Automatic throwing cylinder tracking system based on image recognition and corn harvester with same

Abstract

The invention relates to the technical field of agricultural machinery, and discloses a throwing cylinder automatic tracking system based on image recognition and a corn harvester with the same, the throwing cylinder automatic tracking system based on image recognition comprises a main control unit, the image acquisition unit is used for capturing and transmitting a real-time image at the throwing cylinder to the subsequent processing module; the PC processing unit is used for receiving the image data transmitted by the image acquisition unit and analyzing and processing the image data; an angle measuring unit; a system control logic unit; a user interface and interaction unit; by arranging the camera and the angle sensor, the position of the grass receiving vehicle can be automatically recognized to track the vehicle hopper, the forage condition in the vehicle hopper is automatically judged to partition the vehicle hopper, uniform forage spraying is achieved, reminding is conducted when the vehicle hopper is full of forage, intelligent harvesting operation of the agricultural machine is achieved, and the operation efficiency is improved; manual control over material spraying of the throwing cylinder is replaced, and time and labor are saved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to an automatic tracking system for a throwing tube based on image recognition and a corn harvester having the same. Background Technology

[0002] Agricultural machinery refers to all kinds of machinery used in crop cultivation and animal husbandry, as well as in the initial processing and handling of agricultural and livestock products. Agricultural machinery is a relative concept, referring to all machinery used in agriculture, animal husbandry, forestry, and fishery. Agricultural machinery belongs to the category of agricultural implements. The promotion and use of agricultural machinery is called agricultural mechanization. In the process of corn planting, corn harvesters are needed.

[0003] Currently, during harvesting, the direction of the feeding cylinder is mostly controlled manually when tracking the hay receiving vehicle. When operating the feeding cylinder with a remote control in the cab, the field of vision is limited, making it impossible to accurately observe the entire hay receiving vehicle and to judge the state of the hay inside the vehicle in a timely manner. Furthermore, manual control requires constant monitoring of the position of the hay receiving vehicle and the state of the hay inside the hopper, which is time-consuming and labor-intensive, resulting in a slow harvesting speed. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic tracking system for a feeding hopper based on image recognition and a corn harvester with the same, so as to solve the problem that it is impossible to judge the status of the hay in the hay truck in a timely manner, and that manual control requires constant monitoring of the position of the hay truck and the status of the hay in the hopper, which is time-consuming and labor-intensive.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic tracking system for a throwing cylinder based on image recognition, comprising a main control unit, and further comprising:

[0006] Image acquisition unit: used to capture and transmit real-time images from the throwing tube to the subsequent processing module;

[0007] PC processing unit: Used to receive image data transmitted by the image acquisition unit and analyze and process it;

[0008] Angle measurement unit: measures the angle information at the guide plate;

[0009] System control logic unit: receives signals from various units and transmits control commands;

[0010] User interface and interaction unit: used by operators to observe and operate real-time images;

[0011] The main control unit includes a communication receiving and processing module, a harvester controller, a motor drive and control module, and a power management and protection module. The communication receiving and processing module is electrically connected to the harvester controller, and the harvester controller is connected to the motor drive and control module. The communication receiving and processing module is used to communicate with each unit, receive image analysis results and control commands. The harvester controller is used to transmit commands. The motor drive and control module is used to drive the motor of the throwing cylinder to perform operations such as rotation and tilting according to the control commands. The power management and protection module is used to provide a stable power supply.

[0012] The image acquisition unit includes an image acquisition module and a lighting auxiliary module. The power management and protection module is connected to the lighting auxiliary module. The image acquisition module is responsible for capturing real-time images of the spray nozzle and acquiring its image data. The lighting auxiliary module is used to provide auxiliary lighting for the image acquisition module in the event of insufficient light.

[0013] The PC processing unit includes an image processing and analysis module, a data storage and management module, a video output module, and a communication interface module. The image acquisition module is connected to the image processing and analysis module, the image processing and analysis module is connected to the data storage and management module, the data storage and management module is connected to the video output module, and the video output module is connected to the communication interface module. The image processing and analysis module is used to process image data transmitted from the front-end acquisition device and perform real-time image analysis and processing. The data storage and management module is used to store historical image data, analysis results, system logs, and other information. The video output module is used to transmit the processed image data through the video interface. The communication interface module is used to communicate with the harvester controller.

[0014] The angle measurement unit includes an angle measurement module and a signal conversion and conditioning module. The angle measurement module and the signal conversion and conditioning module are connected. The angle measurement module is used to measure the angle information of the guide plate in real time. The signal conversion and conditioning module is used to convert the raw signal of the angle sensor into a digital signal that can be recognized by the controller.

