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On-line canopy height detection method for automatic control of header height of harvesting machine

A technology for canopy height and harvesting machinery, applied in general control systems, harvesters, control/regulation systems, etc., can solve problems such as low measurement accuracy and reliability, easy interference of ultrasonic waves, and inability to detect crop canopy heights

Inactive Publication Date: 2019-09-20
NANJING FORESTRY UNIV
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AI Technical Summary

Problems solved by technology

When using ultrasound to measure the height of crop canopy, the ultrasound is easily disturbed, and the measurement accuracy and reliability are not high
The profiling mechanism is mainly used to sense the fluctuation of the ground as the basis for controlling the height of the header, and cannot detect the height of the crop canopy

Method used

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  • On-line canopy height detection method for automatic control of header height of harvesting machine
  • On-line canopy height detection method for automatic control of header height of harvesting machine
  • On-line canopy height detection method for automatic control of header height of harvesting machine

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Embodiment Construction

[0038] The following is based on Figure 1 to Figure 5 The specific embodiment of the present invention is further described:

[0039] This embodiment takes the wheat field as the object, and is used for the canopy height online detection method of the automatic control of the height of the harvesting mechanical header, and the steps are as follows figure 1 As shown, the details are as follows:

[0040] (1) Data preprocessing:

[0041] The laser radar is installed in the middle of the harvester through the bracket, and the laser radar coordinate system O is established respectively. L -X L Y L Z L and harvester coordinate system O V -X V Y V Z V ,Such as figure 2 shown. Obtain the point cloud data of the crops in front of the harvester through the laser radar, and convert the point cloud data output by the laser radar from polar coordinates to the laser radar Cartesian coordinate system O L -X L Y L Z L Inside, the radar coordinate system O L -X L Y L Z L T...

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Abstract

The invention discloses an on-line canopy height detection method for automatic control of the header height of a harvesting machine. The method comprises the steps that the point cloud data of crops in front of the harvester are acquired, and the point cloud data are converted from polar coordinates into a world coordinate system; a region of interest is established, and the point cloud data outside the region of interest are eliminated; noise points in the point cloud data are removed; the Delaunay irregular triangulation method is used to establish a digital surface model based on a small number of first control points; based on a small number of second control points, the Delaunay irregular triangulation method is used to establish a digital ground model; the digital ground model is subtracted from the digital surface model to acquire a canopy height model, and then acquire the canopy height. According to the invention, the canopy height in front of the harvesting machine and the ground height can be detected, and a data basis is provided for the intelligent control of the header height of the harvesting machine.

Description

technical field [0001] The invention belongs to the field of intelligent agricultural production, and in particular relates to an on-line detection method for the height of a canopy used for automatic control of the header height of a harvesting machine. Background technique [0002] The grain loss rate during the current harvester operation is about 2% to 4%, and the height of the header has a great influence on the grain loss rate. In order to reduce the rate of grain loss, operators need to constantly adjust the joystick according to the height of the crop canopy and the height of the ground. The automatic control of header height can be realized according to crop canopy height, ground height and other information, which can reduce the workload of operators and improve control accuracy. In agriculture, laser radar technology is often used to measure the height of crop canopy quickly, non-destructively and accurately. The current measurement methods mainly include high-al...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02A01D75/00
CPCG05B17/02A01D75/00
Inventor 赵奉奎李旭东王宇歌苏珊珊谢璐阳朱少华夏兆君
Owner NANJING FORESTRY UNIV
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