WO2020140490A1 - 带有云台摄像装置的收割机 - Google Patents

带有云台摄像装置的收割机 Download PDF

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Publication number
WO2020140490A1
WO2020140490A1 PCT/CN2019/107533 CN2019107533W WO2020140490A1 WO 2020140490 A1 WO2020140490 A1 WO 2020140490A1 CN 2019107533 W CN2019107533 W CN 2019107533W WO 2020140490 A1 WO2020140490 A1 WO 2020140490A1
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WO
WIPO (PCT)
Prior art keywords
harvester
camera
pan
tilt
host
Prior art date
Application number
PCT/CN2019/107533
Other languages
English (en)
French (fr)
Inventor
吴迪
沈永泉
王波
张虓
王清泉
童超
陈睿
范顺
Original Assignee
丰疆智能科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910007559.XA external-priority patent/CN109716917A/zh
Priority claimed from CN201920017223.7U external-priority patent/CN210130123U/zh
Application filed by 丰疆智能科技股份有限公司 filed Critical 丰疆智能科技股份有限公司
Publication of WO2020140490A1 publication Critical patent/WO2020140490A1/zh

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Classifications

    • 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
    • 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
    • A01D41/04—Tractor-driven combines
    • 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
    • A01D41/12—Details of combines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • the invention relates to an agricultural machinery equipment, in particular to a harvester with a gimbal camera device.
  • the harvester is a crop harvesting machine that harvests grains and straw of crops such as rice and wheat.
  • the harvester also includes a lawn mower, a mechanical device for harvesting other crops.
  • the grain harvester is an integrated machine for harvesting crops. It can complete the harvesting, threshing, and concentrate the grains in the storage bin at one time, and then transport the grains to the transport vehicle through the conveyor belt.
  • the prior art harvester especially the harvester with intelligent control function, obtains images of crops and farmland areas in the farmland by way of camera photography, so as to adjust the parameters of the harvesting operation according to the captured image information.
  • the camera device is provided in the harvester body; or the high-precision positioning method, such as high-precision RTK satellite positioning, is used to accurately obtain the positioning information of the harvester, and then through the first
  • the three-party camera device takes pictures to obtain image information around the harvester.
  • This prior art harvester has at least one of the following defects: First, when the harvester is in operation, the vibration of the vehicle itself and the unevenness of the farmland and land will cause the harvester body to sway up and down, resulting in the installation in the The camera device of the harvester body cannot capture images at stable positions. Therefore, the images acquired through the camera device are often blurred, and cannot provide information support for intelligent operations and automatic driving.
  • the prior art camera device is fixedly installed on the harvester body, and can only obtain images in a single direction, such as the image in front of the harvester, but cannot adjust the shooting direction of the camera device according to the situation And location.
  • the prior art mobile camera equipment or fixed camera equipment such as a drone camera device or a camera device fixed in a farmland
  • the images around the harvester are captured and transmitted to the harvester body for The harvester body reads the image captured by the camera device.
  • the prior art harvester needs to use high-precision satellite positioning to obtain the position information of the harvester, and then adjust the driving route of the harvester based on the position information, which has high performance requirements for the harvester.
  • the required manufacturing and maintenance costs are relatively high. Therefore, this prior art camera device is not suitable for the current automatic driving mode of agricultural machinery and equipment.
  • a main advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the harvester obtains image information of the farmland where the harvester is located through the pan-tilt camera device.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the pan-tilt camera device is disposed on a harvester body of the harvester, wherein the harvester passes through the pan-tilt camera device Take an image around the harvester body.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the pan-tilt camera device is an anti-shake pan-tilt camera device, wherein the pan-tilt camera device is stable when the harvester body is running Taking an image improves the shooting quality of the image.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the pan-tilt camera device is provided on the harvester body, wherein the pan-tilt camera device is based on the field of view of the harvester body At least one visual image or visual image is taken, so as to identify the information around the harvester body according to the captured image information.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the pan-tilt camera device is arranged in front of the harvester body, and the harvester is photographed by the pan-tilt camera device The direction of the image, in order to identify the farmland information in front of the harvester body, and provide technical support for automatic driving.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the pan-tilt camera device is disposed on the top of the harvester body, so as to take a wider range of visual images.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the pan-tilt camera device is a mechanical pan-tilt camera, wherein the mechanical pan-tilt camera is disposed on top of the harvester main machine, The mechanical pan/tilt camera directly acquires the stable image around the harvester main body.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the pan-tilt camera device can be adjusted to take images at different angles and different directions based on the position of the main machine of the harvester to facilitate acquisition Images from different directions of the harvester host.
  • Another advantage of the present invention is to provide a harvester with a gimbal camera device, wherein the gimbal camera device can be rotated up and down and/or left and right, and is photographed by the change of the shooting angle of the gimbal camera device Images of different visual directions of the host of the harvester.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the pan-tilt camera device is an electronic pan-tilt camera, wherein the pan-tilt camera device is installed on the harvester host, the cloud
  • the image captured by the camera device is processed by an image processing system to obtain a stable and clear image.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the image or video captured by the pan-tilt camera device is recognized by the image processing system to identify the working area and boundary of the farmland in the image area.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the image processing system recognizes and plans the work area, the unused area in the image based on the images or images captured by the pan-tilt camera device Information such as work area and field boundary area.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the harvester main unit recognizes the planned area information based on the image processing system to plan a driving path to facilitate unmanned automatic driving.
  • Another advantage of the present invention is to provide a harvester with a gimbal camera device, wherein the image processing system recognizes the type, height, and fullness of crops in the image based on the image taken by the gimbal camera device And other information.
  • Another advantage of the present invention is to provide a harvester with a pan-tilt camera device, wherein the harvester host recognizes the crop information based on the image processing system and adjusts operating parameters to facilitate unmanned driving operations.
  • a harvester with a pan-tilt camera device capable of achieving the foregoing objects and other objects and advantages includes:
  • At least one pan-tilt camera device wherein the pan-tilt camera device is disposed on the harvester host, and the pan-tilt camera device captures images around the harvester host for the harvester host to be based on the cloud Adjust the operating parameters of the image captured by the camera.
  • the gimbal camera device is a mechanical anti-shake gimbal device
  • the gimbal camera device includes a gimbal and at least one camera, wherein the gimbal mounts the camera to the In the main machine of the harvester, the camera is installed on the gimbal, and the camera is supported by the gimbal to maintain balance.
  • the pan-tilt head is installed to the harvester host, and the pan-tilt head movably supports the camera, wherein the camera shoots based on the mounting position of the pan-tilt head to obtain An image within the field of view of the harvester host.
  • the pan/tilt head further includes a pan/tilt head fixing piece and at least one pan/tilt head moving piece, wherein the pan/tilt head fixing piece is fixedly mounted to the harvester main body, and the moving moving piece
  • the camera is movably connected to the pan-tilt mount, the camera is mounted to the pan-tilt movement unit, and the relative position of the camera is maintained by the relative movement of the pan-tilt mount and the pan-tilt mount stable.
  • the camera includes a camera body and at least one camera driving device, wherein the camera body is drivably connected to the camera driving device, and the camera body is driven by the camera driving device To take images in the field of view in different directions.
  • the camera driving device drives the camera body to rotate up and down, so that the camera host takes images of farmland far and near from the harvester host.
  • the camera driving device drives the camera body to rotate left and right, so that the camera host takes images of farmland in different areas on both sides of the harvester host.
  • the pan-tilt camera device is disposed in front of the harvester host, on top of the harvester host, on the left or right side of the harvester host, or the harvester The rear of the main unit.