[0015] Preferably, the system logic control unit includes an image recognition and processing module and a control algorithm and optimization module. The image recognition and processing module is connected to the control algorithm and optimization module. The image recognition and processing module is used to process and analyze the images captured by the front-end acquisition device in real time. The control algorithm and optimization module is used to calculate and output control commands to the harvester controller based on the image recognition results and feedback information from the angle sensor.

[0016] Preferably, the user interface interaction unit includes an image display module, a status display and feedback module, and an alarm and prompt module. The image display module and the status display and feedback module are connected, and the status display and feedback module is connected to the alarm and prompt module. The image display module is used to display images collected at the throwing cylinder. The status display and feedback module is used to display system status information, image recognition results, and control commands in real time. The alarm and prompt module is used to issue an audible alarm when the system malfunctions or encounters abnormal conditions.

[0017] Preferably, the image acquisition module is electrically connected to an image acquisition device, and the lighting auxiliary module is electrically connected to a lighting lamp.

[0018] Preferably, the angle measurement module is electrically connected to an angle sensor, and the image display module is electrically connected to a display, through which the transmitted image is displayed.

[0019] Preferably, the video output module is connected to the image display module for real-time display of the acquired images, and the angle measurement module is connected to the communication receiving and processing module for real-time transmission of data measured by the angle sensor.

[0020] Preferably, the image acquisition module is connected to the image recognition and processing module for real-time transmission of image data and simultaneous recognition and analysis of the image data, and the control algorithm and optimization module is connected to the harvester controller.

[0021] Preferably, the signal conversion and image conditioning module is connected to the image recognition and processing module. The signal conversion and image conditioning module converts the real-time data from the angle sensor and then transmits it.

[0022] The present invention also provides a corn harvester, further comprising a throwing cylinder, and:

[0023] A bracket is installed at the bottom of the throwing cylinder; a guide plate is installed at one end of the throwing cylinder; a mounting bracket is installed on the front surface of the throwing cylinder; an angle sensor is installed on the front surface of the mounting bracket; a camera is installed on the outside of the bracket; and a light is installed on the outside of the bracket.

[0024] Preferably, the angle sensor is electrically connected to a processing unit, a control box is provided on the rear surface of the processing unit, and a harvester controller is provided on one side of the control box.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. This invention achieves real-time monitoring and precise adjustment of the position and status of the throwing cylinder by real-time video monitoring of the throwing cylinder and angle measurement of the guide plate. This improves the working efficiency of the machinery and significantly reduces the complexity and labor intensity of manual operation. The system can autonomously identify and respond to changes in the working environment, ensuring that the throwing cylinder is always in optimal working condition, thereby improving the harvest quality and yield of crops. A user interface interaction unit provides an intuitive and easy-to-use operating interface. Through the image display module, operators can clearly see the real-time image of the throwing cylinder, as well as the system's operating status and recognition results. The status display and feedback module updates system information in real time, helping operators quickly understand the current working status. Simultaneously, the alarm and prompt module can promptly issue audible alarms when the system malfunctions or malfunctions, further enhancing the safety and convenience of operation. A lighting auxiliary module provides necessary illumination for image acquisition in low-light environments, ensuring the clarity and accuracy of image data. Meanwhile, the angle measurement unit can measure the angle information of the guide plate in real time, providing reliable data support for the precise control of the system.

[0027] 2. This invention, by setting up a camera and angle sensor, can monitor the position of the hay truck and the image at the throwing cylinder in real time. It can then track the truck bed by identifying the position of the hay truck, determine the hay content in the truck bed, divide the truck bed into sections, achieve uniform hay spraying, and provide an alert when the truck bed is full. This enables intelligent harvesting operations in agricultural machinery, improves work efficiency, replaces manual control of material spraying from the throwing cylinder, and saves time and labor. Attached Figure Description

[0028] Figure 1 This is a connection diagram of a preferred embodiment of the image recognition-based automatic tracking system for a throwing tube provided by the present invention.

[0029] Figure 2 A schematic diagram showing the signal connections of the main control unit, image acquisition unit, PC processing unit, angle measurement unit, system control logic unit, and user interface and interaction unit provided by the present invention;

[0030] Figure 3 This is a schematic diagram showing the structural connection between the throwing cylinder and the angle sensor provided by the present invention;

[0031] Figure 4 This is a schematic diagram of the control box structure provided by the present invention;

[0032] Figure 5 This is a schematic diagram of a preferred embodiment of the corn harvester provided by the present invention.

