Grain unloading method and device of harvesting machine, electronic equipment and storage medium

Abstract

The invention provides an unloading method and device for a harvesting machine, electronic equipment and a storage medium, and the unloading method comprises the steps: adjusting a nozzle of an unloading cylinder from an initial position to a central position of a loading and transporting bucket based on the obtained position information of a target harvesting machine and a transport vehicle; the grain accumulation depth of each area in the multiple areas of the loading and transporting hopper is obtained; on the basis of the grain accumulation depth of each area, the direction of a current grain unloading barrel nozzle is adjusted, and whether the grain accumulation depth of the preset area of the loading and transporting bucket reaches a preset depth threshold value or not is determined; and if the grain accumulation depth of the preset area of the loading and transporting bucket reaches the preset depth threshold value, grain unloading is stopped. By the adoption of the technical scheme, the grain unloading efficiency can be improved, the grain unloading accuracy can be enhanced, waste caused by grain scattering is avoided, good adaptability to various grain unloading environments and terrains is achieved, and the flexibility and the intelligent level of agricultural production are improved.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery automation control technology, and in particular to a method, device, electronic equipment and storage medium for unloading grain from a harvesting machine. Background Technology

[0002] Harvesting machinery plays a vital role in modern agriculture. It not only significantly improves agricultural production efficiency, shortens the harvesting cycle, reduces crop losses, and ensures harvest quality, but also promotes the scaling up and modernization of agriculture. Grain unloading, as a key link in the harvesting process, ensures continuous operation of the harvesting machinery, prevents grain spoilage and contamination, improves operational economic efficiency, and provides a solid guarantee for safe grain storage and efficient production. In traditional harvesting machinery unloading operations, operators manually adjust the position of the unloading port based on their experience.

[0003] However, operators need to manually adjust the position of the unloading port based on their experience. This process is not only time-consuming and labor-intensive, but also affected by various factors such as terrain, crop yield and driving conditions. It is difficult to ensure the accuracy and integrity of unloading, which can easily lead to grain loss or residue, affecting operational efficiency. Summary of the Invention

[0004] In view of this, the embodiments of this application provide at least one unloading method, device, electronic equipment and storage medium for harvesting machinery, which can not only improve unloading efficiency and accuracy and avoid grain scattering and waste, but also have good adaptability to various unloading environments and terrains, thereby improving the flexibility and intelligence level of agricultural production.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, embodiments of this application provide a method for unloading grain from a harvesting machine, the unloading method comprising:

[0007] Based on the positions of the target harvesting machinery and the target transport vehicle, the unloading nozzle of the target harvesting machinery is adjusted from the initial position to the first nozzle position;

[0008] Obtain the center position of the loading bucket of the target transport vehicle;

[0009] Based on the first nozzle position and the center position, the unloading cylinder nozzle is adjusted from the first nozzle position to the center position;

[0010] When the unloading nozzle reaches the center position, the target harvesting machinery begins to unload grain into the loading bucket of the target transport vehicle and obtains the grain accumulation depth in each of the multiple areas of the loading bucket.

[0011] Based on the grain accumulation depth of each region, adjust the direction of the unloading can nozzle and determine whether the grain accumulation depth of the preset region of the loading hopper has reached the preset depth threshold.

[0012] If the grain accumulation depth in the preset area of ​​the loading bucket reaches the preset depth threshold, unloading will stop.

[0013] Preferably, based on the positions of the target harvesting machinery and the target transport vehicle, adjusting the unloading nozzle of the target harvesting machinery from its initial position to the first nozzle position includes:

[0014] Obtain the location of the target harvesting machinery and the target transport vehicle, and determine the positional difference between the target transport vehicle and the target harvesting machinery;

[0015] Based on the positional difference between the target transport vehicle and the target harvesting machinery, determine the angle of the target transport vehicle relative to the target harvesting machinery;

[0016] Obtain the current angle of the unloading hopper of the target harvesting machine;

[0017] Based on the angle of the target transport vehicle relative to the target harvesting machinery and the current angle of the unloading hopper of the target harvesting machinery, determine the first rotation angle of the unloading hopper of the target harvesting machinery;

[0018] Based on the first rotation angle, the unloading cylinder nozzle is adjusted from its initial position to the first nozzle position.