  • the pan-tilt camera device is an electronic pan-tilt device, wherein the pan-tilt camera device prevents the camera shake of the pan-tilt camera device by controlling the angle of view and zoom of the lens.
  • the pan-tilt camera device includes a camera installation mechanism and at least one camera, wherein the camera installation mechanism fixedly installs the camera to the harvester host.
  • the harvester further includes an image processing system, wherein the image processing system is provided to the harvester host, and the image processing system receives the image captured by the pan-tilt camera device, And identify the farmland information or crop information in the image.
  • the image processing system uses image segmentation and recognition technology to identify the area information of the farmland in the image captured by the gimbal camera device, and the information of the crops for the harvest
  • the host computer controls the operating parameters based on the identified information.
  • the harvester further includes a positioning device and a navigation system, wherein the positioning device and the navigation system are provided on the harvester host, and the positioning device acquires the harvester Location information of the host, wherein the navigation system provides navigation information based on the location information.
  • the harvester host includes a vehicle body, at least one operating system provided on the vehicle body, and a driving control system, the vehicle body drives the operation system to operate, wherein the The driving control system controls the operation of the vehicle body and the operating parameters of the operating system.
  • the driving control system acquires the information of the image captured by the pan-tilt camera device recognized by the image processing system, and automatically controls the driving route of the vehicle body and controls the operating system. Operating parameters to achieve unmanned automatic driving and harvesting operations.
  • the operating system includes a harvesting device, wherein the driving control system controls the width of the harvesting device, the harvesting height, and harvesting based on the crop image captured by the gimbal camera device speed.
  • the operating system includes a threshing device, wherein the driving control system controls the rotation speed and blowing wind speed of the threshing device based on the crop image captured by the gimbal camera device.
  • FIG. 1 is a schematic diagram of the overall structure of a harvester with a pan-tilt camera device according to the first preferred embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an image captured by the pan-tilt camera device of the harvester according to the above preferred embodiment of the present invention.
  • FIG 3 is a schematic structural view of the pan-tilt camera device of the harvester according to the above preferred embodiment of the present invention, wherein the pan-tilt camera device is implemented as a mechanical pan-tilt device.
  • Fig. 4 is a schematic diagram of the installation position of the pan-tilt camera device of the harvester according to the above preferred embodiment of the present invention.
  • 5A is a schematic diagram of an image processing system of the harvester according to the above preferred embodiment of the present invention identifying a farmland area in an image captured by the pan-tilt camera device.
  • FIG. 5B is a schematic diagram of an image processing system of the harvester according to the above preferred embodiment of the present invention identifying crops in an image captured by the pan-tilt camera device.
  • FIG. 6 is a schematic diagram of another alternative implementation of the pan-tilt camera device of the harvester according to the above-described preferred embodiment of the present invention, wherein the pan-tilt camera device is implemented as an electronic pan-tilt device.
  • the term “a” should be understood as “at least one” or “one or more”, that is, in one embodiment, the number of an element can be one, and in other embodiments, the The number can be more than one, and the term “one” cannot be understood as a limitation on the number.
  • the harvester includes a harvester host 10 and at least one pan-tilt camera device 20, wherein the pan-tilt camera device 20 is disposed on the harvester host 10, and the pan-tilt camera device 20 photographs the harvester host 10 Images or video images of farmland where the harvester host 10 controls the driving direction and/or operating parameters based on the images or video information captured by the gimbal camera device 20.
  • the gimbal camera device 20 photographs the information of the farmland around the farmland where the harvester host 10 is located based on the position of the harvester host 10. It can be understood that the gimbal camera device 20 captures an image within the field of view, such as an image in the field of vision of the driver, so as to adjust the operating parameters of the harvester host 10 according to the captured image, such as adjusting the driving route , Driving speed, operating parameters, etc.
  • the pan-tilt camera device 20 is carried to the harvester host 10, and the image and image information captured by the pan-tilt camera device 20 is transmitted to the harvester host 10 for The harvester host 10 adjusts operating parameters based on the information.
  • the pan-tilt camera device 20 is mounted on the harvester main body 10, wherein the pan-tilt camera device 20 shoots a clear image when the harvester main body 10 shakes.
  • the gimbal camera device 20 is an anti-shake camera device, which can avoid mechanical vibration of the harvester main body 10 itself and shaking caused by unevenness of the world during shooting.
  • the harvester host 10 controls the driving path and operation parameters under the operation of an operator or automatically to realize the operation of the harvester. In other words, the harvester host 10 adjusts the operation and operation parameters based on the image information captured by the pan-tilt camera device 20, so as to achieve precise operation and/or unmanned automatic driving operation.
  • the pan-tilt camera device 20 is a mechanical pan-tilt device, wherein the pan-tilt camera device 20 is mounted on the harvester main body 10 through a mechanical connection, and the The gimbal camera device 20 realizes the anti-shake captured image through a mechanical anti-shake method.
  • the type of the pan-tilt camera device 20 is merely exemplary, not limiting. Therefore, other types of structures and installation methods can also be applied here.
  • the pan-tilt camera device 20 includes a pan-tilt 21 and at least one camera 22, wherein the pan-tilt 21 installs the camera 22 to the harvester host 10, and the pan-tilt 21 fixes the installation position of the camera 22.
  • the bottom end of the pan-tilt head 21 is loaded onto the harvester main body 10, and the pan-tilt head 21 is fixed by the harvester main body 10, wherein the upper end of the pan-tilt head 21 is set to be connected to the camera 22.
  • the camera 22 is supported by the gimbal 21 to maintain relative balance, so as to stably capture images or videos.
  • the camera 22 shoots images or videos around the harvester host 10 under the support of the pan/tilt head 21, wherein the camera 22 shoots the harvester host 10 based on the installation position of the pan/tilt head 21 The image within the field of view.
  • the camera 22 of the pan-tilt camera device 20 obtains at least one visual image by taking pictures based on the position of the harvester host 10.
  • the camera 22 of the pan-tilt camera device 20 acquires the image based on the field of view of the harvester host 10, thereby avoiding the image caused by the position change of the camera device 20 and the harvester host 10 changing The problem of inaccurate data.
  • the image acquired by the harvester of the present invention is image data information corresponding to crop grains in farmland, wherein the image is an image of the periphery of the vehicle acquired based on the current position of the vehicle.
  • the harvester does not need satellite positioning information with too high accuracy, and only needs satellite positioning with ordinary meter accuracy (GPS positioning or Beidou positioning, etc.).
  • the image acquired and processed by the harvester is different from the self-driving car, therefore, the path planning and driving manner formed by the harvester are also different.
  • the harvester of the present invention recognizes the area of the farmland based on vision and the automatic driving function is different from the recognition mode of the automatic driving car.
  • the gimbal 21 of the gimbal camera device 20 further includes a gimbal fixing piece 211 and at least one gimbal moving piece 212, wherein the gimbal moving piece 212 is movably connected to the gimbal fixing piece 211.
  • the pan-tilt fixing piece 211 is fixedly installed on the harvester main body 10, wherein the camera 22 is mounted to the pan-tilt moving piece 212.
  • the pan-tilt moving part 212 of the pan-tilt 21 movably supports the camera 22, so that the camera 22 maintains a stable relative position when the harvester main body 10 shakes, so that a clear image is set.
  • the pan-tilt fixing member 21 of the pan-tilt 21 and the harvester host 10 Simultaneous ground shaking, wherein the pan-tilt moving member 212 of the pan-tilt 21 moves relative to the pan-tilt fixing member 211, neutralizing the vibration generated by the pan-tilt fixing member 211, thereby maintaining the position of the camera 22 Stability.
