus
    • H04N5/23296—

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Optics & Photonics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Harvester Elements (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention relates to a visual image evaluation device of an automatic driving combine, capable of correcting an image in a same condition as an actual vehicle test by providing an image correction simulation device which enables inducement of an inclination angle, to correct the image in accordance with various inclination conditions. The visual image evaluation device of the automatic driving combine comprises: a base frame wherein an inclination angle control device is installed; an inclination angle adjusting unit adjusting the inclination angle in accordance with the control of the inclination angle control device, and embedded in the base frame; and a driving base changing an imaging angle of a camera mounted on an upper part by being engaged with the inclination angle control unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002]

The present invention relates to an autonomous combine, and more particularly, to an image correction simulation apparatus capable of inducing an inclination angle for image correction according to various inclination conditions, so that image correction can be performed under the same condition as an actual vehicle test And more particularly, to a video visual evaluation device for an autonomous navigation combine.

Agricultural machinery is gradually becoming larger, more automated and more systematic. Farmers' demand for efficient system operation technology to realize precision agriculture is increasing rapidly. However, due to the decrease of rural population, labor shortage phenomenon and 3D avoidance phenomenon are increasing have.

Therefore, the automation and unmannedization of agricultural machinery are required. Recently, due to the development of basic technologies such as computer, sensor, and artificial intelligence technique, much research has been conducted on the automation or unmannedization of agricultural machinery.

Agricultural machinery has a lot of work in packaging, so autonomous driving of agricultural vehicles is a necessary skill for unmanned agricultural machinery.

The autonomous navigation combine incorporating the autonomous navigation technology of the agricultural vehicle recognizes the present position of the combine in the package, autonomously travels along a predetermined route by detecting the traveling direction of the traveling combine, It was developed so that you can stop.

In particular, the autonomous navigation combine uses an image processing device to detect obstacles or to detect the planting state of crops (for example, rice) or to acquire images of the packaging and to search the work path of the combine. Such an image processing apparatus includes a CCD camera and a frame grabber which is an image acquisition board. Here, the image processing apparatus corrects the image captured by the camera, and uses an image correction algorithm according to various inclination conditions. In order to develop an image correction algorithm according to various inclination conditions, a device capable of performing image correction according to a tilted angle is required. It is most accurate to mount the actual image processing device on the combine and perform image correction through actual vehicle testing, but this method suffers a lot of difficulties.

On the other hand, conventional techniques for controlling the posture of the image processing apparatus and the tray are disclosed in Patent Documents 1 to 3 below.

The prior art disclosed in Patent Document 1 is characterized in that a first block which is coupled to either one of a ceiling surface of a housing into which a beam projector is led and a top surface of the beam projector, a first block which is a ceiling surface of a housing into which the beam projector is led, A first block hinged to the first block and rotatable in a forward and backward direction and hinged to the second block, a second block coupled to the first block, Left and right rotating means for changing the angle and front and rear rotating means for changing the angle of engagement between the second block and the rotating plate.

Patent Document 1 configured in this way can remotely control the horizontal posture and the vertical posture of the beam projector and prevent the phenomenon that the beam projector is excessively rotated to one side without a separate limit switch, And so on.

The prior art disclosed in Patent Document 2 includes a base plate; A support plate installed on both sides of the base plate, in which the rotation axis is inserted; A tray receiving member; A tray cylinder installed on the support plate and rotating the rotation shaft to change the posture of the tray storage member; A first cam member provided on the tray accommodating member and configured of a double inverting feed mechanism for feeding the tray (T) to the tray accommodating member; A guide member moved along the first cam member; A second cam member; A cam feed mechanism installed on the guide member for moving the second cam member; A hook for hooking or releasing the tray; And a guide member transfer mechanism installed on the auxiliary base plate for transferring the guide member.

Patent Document 2 configured as described above is reversed in a narrow space, and the tray can be accurately and stably transferred to the tray receiving member.

The prior art disclosed in Patent Document 3 includes a guide rail; A pedestal movably installed on the guide rail; Driving means for providing rotational force; And cam means for converting the rotational force of the driving means into a linear reciprocating motion of the pedestal.

Patent Document 3 configured in this way provides an acceleration evaluation device for evaluating the stability of an electronic product against acceleration shock.

Korean Registered Patent No. 10-0884410 (registered on Feb. 11, 2009) Korean Patent Laid-Open No. 10-2011-0076118 (Published on July 6, 2011) Korean Patent Publication No. 10-2013-0058222 (published on March 4, 2013)

However, in the conventional art as described above, it is possible to control the posture of the pedestal to control the posture of the article placed on the pedestal. However, in developing the pedestal posture control apparatus for the image correction algorithm for the image processing of the autonomous navigation combine It is difficult to apply it.