[0019] Preferably, the center position of the loading bucket of the target transport vehicle is obtained through the following steps:

[0020] Obtain the first image of the loading bucket of the target transport vehicle;

[0021] The first image is identified and processed to determine the outline of the loading bucket in the first image;

[0022] Based on the outline, the center position of the loading bucket is determined.

[0023] Preferably, adjusting the unloading nozzle of the grain unloading hopper from the first nozzle position to the center position based on the first nozzle position and the center position includes:

[0024] Based on the first nozzle position and the center position, determine the positional difference between the unloading drum nozzle at the first nozzle position and the center position;

[0025] Based on the positional difference between the unloading nozzle at the first nozzle position and the center position, the angle between the unloading nozzle at the first nozzle position and the center position is determined.

[0026] Based on the angle of the unloading can nozzle at the first nozzle position relative to the center position, the second rotation angle of the unloading can of the target harvesting machinery is determined;

[0027] Based on the second rotation angle, the unloading cylinder nozzle is adjusted from the first nozzle position to the center position.

[0028] Preferably, the grain stacking depth of each of the multiple areas in the loading bucket is obtained through the following steps:

[0029] Obtain a second image of the loading bucket of the target transport vehicle;

[0030] The second image is divided into multiple regions, and the grain stacking depth of each region in the multiple regions of the loading bucket is determined.

[0031] Preferably, adjusting the direction of the unloading canister nozzle based on the grain accumulation depth of each region, and determining whether the grain accumulation depth of the preset area of ​​the loading hopper reaches a preset depth threshold, includes:

[0032] (a) Compare the grain accumulation depths between the regions to determine the lowest region with the lowest grain accumulation depth;

[0033] (b) Based on the position of the lowest region, determine the deviation angle between the current direction of the unloading canister nozzle and the target direction toward the lowest region;

[0034] (c) Adjust the direction of the unloading canister nozzle to the target direction toward the lowest region based on the deviation angle;

[0035] (d) After the direction of the unloading canister nozzle is adjusted to the target direction toward the lowest area, determine whether the grain accumulation depth in the preset area of ​​the loading hopper has reached the preset depth threshold.

[0036] Preferably, if the grain accumulation depth in the preset area of ​​the loading hopper does not reach the preset depth threshold, then return to step (a).

[0037] Secondly, embodiments of this application also provide a grain unloading device for harvesting machinery, the grain unloading device comprising:

[0038] The first nozzle position adjustment module adjusts the unloading nozzle of the target harvesting machinery from its initial position to the first nozzle position based on the position of the target harvesting machinery and the position of the target transport vehicle.

[0039] The location acquisition module obtains the center position of the loading bucket of the target transport vehicle;

[0040] The center position adjustment module adjusts the unloading canister nozzle from the first nozzle position to the center position based on the first nozzle position and the center position.

[0041] The depth acquisition module, when the unloading nozzle reaches the center position, the target harvesting machinery begins to unload grain into the loading bucket of the target transport vehicle, and acquires the grain accumulation depth in each of the multiple areas of the loading bucket;

[0042] The determination module adjusts the direction of the unloading canister nozzle based on the grain accumulation depth of each region, and determines whether the grain accumulation depth of the preset region of the loading hopper has reached the preset depth threshold.

[0043] The stop module stops unloading grain when the grain accumulation depth in the preset area of ​​the loading bucket reaches a preset depth threshold.

[0044] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory through the bus. The machine-readable instructions are executed by the processor to perform the steps of the unloading method of the harvesting machinery described in the first aspect or any possible implementation of the first aspect.

[0045] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the unloading steps of the harvesting machinery described in the first aspect or any possible implementation of the first aspect.

[0046] This application provides a method, apparatus, electronic device, and storage medium for unloading grain from a harvesting machine. Based on the acquired position information of the target harvesting machine and transport vehicle, the unloading nozzle is adjusted from its initial position to the center of the loading hopper. The grain accumulation depth of each of the multiple areas within the loading hopper is acquired. Based on the grain accumulation depth of each area, the direction of the current unloading nozzle is adjusted, and it is determined whether the grain accumulation depth of a preset area in the loading hopper reaches a preset depth threshold. If the grain accumulation depth of the preset area in the loading hopper reaches the preset depth threshold, unloading is stopped. This not only improves unloading efficiency and accuracy, preventing grain spillage and waste, but also demonstrates good adaptability to various unloading environments and terrains, enhancing the flexibility and intelligence of agricultural production.