  • the pan/tilt moving member 212 shakes or vibrates in the up-down direction, left-right direction, and front-to-back direction of the motion fixing member 211 to keep the camera 22 at a stable photographing position, thereby capturing a stable image information.
  • the camera 22 of the pan-tilt camera device 20 is provided to the pan-tilt moving part 212 of the pan-tilt 21, wherein the camera 22 is fixedly or movably mounted to the The pan-tilt moving part 212 of the pan-tilt 21.
  • the camera 22 is movably disposed on the moving member 212, wherein the camera 22 can rotate based on the upper end of the pan/tilt moving member 212 to capture images in different directions of the field of view.
  • the camera 22 is fixedly mounted to the upper end of the pan-tilt moving member 212, wherein the camera 22 takes an image within a specified field of view under the fixed support of the pan-tilt 21, such as a shooting place
  • a specified field of view under the fixed support of the pan-tilt 21, such as a shooting place
  • the image in the field of view in front of the main body 10 of the harvester will be described.
  • the camera 22 includes a camera body 221 and at least one camera driving device 222, wherein the camera driving device 222 drives the movement of the camera body 221 to capture images with different directions of view.
  • the camera body 221 is movably disposed on the pan/tilt moving part 212, wherein the camera body 221 can be rotated in the up-down direction under the driving action of the camera driving device 222 to photograph the harvester main body 10 Images of farmland and crops at distant and nearby locations. It can be understood that when the camera body 221 is driven to rotate downward by the camera driving device 222, the camera body 221 captures an image of the harvester main body 10 in order to clearly identify the crop information in the image . When the camera body 221 is driven by the camera driving device 222 to rotate upward, the camera body 221 captures an image of the harvester main body 10 in order to identify the working area and field of the farmland through the image Border area.
  • the camera driving device 222 drives the camera body 221 to rotate in the left-right direction, so that the camera body 221 can capture left and right images of the harvester main body 10 in order to identify the unworked area 100 of the farmland and Worked area 200, and field border area 300.
  • FIG. 4 of the accompanying drawings of the specification of the present invention several optional installation methods and installation positions of the gimbal camera device 20 installed on the harvester host 10 are shown.
  • the pan-tilt camera device 20 of the harvester is provided at the front side position, upper top end, left side, right side of the harvester main body 10, and Wait at the rear. It can be understood that different installation positions of the gimbal camera device 20 result in different captured images and different information recognized from the images.
  • the gimbal camera device 20 provided on the front side of the harvester main unit 10 takes an image in front of the harvester main unit 10, and when the harvester travels forward, the harvester
  • the pan-tilt camera device 20 on the front side of the main machine 10 captures the working condition of the harvester main machine 10 so as to adjust the traveling path, working parameters, etc. of the harvester main machine 10 according to the photographed working conditions.
  • the pan-tilt camera device 20 provided on the rear side of the harvester host 10 captures an image behind the harvester host 10, and the pan-tilt camera device 20 captures the image when the harvester travels forward.
  • the image of the processed area 200 Identify whether the harvesting operation of the harvester host 10 is qualified by identifying the image of the operated area 200 taken by the pan-tilt camera device 20 on the rear side of the harvester host 10, so as to adjust the harvester Operating parameters of the host 10. It can be understood that, through the image captured by the pan-tilt camera device 20 provided on the rear side of the harvester host 10, the harvester host 10 recognizes whether the crops in the operated area 200 are completely harvested and whether crop particles are left behind Wait. The harvester main body 10 is adjusted the operation parameters according to the information identified in the image, thereby improving the harvesting operation. It is worth mentioning that, when driving in reverse, the image captured by the gimbal camera device 20 provides the driver with a reverse image.
  • the pan-tilt camera device 20 provided at the top end of the harvester main body 10 takes a long-distance image of the harvester main body 10 so as to recognize the work area of the farmland, the field boundary area, etc. based on the image.
  • the pan-tilt camera device 20 provided at the top end of the harvester main body 10 is a rotatable pan-tilt camera.
  • the pan-tilt camera device 20 provided on the left or right side of the harvester main machine 10 takes an image on the left or right side of the harvester main machine 10. Based on the image on the left or right side of the harvester host 10, the crops in the farmland in the image are identified so as to identify the unoperated area 100, the operated area 200, and the field boundary area 300.
  • the harvester further includes an image processing system 30, a positioning device 40, and a navigation system 50, wherein the image processing system 30, the positioning device 40, and the navigation The system 50 is installed in the harvester host 10.
  • the positioning device 40 acquires the position information of the harvester host 10 and transmits the acquired position information to the harvester host 10.
  • the navigation system 50 provides navigation information to the harvester host 10 based on the positioning information of the positioning device 40.
  • the image processing system 30 recognizes the unoperated area 100, the operated area 200, and the field boundary area 300 from the image based on the image of the farmland acquired by the pan-tilt camera device 20 .
  • the image processing system 30 recognizes the unworked area 100, the worked area 200, and the field boundary area 300 from an image using image segmentation recognition technology. It can be understood that the image processing system 30 may also identify the area and boundary information in the image in other ways. Therefore, in the first preferred embodiment of the present invention, the manner in which the image processing system 30 recognizes the image is merely exemplary, not limiting.
  • the image processing system 30 recognizes the area of the farmland in the image, the boundary of the field, and the recognition based on the image around the harvester host 10 taken by the pan-tilt camera device 20.
  • Information such as the type of crops in the farmland, the height of the crops, the fullness of the grains, the size of the stems, etc.
  • the image processing system 30 is selected from any of the segmentation recognition methods based on the threshold-based segmentation method, the region-based segmentation method, the edge-based segmentation method, and the specific theory-based segmentation method.
  • the image acquired by the camera device 20 is divided and recognized to recognize the area and the boundary in the image.
  • the image processing system 30 utilizes a deep learning algorithm to recognize the image segmentation and perform area division and boundary definition on the image.
  • the image processing system 30 uses a deep learning algorithm to identify the area and boundary of the corresponding farmland in the image for the harvester host 10 to travel and perform operations based on the identified area and boundary.
  • the deep learning algorithm used by the image processing system 30 is a convolutional neural network algorithm image segmentation recognition technology to identify the unoperated area 100, the operated area 200, and the Described field boundary area 300.
  • the processing algorithm utilized by the image processing system 30 is merely exemplary, not limiting. Therefore, the image processing system 30 may also use other algorithms to perform segmentation recognition on the acquired image to identify the area and boundary of the farmland in the image.
  • the image processing system 30 is an image processor provided in the harvester host 10, wherein the image processor receives the images or images captured by the PTZ camera device 20, and recognizes Describe the information in the image or video. According to the information recognized by the image processing system 30, the harvester host 10 correspondingly operates the parameters for controlling the driving path and adjusting the work.
  • the harvester main body 10 further includes a vehicle body 11, an operating system 12 disposed on the vehicle body 11, and a driving control system 13, wherein the operating system 12 is driven Connected to the vehicle body 11, the vehicle body 11 drives the working system 12 to work, and drives the working system 12 to harvest crops.
  • the driving control system 13 controls the running of the vehicle body 11 and controls the operation of the working system 12. It is worth mentioning that the driving control system 13 has an unmanned driving mode and an operating driving mode. When the harvester is in the unmanned driving mode, the driving control system 13 controls the vehicle body 11 to automatically operate and the operation of the operation system 12. Accordingly, when the harvester is in the operation driving mode, the driving control system allows the driver to manually operate the vehicle body 11 and control the operation of the operation system by manual operation.