For example, although the conventional arts can control the posture in a horizontal state, it is difficult to control the posture while moving in various inclination angles, and it is difficult to apply to an apparatus that operates while operating various inclination angles such as an autonomous traveling combine .

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and an object of the present invention is to provide an image correction simulation apparatus according to a tilted angle for image correction according to various tilting conditions, Which is capable of performing image correction in an autonomous navigation combine.

It is another object of the present invention to provide a video time evaluation apparatus of an autonomous navigation combine capable of acquiring an image corresponding to various inclination conditions through a camera without using an actual vehicle.

According to an aspect of the present invention, there is provided an apparatus for evaluating an image of an autonomous navigation combine, comprising: a base frame having an inclination angle control device therein; An inclination angle adjusting means incorporated in the base frame for adjusting the inclination angle under the control of the inclination angle control device; And a driving base for converting an angle of the camera mounted on the upper portion in cooperation with the inclination angle adjusting means.

The inclination angle adjusting unit includes first to fourth inclination angle adjusting units for inclining the driving base in upward, downward, leftward and rightward directions.

The first to fourth inclination angle adjusting units may be controlled by the inclination angle control unit, respectively. And a cam connected to an axis of the step motor and guiding the inclination of the drive base through rotation.

The driving base is characterized in that a projection is provided at an edge.

The base frame is provided with a release preventing portion for preventing the driving base from being separated from the base frame by seating the projection.

According to the present invention, there is provided an image correction simulation apparatus capable of inducing an inclination angle for image correction according to various inclination conditions, thereby providing an image for obtaining an image corresponding to an inclination angle of the same condition as an actual vehicle test.

In addition, according to the present invention, it is possible to acquire an image corresponding to various inclination conditions through a camera without using an actual autonomous navigation combine.

1 is a schematic perspective view of an apparatus for evaluating the visual appearance of an autonomous navigation combine according to a preferred embodiment of the present invention,
Fig. 2 is a structural view of the inclination angle adjusting means of Fig. 1,
FIGS. 3A to 3F are diagrams showing examples in which the angle of inclination of the camera is changed by guiding the inclination angle to the drive base in the inclination angle adjusting means. FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus for evaluating an image of an autonomous navigation combine according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view of an apparatus for evaluating the visual appearance of an autonomous navigation combine according to a preferred embodiment of the present invention.

For the same role as the body of the autonomous traveling combine, a base frame 10 is provided. It is preferable that the inclination angle control device 11, which is a controller for controlling the inclination angle, is incorporated at a predetermined position inside the base frame 10.

More preferably, the tilt angle control device 11 is provided with a user interface device. When the user generates an operation signal for tilt angle operation using an external input device, the tilt angle control device 11 . Here, the tilt angle control device 11 preferably uses a control device such as a microprocessor, a microcomputer, a controller, and a central processing unit.

Inside the base frame 10, inclination angle adjusting means for adjusting the inclination angle under the control of the inclination angle control device 11 is provided. The inclination angle adjusting means is preferably installed inside a predetermined position of the base frame 100. The inclination angle adjusting means includes first to third inclination adjusting means for inclining the driving base 30 which is raised on the upper side, And fourth inclination angle adjusting portions 21 to 24, respectively.

For the sake of convenience, it is assumed that the first and second inclination angle adjusting portions 21 and 22 are provided opposite to each other to guide the upward and downward inclination angles to the driving base 30. The third and fourth inclination angle adjusting portions 23, (24) are provided so as to face each other to guide the left and right inclination angles to the drive base (30).

The first to fourth inclination angle adjusting portions 21 to 24 include step motors 21a, 22a, 23a, and 24a that are driven under the control of the inclination angle control device 11; (21b, 22b, 23b, 24b) connected to the axis of the step motor and guiding the inclination of the drive base through rotation, and the cams (21b - 24b) And directs the inclination of the drive base through direct contact with the drive base.

A drive base 30 is mounted on the upper portion of the base frame 10 to induce inclination of the mounted camera 40 to acquire an image in which an inclination occurs. Here, the camera 40 is installed on the upper part of the support frame 50, and the lower end of the support frame 50 is fixedly coupled to the base frame 10. It is preferable that the photographing angle of the camera 40 is fixed at 30 ° to 45 °.