[0047] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0048] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This application provides a flowchart of one method for unloading grain using a harvesting machine.

[0050] Figure 2 This is a second flowchart illustrating a grain unloading method for a harvesting machine provided in an embodiment of this application;

[0051] Figure 3 This document shows a third flowchart of a grain unloading method for a harvesting machine provided in an embodiment of this application.

[0052] Figure 4 This document shows a flowchart (fourth) of a grain unloading method for a harvesting machine provided in an embodiment of this application.

[0053] Figure 5 The fifth flowchart illustrates a grain unloading method for a harvesting machine provided in an embodiment of this application;

[0054] Figure 6 This illustration shows one of the structural schematic diagrams of a grain unloading device for a harvesting machine provided in an embodiment of this application;

[0055] Figure 7 This is a second schematic diagram of the structure of a grain unloading device for a harvesting machine provided in an embodiment of this application;

[0056] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0058] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0059] The methods, apparatus, electronic devices, or computer-readable storage media described in this application can be applied to any scenario requiring unloading of grain from agricultural machinery. This application does not limit the specific application scenario, and any scheme using the unloading method and apparatus for harvesting machinery provided in this application is within the protection scope of this application.

[0060] Harvesting machinery plays a vital role in modern agriculture. It not only significantly improves agricultural production efficiency, shortens the harvest cycle, reduces crop losses, and ensures harvest quality, but also promotes the scaling up and modernization of agriculture. Grain unloading, as a key link in the harvesting process, ensures continuous operation of the harvesting machinery, prevents grain spoilage and contamination, improves operational economic efficiency, and provides a solid guarantee for safe grain storage and efficient production. In traditional harvesting machinery unloading operations, operators manually adjust the position of the unloading nozzle based on their experience. However, this manual adjustment is time-consuming and labor-intensive, and is affected by various factors such as terrain, crop yield, and driving conditions, making it difficult to ensure the accuracy and integrity of unloading. This can easily lead to grain loss or residue, affecting operational efficiency.

[0061] To address the aforementioned issues, this application provides a method, apparatus, electronic device, and storage medium for unloading grain in harvesting machinery. This not only improves unloading efficiency and accuracy, preventing grain from scattering and causing waste, but also exhibits good adaptability to various unloading environments and terrains, thereby enhancing the flexibility and intelligence of agricultural production.

[0062] To facilitate understanding of this application, the technical solutions provided in this application will be described in detail below with reference to specific embodiments.

[0063] Please see Figure 1 , Figure 1 This is one of the flowcharts for a grain unloading method of a harvesting machine provided in an embodiment of this application.

[0064] like Figure 1 As shown in the figure, the grain unloading method of the harvesting machinery provided in this application embodiment includes the following steps:

[0065] Step S101: Based on the position of the target harvesting machinery and the position of the target transport vehicle, adjust the unloading nozzle of the target harvesting machinery from the initial position to the first nozzle position.

[0066] Please see Figure 2 , Figure 2 This is one of the flowcharts for a grain unloading method of a harvesting machine provided in an embodiment of this application.

[0067] like Figure 2 As shown, regarding step S101, in a specific implementation, as an example, the following steps may be included:

[0068] Step S1011: Obtain the positions of the target harvesting machinery and the target transport vehicle, and determine the position difference between the target transport vehicle and the target harvesting machinery. Here, GPS modules are installed on both the target harvesting machinery and the target transport vehicle. The GPS modules can acquire the position information of the target harvesting machinery and the target transport vehicle in real time and feed it back to the controller through the wireless communication module, thereby updating the relative positions of the two. In this embodiment, if the position coordinates of the target harvester are (x1, y1) and the position coordinates of the target transport vehicle are (x2, y2), taking the position coordinates of the target harvester as the origin coordinates, the position difference ΔX between the target transport vehicle and the harvester is... 12 =x2-x1, ΔY 12 =y2-y1.

[0069] Step S1012: Based on the positional difference between the target transport vehicle and the target harvesting machinery, determine the angle between the target transport vehicle and the target harvesting machinery. Here, the angle θ1 between the target transport vehicle and the target harvesting machinery can be obtained by formula (1).

