Agricultural machinery parameter measurement method, device, equipment and storage medium

Abstract

The present application discloses a method, device, equipment and storage medium for measuring agricultural machinery parameters, and relates to the field of agricultural machinery technology. The technical solution provided by the present application includes: determining the agricultural machinery parameters to be measured; according to the type of the agricultural machinery parameters to be measured, determining the target shooting method corresponding to the type from a plurality of preset shooting methods; acquiring the target image based on the target shooting method, and determining the measurement value of the agricultural machinery parameters to be measured based on the target image; in the case where the type is the agricultural machinery size type, shooting from multiple directions of the agricultural machinery to obtain a multi-directional image frame of the agricultural machinery, constructing a three-dimensional model of the agricultural machinery based on the multi-directional image frame, and determining the measurement value of the agricultural machinery parameters to be measured based on the three-dimensional model. Through the above-mentioned technical means, the agricultural machinery parameters are automatically measured, the errors caused by manual measurement are avoided, the measurement accuracy of the agricultural machinery parameters is improved, and the problems of large measurement errors and complex measurement operations of agricultural machinery parameters in the prior art are solved.

Description

Technical Field

[0001] The present application relates to the field of agricultural machinery technology, and in particular to an agricultural machinery parameter measurement method, device, equipment and storage medium. Background Art

[0002] With the rapid development of autonomous driving technology, it has been applied to the field of agricultural machinery. Agricultural machinery equipped with an agricultural machinery self-driving system can perform automatic driving and automatic farming. The use of the agricultural machinery self-driving system needs to be coordinated with the agricultural machinery parameters to achieve precise control of the movement and operation of the agricultural machinery.

[0003] In the prior art, users manually measure the parameters of agricultural machinery using measuring tools such as tape measures, and manually add the measured parameters to the agricultural machinery self-driving system. However, the manually measured agricultural machinery parameters are not accurate enough, which will introduce unnecessary human errors into the control algorithm of the agricultural machinery self-driving system. In addition, the operation of manually measuring agricultural machinery parameters is relatively complicated, which reduces the convenience of self-driving agricultural machinery. Summary of the invention

[0004] The present application provides an agricultural machinery parameter measurement method, device, equipment and storage medium to automatically measure agricultural machinery parameters, avoid errors caused by manual measurement, improve the measurement accuracy of agricultural machinery parameters, simplify the measurement operation complexity, and improve the convenience of using self-driving agricultural machinery, so as to solve the problems of large measurement errors and complex measurement operations of agricultural machinery parameters in the prior art.

[0005] In a first aspect, the present application provides a method for measuring parameters of agricultural machinery, comprising:

[0006] Determine the agricultural machinery parameters to be measured;

[0007] According to the type of the agricultural machinery parameter to be measured, determining a target shooting method corresponding to the type from a plurality of preset shooting methods;

[0008] Acquire a target image based on the target shooting method, and determine a measurement value of the agricultural machinery parameter to be measured based on the target image;

[0009] Wherein, the types include at least agricultural machinery size types;

[0010] In the case where the type is the agricultural machinery size type, the target image is acquired based on the target shooting method, and the measurement value of the agricultural machinery parameter to be measured is determined based on the target image, including: shooting from multiple directions of the agricultural machinery to acquire a multi-directional image frame of the agricultural machinery, constructing a three-dimensional model of the agricultural machinery based on the multi-directional image frame, and determining the measurement value of the agricultural machinery parameter to be measured according to the three-dimensional model.

[0011] In a second aspect, the present application provides an agricultural machinery parameter measurement device, comprising:

[0012] A parameter determination module, configured to determine the agricultural machinery parameters to be measured;

[0013] A shooting mode determination module is configured to determine a target shooting mode corresponding to the type of the agricultural machinery parameter to be measured from a plurality of preset shooting modes according to the type of the agricultural machinery parameter to be measured;

[0014] A parameter measurement module, configured to acquire a target image based on the target shooting method, and determine a measurement value of the agricultural machinery parameter to be measured based on the target image;

[0015] Wherein, the type at least includes the agricultural machinery size type; when the type is the agricultural machinery size type, the parameter measurement module includes:

[0016] The dimension measurement submodule is configured to shoot from multiple directions of the agricultural machinery to obtain multi-directional image frames of the agricultural machinery, construct a three-dimensional model of the agricultural machinery based on the multi-directional image frames, and determine the measurement value of the agricultural machinery parameter to be measured according to the three-dimensional model.

[0017] In a third aspect, the present application provides an agricultural machinery parameter measurement device, comprising:

[0018] One or more processors; a storage device storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the agricultural machinery parameter measurement method as described in the first aspect.

[0019] In a fourth aspect, the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute the agricultural machinery parameter measurement method as described in the first aspect.

[0020] This application measures different types of agricultural machinery parameters in different ways in order to obtain detailed and comprehensive agricultural machinery parameters. The method for measuring agricultural machinery parameters of agricultural machinery size type is to shoot multi-directional image frames of agricultural machinery based on a preset shooting method, and to construct a three-dimensional model of the agricultural machinery based on the multi-directional image frames of the agricultural machinery, and to determine the measured values ​​of the agricultural machinery parameters according to the coordinates of the two endpoints corresponding to the agricultural machinery parameters in the three-dimensional model. The method for measuring agricultural machinery parameters of agricultural machinery offset type is to shoot the moving trace image of the agricultural machinery based on a preset shooting method, and to determine the measured values ​​of the agricultural machinery parameters from the moving trace image of the agricultural machinery based on a visual ranging algorithm. The method for measuring agricultural machinery parameters of agricultural implement size type is to shoot the image of the agricultural machinery loaded with agricultural implements or the image of the working traces based on a preset shooting method, and to determine the measured values ​​of the agricultural machinery parameters from the image of the agricultural machinery loaded with agricultural implements or the image of the working traces based on a visual ranging algorithm. Through the above technical means, users can automatically measure various agricultural machinery parameters by collecting multi-directional image frames, moving trace images, and images of loaded agricultural tools or operation traces of agricultural machinery through mobile phones or drones, without the need for users to manually measure agricultural machinery parameters, which simplifies the measurement operation complexity, improves the measurement efficiency of agricultural machinery parameters, and improves the convenience and measurement efficiency of self-driving agricultural machinery. The automatic measurement of agricultural machinery parameters also avoids the measurement errors introduced by manual measurement and improves the measurement accuracy of agricultural machinery parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a flow chart of a method for measuring agricultural machinery parameters provided in an embodiment of the present application;

[0022] Figure 2 It is a display diagram of the agricultural machinery self-driving application interface provided by the embodiment of the present application;

[0023] Figure 3 is a flow chart of shooting multi-directional image frames by a drone provided in an embodiment of the present application;

[0024] Figure 4 It is a flow chart of determining the measurement value of the agricultural machinery parameter to be measured according to the three-dimensional model provided in an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of the round-trip spacing of the rear wheels provided in an embodiment of the present application;

[0026] Figure 6 This is a flow chart of capturing driving trace images through a mobile phone camera provided in an embodiment of the present application;

[0027] Figure 7 is a flow chart of obtaining a driving trace image by a drone provided in an embodiment of the present application;

[0028] Figure 8 is a schematic diagram of a driving trace image provided by an embodiment of the present application;

[0029] Fig. 9 is a flow chart of determining the measurement value of the rear wheel round-trip spacing provided by an embodiment of the present application;

[0030] Fig.10 It is a schematic diagram of the intersection line spacing provided in the embodiment of the present application;

[0031] Fig.11 This is a flow chart of capturing an image of a work trace by using a mobile phone camera provided in an embodiment of the present application;

[0032] Fig.12 is a flow chart of obtaining operation trace images through a drone provided in an embodiment of the present application;

[0033] Fig.13 is a schematic diagram of a work trace image provided by an embodiment of the present application;

[0034] Fig.14 This is a flow chart of determining the measurement value of the intersection line spacing provided in the embodiment of the present application

[0035] Fig.15 is a flow chart of acquiring images of loaded agricultural implements through a drone provided in an embodiment of the present application;

[0036] Fig.16 It is a structural schematic diagram of an agricultural machinery parameter measurement device provided in an embodiment of the present application;

[0037] Fig.17 It is a structural schematic diagram of an agricultural machinery parameter measurement device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0039] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0040] The agricultural machinery parameter measurement method provided in this embodiment can be executed by an agricultural machinery parameter measurement device, which can be implemented by software and / or hardware, and can be composed of two or more physical entities, or can be composed of one physical entity. For example, the agricultural machinery parameter measurement device can be an intelligent terminal such as a mobile phone or a tablet computer installed with an agricultural machinery self-driving application, and the intelligent terminal can communicate and interact with the control host in the agricultural machinery self-driving system equipped with the agricultural machinery through the agricultural machinery self-driving application.