In order to prevent the drive base 30 from deviating from the base frame 10 when the drive base 30 mounted on the upper portion of the base frame 10 is inclined, (31 to 34). And separation preventing portions 12 to 15 for preventing the driving base 30 from being detached from the base frame 10 by seating the projections 31 to 34 on the respective corner portions of the base frame 10 .
3A to 3F, the 'V' -shaped seating groove 121 in which the projection is seated is formed so as to prevent the deviation of the driving base while ensuring a change in the angle of the driving base, (When any one of the four cams rotates) or a height adjustment (when all four cams rotate at the same angle) through the lifting and lowering in the seating groove 121 It is possible to prevent deviation from the base frame and the inclination angle adjusting means.

The video visual evaluation device of the autonomous navigation combine according to the present invention constructed as above will now be described in detail with reference to the accompanying drawings.

First, in order to develop an image correction algorithm according to various inclination conditions to be applied to an actual autonomous navigation combine, it is necessary to acquire an image according to an inclination angle. There are various constraints such as cost, time, and complexity in the image acquisition according to the inclination angle in the autonomous navigation combine.

Therefore, in order to solve such a problem and realize the same environment as the autonomous traveling combine in a short time at a minimum cost and to carry out the same simulation as the actual vehicle test, in the present invention, the base frame 10 ). It is preferable that the base frame 10 supports the upper drive base 30 in a rectangular shape so that the camera 40 mounted on the support base 50 can be weighted to some extent to operate stably.

In order to acquire an image according to the tilt angle, a user connects an external input device to an input port of an inclination angle control device 11 built in a predetermined position of the base frame 10, .

The tilting angle control signal inputted through the input device is transmitted to the tilt angle control device 11 and the tilt angle control device 11 controls the tilt angle control means according to the input tilt angle control signal to implement the tilt angle of the driving base 30 do.

For example, the tilt angle control device 11 selectively controls the first to fourth tilt angle adjusting portions 21 to 24 to implement the tilt angle to realize an inclination angle of about 0 to 10 degrees, such as an obstacle or an uneven surface. The third inclination angle adjuster 23 is controlled to realize an inclination angle assuming that the actual camera 40 is lifted up due to an obstacle or unevenness. In response to this control, the stepping motor 23a of the third inclination angle adjusting portion 23 operates to rotate the cam 23b connected to the axis of the stepping motor 23a. When the cam 23b rotates in accordance with the rotation of the step motor 23a, the front portion of the drive base 30 is lifted as shown in FIG. 3A, and as a result, the camera 40 is heard by an obstacle, It becomes a state of losing. Here, the inclination angle can be precisely controlled by controlling the rotation amount of the step motor 23a. At this time, the step motor 24a of the fourth inclination angle adjusting part 24 opposed to the third inclination angle adjusting part 23 is not driven.

When an image is obtained by photographing through the camera 40 after implementing the inclination angle such as an obstacle or unevenness, the same image as that in the case where the actual autonomous traveling combine travels in the wrapping due to an obstacle or unevenness is acquired can do. That is, it is possible to implement the same through the simulation apparatus in the same way that the photographing angle of the camera changes when an actual vehicle meets an obstacle, irregularity, or the like while driving the vehicle without using the actual vehicle.

3B is an initial camera position that does not implement the inclination angle. FIG. 3C illustrates a tilt angle in contrast to FIG. 3A. For example, in the state shown in FIG. 3B, only the step motor 24a of the fourth inclination angle adjusting section 24 is operated, and the cam 24b interlocked with the cam 24b is rotated to lift the drive base 30 to implement the inclination angle.

3C is a side view in the initial state as shown in FIG. 3B. FIG. 3F is a side view of the simulation apparatus when the inclination angle is implemented as shown in FIG. 3A. FIG. 3D is a side view of the simulation apparatus, to be.

Further, the present invention can selectively move the driving base 40 up and down by selectively controlling the first inclination angle adjusting portion 21 and the second inclination angle adjusting portion 22. [ The first inclination angle adjusting portion 21 and the second inclination angle adjusting portion 22 are also provided with step motors 21a and 22a and cams 21b and 22b interlocking therewith, The driving base 30 is moved up and down through the same operation as the fourth tilt angle adjusting portion 24. [

In order to adjust the tilt angle, the step motor control amount according to the tilt angle is previously set in the internal memory of the tilt angle control device 11, and the step motor control amount is controlled correspondingly in response to the request of the tilt angle of the user so that the actual self- It is desirable to realize the same inclination as when the incline occurs.

 Thus, an image correction algorithm may be developed in which a variety of tilt angles are implemented corresponding to the user's operation, an image is acquired through the camera at the tilt angle, and the image is corrected by applying an image correction algorithm. Thus, it is possible to obtain the same effect as correcting the acquired image by acquiring the image while driving directly in the actual autonomous navigation combine without any restriction on cost or time.