[0070]

[0071] Here, θ1 = 0 indicates that the target transport vehicle is to the right of the target harvesting machinery; θ1 = π indicates that the target transport vehicle is to the left of the target harvesting machinery; and θ1 = 3π / 2 indicates that the target transport vehicle is behind the target harvesting machinery. Since the direction in front of the target harvesting machinery is the direction in which it is currently operating, this application does not consider the area in front. For example, the area in front of the harvester is usually the harvesting area, the direction in which the harvester is currently harvesting. If the unloading hopper turns forward, it will interfere with the normal harvesting operation of the harvester.

[0072] Step S1013: Obtain the current angle of the unloading hopper of the target harvesting machinery. Here, an angle sensor is installed on the unloading hopper to measure its rotation angle in real time and feed it back to the controller.

[0073] Step S1014: Based on the angle of the target transport vehicle relative to the target harvesting machinery and the current angle of the unloading hopper of the target harvesting machinery, determine the first rotation angle of the unloading hopper of the target harvesting machinery. Here, assume the current angle of the unloading hopper of the target harvesting machinery is θ2, and the rotation angle range of the unloading hopper is 0-360 degrees. If θ1=0 and θ2<π / 2, then the first rotation angle Δθ 11 =π / 2 - θ2, if θ1 = 0 and θ2 > π / 2, then the first rotation angle Δθ 11 =2π-θ2+π / 2, if θ1=π and θ2>-π / 2, then the first rotation angle Δθ 11 = -π / 2 - θ2, if θ1 = π and θ2 < -π / 2, then the first rotation angle Δθ 11 =2π-θ2-π / 2, if θ1=3π / 2 and θ2<π, then the first rotation angle Δθ 11 =π-θ2, if θ1=3π / 2 and θ2>π, then the first rotation angle Δθ1=2π-θ2+π.

[0074] Step S1016: Adjust the unloading drum nozzle from its initial position to the first nozzle position according to the first rotation angle. Here, the distance between the GPS module installation position and the root of the unloading drum is known, so the root position of the unloading drum (x g y g This can be obtained in real time. Assuming the angle of the unloading duct is α (a reference direction relative to the target harvesting machinery), and the length of the unloading duct's telescopic arm is l, then the position of the unloading duct nozzle (x) can be determined. n y n )=(x g +lcosα,y g +lsinα).

[0075] As an example, suppose the target harvesting machine's position coordinates are (0, 0), the target transport vehicle's position coordinates are (5, 0), and the angle θ1 of the target transport vehicle relative to the target harvesting machine is 0, meaning the target transport vehicle is to the right of the target harvesting machine. Assuming the current angle θ2 of the target harvesting machine's unloading hopper is 3π / 2, then the first rotation angle Δθ 11 =π, meaning the unloading can needs to be rotated 180 degrees clockwise.

[0076] Step S102: Obtain the center position of the loading bucket of the target transport vehicle.

[0077] Please see Figure 3 , Figure 3 This is the third flowchart of a grain unloading method for a harvesting machine provided in the embodiments of this application.

[0078] like Figure 3 As shown, regarding step S102, in a specific implementation, as an example, the following steps may be included:

[0079] Step S1021: Obtain a first image of the loading bucket of the target transport vehicle. Here, this application places a visual recognition module (including a camera and an image processing unit) at the nozzle of the unloading hopper to identify the precise position of the transport vehicle's loading bucket, thereby facilitating accurate docking of the unloading hopper. The camera captures real-time images at a fixed frame rate and transmits them to the image processing unit.

[0080] Step S1022: Recognize and process the first image to determine the outline of the loading bucket in the first image. Here, the first image is first preprocessed; the preprocessing includes: grayscale conversion, Gaussian filtering, and histogram equalization; specifically, the first step is to convert the first image from RGB format to a grayscale first image, the second step is to use a Gaussian filter to eliminate noise in the first image and improve the clarity of the first image, and the third step is to equalize the brightness of the first image, so that the features of the loading bucket are easier to separate and detect. Then, the Canny edge detection algorithm is used to identify edges in the first image. Specifically, the first step is to calculate the gradient and direction of the first image. After calculating the gradient, the edges in the first image may be relatively coarse. The second step is to use non-maximum suppression to remove pixels that are not the strongest response on the edge, retaining only the locally largest gradient value to refine the edge. The third step is to set two thresholds: a high threshold and a low threshold. Pixels above the high threshold are identified as strong edges, pixels below the low threshold are identified as non-edges and removed, and pixels in between are identified as weak edges. By tracing the connection of weak edges, if a weak edge is connected to a strong edge, the weak edge is retained as part of the edge. Finally, the OpenCV findContours function is used to detect contours in the first image. Specifically, the first step is to extract contours from the first image after edge detection. The second step is to filter contours by calculating the area and perimeter of the contours, removing small noisy contours and retaining contours that conform to the dimensions of the shipping bucket. Finally, the shape of the loading bucket is determined. Specifically, since the loading bucket appears as an approximate rectangle in the first image, it can be located by detecting quadrilateral contours. This application uses a polygon fitting method to simplify the point set of the contour to a small number of vertices. Once a quadrilateral contour is detected, it can be considered as a possible boundary of the loading bucket. If higher accuracy is required, a feature matching method can be used. First, a feature extraction algorithm (such as SIFT or ORB) is used to extract key points and descriptors from the first image. Key points are representative points in the first image (such as corner points). Second, a matching algorithm (such as FLANN or a brute-force matcher) is used to match the detected key points and descriptors with a pre-stored template. The contour of the loading bucket is further confirmed based on the matching results.