[0041] The agricultural machinery parameter measurement device is installed with at least one type of operating system, and the agricultural machinery parameter measurement device can install at least one application based on the operating system. The application can be an application that comes with the operating system, or an application downloaded from a third-party device or server. In this embodiment, the agricultural machinery parameter measurement device has at least an application that can execute the agricultural machinery parameter measurement method, so the agricultural machinery parameter measurement device can also be the application itself. For example, the agricultural machinery parameter measurement device can also be an agricultural machinery self-driving application.

[0042] For ease of understanding, this embodiment is described by taking a smart terminal such as a mobile phone as an example of a subject for executing the agricultural machinery parameter measurement method.

[0043] In one embodiment, when the agricultural machinery self-driving system is assembled on the agricultural machinery, the agricultural machinery can be equipped with an automatic driving function. During the installation, debugging and use of the current agricultural machinery self-driving system, users are required to manually measure and input various agricultural machinery parameters. For example, after the agricultural machinery self-driving system is installed, the user can manually input the agricultural machinery parameters of the agricultural machinery size type on the size parameter interface of the agricultural machinery self-driving application, and the agricultural machinery self-driving application transmits the agricultural machinery parameters to the agricultural machinery self-driving system. The agricultural machinery parameters of the agricultural machinery size type are measured by the user using measuring tools such as a tape measure to actually measure the size of the agricultural machinery. Before the agricultural machinery operation, the agricultural machinery self-driving system is debugged. During the debugging process, the user inputs the agricultural machinery parameters of the agricultural machinery offset type in the offset parameter interface of the agricultural machinery self-driving application, and the agricultural machinery self-driving application transmits the agricultural machinery parameters to the agricultural machinery self-driving system. The agricultural machinery parameters of the agricultural machinery offset type are measured by the user using measuring tools such as a tape measure to actually measure the movement traces of the agricultural machinery. After the agricultural machinery is mounted with agricultural implements, the agricultural machinery parameters of the agricultural implement size type can be manually entered on the agricultural implement parameter interface of the agricultural machinery self-driving application, and the agricultural machinery self-driving application will transmit the agricultural machinery parameters to the agricultural machinery self-driving system. The agricultural machinery parameters of the agricultural implement size type are measured by the user using measuring tools such as tape measures to measure the scale of the agricultural implements mounted on the agricultural machinery. Due to the different control of measurement errors during manual measurement, the measured agricultural machinery parameters are not accurate enough, thereby introducing unnecessary human errors into the control algorithm of the agricultural machinery self-driving system that references these parameters. In addition, the operation of manually measuring agricultural machinery parameters is complicated, which greatly reduces the convenience of using self-driving agricultural machinery for users.

[0044] In order to solve the problems of large measurement errors and complex measurement operations of agricultural machinery parameters in the above-mentioned prior art, this embodiment provides a method for measuring agricultural machinery parameters.

[0045] Figure 1 A flow chart of a method for measuring agricultural machinery parameters provided by an embodiment of the present application is given. Figure 1 , the agricultural machinery parameter measurement method specifically includes:

[0046] S110, determining the agricultural machinery parameters to be measured.

[0047] The agricultural machinery parameters to be measured refer to the agricultural machinery parameters required by the current agricultural machinery self-driving system, and the types of agricultural machinery parameters include agricultural machinery size type, agricultural machinery offset type and agricultural implement size type. Exemplarily, the agricultural machinery self-driving system inputs agricultural machinery parameters of agricultural machinery size type when adding agricultural machinery after installation, inputs agricultural machinery parameters of agricultural machinery offset type during debugging, and inputs agricultural machinery parameters of agricultural implement size type before operation. The control algorithm of the agricultural machinery self-driving system cooperates with these agricultural machinery parameters to control the agricultural machinery to perform automatic driving and automatic farming.

[0048] In this embodiment, the agricultural machinery parameters of the agricultural machinery size type refer to the structural dimensions of the agricultural machinery. For example, when the agricultural machinery is a tractor, the agricultural machinery parameters of the agricultural machinery size type include the agricultural machinery wheelbase, RTK (real-time kinematic) antenna height, front wheel track, rear wheel track and the distance from the autopilot to the front axle, etc. The agricultural machinery parameters of the agricultural machinery offset type refer to the parameters required to determine the mobile offset of the agricultural machinery when debugging the agricultural machinery. For example, the agricultural machinery parameters of the agricultural machinery offset type include the rear wheel reciprocating spacing and the intersection row spacing of the agricultural machinery. The rear wheel reciprocating spacing is used to determine the autopilot installation offset of the agricultural machinery, and the intersection row spacing of the agricultural machinery is used to determine the offset of the mounted agricultural implements of the agricultural machinery. The agricultural machinery parameters of the agricultural implement size type refer to the parameters of the agricultural implements mounted on the agricultural machinery, such as the working width of the agricultural implements, etc.

[0049] Since the agricultural machinery parameters required by the agricultural machinery self-driving system are different during the installation, testing and operation stages, the agricultural machinery parameters to be measured are determined first. In one embodiment, the agricultural machinery parameters to be measured are determined by identifying the interface content of the current agricultural machinery self-driving application. When the interface content is to add various structural dimensions of agricultural machinery or install a self-driving agricultural machinery system, the agricultural machinery parameters to be measured can be determined to be agricultural machinery parameters of the agricultural machinery size type. Figure 2 : is a display diagram of the agricultural machinery self-driving application interface provided by the embodiment of the present application. Figure 2 As shown, it shows the interface content when adding various structural dimensions of agricultural machinery. When the user selects the type of agricultural machinery in the application interface, the application interface displays the structural dimensions required for the agricultural machinery type and shows the meaning of each structural dimension through the agricultural machinery model. Figure 2 When the display diagram shown is displayed, the agricultural machinery parameters to be measured are determined to be the structural dimensions required by the agricultural machinery type. When the content of the application interface is to debug the self-driving agricultural machinery system or add the rear wheel round-trip spacing or the handover row spacing of the agricultural machinery, the agricultural machinery parameters to be measured can be determined to be the rear wheel round-trip spacing or the handover row spacing; when the content of the application interface is to add the working width of the loaded agricultural implements or use the self-driving agricultural machinery system to operate, the agricultural machinery parameters to be measured can be determined to be the working width of the agricultural machinery mounted agricultural implements.

[0050] S120. According to the type of the agricultural machinery parameter to be measured, determine a target shooting method corresponding to the type from a plurality of preset shooting methods.

[0051] In this embodiment, the types of various agricultural machinery parameters are pre-planned. For example, the structural dimensions of the agricultural machinery are agricultural machinery parameters of the agricultural machinery size type, the rear wheel reciprocating spacing and the intersection row spacing are agricultural machinery parameters of the agricultural machinery offset type, and the working width of the agricultural implement mounted on the agricultural machinery is an agricultural machinery parameter of the agricultural implement size type. Therefore, after determining the agricultural machinery parameters to be measured, the types of the agricultural machinery parameters to be measured can be determined.

[0052] This embodiment determines the agricultural machinery parameters based on image vision, and different types of agricultural machinery parameters require different images and different image shooting methods. The target shooting method refers to the shooting method of the target image required to determine the measurement value of the agricultural machinery parameter to be measured, and the preset multiple shooting methods include shooting methods of all types of agricultural machinery parameters. Therefore, based on the type of the agricultural machinery parameter to be measured, the target shooting method can be determined from the preset multiple shooting methods to obtain the target image of the agricultural machinery parameter to be measured based on the target shooting method.

[0053] S130, acquiring a target image based on the target shooting method, and determining a measurement value of the agricultural machinery parameter to be measured based on the target image.

[0054] In one embodiment, for agricultural machinery parameters to be measured of the agricultural machinery size type, the agricultural machinery is photographed from multiple directions to obtain multi-directional image frames of the agricultural machinery, a three-dimensional model of the agricultural machinery is constructed based on the multi-directional image frames, and the measurement values ​​of the agricultural machinery parameters to be measured are determined according to the three-dimensional model.