  • the driving control system 13 controls the driving of the vehicle body 11 and controls the harvesting operation of the working system 12. In other words, the driving control system 13 controls the adjustment of the operating parameters of the operating system 12 while the vehicle body 11 is traveling.
  • the driving control system 13 acquires the information of the image processing system 30 to identify the type of crops, the height of the crops, the degree of grain fullness, the diameter of the crop stalks, etc. in the image, and adjusts the operation based on the acquired information
  • the operating parameters of the system 12 are, for example, adjusting the operating speed of the operating system 12, the width of the operation, the height of the operation, and adjusting the parameters of the threshing process.
  • the operating system 12 further includes at least one harvesting device 121, at least one conveying device 122, and at least one threshing device 123, wherein the conveying device 122 is configured to receive the crops harvested by the harvesting device 121, and the The crop is transported to the threshing device 123 for the threshing device 123 to thresh the crop.
  • the harvesting device 121, the conveying device 122, and the threshing device 123 of the working system are respectively drivingly connected to the vehicle body 11, and the working body 12 is driven by the vehicle body 11
  • the harvesting device 121, the conveying device 122, and the threshing device 123 operate and work.
  • the driving control system 13 controls the width, height, and speed of the harvesting device 121 according to the image information recognized by the image processing system 30. It can be understood that when the density of crops in the farmland is large, the information of the crops in the farmland captured by the gimbal camera device 20 is recognized by the image processing system 30, wherein the driving control system 13 is based on the image
  • the image information recognized by the processing system 30 controls any operating parameters such as reducing the harvesting width of the harvesting device 121, increasing the harvesting height, and reducing the harvesting speed.
  • the driving control system 13 controls the conveying speed, conveying power, etc. of the conveying device 122 according to the image information recognized by the image processing system 30. It can be understood that when the stalks of the crops in the farmland are thick, the height of the crops is high, and the density is high, the information of the crops in the farmland captured by the gimbal camera device 20 is recognized by the image processing system 30.
  • the driving control system 13 controls the operation parameters such as increasing the conveying speed of the conveying device 122 and increasing the conveying power according to the image information recognized by the image processing system 30.
  • the driving control system 13 controls the threshing parameters of the threshing device 123 according to the image information recognized by the image processing system 30. It can be understood that when the grains of the crops in the farmland are full, the size of the grains, the moisture content, the degree of dryness and wetness, the types of crop fruits, etc. It can be understood that the image processing system 30 recognizes the crop information of the crops in the farmland, wherein the driving control system 13 adjusts the threshing device according to the image information recognized by the image processing system 30 Threshing parameters, such as blowing power, threshing bin rotation speed and other parameters.
  • pan-tilt camera device 20A of the harvester controls the angle of view and zoom of the lens inside the camera, thereby preventing the camera from taking pictures.