[0081] Step S1023: Based on the outline, determine the center position of the loading bucket. Here, according to the position of the first nozzle of the unloading bucket, determine the pixel point corresponding to the position of the first nozzle on the first image, calibrate the camera, determine the true coordinates of the corner points of the loading bucket outline, and calculate the center position (x, y) of the loading bucket according to the geometric center formula corresponding to the shape of the loading bucket outline. c y cSpecifically, assuming the coordinates of the four corner points of the loading bucket are (x3, y3), (x4, y4), (x5, y5), and (x6, y6), then x c = (x3 + x4 + x5 + x6) / 4, y c = (y3+y4+y5+y6) / 4. Based on the known position of the unloading bucket nozzle, determine the corresponding pixel point on the first image. Use this as a basis to calibrate the camera, and then determine the true coordinates of the corner points of the loading bucket outline.

[0082] Step S103: Based on the first nozzle position and the center position, adjust the unloading cylinder nozzle from the first nozzle position to the center position.

[0083] Please see Figure 4 , Figure 4 This is the fourth flowchart of a grain unloading method for a harvesting machine provided in the embodiments of this application.

[0084] like Figure 4 As shown, regarding step S103, in a specific implementation, as an example, the following steps may be included:

[0085] Step S1031: Based on the first nozzle position and the center position, determine the position difference between the unloading hopper nozzle at the first nozzle position and the center position. Here, the first nozzle position can be obtained based on the angle corresponding to the unloading hopper when the unloading hopper nozzle is at the first nozzle position. Assuming the first nozzle position is (x7, y7) and the center position of the loading hopper is (x8, y8), then the position difference ΔX between the unloading hopper nozzle at the first nozzle position and the center position is... 78 =x8-x7, ΔY 78 =y8-y7.

[0086] Step S1032: Based on the positional difference between the unloading nozzle at the first nozzle position and the center position, determine the angle between the unloading nozzle at the first nozzle position and the center position. Here, the angle between the unloading nozzle at the first nozzle position and the center position can be obtained by formula (2).

[0087] Here, the angle θ3 between the target transport vehicle and the target harvesting machinery can be obtained by formula (2).

[0088]

[0089] Step S1033: Determine the second rotation angle of the unloading hopper of the target harvesting machinery based on the angle of the unloading hopper nozzle at the first nozzle position relative to the center position.

[0090] Step S1034: Adjust the unloading cylinder nozzle from the first nozzle position to the center position according to the second rotation angle. Assume that the angle corresponding to the unloading cylinder when the nozzle is in the first nozzle position is θ4, and if the second rotation angle Δθ 12 =θ4-θ3<0, then the unloading hopper rotates counterclockwise. If the second rotation angle Δθ 12 =θ4-θ3>0, then the unloading hopper rotates clockwise.

[0091] In this embodiment, to achieve a smooth rotation of the unloading hopper from the current angle to the target angle, a linear interpolation method or a PID control method can be set to make the unloading hopper rotate slowly to the target angle, avoiding sudden rotation. Specifically, the linear interpolation method: assuming the current angle of the unloading hopper is θ2, the target angle of the unloading hopper is θ5, and the rotation angle step size Δθ 13 = k(θ5-θ2), where k is the proportional coefficient controlling the rotational speed, and Δθ 13 The angle is superimposed on the current angle θ2 until the target angle is θ5. PID control method: The angle Δθ that the unloading hopper needs to adjust. 14 Specifically, it can be obtained through formula (3).