[0055] Since the three-dimensional model of the agricultural machinery can directly characterize the structure of the agricultural machinery, and the agricultural machinery parameters of the agricultural machinery size type are the distance between the two corresponding structures of the agricultural machinery, such as the wheelbase of the agricultural machinery is the distance from the center of the front wheel to the center of the rear wheel. Therefore, the agricultural machinery parameters of the agricultural machinery size type can be regarded as the length of the straight line between the two corresponding endpoints, so the agricultural machinery parameters can be determined by the coordinates of the two corresponding endpoints in the three-dimensional model of the agricultural machinery. Therefore, after the mobile phone in this embodiment obtains the multi-directional image frame of the agricultural machinery, a complete three-dimensional model of the agricultural machinery is constructed based on the multi-directional image frame of the agricultural machinery, and the measured value of the agricultural machinery parameter is determined according to the coordinates of the endpoints of the agricultural machinery parameter in the three-dimensional model of the agricultural machinery, and the measured value is sent to the self-driving agricultural machinery system. This embodiment realizes the automatic measurement of agricultural machinery parameters of the agricultural machinery size type, without the need for users to manually measure the agricultural machinery parameters of the agricultural machinery size type through measuring tools, thereby improving the measurement accuracy and efficiency of the agricultural machinery parameters of the agricultural machinery size type.

[0056] In this embodiment, in order to obtain multi-directional image frames of agricultural machinery, the mobile phone can guide the user to shoot the agricultural machinery from multiple directions through the mobile phone camera through various prompting methods to obtain multi-directional image frames of agricultural machinery. Exemplarily, the first shooting posture information when the camera shoots the multi-directional image frames of agricultural machinery is prompted by subtitle playback or sound playback, so as to guide the surround shooting of the agricultural machinery through the first shooting posture information to obtain the multi-directional image frames of the agricultural machinery. Among them, the first shooting posture information refers to the posture between the agricultural machinery and the mobile phone camera when the mobile phone camera surrounds the agricultural machinery. The agricultural machinery self-driving application in the mobile phone plays the first shooting posture information through subtitle playback or sound playback, so that the user, under the guidance of the agricultural machinery self-driving application, shoots multiple image frames or records videos around the agricultural machinery to obtain multi-directional image frames of the agricultural machinery.

[0057] In another embodiment, however, since the image frames of certain positions of agricultural machinery require users to shoot from a relatively tricky angle, such as the top of the agricultural machinery, etc., these image frames are not easy for users to shoot with a mobile phone, so the multi-directional image frames of the agricultural machinery can be shot autonomously by a drone, simplifying the operation complexity of shooting multi-directional image frames. Figure 3 This is a flow chart of shooting multi-directional image frames by a drone provided in an embodiment of the present application. Figure 3 As shown, the step of shooting multi-directional image frames by using a drone specifically includes S13011-S13012:

[0058] S13011. In response to a touch operation on the agricultural machinery in the image transmission screen of the drone, a first shooting instruction is sent to the drone, so that the drone performs tilt shooting or surround shooting of the agricultural machinery according to the first shooting instruction, and transmits the multi-directional image frames of the agricultural machinery.

[0059] S13012. Receive multi-directional image frames of agricultural machinery sent by the UAV.

[0060] Among them, the image transmission screen refers to the screen displayed in the application interface by the mobile phone corresponding to the preview screen taken by the camera of the drone. Exemplarily, the mobile phone sends a start command to the pre-bound drone to make the drone fly into the air. The drone transmits the preview screen of the camera to the mobile phone, and the mobile phone displays the preview screen on the application interface. After the user clicks on the agricultural machinery in the image transmission screen of the application interface, the mobile phone generates a first shooting instruction according to the pixel coordinates of the click operation in the image transmission screen, and sends the first shooting instruction to the drone. After receiving the first shooting instruction, the drone determines the position of the agricultural machinery in the preview screen according to the pixel coordinates, and then determines the position of the agricultural machinery in the actual environment. According to the position of the agricultural machinery in the actual environment, the drone flies around the agricultural machinery, and uses the camera of the drone to take tilted or surround shots of the agricultural machinery. Obtain a multi-directional image frame of the agricultural machinery. The drone sends the multi-directional image frame taken by the camera to the mobile phone. After receiving the multi-directional image frame sent by the drone, the mobile phone constructs a three-dimensional model of the agricultural machinery according to the multi-directional image frame.

[0061] In this embodiment, Figure 4 FIG. 1 is a flow chart of determining the measured value of the agricultural machinery parameter to be measured according to the three-dimensional model provided in the embodiment of the present application. Figure 4 As shown, the step of determining the measured value of the agricultural machinery parameter to be measured according to the three-dimensional model specifically includes S13013-S13014:

[0062] S13013. Based on the target detection algorithm, determine the position coordinates of the two endpoints corresponding to the agricultural machinery parameters to be measured in the three-dimensional model.

[0063] This embodiment is described by taking the agricultural machinery parameter to be measured as the wheelbase of the agricultural machinery as an example. In one embodiment, the two endpoints of the wheelbase of the agricultural machinery are the front wheel center and the rear wheel center, respectively. The front wheel center and the rear wheel center in the multi-directional image frame can be detected by the target detection algorithm to determine the image coordinates of the front wheel center and the rear wheel center in each multi-directional image frame. After the three-dimensional model is constructed, the point cloud coordinates of the front wheel center and the rear wheel center in the three-dimensional model are determined based on the image coordinates of the front wheel center and the rear wheel center. In another embodiment, the front wheel center and the rear wheel center in the three-dimensional model of the agricultural machinery are detected by the target detection algorithm to determine the point cloud coordinates of the front wheel center and the rear wheel center in the three-dimensional model.

[0064] S13014. Determine the measurement value of the agricultural machinery parameter to be measured based on the distance between the position coordinates of the two end points.

[0065] Exemplarily, based on the point cloud coordinates of the front wheel center and the rear wheel center in the three-dimensional model, the distance between the two point cloud coordinates is determined to obtain the measured value of the wheelbase of the agricultural machinery.

[0066] In another embodiment, after the drone collects multi-directional image frames of agricultural machinery, a three-dimensional model can be constructed based on the multi-directional image frames, and the measured values ​​of the parameters of the agricultural machinery to be measured can be determined based on the three-dimensional model, and the measured values ​​can be sent to the mobile phone. Or, after the drone collects multi-directional image frames of agricultural machinery, the multi-directional image frames can be sent to a cloud server, and the cloud server can construct a three-dimensional model based on the multi-directional image frames, and the measured values ​​of the parameters of the agricultural machinery to be measured can be determined based on the three-dimensional model, and the cloud server can send the measured values ​​to the mobile phone. In this embodiment, the mobile phone can directly obtain the measured values ​​of the parameters of the agricultural machinery to be measured sent by the drone or the cloud server, which is suitable for mobile phones that cannot perform complex calculations.

[0067] In one embodiment, for agricultural machinery parameters to be measured of the agricultural machinery offset type, the movement trace of the agricultural machinery is photographed to obtain a movement trace image of the agricultural machinery, and the measurement value of the agricultural machinery parameter to be measured is determined based on the movement trace image.

[0068] From the above content, it can be seen that the agricultural machinery parameters of the agricultural machinery offset type include the rear wheel round-trip spacing and the intersection row spacing. Figure 5 Schematic diagram of the rear wheel round-trip distance provided by the embodiment of the present application. Figure 5 As shown, the agricultural machinery without agricultural implements starts from the starting point and moves forward in a straight line, turns around on the spot after driving a certain distance, and drives back in a straight line to the end point. The first spacing S1 between the left side of the rear wheel 12 of the agricultural machinery 11 at the starting point and the left side of the rear wheel 14 of the agricultural machinery 13 at the end point, and the second spacing S2 between the right side of the rear wheel 12 of the agricultural machinery 11 at the starting point and the right side of the rear wheel 14 of the agricultural machinery 13 at the end point are the round-trip spacing of the rear wheels. The sum of the first spacing S1 and the second spacing S2 divided by 4 can be used to obtain the autopilot installation offset. Figure 5 When the agricultural machine travels along the route in the figure, the agricultural machine will leave rear wheel driving traces on the ground, and the first spacing S1 and the second spacing S2 of the agricultural machine can be determined based on the rear wheel driving traces. Therefore, this embodiment proposes to obtain a driving trace image, and determine the first spacing S1 and the second spacing S2 of the agricultural machine from the driving trace image by a visual ranging algorithm. The driving trace image refers to a moving trace image containing the rear wheel driving traces of the agricultural machine.

[0069] Exemplarily, when the agricultural machinery parameter to be measured is the round-trip distance of the rear wheels, the driving traces of the agricultural machinery are photographed to obtain a driving trace image of the agricultural machinery, and the measurement value of the round-trip distance of the rear wheels is determined based on the driving trace image.

[0070] In this embodiment, in order to obtain the driving trace image of the agricultural machinery, the mobile phone can guide the user to use the mobile phone camera to take at least two driving trace images of the agricultural machinery at different shooting positions or shooting angles through various prompts. Figure 6 This is a flow chart of capturing driving trace images by a mobile phone camera provided in an embodiment of the present application. Figure 6 As shown, the driving trace image captured by the mobile phone camera includes S130211-S130212:

[0071] S130211. Send a first movement instruction to the agricultural machinery that is not loaded with agricultural implements, so that the agricultural machinery moves back and forth in a straight line according to the first movement instruction.