  • the pan-tilt camera device 20A includes a camera mounting mechanism 21A and at least one camera 22A, wherein the camera mounting mechanism 21A loads the camera 22A to the harvester host 10.
  • the bottom end of the camera mounting mechanism 21A is loaded to the harvester main body 10, and the camera mounting mechanism 21A is fixed by the harvester main body 10, wherein the upper end of the camera mounting mechanism 21A is set to be connected to the Camera 22A.
  • the camera 22A is supported by the camera mounting mechanism 21A to maintain relative balance so as to stably capture images or videos.
  • the camera 22A shoots images or videos around the harvester main body 10 under the support of the camera mounting mechanism 21A, wherein the camera 22A shoots the harvester based on the mounting position of the camera mounting mechanism 21A An image within the visual field of the host 10.
  • the camera 22A of the pan-tilt camera device 20A acquires at least one visual image by taking pictures based on the position of the harvester host 10.
  • the camera 22A of the pan/tilt camera device 20A acquires the image based on the field of view of the harvester host 10, thereby avoiding the image caused by the change in the position of the camera device 20A and the harvester host 10 The problem of inaccurate data.

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Abstract

一种带有云台摄像装置的收割机，其中所述收割机包括一收割机主机（10），至少一云台摄像装置（20），以及一图像处理系统（30）。所述云台摄像装置（20）被设置于所述收割机主机（10），所述云台摄像装置（20）拍摄所述收割机主机（10）周围的图像，以供所述收割机主机（10）基于所述云台摄像装置（20）拍摄的图像调整运行参数，其中所述图像处理系统（30）被设置于所述收割机主机（10），所述图像处理系统（30）接收所述云台摄像装置（20）拍摄的图像，和识别出所述图像中农田的信息或农作物的信息。

Description

带有云台摄像装置的收割机 技术领域
本发明涉及一农业机械设备，尤其涉及一带有云台摄像装置的收割机。
背景技术
收割机是收获稻、麦等农作物作物子粒和秸秆的作物收获机械，此外收割机还包括割草机，收割其他农作物的机械设备。谷物收割机是一体化收割农作物的机械，能够一次性地完成收割、脱粒，并将谷粒集中到储藏仓，然后再通过传送带将粮食输送到运输车。
收割机在执行收割作业时需要时刻观察农田中农作物和农田作业区域的情况，以便根据农作物的高度、成熟情况、颗粒饱满度等情况，调整所述收割机的作业参数。现有技术的收割机，特别是具有智能操控功能的收割机通过摄像拍照的方式获取农田中农作物和农田区域的图像，以便根据拍摄到的图像信息调整收割作业的参数。
现有技术的收割机是通过在所述收割机的本体设置摄像头装置的方式；或通过高精确定位的方式，比如高精度RTK的卫星定位的方式精确地获取收割机的定位信息，然后通过第三方摄像装置拍照的方式获取收割机周围的图像信息。这种现有技术的收割机存在以下下述至少一缺陷：首先，收割机在作业时，由于车机本身的震动和农田土地的不平会产生所述收割机本体的上下晃动，从而导致设置于所述收割机本体的摄像头装置无法拍摄到稳定位置的图像。因此，通过所述摄像装置获取的图像往往是模糊不清的，无法为智能作业和自动驾驶提供信息支持。其次，现有技术的摄像装置通过固定安装的方式设置于所述收割机本体，仅仅能够获取单一方向的图像，比如所述收割机前方的图像，而不能根据情况调整所述摄像装置的拍摄方向和位置。再次，现有技术的移动摄像设备或固定摄像设备，比如无人机的摄像装置或固定在农田中的摄像装置，拍摄所述收割机周围的图像后传输至所述收割机本体，以供所述收割机本体读取所述摄像装置拍摄的图像。虽然在一定程度上解决了图像拍摄不清楚的问题，但是，基于摄像装置本身或基于无人机的位置拍摄的图像，不能从所述收割机自身的视角获取图像。因此，获取的图像不能很好的识别。
此外，现有技术的收割机需要采用高精度卫星定位的方式获取所述收割机的位置信息，然后基于位置信息调整所述收割机的行驶路线，对于所述收割机的性能要求较高，所需要的制造成本和维护成本相对来说都很高昂。因此，这种现有技术的摄像装置不适用于当前的农业机械设备的自动驾驶模式中。
发明内容
本发明的一个主要优势在于提供一带有云台摄像装置的收割机，其中所述收割机通过所述云台摄像装置获取所述收割机所在农田的图像信息。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述云台摄像装置被设置于所述收割机的一收割机主体，其中所述收割机通过所述云台摄像装置拍摄所述收割机主体周围的图像。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述云台摄像装置为防抖云台摄像装置，其中所述云台摄像装置在所述收割机主体行驶时稳定地拍摄图像，提升了所述图像的拍摄质量。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述云台摄像装置被设置于所述收割机主体，其中所述云台摄像装置基于所述收割机主体的视野位置拍摄至少一视觉图像或视觉影像，以便于根据拍摄的影像信息识别所述收割机主体周围的信息。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述云台摄像装置被设置于所述收割机主体的前方，藉由所述云台摄像装置拍摄所述收割机行驶方向的图像，以便识别出所述收割机主体前方的农田信息，为自动驾驶提供技术支持。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述云台摄像装置被设置于所述收割机主体的顶部，以便于拍摄出更大范围的视觉图像。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述云台摄像装置为一机械云台相机，其中所述机械云台相机被设置于所述收割机主机的顶部，藉由所述机械云台相机直接获取所述收割机主机周围的稳定图像。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述云台摄像装置可基于所述收割机主机的位置，被调整地拍摄不同角度和不同方向的图像，以便于获取所述收割机主机不同方向的图像。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述云台摄像装置可被上下地转动和/或左右地转动，通过所述云台摄像装置自身拍摄角度的变化拍摄所述收割机主机不同视觉方向的图像。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述云台摄像装置为电子云台相机，其中所述云台摄像装置被设置于所述收割机主机，所述云台摄像装置拍摄的图像经由一图像处理系统处理得到稳定清晰的图像。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述云台摄像装置拍摄的图像或影像被所述图像处理系统识别，以识别所述图像中农田的作业区域和田边界区域。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述图像处理系统基于所述云台摄像装置拍摄的图像或影像，识别规划出所述图像中的以作业区域、未作业区域、以及田边界区域等信息。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述收割机主机基于所述图像处理系统识别规划出的区域信息规划出行驶路径，以便于实现无人自动驾驶。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述图像处理系统基于所述云台摄像装置拍摄的图像，识别出所述图像中农作物的种类、高度、颗粒饱满度等信息。