[0092]

[0093] Among them, K p1 To adjust the proportional coefficient corresponding to the angle of the unloading hopper, K i1 To adjust the integral coefficient corresponding to the unloading hopper angle, K d1 To adjust the differential coefficient corresponding to the unloading hopper angle, e(t) is the difference between the target angle θ5 and the current angle θ2 at time t.

[0094] In this embodiment, to improve the accuracy and speed of image recognition, the image processing area can be limited to only the area that may contain the loading hopper, thereby reducing computational load and lowering the false detection rate. Simultaneously, a deep learning object detection algorithm (such as YOLO or SSD) is introduced to train a model specifically for loading hopper detection, thereby improving recognition accuracy and robustness. Furthermore, multiple cameras can be installed at the unloading canister nozzle, or a depth camera can be used, to obtain a more comprehensive viewpoint and depth information of the loading hopper, enhancing positioning accuracy.

[0095] Step S104: When the unloading nozzle reaches the center position, the target harvesting machinery begins to unload grain into the loading bucket of the target transport vehicle and obtains the grain accumulation depth in each of the multiple areas of the loading bucket.

[0096] This application utilizes a depth sensor installed at the unloading canister nozzle to acquire depth information of various areas on the surface of the loading hopper, thereby generating a depth map. The depth value of each pixel in the depth map represents the distance from that point to the camera, and the depth value reflects the filling height of grain in each area.

[0097] As an example, the grain stacking depth of each of the multiple areas in the loading bucket is obtained through the following steps:

[0098] First, obtain a second image of the loading bucket of the target transport vehicle.

[0099] Then, the second image is divided into multiple regions, and the grain accumulation depth in each of the multiple regions of the loading bucket is determined. Here, the image of the loading bucket is divided into grid-like regions, specifically, into N×M small blocks, where each small block serves as a detection unit. The average depth value D within each detection unit is calculated. ij Let i be the row and j be the column. The depth distribution matrix D of the entire loading bucket is shown below.

[0100]

[0101] Step S105: Based on the grain accumulation depth of each region, adjust the direction of the unloading can nozzle and determine whether the grain accumulation depth of the preset region of the loading hopper has reached the preset depth threshold.

[0102] Please see Figure 5 , Figure 5 This is the fifth flowchart of a grain unloading method for a harvesting machine provided in the embodiments of this application.

[0103] like Figure 5 As shown, regarding step S105, in a specific implementation, as an example, the following steps may be included:

[0104] Step S1051: Compare the grain accumulation depths of each region to determine the region with the lowest grain accumulation depth. Here, data analysis of matrix D is performed, comparing the depth values ​​of different regions. The smaller the depth value, the higher the filling height of that region; while the larger the depth value, the less filling.

[0105] Step S1052: Based on the position of the lowest region, determine the deviation angle between the current direction of the unloading drum nozzle and the target direction toward the lowest region. Here, the region with lower filling height (i.e., the location of the maximum depth value) is identified based on the depth difference. Then, the adjustment direction and angle are determined by calculating the difference between this region and the region currently aligned with the nozzle. A micro-motor is installed at the unloading drum nozzle. The micro-motor fine-tunes the nozzle in both left-right and front-back directions to align with areas with insufficient grain, thereby allowing the grain to flow more accurately to areas with less filling, ensuring uniform grain distribution and preventing overflow. Specifically, the required fine-tuning direction of the nozzle is calculated based on the deviation angle. For example, assuming the lateral deviation angle of the alignment position is α, the longitudinal deviation angle is β, and the lowest region (i.e., the target point) is (x9, x... 10 The area currently being aimed at by the unloading canister nozzle (i.e., the current point) is (x 10 y 10 The distance between the target point and the current point. The lateral deviation angle α can be calculated using formula (4). The longitudinal deviation angle β can be calculated using formula (5).

[0106]

[0107] Step S1053: Based on the deviation angle, adjust the direction of the current unloading hopper nozzle to the target direction facing the lowest region. Here, to avoid excessively large or frequent adjustments to the nozzle, a PID control algorithm is used to ensure that the micro-motor can smoothly adjust the nozzle direction. Specifically, the X-axis adjustment angle θ... x Specifically, it can be calculated using formula (6), adjusting the Y-axis angle θ. y Specifically, it can be obtained through formula (7).