[0033] In the diagram: 1. Throwing cylinder; 2. Support frame; 3. Straw guide plate; 4. Mounting frame; 5. Angle sensor; 6. Camera; 7. Lighting lamp; 8. Harvester controller; 9. PC processing unit; 10. Control box. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figure 1-5 As shown, an automatic tracking system for a throwing cylinder based on image recognition includes a main control unit and also includes:

[0036] Image acquisition unit: used to capture and transmit real-time images from the throwing tube 1 to the subsequent processing module;

[0037] PC processing unit: Used to receive image data transmitted by the image acquisition unit and analyze and process it;

[0038] Angle measurement unit: measures angle information at 3 points on the grass guide plate;

[0039] System control logic unit: receives signals from various units and transmits control commands;

[0040] User interface and interaction unit: used by operators to observe and operate real-time images;

[0041] The main control unit includes a communication receiving and processing module, a harvester controller 8, a motor drive and control module, and a power management and protection module. The communication receiving and processing module is electrically connected to the harvester controller 8, and the harvester controller 8 is connected to the motor drive and control module. The communication receiving and processing module is used to communicate with each unit, receive image analysis results and control commands, and the harvester controller 8 is used to transmit commands. The motor drive and control module is used to drive the motor of the throwing cylinder 1 to perform operations such as rotation and tilting according to the control commands. The power management and protection module is used to provide a stable power supply.

[0042] The image acquisition unit includes an image acquisition module and a lighting auxiliary module. The power management and protection module is connected to the lighting auxiliary module. The image acquisition module is responsible for capturing real-time images of the spray nozzle and acquiring its image data. The lighting auxiliary module is used to provide auxiliary lighting for the image acquisition module in the event of insufficient light. Under the action of the image acquisition unit, real-time images and image data of the throwing cylinder 1 can be acquired and transmitted.

[0043] The PC processing unit includes an image processing and analysis module, a data storage and management module, a video output module, and a communication interface module. The image acquisition module is connected to the image processing and analysis module, the image processing and analysis module is connected to the data storage and management module, the data storage and management module is connected to the video output module, and the video output module is connected to the communication interface module. The image processing and analysis module is used to process image data transmitted from the front-end acquisition device and perform real-time image analysis and processing. The data storage and management module is used to store historical image data, analysis results, and system logs. The video output module is used to transmit the processed image data through the video interface. The communication interface module is used to communicate with the harvester controller 8.

[0044] The angle measurement unit includes an angle measurement module and a signal conversion and conditioning module. The angle measurement module and the signal conversion and conditioning module are connected. The angle measurement module is used to measure the angle information of the guide plate 3 in real time. The signal conversion and conditioning module is used to convert the raw signal of the angle sensor 5 into a digital signal that can be recognized by the controller.

[0045] The system logic control unit includes an image recognition and processing module and a control algorithm and optimization module. The image recognition and processing module is connected to the control algorithm and optimization module. The image recognition and processing module is used to process and analyze the images captured by the front-end acquisition device in real time. The control algorithm and optimization module is used to calculate and output control commands to the harvester controller 8 based on the image recognition results and the feedback information from the angle sensor 5. By integrating the image recognition and processing module and the control algorithm and optimization module, the system can achieve precise tracking and control of the throwing cylinder 1, which can improve work efficiency and reduce the complexity and labor intensity of manual operation.

[0046] The user interface interaction unit includes an image display module, a status display and feedback module, and an alarm and prompt module. The image display module and the status display and feedback module are connected, and the status display and feedback module is connected to the alarm and prompt module. The image display module is used to display the image collected at the throwing tube 1. The status display and feedback module is used to display system status information, image recognition results, and control commands in real time. The alarm and prompt module is used to issue an audible alarm when the system malfunctions or abnormalities.

[0047] The image acquisition module is electrically connected to an image acquisition device, and the lighting auxiliary module is electrically connected to a lighting lamp 7. The image acquisition module can capture real-time images at the throwing cylinder 1, and the lighting auxiliary module can provide necessary lighting in the event of insufficient light.

[0048] The angle measurement module is electrically connected to the angle sensor 5, and the image display module is electrically connected to the display. The transmitted image is displayed on the display. The angle measurement module can measure the angle information of the guide plate 3 in real time, and convert the original signal into a digital signal that the controller can recognize through the signal conversion and conditioning module, so that the system can accurately control the position and state of the throwing cylinder 1, and improve the accuracy and stability of the operation.

[0049] The video output module is connected to the image display module to display the acquired images in real time. The angle measurement module is connected to the communication receiving and processing module to transmit the data measured by the angle sensor 5 in real time. By setting up the video output module and the image display module, the operator can observe the image at the throwing cylinder 1 and the operating status of the system in real time, so that the operator can quickly understand the current operation status and take corresponding adjustment measures, thereby improving the efficiency and accuracy of the operation.