本发明的另一个优势在于提供一带有云台摄像装置的收割机，其中所述收割机主机基于所述图像处理系统识别出所述农作物的信息，调整作业参数，以便于实现无人驾驶作业。
本发明的其它优势和特点通过下述的详细说明得以充分体现并可通过所附权利要求中特地指出的手段和装置的组合得以实现。
依本发明的一个方面，能够实现前述目的和其他目的和优势的本发明的一带有云台摄像装置的收割机，其包括：
一收割机主机；和
至少一云台摄像装置，其中所述云台摄像装置被设置于所述收割机主机，所述云台摄像装置拍摄所述收割机主机周围的图像，以供所述收割机主机基于所述云台摄像装置拍摄的图像调整运行参数。
根据本发明的一个实施例，所述云台摄像装置为机械防抖云台装置，所述云 台摄像装置包括一云台和至少一摄像机，其中所述云台将所述摄像机安装至所述收割机主机，所述摄像机被设置于所述云台，藉由所述云台支撑所述摄像机保持平衡。
根据本发明的一个实施例，所述云台被安装至所述收割机主机，并且所述云台可活动地支撑所述摄像机，其中所述摄像机基于所述云台的安装位置拍摄，以获取所述收割机主机视野范围内的图像。
根据本发明的一个实施例，所述云台进一步包括一云台固定件和至少一云台移动件，其中所述云台固定件被固定地安装至所述收割机主机，所述运动移动件可移动地连接至所述云台固定件，所述摄像机被安装至所述云台一动间，通过所述云台移动件和所述云台固定件的相对移动，保持所述摄像机相对位置的稳定。
根据本发明的一个实施例，所述摄像机包括一摄像机主体和至少一摄像机驱动装置，其中所述摄像机主体被可驱动地连接于所述摄像机驱动装置，所述摄像机主体被所述摄像机驱动装置驱动，以拍摄不同方向视野内的图像。
根据本发明的一个实施例，所述摄像机驱动装置驱动所述摄像机主体上下地转动，以便所述摄像机主机拍摄距离所述收割机主机远处和近处的农田的图像。
根据本发明的一个实施例，所述摄像机驱动装置驱动所述摄像机主体左右地转动，以便所述摄像机主机拍摄所述收割机主机两侧不同区域的农田的图像。
根据本发明的一个实施例，所述云台摄像装置被设置于所述收割机主机的前部、所述收割机主机的顶部、所述收割机主机的左侧、右侧、或所述收割机主机的后部。
根据本发明的一个实施例，所述云台摄像装置为电子云台装置，其中所述云台摄像装置通过控制镜头的视角和变焦，从而防止所述云台摄像装置镜头拍照抖动。
根据本发明的一个实施例，所述云台摄像装置包括一相机安装机构和至少一摄像机，其中所述相机安装机构将所述摄像机固定地安装至所述收割机主机。
根据本发明的一个实施例，所述收割机进一步包括一图像处理系统，其中所述图像处理系统被设置于所述收割机主机，所述图像处理系统接收所述云台摄像装置拍摄的图像，和识别出所述图像中农田的信息或农作物的信息。
根据本发明的一个实施例，所述图像处理系统利用图像分割识别技术识别出所述云台摄像装置拍摄的所述图像中农田的区域信息，识别出所述农作物的信息， 以供所述收割机主机根据识别出的信息控制运行参数。
根据本发明的一个实施例，所述收割机进一步包括一定位装置和一导航系统，其中所述定位装置和所述导航系统被设置于所述收割机主机，所述定位装置获取所述收割机主机的位置信息，其中所述导航系统基于所述位置信息提供导航信息。
根据本发明的一个实施例，所述收割机主机包括一车辆主体，设置于所述车辆主体的至少一作业系统，以及一驾驶控制系统，所述车辆主体驱动所述作业系统运行，其中所述驾驶控制系统控制所述车辆主体的运行和控制所述作业系统的作业参数。
根据本发明的一个实施例，所述驾驶控制系统获取所述图像处理系统识别的所述云台摄像装置拍摄的图像的信息，自动地控制所述车辆主体的行驶路线和控制所述作业系统的作业参数，以实现无人自动驾驶和收割作业。
根据本发明的一个实施例，所述作业系统包括一收割装置，其中所述驾驶控制系统基于所述云台摄像装置拍摄的所述农作物图像，控制所述收割装置宽幅、收割高度、以及收割速度。
根据本发明的一个实施例，所述作业系统包括一脱粒装置，其中所述驾驶控制系统基于所述云台摄像装置拍摄的所述农作物图像，控制所述脱粒装置的转速和吹风风速。
通过对随后的描述和附图的理解，本发明进一步的目的和优势将得以充分体现。
本发明的这些和其它目的、特点和优势，通过下述的详细说明，附图和权利要求得以充分体现。
附图说明
图1是根据本发明的第一较佳实施例的一带有云台摄像装置的收割机的整体结构的示意图。
图2是根据本发明的上述较佳实施例的所述收割机的所述云台摄像装置拍摄图像的示意图。
图3是根据本发明的上述较佳实施例的所述收割机的所述云台摄像装置的结构示意图，其中所述云台摄像装置被实施为一机械云台装置。
图4是根据本发明的上述较佳实施例的所述收割机的所述云台摄像装置被安 装位置的示意图。
图5A是根据本发明的上述较佳实施例的所述收割机的一图像处理系统识别所述云台摄像装置拍摄图像中农田区域的示意图。
图5B是根据本发明的上述较佳实施例的所述收割机的一图像处理系统识别所述云台摄像装置拍摄图像中农作物的示意图。
图6是根据本发明的上述较佳实施例的所述收割机的所述云台摄像装置的另一可选实施方式的示意图，其中所述云台摄像装置被实施为一电子云台装置。
具体实施方式
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例，本领域技术人员可以想到其他显而易见的变型。在以下描述中界定的本发明的基本原理可以应用于其他实施方案、变形方案、改进方案、等同方案以及没有背离本发明的精神和范围的其他技术方案。
本领域技术人员应理解的是，在本发明的揭露中，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系，其仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此上述术语不能理解为对本发明的限制。
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。
参照本发明说明书附图之图1至图5B所示，依照本发明第一较佳实施例的一带有云台摄像装置的收割机在接下来的描述中被阐明。所述收割机包括一收割机主机10和至少一云台摄像装置20，其中所述云台摄像装置20被设置于所述收割机主机10，所述云台摄像装置20拍摄所述收割机主机10所在农田的图像或视频影像，以供所述收割机主机10基于所述云台摄像装置20拍摄的图像或影像信息控制行驶方向和/或作业参数。所述云台摄像装置20基于所述收割机主机10的位置拍摄所述收割机主机10所在农田位置周围的农田的信息。可以理解的是，所述云台摄像装置20捕获视野范围内的图像，比如驾驶人员视野中的图像， 以便根据拍摄到的所述图像调整所述收割机主机10的运行参数，比如调整行驶路线，行驶速度、作业参数等。
值得一提的是，所述云台摄像装置20被搭载至所述收割机主机10，其中所述云台摄像装置20捕获到的图像和影像信息被传输至所述收割机主机10，以供所述收割机主机10基于所述信息调整运行参数。所述云台摄像装置20被搭载至所述收割机主机10，其中所述云台摄像装置20在收割机主机10产生抖动时拍摄出清晰影像。换言之，所述云台摄像装置20为防抖摄像装置，能够在拍摄时避免所述收割机主机10自身的机械振动和由于天地不平造成的抖动。所述收割机主机10基于所述云台摄像装置20拍摄的图像信息，在操作人员的操作下或者由自动地控制行驶路径和作业参数，以实现所述收割机的运行作业。换言之，所述收割机主机10基于所述云台摄像装置20拍摄的图像信息调整运行和作业参数，以实现精准地作业/或无人自动驾驶作业。
在本发明的第一较佳实施例中，所述云台摄像装置20为机械云台装置，其中所述云台摄像装置20通过机械连接的方式被搭载至所述收割机主机10，并且所述云台摄像装置20通过机械防抖的方式实现防抖拍摄图像。可以理解的是，所述云台摄像装置20的类型在此仅仅作为示例性的，而非限制。因此，其他类型的结构和安装方式也可应用于此。
如图1至图3所示，所述云台摄像装置20包括一云台21和至少一摄像机22，其中所述云台21安装所述摄像机22至所述收割机主机10，所述云台21固定所述摄像机22的安装位置。所述云台21的底端被装载至所述收割机主机10，藉由所述收割机主机10固定所述云台21，其中所述云台21的上端被设置连接于所述摄像机22。所述摄像机22被所述云台21支撑而保持相对的平衡，以便稳定地拍摄图像或影像。所述摄像机22在所述云台21的支撑作用下拍摄所述收割机主机10周围的图像或影像，其中所述摄像机22基于所述云台21的安装位置为基准拍摄所述收割机主机10视野范围内的图像。可以理解的是，所述云台摄像装置20的所述摄像机22基于所述收割机主机10的位置，通过拍照的方式获取至少一视觉图像。换言之，所述云台摄像装置20的所述摄像机22是基于所述收割机主机10的视野范围内获取所述图像，从而避免摄像装置20的位置与收割机主机10位置变化，而导致的图像数据不准的问题。