[0108]

[0109] Among them, K p2 To adjust the proportional coefficient corresponding to the direction of the unloading hopper nozzle, K i2 To adjust the integral coefficient corresponding to the direction of the unloading canister nozzle, K d2 To adjust the differential coefficient corresponding to the direction of the unloading canister nozzle.

[0110] To achieve precise control, the step value for adjusting the angle is set relatively small. This avoids excessive or frequent nozzle adjustments, resulting in smoother and more accurate nozzle adjustments.

[0111] Step S1054: After adjusting the direction of the unloading canister nozzle to face the target direction of the lowest area, determine whether the grain accumulation depth of the preset area of ​​the loading hopper has reached a preset depth threshold. Here, if the depth value of some areas approaches the preset depth threshold, it indicates that these areas are about to reach full load.

[0112] Step S106: If the grain accumulation depth in the preset area of ​​the loading hopper reaches a preset depth threshold, unloading is stopped. Here, the system continuously monitors the depth value of each area of ​​the loading hopper. If the depth value of most areas reaches the preset depth threshold, unloading is stopped, the unloading hopper returns to its initial position, and preparations are made for the next unloading operation.

[0113] If the grain accumulation depth in the preset area of ​​the loading hopper does not reach the preset depth threshold, then return to step S105.

[0114] This application provides a method for unloading grain using harvesting machinery. This method not only improves unloading efficiency and accuracy, and avoids grain spillage and waste, but also has good adaptability to various unloading environments and terrains, thereby improving the flexibility and intelligence of agricultural production.

[0115] Based on the same application concept, this application also provides a grain unloading device for harvesting machinery corresponding to the grain unloading method of harvesting machinery provided in the above embodiments. Since the principle of the device in this application is similar to the grain unloading method of harvesting machinery in the above embodiments of this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0116] Please see Figure 6 , Figure 6 This illustration shows one of the structural schematic diagrams of a grain unloading device for a harvesting machine provided in an embodiment of this application.

[0117] like Figure 6 As shown, the unloading device 610 of the harvesting machinery includes:

[0118] The first nozzle position adjustment module 611 adjusts the unloading nozzle of the target harvesting machinery from the initial position to the first nozzle position based on the position of the target harvesting machinery and the position of the target transport vehicle.

[0119] The location acquisition module 612 acquires the center position of the loading bucket of the target transport vehicle;

[0120] The center position adjustment module 613 adjusts the unloading canister nozzle from the first nozzle position to the center position based on the first nozzle position and the center position.

[0121] The depth acquisition module 614, when the unloading can nozzle reaches the center position, the target harvesting machinery begins to unload grain into the loading bucket of the target transport vehicle, and acquires the grain accumulation depth of each area in multiple areas of the loading bucket;

[0122] The determination module 615 adjusts the direction of the unloading can nozzle based on the grain accumulation depth of each area, and determines whether the grain accumulation depth of the preset area of ​​the loading hopper has reached the preset depth threshold.

[0123] The stop module 616 stops unloading grain when the grain accumulation depth in the preset area of ​​the loading bucket reaches a preset depth threshold.

[0124] Preferably, the first nozzle position adjustment module 611 is specifically used for:

[0125] Obtain the location of the target harvesting machinery and the target transport vehicle, and determine the positional difference between the target transport vehicle and the target harvesting machinery;

[0126] Based on the positional difference between the target transport vehicle and the target harvesting machinery, determine the angle of the target transport vehicle relative to the target harvesting machinery;

[0127] Obtain the current angle of the unloading hopper of the target harvesting machine;

[0128] Based on the angle of the target transport vehicle relative to the target harvesting machinery and the current angle of the unloading hopper of the target harvesting machinery, determine the first rotation angle of the unloading hopper of the target harvesting machinery;

[0129] Based on the first rotation angle, the unloading cylinder nozzle is adjusted from its initial position to the first nozzle position.

[0130] Preferably, the location acquisition module 612 is specifically used for:

[0131] Obtain the first image of the loading bucket of the target transport vehicle;

[0132] The first image is identified and processed to determine the outline of the loading bucket in the first image;

[0133] Based on the outline, the center position of the loading bucket is determined.