[0072] Exemplarily, a mobile phone sends a first movement instruction to an agricultural machine without agricultural implements mounted thereon, so as to control the agricultural machine to travel in a straight line, and then turn around on the spot after traveling a certain distance and travel back in a straight line, so that the agricultural machine without agricultural implements mounted thereon leaves traces of rear wheel travel on the ground.

[0073] S130212. Play subtitles or sound to prompt the camera to capture the second shooting posture information of the driving trace of the agricultural machinery, so as to guide the capture of the driving trace of the agricultural machinery through the second shooting posture information to obtain the driving trace image of the agricultural machinery.

[0074] The second shooting posture information refers to the posture relationship between the driving trace of the agricultural machinery and the camera of the mobile phone when the camera head of the mobile phone is directed toward the driving trace of the agricultural machinery to shoot. The agricultural machinery self-driving application in the mobile phone plays the second shooting posture information through subtitles or sound, so that the user can shoot at least two driving trace images of the driving trace of the agricultural machinery at different shooting positions or shooting angles under the guidance of the agricultural machinery self-driving application.

[0075] In another embodiment, the mobile phone obtains the driving trace image taken by the drone. Figure 7This is a flow chart of obtaining a driving trace image by a drone provided in an embodiment of the present application. Figure 7 As shown, the step of obtaining the driving trace image by using the drone specifically includes S130213-S130215:

[0076] S130213. Send a first movement instruction to the agricultural machinery that is not loaded with agricultural implements, so that the agricultural machinery moves back and forth in a straight line according to the first movement instruction.

[0077] Refer to step S130211.

[0078] S130214. In response to the touch operation on the driving traces of the agricultural machinery in the image transmission screen of the drone, a second shooting instruction is sent to the drone, so that the drone shoots the driving traces of the agricultural machinery according to the second shooting instruction and sends the captured driving trace images.

[0079] S130215. Receive the driving trace image sent by the drone.

[0080] Exemplarily, the mobile phone sends a start command to the pre-bound drone to make the drone fly into the air. The drone transmits the preview screen of the camera to the mobile phone, and the mobile phone displays the preview screen on the application interface. After the user clicks on the rear wheel driving trace in the image transmission screen of the application interface, the mobile phone generates a second shooting command according to the pixel coordinates of the click operation in the image transmission screen, and sends the second shooting command to the drone. After receiving the second shooting command, the drone determines the position of the rear wheel driving trace in the preview screen according to the pixel coordinates, and then determines the position of the rear wheel driving trace on the ground. According to the position of the rear wheel driving trace on the ground, the drone flies above the rear wheel driving trace and takes a bird's-eye view of the rear wheel driving trace to obtain at least two driving trace images with different shooting positions or shooting angles. The drone sends the driving trace image taken by the camera to the mobile phone. After receiving the driving trace image sent by the drone, the mobile phone determines the measurement values ​​of the first spacing S1 and the second spacing S2 based on the visual ranging algorithm.

[0081] It should be noted that the visual measurement algorithm requires two images taken at different shooting angles or positions to measure the actual distance in the image. Therefore, whether it is a mobile phone or a drone, at least two images of driving traces taken at different shooting angles or positions must be taken.

[0082] Figure 8 is a schematic diagram of a driving trace image provided by an embodiment of the present application. Figure 8As shown, the driving trace image includes the first driving trace 16 of the left rear wheel on the outward journey, the second driving trace 15 of the right rear wheel on the outward journey, the third driving trace 18 of the left rear wheel on the return journey, and the fourth driving trace 17 of the right rear wheel on the return journey. The left and right wheels are defined not based on the agricultural machinery but on the outward direction. The distance between the left side of the first driving trace 16 and the left side of the third driving trace 18 is the first spacing S1, and the distance between the right side of the second driving trace 15 and the right side of the fourth driving trace 17 is the second spacing S2. Since multiple rear wheel driving traces appear in the driving trace image, the rear wheel driving traces corresponding to the first spacing S1 and the second spacing S2 are first determined from the multiple rear wheel driving traces, and then the measurement values ​​of the first spacing S1 and the second spacing S2 are determined by the visual distance measurement algorithm.

[0083] In this embodiment, Fig. 9 1 is a flow chart of determining the measured value of the rear wheel round-trip spacing provided by an embodiment of the present application. Fig. 9 As shown, the step of determining the measured value of the rear wheel round-trip spacing specifically includes S130216-S130217:

[0084] S130216. Identify the driving trace image using a pre-trained first trace recognition model to determine the reciprocating driving traces of the rear wheels in the driving trace image.

[0085] The first trace recognition model is obtained by training the neural network model in advance with sample trace images marked with various rear wheel traces. Exemplarily, multiple trace images are sequentially input into the trained first trace recognition model to obtain the first trace, the second trace, the third trace and the fourth trace in the trace image output by the first trace recognition model.

[0086] S130217. Measure the distance of the round-trip travel traces of the rear wheels based on a visual ranging algorithm to determine a measurement value of the round-trip spacing of the rear wheels.

[0087] Exemplarily, the visual distance measurement algorithm is used to calculate the distance between the left side of the first driving trace and the left side of the third driving trace based on the first driving trace and the third driving trace in the multiple driving trace images, and the measurement value of the first spacing S1 is obtained. The visual distance measurement algorithm is used to calculate the distance between the right side of the second driving trace and the right side of the fourth driving trace based on the multiple driving trace images, and the measurement value of the second spacing S2 is obtained. After the mobile phone calculates the measurement values ​​of the first spacing S1 and the second spacing S2, the measurement values ​​are sent to the self-driving agricultural machinery system.

[0088] Fig.10 Schematic diagram of the intersection line spacing provided in the embodiment of the present application. Fig.10As shown, the agricultural machinery with the agricultural implements mounted thereon travels along the working route, and the working route is formed by the cross connection of a plurality of straight lines and a plurality of arcs. The first straight line 23, the arc 25, and the second straight line 24 are part of the working route, and the first straight line 23 and the second straight line 24 are adjacent straight lines. The agricultural machinery operates along the first straight line 23, and passes through the arc 25 to move to the second straight line 24 to continue the operation. The distance between the right side of the agricultural implement 20 mounted on the agricultural machinery 19 on the first straight line and the left side of the agricultural implement 22 mounted on the agricultural machinery 21 on the second straight line is the intersection row spacing S3, so the intersection row spacing S3 is the spacing between the working traces of the agricultural implements when the agricultural machinery travels on adjacent straight lines. Since the agricultural machinery follows the Fig.10 When the agricultural machinery is traveling along the route in the figure, it will leave multiple traces of agricultural implements on the ground. The handover row distance S3 can be determined based on two adjacent traces of agricultural implements. Therefore, this embodiment proposes to obtain a work trace image, and determine the handover row distance S3 of the agricultural machinery from the work trace image through a visual ranging algorithm. The work trace image refers to a moving trace image containing multiple traces of agricultural implements of the agricultural machinery.

[0089] Exemplarily, when the agricultural machinery parameter to be measured is the row-to-row distance, the operation trace of the agricultural machinery is photographed to obtain an operation trace image of the agricultural machinery, and the measurement value of the row-to-row distance is determined based on the operation trace image.

[0090] In this embodiment, in order to obtain the operation trace images of the agricultural machinery, the mobile phone can guide the user to use the mobile phone camera to take at least two operation trace images of the agricultural machinery at different shooting positions or shooting angles through various prompts. Fig.11 This is a flow chart of capturing work trace images by using a mobile phone camera provided in an embodiment of the present application. Fig.11 As shown, the work trace image captured by the mobile phone camera includes S130221-S130222:

[0091] S130221. Send a second movement instruction to the agricultural machinery loaded with agricultural implements, so that the agricultural machinery operates along the operating route according to the second movement instruction.

[0092] Exemplarily, the mobile phone sends a second movement instruction to the agricultural machine on which the agricultural implement is mounted, so as to control the agricultural implement to move and operate along the operating route, so that the agricultural machine on which the agricultural implement is mounted leaves no trace of the agricultural machine operation on the ground.

[0093] S130222. The third shooting posture information of the camera when shooting the operation trace image of the agricultural machinery is prompted by subtitle playback or sound playback, so as to guide the shooting of the operation trace of the agricultural machinery through the third shooting posture information to obtain the operation trace image of the agricultural machinery.

[0094] The third shooting posture information refers to the posture relationship between the operation trace of the agricultural machinery and the mobile phone camera when the mobile phone camera is facing the operation trace of the agricultural machinery to shoot. The agricultural machinery self-driving application in the mobile phone plays the third shooting posture information through subtitles or sound, so that the user can shoot at least two operation trace images of the agricultural machinery operation trace at different shooting positions or shooting angles under the guidance of the agricultural machinery self-driving application.