值得一提的是，自动驾驶汽车，在自动驾驶模式下为识别获取车辆行走的路 线，需要获取精确的车辆定位信息，通常需要高精度的卫星定位信息，并且所述自动驾驶汽车需时刻更新道路中存在的障碍物信息、路面车辆信息、以及路面行人等信息，以在高速运行状态下实现自动驾驶功能。本发明的所述收割机获取的图像是对应于农田中的农作物谷物的图像数据信息，其中所述图像是基于车辆当前位置获取的所述车辆周边的图像。所述收割机不需要太高精度的卫星定位信息，只需要普通米级精度的卫星定位(GPS定位或者北斗定位等)。相应地，所述收割机所获取和处理的图像与自动驾驶汽车不同，因此，所述收割机所形成的路径规划和驾驶方式也不相同。可以理解的是，本发明的收割机基于视觉的识别所述农田的区域和自动驾驶功能与自动驾驶汽车的识别模式不同。
所述云台摄像装置20的所述云台21进一步包括一云台固定件211和至少一云台移动件212，其中所述云台移动件212被可活动地连接至所述云台固定件211。所述云台固定件211被固定地设置于所述收割机主机10，其中所述摄像机22被安装至所述云台移动件212。所述云台21的所述云台移动件212活动地支撑所述摄像机22，以使所述摄像机22在所述收割机主机10抖动时保持相对位置的稳定，从而拍设置清晰的图像。
换言之，当所述收割机主机10在震动或抖动时，比如在农田中进行收割作业时产生的机械震动或抖动，所述云台21的所述云台固定件21与所述收割机主机10同步地震动，其中所述云台21的所述云台移动件212相对于所述云台固定件211运动，中和所述云台固定件211产生的震动，从而保持所述摄像机22的位置的稳定。详细地说，所述云台移动件212中和所述运动固定件211上下方向、左右方向、以及前后方向的抖动或震动，以保持所述摄像机22拍照位置的稳定，进而拍摄出稳定的图像信息。
如图3所示，所述云台摄像装置20的所述摄像机22被设置于所述云台21的所述云台移动件212，其中所述摄像机22被固定地或可运动地安装至所述云台21的所述云台移动件212。优选地，所述摄像机22被可运动地设置于所述运动移动件212，其中所述摄像机22可基于所述云台移动件212的上端转动，以拍摄不同视野方向的图像。可选地，所述摄像机22被固定地安装至所述云台移动件212的上端，其中所述摄像机22在所述云台21的固定支撑作用下拍摄指定视野范围内的图像，比如拍摄所述收割机主机10前方视野内的图像。
所述摄像机22包括一摄像机主体221和至少一摄像机驱动装置222，其中所 述摄像机驱动装置222驱动所述摄像机主体221的移动，以拍摄不同方向视野的图像。所述摄像机主体221被可活动地设置于所述云台移动件212，其中所述摄像机主体221在所述摄像机驱动装置222的驱动作用下可在上下方向转动，以拍摄所述收割机主机10远方和附近位置处的农田和农作物的图像。可以理解的是，所述摄像机主体221被所述摄像机驱动装置222驱动向下转动时，所述摄像机主体221拍摄所述收割机主机10近处的图像，以便清晰识别所述图像中农作物的信息。当所述摄像机主体221被所述摄像机驱动装置222驱动而向上转动时，所述摄像机主体221拍摄所述收割机主机10远处的图像，以便通过所述图像识别出所述农田的作业区域和田边界区域。
所述摄像机驱动装置222驱动所述摄像机主体221在左右方向转动，以供所述摄像机主体221拍摄所述收割机主机10的左侧和右侧图像，以便识别所述农田的未作业区域100和已作业区域200，以及田边界区域300。
依照本发明说明书附图之图4所示，示出了所述云台摄像装置20被安装于所述收割机主机10的几个可选的安装方式和安装位置。在本发明的第一较佳实施例中，所述收割机的所述云台摄像装置20被设置于所述收割机主机10的前侧位置处、上部顶端处、左侧、右侧、以及后部位置处等。可以理解的是，所述云台摄像装置20的安装位置不同，所拍摄的图像不同，从所述图像中识别出的信息也不相同。可以理解的是，被设置于所述收割机主机10前侧的所述云台摄像装置20拍摄所述收割机主机10前方的图像，在所述收割机向前行驶作业时，所述收割机主机10前侧的所述云台摄像装置20拍摄到所述收割机主机10的作业情况，以便根据拍摄的作业情况调整所述收割机主机10的行驶路径，作业参数等。
被设置于所述收割机主机10后侧的所述云台摄像装置20拍摄所述收割机主机10后方的图像，在所述收割机向前行驶作业时，所述云台摄像装置20拍摄的所述已作业区域200的图像。通过识别所述收割机主机10后侧的所述云台摄像装置20拍摄的所述已作业区域200的图像，识别出所述收割机主机10的收割作业是否合格，以便于调整所述收割机主机10的作业参数。可以理解的是，通过设置于所述收割机主机10后侧的所述云台摄像装置20拍摄的图像，所述收割机主机10识别出已作业区域200的农作物是否收割完全，是否遗留农作物颗粒等。所述收割机主机10被根据所述图像中识别出的信息调整作业参数，进而改善收 割作业。值得一提的是，在倒车行驶时，所述云台摄像装置20拍摄的图像为驾驶人员提供倒车影像。
被设置于所述收割机主机10上部顶端的所述云台摄像装置20拍摄所述收割机主机10远距离的图像，以便基于所述图像识别出农田的作业区域，田边界区域等。优选地，设置于所述收割机主机10上部顶端的所述云台摄像装置20为可转动的云台摄像机。
相应地，被设置于所述收割机主机10左侧或右侧的所述云台摄像装置20拍摄所述收割机主机10左侧或右侧的图像。基于所述收割机主机10左侧或右侧的图像，识别出所述图像中农田中农作物情况，以便识别所述未作业区域100、所述已作业区域200、以及所述田边界区域300。
如图1和图3所示，所述收割机进一步包括一图像处理系统30、一定位装置40、以及一导航系统50，其中所述图像处理系统30、所述定位装置40、以及所述导航系统50被设置于所述收割机主机10。所述定位装置40获取所述收割机主机10的位置信息，和将获取的位置信息传输至所述收割机主机10。所述导航系统50基于所述定位装置40的定位信息为所述收割机主机10提供导航信息。所述图像处理系统30基于所述云台摄像装置20获取的所述农田的所述图像，从图像中识别出所述未作业区域100、所述已作业区域200、以及所述田边界区域300。
优选地，所述图像处理系统30利用图像分割识别技术从图像中识别出所述未作业区域100、所述已作业区域200、以及所述田边界区域300。可以理解的是，所述图像处理系统30还可以通过其他方式识别出所述图像中的区域和边界信息。因此，在本发明的第一较佳实施例中，所述图像处理系统30识别图像的方式在此仅仅作为示例性的，而非限制。
如图5A和图5B所示，所述图像处理系统30基于所述云台摄像装置20拍摄的所述收割机主机10周围的图像，识别出所述图像中农田的区域、田边界，和识别出农田中农作物的种类，农作物的高度、颗粒饱满度、茎秆粗细大小等信息。
值得一提的是，所述图像处理系统30选自基于阈值的分割方法、基于区域的分割方法、基于边缘的分割方法以及基于特定理论的分割方法等其中的任一分割识别方法对所述云台摄像装置20获取的图像进行分割识别，以识别出所述图 像中的区域和边界。优选地，所述图像处理系统30利用深度学习算法对所述图像分割识别和对所述图像进行区域划分和边界的限定。换言之，所述图像处理系统30利用深度学习算法识别所述图像中对应的农田的区域和边界，以供所述收割机主机10根据识别划分的区域和边界行驶和进行作业。可更优选地，所述图像处理系统30利用的深度学习算法为卷积神经网络算法的图像分割识别技术从图像中识别出对应农田中的所述未作业区域100、已作业区域200、以及所述田边界区域300。
值得一提地是，所述图像处理系统30利用的处理算法在此仅仅作为示例性质的，而非限制。因此，所述图像处理系统30还可利用其它算法对获取的图像进行分割识别，识别出图像中农田的区域和边界。
可以理解的是，所述图像处理系统30是设置于所述收割机主机10的一图像处理器，其中所述图像处理器接收所述云台摄像装置20拍摄的图像或影像，和识别出所述图像或影像中的信息。所述收割机主机10根据所述图像处理系统30识别出的信息对应地操作控制行驶路径和调节作业的参数。
如图1和图3所示，所述收割机主机10进一步包括一车辆主体11，设置于所述车辆主体11的一作业系统12，以及一驾驶控制系统13，其中所述作业系统12传动地连接于所述车辆主体11，其中所述车辆主体11带动所述作业系统12工作，驱动所述作业系统12进行收割农作物的作业。所述驾驶控制系统13控制所述车辆主体11的行驶和控制所述作业系统12的作业。值得一提的是，所述驾驶控制系统13具有一无人驾驶模式和一操作驾驶模式。当所述收割机处于所述无人驾驶模式时，所述驾驶控制系统13控制所述车辆主体11自动地运行和所述作业系统12的作业。相应地，当收割机处于所述操作驾驶模式时，所述驾驶控制系统允许驾驶人员通过人工操作的方式操作所述车辆主体11的运行和控制所述作业系统的作业。