Although the present invention has been described in detail with reference to the above embodiments, it is needless to say that the present invention is not limited to the above-described embodiments, and various modifications may be made without departing from the spirit of the present invention.

The present invention is applied to an image acquisition technique according to an inclination angle and an inclination angle necessary for developing an image correction algorithm for use in an agricultural machine such as an autonomous navigation combine.

10: Base frame
11: inclination angle control device
12 to 15:
21 to 24: First to fourth inclination angle adjusting sections
30: drive base
31 to 34:
40: camera
50: Support

Claims (5)

An apparatus for video visual evaluation of an autonomous navigation combine,
A base frame 10 provided with an inclination angle control device 11 therein;
An inclination angle adjusting means (20) incorporated in the base frame for adjusting the inclination angle under the control of the inclination angle control device; And
A driving base (30) formed on the inclination angle adjusting means and changing an angle in cooperation with the inclination angle adjusting means;
And a camera (40) attached to a support base (50) formed at a vertical side of the drive base, so that an angle of view of the camera is changed according to a change in angle of the drive base,
The inclination angle adjusting means 20 includes step motors 21a to 24a for driving the drive base in accordance with the control of the inclination angle control device so as to incline the drive base in the upward, And first to fourth inclination angle adjusting portions (21 to 24) having cams (21b to 24b) that directly contact the driving base through rotation to guide the inclination of the driving base,
The base frame is provided with a separation preventing portion 12 for seating the projections 31 to 34 formed on the edges of the driving base to prevent the driving base from being separated from the base frame,
V-shaped seating groove 121 on which the projection is seated is formed so as to prevent deviation while ensuring a change in the angle of the driving base, and the projection prevents the escape groove from rising and falling within the seating groove 121 Wherein an angle change or a height adjustment of the drive base portion is adjustable through the adjustment of the angle of the drive base portion. delete delete delete delete
KR1020150128393A 2015-09-10 2015-09-10 Autonomous combines visual image evaluation devices KR101594737B1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102133940B1 (en) 2020-02-20 2020-07-16 충남대학교산학협력단 Apparatus for discharging grain and lifting control of grain tank
KR20220121294A (en) 2021-02-24 2022-09-01 충남대학교산학협력단 System for discharging grain and lifting control of grain tank and operating method of the same

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004306249A (en) * 2003-03-26 2004-11-04 Sony Corp Diagnostic instrument of stereo camera carried on robot and diagnostic method of stereo camera carried on robot device
KR100884410B1 (en) 2007-08-21 2009-02-23 (주)엔티전기 Atittude controll apparatus of beam-projector
KR20090116998A (en) * 2008-05-08 2009-11-12 (주)씨프로 The structure and devices for dome camera angle adjustment without opening the dome case
KR101019494B1 (en) * 2008-12-31 2011-03-07 유인규 The tilt apparatus of the golf hittng place
KR20110076118A (en) 2009-12-29 2011-07-06 에버테크노 주식회사 Tray posture changing apparatus
KR20130058222A (en) 2011-11-25 2013-06-04 삼성전기주식회사 Acceleration evaluation device
KR20140105279A (en) * 2013-02-22 2014-09-01 한국전자통신연구원 Performance evaluation system and method for face recognition function of intelligent robot using led monitor

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004306249A (en) * 2003-03-26 2004-11-04 Sony Corp Diagnostic instrument of stereo camera carried on robot and diagnostic method of stereo camera carried on robot device
KR100884410B1 (en) 2007-08-21 2009-02-23 (주)엔티전기 Atittude controll apparatus of beam-projector
KR20090116998A (en) * 2008-05-08 2009-11-12 (주)씨프로 The structure and devices for dome camera angle adjustment without opening the dome case
KR101019494B1 (en) * 2008-12-31 2011-03-07 유인규 The tilt apparatus of the golf hittng place
KR20110076118A (en) 2009-12-29 2011-07-06 에버테크노 주식회사 Tray posture changing apparatus
KR20130058222A (en) 2011-11-25 2013-06-04 삼성전기주식회사 Acceleration evaluation device
KR20140105279A (en) * 2013-02-22 2014-09-01 한국전자통신연구원 Performance evaluation system and method for face recognition function of intelligent robot using led monitor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102133940B1 (en) 2020-02-20 2020-07-16 충남대학교산학협력단 Apparatus for discharging grain and lifting control of grain tank
KR20220121294A (en) 2021-02-24 2022-09-01 충남대학교산학협력단 System for discharging grain and lifting control of grain tank and operating method of the same

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