[0050] The image acquisition module is connected to the image recognition and processing module for real-time transmission of image data, and simultaneously for recognition and analysis of the image data. The control algorithm and optimization module is connected to the harvester controller 8. The image acquisition module can transmit image data to the image recognition and processing module in real time for processing and analysis, enabling the system to quickly respond to changes in the working environment and adopt corresponding control strategies, thereby improving the intelligence and efficiency of the operation.

[0051] The signal conversion and image conditioning module is connected to the image recognition and processing module. The signal conversion and image conditioning module converts the real-time data of the angle sensor 5 and then transmits it. By transmitting and analyzing the real-time images collected at the throwing cylinder 1, the throwing cylinder 1 can be tracked and controlled, which can improve harvesting efficiency and quality, and also reduce the complexity and labor intensity of manual operation.

[0052] See Figure 5 As shown, the present invention also provides a corn harvester, which further includes a throwing cylinder 1. By setting the throwing cylinder 1, forage can be thrown, and:

[0053] The bracket 2, located at the bottom of the throwing cylinder 1, ensures the stable placement of the camera 6 and the lighting lamp 7. The guide plate 3, located at one end of the throwing cylinder 1, allows for adjustment of the forage throwing position by changing its angle. The mounting frame 4, located on the front surface of the throwing cylinder 1, and the angle sensor 5, located on the front surface of the mounting frame 4, measure the angle of the guide plate 3 and transmit the angle data. The camera 6, located on the outside of the bracket 2, captures real-time images of the throwing cylinder 1. The lighting lamp 7, also located on the outside of the bracket 2, enables the camera 6 to capture images even in low-light conditions.

[0054] Angle sensor 5 is electrically connected to PC processing unit 9. Control box 10 is provided on the rear surface of PC processing unit 9. Harvester controller 8 is provided on one side of control box 10.

[0055] Working Principle: When harvesting corn using a corn harvester equipped with an automatic tracking system for the throwing cylinder 1, the system first ensures all components are in normal working order. Upon startup, camera 6 begins real-time image data capture of the throwing cylinder 1 and its surrounding environment. The acquired image data is transmitted to the image recognition and processing module via the image acquisition module. Simultaneously, in low-light conditions, the lighting assistance module automatically activates to provide necessary illumination for image acquisition, ensuring image clarity and contrast. In the image recognition and processing module, the acquired raw images are preprocessed. The preprocessed images are then sent to the image recognition module to identify the throwing cylinder 1, including its shape, position, and orientation. Based on the identification results, the system calculates the precise position of the throwing cylinder 1 relative to the guide plate 3. Simultaneously, in the angle measurement unit, angle sensor 5 measures the angle of the guide plate 3 in real-time. The data signal is then converted by the signal conversion and conditioning module. Based on the results of image recognition and position determination, as well as the data from the angle measurement unit, the system logic control unit calculates the optimal control strategy, including adjusting the angle of the guide plate 3 and changing the speed or direction of the throwing cylinder 1. The control signal is transmitted to the harvester controller 8. Under the action of the harvester controller 8, the instructions are transmitted to the motor drive and control module, which then adjusts the position and state of the throwing cylinder 1. This allows the system to determine the condition of the hay in the bucket and divide the bucket into zones to achieve uniform hay spraying. The system also provides a reminder when the bucket is full of hay, enabling intelligent harvesting operations, improving work efficiency, and replacing manual control of the material spraying of the throwing cylinder 1, saving time and labor. At the same time, the system updates the information on the operation interface in real time through the status display and feedback module, including the position of the throwing cylinder 1, the angle of the guide plate 3, and the system status. In addition, the alarm and prompt module issues an audible alarm when the system detects an abnormality or malfunction to ensure operational safety. When the corn harvester completes its work and is ready to shut down, the system performs necessary cleaning and saving operations.