[0095] In another embodiment, the mobile phone obtains the operation trace image taken by the drone. Fig.12 This is a flow chart of obtaining operation trace images through a drone provided in an embodiment of the present application. Fig.12 As shown, the step of obtaining the operation trace image by using the drone specifically includes S130223-S130225:

[0096] S130223. Send a second movement instruction to the agricultural machinery loaded with agricultural implements, so that the agricultural machinery operates along the operating route according to the second movement instruction.

[0097] Exemplarily, the mobile phone sends a second movement instruction to the agricultural machine on which the agricultural implement is mounted, so as to control the agricultural implement to move and operate along the operating route, so that the agricultural machine on which the agricultural implement is mounted leaves no trace of the agricultural machine operation on the ground.

[0098] S130224. In response to the touch operation on the operation traces of the agricultural machinery in the image transmission screen of the drone, a third shooting instruction is sent to the drone, so that the drone shoots the operation traces of the agricultural machinery according to the third shooting instruction and sends the captured operation trace images.

[0099] S130225. Receive the operation trace image sent by the drone.

[0100] Exemplarily, the mobile phone sends a start command to the pre-bound drone to make the drone fly into the air. The drone transmits the preview screen of the camera to the mobile phone, and the mobile phone displays the preview screen on the application interface. After the user clicks on the agricultural tool operation trace in the image transmission screen of the application interface, the mobile phone generates a third shooting instruction according to the pixel coordinates of the click operation in the image transmission screen, and sends the third shooting instruction to the drone. After receiving the third shooting instruction, the drone determines the position of the agricultural tool operation trace in the preview screen according to the pixel coordinates, and then determines the position of the agricultural tool operation trace on the ground. According to the position of the agricultural tool operation trace on the ground, the drone flies above the agricultural tool operation trace and takes a bird's-eye view of the agricultural tool operation trace to obtain at least two operation trace images with different shooting positions or shooting angles. The drone sends the operation trace image taken by the camera to the mobile phone. After receiving the operation trace image sent by the drone, the mobile phone determines the measurement value of the handover row distance S3 based on the visual ranging algorithm.

[0101] Fig.13is a schematic diagram of a work trace image provided by an embodiment of the present application. Fig.13 As shown, the operation trace image includes multiple operation traces, and the first operation trace 27 and the second operation trace 26 are respectively adjacent operation traces of agricultural implements left when the agricultural machinery travels on two adjacent straight lines in the operation route. The distance between the right side of the first operation trace 27 and the left side of the second operation trace 26 is the intersection row spacing S3. First, the adjacent agricultural implement operation traces are determined from the operation trace image, and then the measurement value of the intersection row spacing S3 corresponding to the adjacent agricultural implement operation traces is determined by the visual distance measurement algorithm. In this embodiment, Fig.14 1 is a flow chart of determining the measured value of the intersection line spacing provided in an embodiment of the present application. Fig.14 As shown, the step of determining the measured value of the intersection line spacing specifically includes S130226-S130227:

[0102] S130226. Identify the operation trace image using a pre-trained second trace recognition model to determine adjacent farm tool operation traces in the operation trace image.

[0103] The second trace recognition model is obtained by training the neural network model in advance with sample trace images marked with traces of various agricultural implements. Exemplarily, multiple trace images are sequentially input into the trained second trace recognition model to obtain all traces of agricultural implements in the trace images output by the second trace recognition model. According to the distance between the traces of various agricultural implements, the first trace and the corresponding second trace are determined.

[0104] S130227. Measure the distance between adjacent farm tool operation traces based on a visual ranging algorithm to determine the measurement value of the junction row spacing.

[0105] For example, the distance between the right side of the first operation trace and the left side of the corresponding second operation trace is calculated based on the first operation trace and the second operation trace in the plurality of operation trace images by a visual distance measurement algorithm, and the measurement value of the handover row spacing S3 is obtained. After the mobile phone calculates the measurement value of the handover row spacing S3, it sends the measurement value to the self-driving agricultural machinery system.

[0106] In one embodiment, for agricultural machinery parameters to be measured of the implement size type, the working traces of the agricultural machinery or the loaded agricultural implements are photographed to obtain working trace images of the agricultural machinery or the loaded agricultural implement images, and the measurement values ​​of the agricultural machinery parameters to be measured are determined based on the working trace images or the loaded agricultural implement images.

[0107] This embodiment is described by taking the agricultural machinery parameter to be measured as the working width of the agricultural implement. The working width of the agricultural implement refers to the effective working width of the agricultural implement when the agricultural machinery is loaded with the agricultural implement. For agricultural implements such as seed drills, their effective working width is equivalent to the width of the agricultural implement, so the measured value of the working width of the agricultural implement can be determined by measuring the actual width of the agricultural implement; for agricultural implements such as reversible plows, their effective working width is not equal to the width of the agricultural implement, so the measured value of the working width of the agricultural implement can be determined by measuring the width of the agricultural implement operation trace.

[0108] In this embodiment, the actual width of the agricultural implement is determined based on the image of the loaded agricultural implement including the agricultural implement. The width of the agricultural implement operation trace is determined based on the image of the operation trace including the operation trace of the agricultural implement, referring to Fig.11 , the width S4 of the first operation trace is the operation width of the farm implement. The steps for obtaining the operation trace image may refer to steps S130221-S130222 or steps S130223-S130225.

[0109] In one embodiment, in order to obtain an image of agricultural machinery loaded with agricultural implements, a mobile phone can guide the user through various prompting methods to use the mobile phone camera to take at least two images of the entire agricultural implement loaded with agricultural implements at shooting positions or shooting angles. Exemplarily, the fourth shooting posture information when the camera is prompted to shoot the image of the agricultural machinery loaded with agricultural implements is played through subtitles or sound, so as to guide the shooting of the agricultural implements loaded on the agricultural machinery through the fourth shooting posture information to obtain the image of the agricultural machinery loaded with agricultural implements. Among them, the fourth shooting posture information refers to the posture relationship between the agricultural implement and the mobile phone camera when the mobile phone camera shoots the entire agricultural implement. The agricultural machinery self-driving application in the mobile phone plays the fourth shooting posture information through subtitles or sound, so that the user can shoot two images of the entire agricultural implement loaded with agricultural implements at different shooting positions or shooting angles under the guidance of the agricultural machinery self-driving application.

[0110] In another embodiment, the mobile phone obtains the image of the loaded agricultural implements taken by the drone. Fig.15 This is a flow chart of acquiring images of loaded agricultural implements by using a drone provided in an embodiment of the present application. Fig.15 As shown, the steps of acquiring the image of the loaded agricultural implement by using the drone specifically include S13031-13032:

[0111] S13031. In response to a touch operation on the agricultural implements loaded on the agricultural machinery in the image transmission screen of the drone, a fourth shooting instruction is sent to the drone, so that the drone shoots the agricultural implements loaded on the agricultural machinery according to the fourth shooting instruction, and sends the shot image of the loaded agricultural implements.

[0112] 13032. Receive images of loaded agricultural implements sent by UAVs.

[0113] Exemplarily, a mobile phone sends a start command to a pre-bound drone to make the drone fly into the air. The drone transmits the preview screen of the camera to the mobile phone, and the mobile phone displays the preview screen on the application interface. After the user clicks on the agricultural implement in the image transmission screen of the application interface, the mobile phone generates a fourth shooting command based on the pixel coordinates of the click operation in the image transmission screen, and sends the fourth shooting command to the drone. After receiving the fourth shooting command, the drone determines the position of the agricultural implement in the preview screen according to the pixel coordinates, and then determines the position of the agricultural implement in the actual environment. According to the position of the agricultural implement in the actual environment, the drone shoots the entire agricultural implement to obtain at least two images of the loaded agricultural implement with different shooting positions or shooting angles. The drone sends the image of the loaded agricultural implement to the mobile phone. After the mobile phone receives the image of the loaded agricultural implement sent by the drone, it determines the actual width of the agricultural implement based on the visual ranging algorithm.

[0114] This embodiment provides three implementation methods for determining the measured value of the working width of the agricultural implement. The first implementation method: the width of the agricultural implement in the image of the loaded agricultural implement is measured based on the visual ranging algorithm to determine the measured value of the working width of the agricultural implement. Exemplarily, for an agricultural implement whose width is equal to the working width of the agricultural implement, after determining the two ends of the agricultural implement in multiple images of the loaded agricultural implement, the distance between the two ends of the agricultural implement is determined based on the visual ranging algorithm to obtain the measured value of the working width of the agricultural implement.