在本发明的第一较佳实施例中，所述驾驶控制系统13控制所述车辆主体11的行驶和控制所述作业系统12的收割作业。换言之，所述驾驶控制系统13控制所述车辆主体11在行驶的过程中所述作业系统12作业参数的调整。所述驾驶控制系统13获取所述图像处理系统30识别所述图像中的农作物的种类、农作物高度、颗粒饱满程度、农作物茎秆的直径大小等信息，和基于获取的所述信息调整所述作业系统12的作业参数，比如，调整所述作业系统12作业速度，作业的宽 幅，作业的高度，调整脱粒处理的参数等。
所述作业系统12进一步包括至少一收割装置121，至少一输送装置122，以及至少一脱粒装置123，其中所述输送装置122被设置能够接收所述收割装置121收割得到的作物，和将所述作物输送至所述脱粒装置123，以供所述脱粒装置123对所述作物进行脱粒。所述作业系统的所述收割装置121、所述输送装置122、以及所述脱粒装置123分别被传动地设置连接于所述车辆主体11，藉由所述车辆主体11驱动所述作业系统12的所述收割装置121、所述输送装置122、以及所述脱粒装置123运行和作业。
所述驾驶控制系统13根据所述图像处理系统30识别出的所述图像信息控制所述收割装置121宽幅、收割高度、以及收割速度。可以理解的是，当农田中农作物的密度大时，所述云台摄像装置20拍摄的所述农田中农作物的信息被所述图像处理系统30识别，其中所述驾驶控制系统13根据所述图像处理系统30识别出的所述图像信息控制减小所述收割装置121的收割幅度、提升收割高度、以及减小收割速度等任一作业参数。
所述驾驶控制系统13根据所述图像处理系统30识别出的所述图像信息控制所述输送装置122的输送速度，输送功率等。可以理解的是，当农田中农作物的茎秆粗大，农作物的高度高，密度大时，所述云台摄像装置20拍摄的所述农田中农作物的信息被所述图像处理系统30识别，其中所述驾驶控制系统13根据所述图像处理系统30识别出的所述图像信息控制提升所述输送装置122的输送速度，提升输送功率等作业参数。
所述驾驶控制系统13根据所述图像处理系统30识别出的所述图像信息控制所述脱粒装置123的脱粒参数。可以理解的是，当农田中农作物的颗粒饱满程度、颗粒大小、水分含量、干湿程度、农作物果实的种类等。可以理解的是，所述图像处理系统30识别出所述农田中所述农作物的农作物信息，其中所述驾驶控制系统13根据所述图像处理系统30识别出的所述图像信息调整所述脱粒装置的脱粒参数，比如吹风功率，脱粒仓的转动速度等任一参数。
参照本发明说明书附图之图6所示，依照本发明第一较佳实施例的所述收割机的一云台摄像装置20A的另一可选实施方式在接下来的描述中被阐明。所述云台摄像装置20A在本可选实施方式中是通过对摄像机内部控制镜头的视角和变焦，从而实现镜头拍照防止抖动。
相应地，所述云台摄像装置20A包括一相机安装机构21A和至少一摄像机22A，其中所述相机安装机构21A将所述摄像机22A装载至所述收割机主机10。所述相机安装机构21A的底端被装载至所述收割机主机10，藉由所述收割机主机10固定所述相机安装机构21A，其中所述相机安装机构21A的上端被设置连接于所述摄像机22A。所述摄像机22A被所述相机安装机构21A支撑而保持相对的平衡，以便稳定地拍摄图像或影像。所述摄像机22A在所述相机安装机构21A的支撑作用下拍摄所述收割机主机10周围的图像或影像，其中所述摄像机22A基于所述相机安装机构21A的安装位置为基准拍摄所述收割机主机10视野范围内的图像。
可以理解的是，所述云台摄像装置20A的所述摄像机22A基于所述收割机主机10的位置，通过拍照的方式获取至少一视觉图像。换言之，所述云台摄像装置20A的所述摄像机22A是基于所述收割机主机10的视野范围内获取所述图像，从而避免摄像装置20A的位置与收割机主机10位置变化，而导致的图像数据不准的问题。
本领域的技术人员应理解，上述描述及附图中所示的本发明的实施例只作为举例而并不限制本发明。本发明的目的已经完整并有效地实现。本发明的功能及结构原理已在实施例中展示和说明，在没有背离所述原理下，本发明的实施方式可以有任何变形或修改。

Claims (19)

  1. 一带有云台摄像装置的收割机，其特征在于，包括：
    一收割机主机；和
    至少一云台摄像装置，其中所述云台摄像装置被设置于所述收割机主机，所述云台摄像装置拍摄所述收割机主机周围的图像，以供所述收割机主机基于所述云台摄像装置拍摄的图像调整运行参数。
  2. 根据权利要求1所述的收割机，其中所述云台摄像装置为机械防抖云台装置，所述云台摄像装置包括一云台和至少一摄像机，其中所述云台将所述摄像机安装至所述收割机主机，所述摄像机被设置于所述云台，藉由所述云台支撑所述摄像机保持平衡。
  3. 根据权利要求2所述的收割机，其中所述云台被安装至所述收割机主机，并且所述云台可活动地支撑所述摄像机，其中所述摄像机基于所述云台的安装位置拍摄，以获取所述收割机主机视野范围内的图像。
  4. 根据权利要求3所述的收割机，其中所述云台进一步包括一云台固定件和至少一云台移动件，其中所述云台固定件被固定地安装至所述收割机主机，所述运动移动件可移动地连接至所述云台固定件，所述摄像机被安装至所述云台一动间，通过所述云台移动件和所述云台固定件的相对移动，保持所述摄像机相对位置的稳定。
  5. 根据权利要求2所述的收割机，其中所述摄像机包括一摄像机主体和至少一摄像机驱动装置，其中所述摄像机主体被可驱动地连接于所述摄像机驱动装置，所述摄像机主体被所述摄像机驱动装置驱动，以拍摄不同方向视野内的图像。
  6. 根据权利要求4所述的收割机，其中所述摄像机包括一摄像机主体和至少一摄像机驱动装置，其中所述摄像机主体被可驱动地连接于所述摄像机驱动装置，所述摄像机主体被所述摄像机驱动装置驱动，以拍摄不同方向视野内的图像。
  7. 根据权利要求6所述的收割机，其中所述摄像机驱动装置驱动所述摄像机主体上下地转动，以便所述摄像机主机拍摄距离所述收割机主机远处和近处的农田的图像。
  8. 根据权利要求6所述的收割机，其中所述摄像机驱动装置驱动所述摄像机主体左右地转动，以便所述摄像机主机拍摄所述收割机主机两侧不同区域的农田的图像。
  9. 根据权利要求1所述的收割机，其中所述云台摄像装置被设置于所述收 割机主机的前部、所述收割机主机的顶部、所述收割机主机的左侧、右侧、或所述收割机主机的后部。
  10. 根据权利要求7所述的收割机，其中所述云台摄像装置被设置于所述收割机主机的前部、所述收割机主机的顶部、所述收割机主机的左侧、右侧、或所述收割机主机的后部。
  11. 根据权利要求1所述的收割机，其中所述云台摄像装置为电子云台装置，其中所述云台摄像装置通过控制镜头的视角和变焦，从而防止所述云台摄像装置镜头拍照抖动。
  12. 根据权利要求10所述的收割机，其中所述云台摄像装置包括一相机安装机构和至少一摄像机，其中所述相机安装机构将所述摄像机固定地安装至所述收割机主机。
  13. 根据权利要求1所述的收割机，其中所述收割机进一步包括一图像处理系统，其中所述图像处理系统被设置于所述收割机主机，所述图像处理系统接收所述云台摄像装置拍摄的图像，和识别出所述图像中农田的信息或农作物的信息。
  14. 根据权利要求13所述的收割机，其中所述图像处理系统利用图像分割识别技术识别出所述云台摄像装置拍摄的所述图像中农田的区域信息，识别出所述农作物的信息，以供所述收割机主机根据识别出的信息控制运行参数。
  15. 根据权利要求13所述的收割机，其中所述收割机进一步包括一定位装置和一导航系统，其中所述定位装置和所述导航系统被设置于所述收割机主机，所述定位装置获取所述收割机主机的位置信息，其中所述导航系统基于所述位置信息提供导航信息。
  16. 根据权利要求15所述的收割机，其中所述收割机主机包括一车辆主体，设置于所述车辆主体的至少一作业系统，以及一驾驶控制系统，所述车辆主体驱动所述作业系统运行，其中所述驾驶控制系统控制所述车辆主体的运行和控制所述作业系统的作业参数。
  17. 根据权利要求16所述的收割机，其中所述驾驶控制系统获取所述图像处理系统识别的所述云台摄像装置拍摄的图像的信息，自动地控制所述车辆主体的行驶路线和控制所述作业系统的作业参数，以实现无人自动驾驶和收割作业。
  18. 根据权利要求17所述的收割机，其中所述作业系统包括一收割装置，其中所述驾驶控制系统基于所述云台摄像装置拍摄的所述农作物图像，控制所述 收割装置宽幅、收割高度、以及收割速度。
  19. 根据权利要求17所述的收割机，其中所述作业系统包括一脱粒装置，其中所述驾驶控制系统基于所述云台摄像装置拍摄的所述农作物图像，控制所述脱粒装置的转速和吹风风速。
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