[0056] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0057] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic tracking system for a throwing cylinder based on image recognition, comprising a main control unit, characterized in that, Also includes: Image acquisition unit: used to capture and transmit real-time images of the throwing tube (1) to the subsequent processing module; PC processing unit: Used to receive image data transmitted by the image acquisition unit and analyze and process it; Angle measurement unit: measures the angle information at the guide plate (3); System control logic unit: receives signals from various units and transmits control commands; User interface and interaction unit: used by operators to observe and operate real-time images; The main control unit includes a communication receiving and processing module, a harvester controller (8), a motor drive and control module, and a power management and protection module. The communication receiving and processing module is electrically connected to the harvester controller (8), and the harvester controller (8) is connected to the motor drive and control module. The communication receiving and processing module is used to communicate with each unit, receive image analysis results and control commands, and the harvester controller (8) is used to transmit commands. The motor drive and control module is used to drive the motor of the throwing cylinder (1) to perform rotation and tilting operations according to the control commands. The power management and protection module is used to provide a stable power supply. The image acquisition unit includes an image acquisition module and a lighting auxiliary module. The power management and protection module is connected to the lighting auxiliary module. The image acquisition module is responsible for capturing real-time images of the spray nozzle and acquiring its image data. The lighting auxiliary module is used to provide auxiliary lighting for the image acquisition module in the event of insufficient light. The PC processing unit includes an image processing and analysis module, a data storage and management module, a video output module, and a communication interface module. The image acquisition module is connected to the image processing and analysis module, the image processing and analysis module is connected to the data storage and management module, the data storage and management module is connected to the video output module, and the video output module is connected to the communication interface module. The image processing and analysis module is used to process image data transmitted by the front-end acquisition device and perform real-time image analysis and processing. The data storage and management module is used to store historical image data, analysis results, system logs, and other information. The video output module is used to transmit the processed image data through the video interface. The communication interface module is used to communicate with the harvester controller (8). The angle measurement unit includes an angle measurement module and a signal conversion and conditioning module. The angle measurement module and the signal conversion and conditioning module are connected. The angle measurement module is used to measure the angle information of the guide plate (3) in real time. The signal conversion and conditioning module is used to convert the raw signal of the angle sensor (5) into a digital signal that can be recognized by the controller.

2. The automatic tracking system for a throwing cylinder based on image recognition according to claim 1, characterized in that: The system logic control unit includes an image recognition and processing module and a control algorithm and optimization module. The image recognition and processing module is connected to the control algorithm and optimization module. The image recognition and processing module is used to process and analyze the images captured by the front-end acquisition device in real time. The control algorithm and optimization module is used to calculate and output control commands to the harvester controller (8) based on the image recognition results and the feedback information from the angle sensor (5).

3. The automatic tracking system for a throwing cylinder based on image recognition according to claim 1, characterized in that: The user interface interaction unit includes an image display module, a status display and feedback module, and an alarm and prompt module. The image display module and the status display and feedback module are connected, and the status display and feedback module is connected to the alarm and prompt module. The image display module is used to display the image collected at the throwing tube (1). The status display and feedback module is used to display system status information, image recognition results, and control commands in real time. The alarm and prompt module is used to issue an audible alarm when the system malfunctions or encounters abnormal conditions.

4. The automatic tracking system for a throwing cylinder based on image recognition according to claim 1, characterized in that: The image acquisition module is electrically connected to an image acquisition device, and the lighting auxiliary module is electrically connected to a lighting lamp (7).

5. The automatic tracking system for a throwing cylinder based on image recognition according to claim 3, characterized in that: The angle measurement module is electrically connected to an angle sensor (5), and the image display module is electrically connected to a display, through which the transmitted image is displayed.

6. The automatic tracking system for a throwing cylinder based on image recognition according to claim 3, characterized in that: The video output module is connected to the image display module for real-time display of the acquired images. The angle measurement module is connected to the communication receiving and processing module for real-time transmission of the data measured by the angle sensor (5).

7. The automatic tracking system for a throwing cylinder based on image recognition according to claim 2, characterized in that: The image acquisition module is connected to the image recognition and processing module for real-time transmission of image data and simultaneous recognition and analysis of the image data. The control algorithm and optimization module is connected to the harvester controller (8).

8. The automatic tracking system for a throwing cylinder based on image recognition according to claim 1, characterized in that: The signal conversion and image conditioning module is connected to the image recognition and processing module. The signal conversion and image conditioning module converts the real-time data of the angle sensor (5) and then transmits it.

9. A corn harvester, characterized in that, The system includes an image recognition-based automatic tracking system for a throwing cylinder as described in any one of claims 1 to 8, further comprising a throwing cylinder (1), and: A bracket (2) is set at the bottom of the throwing tube (1), a guide plate (3) is set at one end of the throwing tube (1), a mounting frame (4) is set on the front surface of the throwing tube (1), an angle sensor (5) is set on the front surface of the mounting frame (4), a camera (6) is set on the outside of the bracket (2), and a lighting lamp (7) is set on the outside of the bracket (2).

10. A corn harvester with an automatic tracking system for a throwing drum based on image recognition, as described in claim 9, characterized in that: The angle sensor (5) is electrically connected to the processing unit (9), and a control box (10) is provided on the rear surface of the processing unit (9). A harvester controller (8) is provided on one side of the control box (10).

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