[0115] The second implementation method is to identify the image of loaded agricultural implements through a pre-trained agricultural implement type recognition model, determine the type of agricultural implements in the image of loaded agricultural implements, and determine the measured value of the agricultural implement working width according to the type of agricultural implements. The agricultural implement type recognition model is obtained by pre-training a neural network model through sample agricultural implement images marked with agricultural implement types. Exemplarily, for agricultural implements whose width is not equal to the agricultural implement working width, the image of loaded agricultural implements is input into the agricultural implement type recognition model to obtain the agricultural implement type output by the agricultural implement type recognition model. The effective working width of the agricultural implement type is determined based on historical experience, and the measured value of the agricultural implement working width is obtained.

[0116] The third implementation method is to identify the work trace image through the pre-trained second trace recognition model, determine the farm tool work trace in the work trace image, measure the width of the farm tool work trace in the work trace image based on the visual ranging algorithm, and determine the measurement value of the farm tool work width. Exemplarily, for farm tools whose width is not equal to the farm tool work width, multiple work trace images are input into the second trace recognition model to obtain the farm tool work trace output by the second trace recognition model. The visual ranging algorithm is used to measure the width of the farm tool work trace based on the farm tool work trace in the multiple work trace images to obtain the measurement value of the farm tool work width.

[0117] In summary, the agricultural machinery parameter measurement method provided in the embodiment of the present application measures different types of agricultural machinery parameters in different ways so as to obtain detailed and comprehensive agricultural machinery parameters. The method for measuring agricultural machinery parameters of agricultural machinery size type is to shoot a multi-directional image frame of the agricultural machinery based on a preset shooting method, and to construct a three-dimensional model of the agricultural machinery based on the multi-directional image frame of the agricultural machinery, and to determine the measured value of the agricultural machinery parameter according to the coordinates of the two endpoints corresponding to the agricultural machinery parameter in the three-dimensional model. The method for measuring agricultural machinery parameters of agricultural machinery offset type is to shoot a moving trace image of the agricultural machinery based on a preset shooting method, and to determine the measured value of the agricultural machinery parameter from the moving trace image of the agricultural machinery based on a visual ranging algorithm. The method for measuring agricultural machinery parameters of agricultural implement size type is to shoot an image of the agricultural machinery loaded with agricultural implements or an image of the operation trace based on a preset shooting method, and to determine the measured value of the agricultural machinery parameter from the image of the agricultural machinery loaded with agricultural implements or the image of the operation trace based on a visual ranging algorithm. Through the above technical means, users can automatically measure various agricultural machinery parameters by collecting multi-directional image frames, moving trace images, and images of loaded agricultural tools or operation traces of agricultural machinery through mobile phones or drones, without the need for users to manually measure agricultural machinery parameters, which simplifies the measurement operation complexity, improves the measurement efficiency of agricultural machinery parameters, and improves the convenience and measurement efficiency of self-driving agricultural machinery. The automatic measurement of agricultural machinery parameters also avoids the measurement errors introduced by manual measurement and improves the measurement accuracy of agricultural machinery parameters.

[0118] Based on the above embodiments, Fig.16 This is a schematic diagram of the structure of an agricultural machinery parameter measurement device provided in an embodiment of the present application. Fig.16 The agricultural machinery parameter measurement device provided in this embodiment specifically includes: a parameter determination module 31, a shooting mode determination module 32 and a parameter measurement module 33.

[0119] Wherein, the parameter determination module is configured to determine the agricultural machinery parameters to be measured;

[0120] The shooting mode determination module is configured to determine a target shooting mode corresponding to the type from a plurality of preset shooting modes according to the type of the agricultural machinery parameter to be measured;

[0121] A parameter measurement module is configured to obtain a target image based on a target shooting method, and determine a measurement value of a parameter of the agricultural machinery to be measured based on the target image;

[0122] The type at least includes the agricultural machinery size type; when the type is the agricultural machinery size type, the parameter measurement module includes:

[0123] The dimension measurement submodule is configured to capture the agricultural machinery from multiple directions to obtain multi-directional image frames of the agricultural machinery, construct a three-dimensional model of the agricultural machinery based on the multi-directional image frames, and determine the measurement values ​​of the agricultural machinery parameters to be measured according to the three-dimensional model.

[0124] On the basis of the above embodiment, the type also includes an agricultural machinery offset type. When the type is an agricultural machinery offset type, the parameter measurement module includes: an offset measurement submodule, which is configured to shoot the movement traces of the agricultural machinery to obtain the movement trace image of the agricultural machinery, and determine the measurement value of the agricultural machinery parameter to be measured based on the movement trace image.

[0125] On the basis of the above embodiment, the type also includes an agricultural implement size type. When the type is an agricultural implement size type, the parameter measurement module includes: an agricultural implement measurement submodule, which is configured to photograph the movement traces of the agricultural machinery to obtain the movement trace image of the agricultural machinery, and determine the measurement value of the agricultural machinery parameter to be measured based on the movement trace image.

[0126] On the basis of the above embodiment, the dimension measurement submodule includes: a first shooting prompt unit, which is configured to prompt the camera to shoot the multi-directional image frame of the agricultural machinery through subtitle playback or sound playback. The first shooting posture information is used to guide the surround shooting of the agricultural machinery to obtain the multi-directional image frame of the agricultural machinery.

[0127] On the basis of the above embodiment, the size measurement submodule includes: a first shooting control unit, configured to respond to the touch operation of the agricultural machinery in the image transmission picture of the drone, send a first shooting instruction to the drone, so that the drone performs tilt shooting or surround shooting of the agricultural machinery according to the first shooting instruction, and transmits the multi-directional image frames of the agricultural machinery; a first image receiving unit, configured to receive the multi-directional image frames of the agricultural machinery sent by the drone.

[0128] Based on the above embodiment, the dimension measurement submodule includes: a target detection unit, configured to determine the position coordinates of two endpoints corresponding to the agricultural machinery parameters to be measured in the three-dimensional model based on the target detection algorithm; a dimension parameter determination unit, configured to determine the measurement value of the agricultural machinery parameter to be measured according to the distance between the position coordinates of the two endpoints.

[0129] On the basis of the above embodiments, when the agricultural machinery parameter to be measured of the agricultural machinery offset type is the reciprocating spacing of the rear wheels of the agricultural machinery, the offset measurement submodule includes: a first movement control unit, configured to send a first movement instruction to the agricultural machinery without agricultural implements, so that the agricultural machinery travels back and forth in a straight line according to the first movement instruction; a second shooting prompt unit, configured to prompt the camera to shoot the driving trace image of the agricultural machinery through subtitle playback or sound playback. The second shooting posture information is used to guide the shooting of the driving trace of the agricultural machinery through the second shooting posture information to obtain the driving trace image of the agricultural machinery.

[0130] On the basis of the above embodiments, when the agricultural machinery parameter to be measured of the agricultural machinery offset type is the reciprocating spacing of the rear wheels of the agricultural machinery, the offset measurement submodule includes: a second movement control unit, configured to send a first movement instruction to the agricultural machinery that is not loaded with agricultural implements, so that the agricultural machinery travels back and forth in a straight line according to the first movement instruction; a second shooting control unit, configured to respond to the touch operation of the driving traces of the agricultural machinery in the image transmission picture of the drone, send a second shooting instruction to the drone, so that the drone shoots the driving traces of the agricultural machinery according to the second shooting instruction, and send the captured driving trace image; a second image receiving unit, configured to receive the driving trace image sent by the drone.

[0131] On the basis of the above embodiment, the offset measurement submodule includes: a driving trace recognition unit, configured to recognize the driving trace image through a pre-trained first trace recognition model, and determine the round-trip driving traces of the rear wheels in the driving trace image; a rear wheel round-trip distance measurement unit, configured to measure the distance of the round-trip driving traces of the rear wheels based on a visual ranging algorithm, and determine the measurement value of the round-trip distance of the rear wheels.

[0132] On the basis of the above embodiments, when the agricultural machinery parameter to be measured of the agricultural machinery offset type is the intersection row spacing of the agricultural machinery, the offset measurement submodule includes: a third movement control unit, configured to send a second movement instruction to the agricultural machinery loaded with agricultural implements, so that the agricultural machinery operates according to the working route according to the second movement instruction; a third shooting prompt unit, configured to prompt the camera to shoot the working trace image of the agricultural machinery through subtitle playback or sound playback. The third shooting posture information is used to guide the shooting of the working trace of the agricultural machinery through the third shooting posture information to obtain the working trace image of the agricultural machinery.

