Motion hopper automatic identification and positioning method based on depth visual information

Abstract

The invention relates to a motion hopper automatic identification and positioning method based on depth visual sense information; the method comprises the following steps: S1, parsing a rotation matrix R and a translation matrix t between a camera coordinate system and a world coordinate system; S2, reading a frame of depth image that contains depth visual sense information from a camera, and reading a frame of point cloud data; S3, downsampling the point cloud data; 4, converting the point cloud data under the camera coordinate system into the point cloud data under the world coordinate system; S5, carrying out threshold process for the converted point cloud data, keeping a lattice of an approximate height area to which the hopper is located, carrying out dimension reduction process for the point cloud after threshold processing, and projecting same to a two dimensional plane; S6, using an image processing technology to carry out a fitting process for the point cloud after dimension reduction, thus obtaining a hopper edge straight line, and calculating an angle point of the same. The method can automatically identify the outer profile of the hopper of a trailer, can obtain the angle and position of the hopper with respect to a machinery arm nozzle, and can automatically control the nozzle height and angle to make corresponding adjustments.

Description

technical field [0001] The invention relates to the fields of machine vision and agricultural automation, in particular to a method for automatically identifying and locating a moving agricultural trailer body based on depth vision information. Background technique [0002] The green forage machine is a commonly used agricultural harvesting machine, which is mainly used to harvest low green forage crops such as green grass, oats, beet stems and leaves. The green feeding machine is generally composed of the front header, the body feeding device and the chopping and throwing device. The front header is a rotary chopper equipped with multiple throwing knives for high-speed harvesting of crops. The fuselage collects and chops the crops, and then is thrown out by the throwing device. The main component of the throwing device is a two-degree-of-freedom mechanical arm structure with controllable angle and height. The materials thrown out by the green feeding machine are taken ove...

AI Technical Summary

Problems solved by technology

The above method solves the problem of moving object recognition from the perspective of two-dimensional vision, and this type of conventional method is not applicable to the research object of the present invention

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