[0133] On the basis of the above embodiments, when the agricultural machinery parameter to be measured of the agricultural machinery offset type is the intersection row spacing of the agricultural machinery, the offset measurement submodule includes: a fourth movement control unit, configured to send a second movement instruction to the agricultural machinery loaded with agricultural implements, so that the agricultural machinery operates according to the operation route according to the second movement instruction; a third shooting control unit, configured to respond to the touch operation of the operation traces of the agricultural machinery in the image transmission picture of the drone, send a third shooting instruction to the drone, so that the drone shoots the operation traces of the agricultural machinery according to the third shooting instruction, and send the captured operation trace image; a third image receiving unit, configured to receive the operation trace image sent by the drone.

[0134] On the basis of the above embodiment, the offset measurement submodule includes: a work trace recognition unit, configured to recognize the work trace image through a pre-trained second trace recognition model, and determine the adjacent farm tool work traces in the work trace image; a junction row distance measurement unit, configured to measure the distance between adjacent farm tool work traces based on a visual ranging algorithm, and determine the measurement value of the junction row distance.

[0135] On the basis of the above embodiment, the agricultural implement measurement submodule includes: a fourth shooting prompt unit, which is configured to prompt the camera to shoot the image of the agricultural machinery loaded with agricultural implements through subtitle playback or sound playback, and to guide the shooting of the agricultural implements loaded on the agricultural machinery through the fourth shooting posture information to obtain the image of the agricultural machinery loaded with agricultural implements.

[0136] On the basis of the above embodiment, the agricultural implement measurement submodule includes: a fourth shooting control unit, which is configured to respond to the touch operation of the agricultural implement loaded on the agricultural machinery in the image transmission picture of the drone, and send a fourth shooting instruction to the drone, so that the drone shoots the agricultural implement loaded on the agricultural machinery according to the fourth shooting instruction, and sends the captured image of the loaded agricultural implement; a fourth image receiving unit, which is configured to receive the image of the loaded agricultural implement sent by the drone.

[0137] On the basis of the above embodiments, when the agricultural machinery parameter to be measured of the agricultural implement size type is the working width of the agricultural implement, the agricultural implement measurement submodule includes: a first working width measurement unit, which is configured to measure the width of the agricultural implement in the loaded agricultural implement image based on the visual ranging algorithm, and determine the measured value of the working width of the agricultural implement; or, a second working width measurement unit, which is configured to identify the loaded agricultural implement image through a pre-trained agricultural implement type recognition model, determine the type of agricultural implement in the loaded agricultural implement image, and determine the measured value of the working width of the agricultural implement according to the type of agricultural implement; or, a third working width measurement unit, which is configured to identify the working trace image through a pre-trained second trace recognition model, determine the working trace of the agricultural implement in the working trace image, measure the width of the working trace of the agricultural implement in the working trace image based on the visual ranging algorithm, and determine the measured value of the working width of the agricultural implement.

[0138] As mentioned above, the agricultural machinery parameter measuring device provided in the embodiment of the present application measures different types of agricultural machinery parameters in different ways so as to obtain detailed and comprehensive agricultural machinery parameters. The method for measuring agricultural machinery parameters of agricultural machinery size type is to shoot a multi-directional image frame of the agricultural machinery based on a preset shooting method, and to construct a three-dimensional model of the agricultural machinery based on the multi-directional image frame of the agricultural machinery, and to determine the measured value of the agricultural machinery parameter according to the coordinates of the two end points corresponding to the agricultural machinery parameter in the three-dimensional model. The method for measuring agricultural machinery parameters of agricultural machinery offset type is to shoot the moving trace image of the agricultural machinery based on a preset shooting method, and to determine the measured value of the agricultural machinery parameter from the moving trace image of the agricultural machinery based on a visual ranging algorithm. The method for measuring agricultural machinery parameters of agricultural implement size type is to shoot the image of the agricultural machinery loaded with agricultural implements or the image of the operation trace based on a preset shooting method, and to determine the measured value of the agricultural machinery parameter from the image of the agricultural machinery loaded with agricultural implements or the image of the operation trace based on a visual ranging algorithm. Through the above technical means, users can automatically measure various agricultural machinery parameters by collecting multi-directional image frames, moving trace images, and images of loaded agricultural tools or operation traces of agricultural machinery through mobile phones or drones, without the need for users to manually measure agricultural machinery parameters, which simplifies the measurement operation complexity, improves the measurement efficiency of agricultural machinery parameters, and improves the convenience and measurement efficiency of self-driving agricultural machinery. The automatic measurement of agricultural machinery parameters also avoids the measurement errors introduced by manual measurement and improves the measurement accuracy of agricultural machinery parameters.

[0139] The agricultural machinery parameter measurement device provided in the embodiment of the present application can be used to execute the agricultural machinery parameter measurement method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0140] Fig.17 This is a schematic diagram of the structure of an agricultural machinery parameter measurement device provided in an embodiment of the present application, with reference to Fig.17 The agricultural machinery parameter measuring device includes: a processor 41, a memory 42, a communication device 43, an input device 44 and an output device 45. The number of processors 41 in the agricultural machinery parameter measuring device can be one or more, and the number of memories 42 in the agricultural machinery parameter measuring device can be one or more. The processor 41, the memory 42, the communication device 43, the input device 44 and the output device 45 of the agricultural machinery parameter measuring device can be connected through a bus or other methods.

[0141] The memory 42, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the agricultural machinery parameter measurement method of any embodiment of the present application (for example, the parameter determination module 31, the shooting mode determination module 32 and the parameter measurement module 33 in the agricultural machinery parameter measurement device). The memory 42 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0142] The communication device 43 is used for data transmission.

[0143] The processor 41 executes the software programs, instructions and modules stored in the memory 42 to execute various functional applications and data processing of the device, that is, to implement the above-mentioned agricultural machinery parameter measurement method.

[0144] The input device 44 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 45 may include a display device such as a display screen.

[0145] The agricultural machinery parameter measurement device provided above can be used to execute the agricultural machinery parameter measurement method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0146] An embodiment of the present application also provides a storage medium containing computer executable instructions, which are used to execute an agricultural machinery parameter measurement method when executed by a computer processor. The agricultural machinery parameter measurement method includes: determining the agricultural machinery parameter to be measured; according to the type of the agricultural machinery parameter to be measured, determining a target shooting method corresponding to the type from a plurality of preset shooting methods; acquiring a target image based on the target shooting method, and determining the measurement value of the agricultural machinery parameter to be measured based on the target image; wherein the type at least includes the agricultural machinery size type; when the type is the agricultural machinery size type, acquiring a target image based on the target shooting method, and determining the measurement value of the agricultural machinery parameter to be measured based on the target image, including: shooting from multiple directions of the agricultural machinery to obtain multi-directional image frames of the agricultural machinery, constructing a three-dimensional model of the agricultural machinery based on the multi-directional image frames, and determining the measurement value of the agricultural machinery parameter to be measured based on the three-dimensional model.

[0147] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0148] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application, whose computer executable instructions are not limited to the above agricultural machinery parameter measurement method, can also execute related operations in the agricultural machinery parameter measurement method provided in any embodiment of the present application.

[0149] The agricultural machinery parameter measurement device, storage medium and agricultural machinery parameter measurement equipment provided in the above embodiments can execute the agricultural machinery parameter measurement method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the agricultural machinery parameter measurement method provided in any embodiment of the present application.

[0150] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for measuring agricultural machinery parameters, characterized in that: include: Determine the agricultural machinery parameters to be measured; According to the type of the agricultural machinery parameter to be measured, determining a target shooting method corresponding to the type from a plurality of preset shooting methods; Acquire a target image based on the target shooting method, and determine a measurement value of the agricultural machinery parameter to be measured based on the target image; The types include at least an agricultural machinery size type and an agricultural machinery offset type, and the agricultural machinery offset type is a parameter required to determine the movement offset of the agricultural machinery when debugging the agricultural machinery; In the case where the type is the agricultural machinery size type, the acquiring of the target image based on the target shooting mode and determining the measurement value of the agricultural machinery parameter to be measured based on the target image include: shooting from multiple directions of the agricultural machinery to acquire a multi-directional image frame of the agricultural machinery, constructing a three-dimensional model of the agricultural machinery based on the multi-directional image frame, and determining the measurement value of the agricultural machinery parameter to be measured according to the three-dimensional model; In the case where the type is the agricultural machinery offset type, the target image is obtained based on the target shooting method, and the measurement value of the agricultural machinery parameter to be measured is determined based on the target image, including: shooting the movement trace of the agricultural machinery to obtain the movement trace image of the agricultural machinery, and determining the measurement value of the agricultural machinery parameter to be measured based on the movement trace image.

2. The agricultural machinery parameter measurement method according to claim 1, characterized in that: The type also includes an agricultural implement size type. When the type is an agricultural implement size type, acquiring a target image based on the target shooting method, and determining a measurement value of the agricultural machinery parameter to be measured based on the target image, includes: The operation traces of the agricultural machine or the loaded agricultural implements are photographed to obtain the operation trace images of the agricultural machine or the loaded agricultural implement images, and the measurement values ​​of the agricultural machine parameters to be measured are determined based on the operation trace images or the loaded agricultural implement images.

3. The agricultural machinery parameter measurement method according to claim 1, characterized in that: The method of photographing the agricultural machine from multiple positions to obtain multi-position image frames of the agricultural machine includes: The first shooting posture information when the camera shoots the multi-directional image frame of the agricultural machinery is prompted by subtitle playback or sound playback, so as to guide the surround shooting of the agricultural machinery through the first shooting posture information to obtain the multi-directional image frame of the agricultural machinery.

4. The agricultural machinery parameter measurement method according to claim 1, characterized in that: The method of photographing the agricultural machine from multiple positions to obtain multi-position image frames of the agricultural machine includes: In response to a touch operation on the agricultural machinery in the image transmission screen of the drone, a first shooting instruction is sent to the drone, so that the drone performs tilt shooting or surround shooting of the agricultural machinery according to the first shooting instruction, and transmits the multi-directional image frames of the agricultural machinery; Receive the multi-directional image frame of the agricultural machinery sent by the drone.

5. The agricultural machinery parameter measurement method according to claim 1, characterized in that: Determining the measured value of the agricultural machinery parameter to be measured according to the three-dimensional model includes: Based on the target detection algorithm, determine the position coordinates of the two endpoints corresponding to the agricultural machinery parameters to be measured in the three-dimensional model; The measured value of the agricultural machinery parameter to be measured is determined according to the distance between the position coordinates of the two end points.

6. The agricultural machinery parameter measurement method according to claim 1, characterized in that: In a case where the agricultural machinery parameter to be measured of the agricultural machinery offset type is the round trip distance of the rear wheels of the agricultural machinery, photographing the movement trace of the agricultural machinery to obtain the movement trace image of the agricultural machinery includes: sending a first movement instruction to an agricultural machine without agricultural implements, so that the agricultural machine moves back and forth in a straight line according to the first movement instruction; The second shooting posture information when the camera shoots the driving trace image of the agricultural machinery is prompted by subtitle playback or sound playback, so as to guide the shooting of the driving trace of the agricultural machinery through the second shooting posture information to obtain the driving trace image of the agricultural machinery.

7. The agricultural machinery parameter measurement method according to claim 1, characterized in that: In a case where the agricultural machinery parameter to be measured of the agricultural machinery offset type is the round trip distance of the rear wheels of the agricultural machinery, photographing the movement trace of the agricultural machinery to obtain the movement trace image of the agricultural machinery includes: sending a first movement instruction to an agricultural machine without agricultural implements, so that the agricultural machine moves back and forth in a straight line according to the first movement instruction; In response to a touch operation on the driving trace of the agricultural machinery in the image transmission screen of the drone, a second shooting instruction is sent to the drone, so that the drone shoots the driving trace of the agricultural machinery according to the second shooting instruction and sends the shot driving trace image; Receive the driving trace image sent by the drone.

8. The agricultural machinery parameter measurement method according to claim 6 or 7, characterized in that: The step of determining the measured value of the agricultural machinery parameter to be measured based on the movement trace image includes: Recognize the driving trace image by using a pre-trained first trace recognition model to determine the reciprocating driving trace of the rear wheel in the driving trace image; The distance of the round-trip travel trace of the rear wheels is measured based on a visual ranging algorithm to determine a measured value of the round-trip distance of the rear wheels.

9. The agricultural machinery parameter measurement method according to claim 1, characterized in that: In a case where the agricultural machinery parameter to be measured of the agricultural machinery offset type is the intersection row spacing of the agricultural machinery, photographing the movement trace of the agricultural machinery to obtain the movement trace image of the agricultural machinery includes: sending a second movement instruction to the agricultural machine loaded with agricultural implements, so that the agricultural machine performs operations according to the operation route according to the second movement instruction; The third shooting posture information of the camera when shooting the operation trace image of the agricultural machinery is prompted by subtitle playback or sound playback, so as to guide the shooting of the operation trace of the agricultural machinery through the third shooting posture information to obtain the operation trace image of the agricultural machinery.

10. The agricultural machinery parameter measurement method according to claim 1, characterized in that: In a case where the agricultural machinery parameter to be measured of the agricultural machinery offset type is the intersection row spacing of the agricultural machinery, photographing the movement trace of the agricultural machinery to obtain the movement trace image of the agricultural machinery includes: sending a second movement instruction to the agricultural machine loaded with agricultural implements, so that the agricultural machine performs operations according to the operation route according to the second movement instruction; In response to a touch operation on the operation trace of the agricultural machinery in the image transmission screen of the drone, a third shooting instruction is sent to the drone, so that the drone shoots the operation trace of the agricultural machinery according to the third shooting instruction and sends the shot operation trace image; Receive the operation trace image sent by the drone.

11. The agricultural machinery parameter measurement method according to claim 9 or 10, characterized in that: The step of determining the measured value of the agricultural machinery parameter to be measured based on the movement trace image includes: Recognize the operation trace image by using a pre-trained second trace recognition model to determine adjacent farm tool operation traces in the operation trace image; The distance between the adjacent farm tool operation traces is measured based on a visual distance measurement algorithm to determine the measurement value of the intersection row distance.

12. The agricultural machinery parameter measurement method according to claim 2, characterized in that: The photographing of the operation trace of the agricultural machine or the loaded agricultural implement to obtain the operation trace image of the agricultural machine or the loaded agricultural implement image includes: The fourth shooting posture information when the camera shoots the image of the agricultural machinery loaded with agricultural implements is prompted by playing subtitles or sound, so as to guide the shooting of the agricultural implements loaded on the agricultural machinery through the fourth shooting posture information to obtain the image of the agricultural machinery loaded with agricultural implements.

13. The agricultural machinery parameter measurement method according to claim 2, characterized in that: The photographing of the operation trace of the agricultural machine or the loaded agricultural implement to obtain the operation trace image of the agricultural machine or the loaded agricultural implement image includes: In response to a touch operation on an agricultural implement loaded on the agricultural machinery in the image transmission screen of the drone, a fourth shooting instruction is sent to the drone, so that the drone shoots the agricultural implement loaded on the agricultural machinery according to the fourth shooting instruction and sends the shot image of the loaded agricultural implement; Receive the image of the loaded agricultural implement sent by the UAV.

14. The agricultural machinery parameter measurement method according to claim 12 or 13, characterized in that: In a case where the agricultural machinery parameter to be measured of the agricultural implement size type is the agricultural implement working width, determining the measurement value of the agricultural machinery parameter to be measured based on the working trace image or the loaded agricultural implement image includes: Measuring the width of the agricultural implement in the image of the loaded agricultural implement based on a visual ranging algorithm to determine a measured value of the working width of the agricultural implement; or, Identify the image of the loaded agricultural implements by using a pre-trained agricultural implement type recognition model to determine the type of agricultural implement in the image of the loaded agricultural implements, and determine the measured value of the working width of the agricultural implement according to the type of agricultural implement; or, The operation trace image is recognized by a pre-trained second trace recognition model to determine the operation traces of the agricultural implements in the operation trace image. The width of the operation traces of the agricultural implements in the operation trace image is measured based on a visual ranging algorithm to determine the measurement value of the operation width of the agricultural implements.

15. An agricultural machinery parameter measuring device, characterized in that: The method for measuring agricultural machinery parameters according to any one of claims 1 to 14 is adopted, wherein the device comprises: A parameter determination module, configured to determine the agricultural machinery parameters to be measured; A shooting mode determination module is configured to determine a target shooting mode corresponding to the type of the agricultural machinery parameter to be measured from a plurality of preset shooting modes according to the type of the agricultural machinery parameter to be measured; A parameter measurement module, configured to acquire a target image based on the target shooting method, and determine a measurement value of the agricultural machinery parameter to be measured based on the target image; Wherein, the type at least includes the agricultural machinery size type; when the type is the agricultural machinery size type, the parameter measurement module includes: The dimension measurement submodule is configured to shoot from multiple directions of the agricultural machinery to obtain multi-directional image frames of the agricultural machinery, construct a three-dimensional model of the agricultural machinery based on the multi-directional image frames, and determine the measurement value of the agricultural machinery parameter to be measured according to the three-dimensional model.

16. An agricultural machinery parameter measuring device, characterized in that: include: one or more processors; A storage device stores one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the agricultural machinery parameter measurement method as described in any one of claims 1-14.

17. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the agricultural machinery parameter measurement method as described in any one of claims 1-14 when executed by a computer processor.

Images