[0134] Preferably, the center position adjustment module 613 is specifically used for:

[0135] Based on the first nozzle position and the center position, determine the positional difference between the unloading drum nozzle at the first nozzle position and the center position;

[0136] Based on the positional difference between the unloading nozzle at the first nozzle position and the center position, the angle between the unloading nozzle at the first nozzle position and the center position is determined.

[0137] Based on the angle of the unloading can nozzle at the first nozzle position relative to the center position, the second rotation angle of the unloading can of the target harvesting machinery is determined;

[0138] Based on the second rotation angle, the unloading cylinder nozzle is adjusted from the first nozzle position to the center position.

[0139] Preferably, the depth acquisition module 614 is specifically used for:

[0140] Obtain a second image of the loading bucket of the target transport vehicle;

[0141] The second image is divided into multiple regions, and the grain stacking depth of each region in the multiple regions of the loading bucket is determined.

[0142] Preferably, the determining module 615 is specifically used for:

[0143] The grain accumulation depth of each region is compared to determine the lowest region with the lowest grain accumulation depth.

[0144] Based on the position of the lowest region, determine the deviation angle between the current direction of the unloading canister nozzle and the target direction toward the lowest region;

[0145] Based on the deviation angle, the current direction of the unloading canister nozzle is adjusted to the target direction toward the lowest region;

[0146] After adjusting the direction of the unloading canister nozzle to the target direction of the lowest area, determine whether the grain accumulation depth in the preset area of ​​the loading hopper has reached the preset depth threshold.

[0147] Please see Figure 7 , Figure 7 This is a second schematic diagram of the structure of a grain unloading device for a harvesting machine provided in an embodiment of this application;

[0148] like Figure 7 As shown, preferably, the unloading device 610 of the harvesting machinery further includes:

[0149] If the grain accumulation depth in the preset area of ​​the loading hopper does not reach the preset depth threshold, return to module 617 and then return to module 615.

[0150] This application provides a grain unloading device for harvesting machinery. The device not only improves unloading efficiency and accuracy, and avoids grain spillage and waste, but also has good adaptability to various unloading environments and terrains, thereby improving the flexibility and intelligence of agricultural production.

[0151] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0152] like Figure 8 As shown, the electronic device 800 includes a processor 810, a memory 820, and a bus 830.

[0153] The memory 820 stores machine-readable instructions executable by the processor 810. When the electronic device 800 is running, the processor 810 and the memory 820 communicate via the bus 830. When the machine-readable instructions are executed by the processor 810, they can perform the operations described above. Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The steps of the unloading method of the harvesting machinery in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0154] This application embodiment also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The steps of the unloading method of the harvesting machinery in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0155] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0156] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0157] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0158] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0159] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A grain unloading method for a harvesting machine, characterized in that: The grain unloading method comprises: Based on the position of the target harvesting machine and the position of the target transport vehicle, adjusting the grain discharge barrel nozzle of the target harvesting machine from the initial position to the first nozzle position; Obtain the center position of the loading bucket of the target transport vehicle; Based on the first nozzle position and the center position, adjusting the grain unloading barrel nozzle from the first nozzle position to the center position; When the grain unloading barrel nozzle reaches the central position, the target harvesting machine starts to unload grain into the loading bucket of the target transport vehicle, and obtains the grain accumulation depth of each of the multiple areas of the loading bucket; Based on the grain accumulation depth of each area, adjusting the direction of the current grain discharge barrel nozzle, and determining whether the grain accumulation depth of the preset area of ​​the loading bucket reaches a preset depth threshold; If the grain accumulation depth in the preset area of ​​the loading bucket reaches a preset depth threshold, grain unloading is stopped.

2. The grain unloading method according to claim 1, characterized in that: The method of adjusting the grain discharge barrel nozzle of the target harvester from the initial position to the first nozzle position based on the position of the target harvester and the position of the target transport vehicle comprises: Obtaining the position of the target harvesting machine and the position of the target transport vehicle, and determining the position difference of the target transport vehicle relative to the target harvesting machine; determining an angle of the target transport vehicle relative to the target harvesting machine based on a position difference of the target transport vehicle relative to the target harvesting machine; Obtain the current angle of the grain unloading drum of the target harvesting machine; Determining a first rotation angle of a grain unloading drum of the target harvester based on an angle of the target transport vehicle relative to the target harvester and a current angle of a grain unloading drum of the target harvester; According to the first rotation angle, the grain unloading barrel nozzle is adjusted from the initial position to the first nozzle position.

3. The grain unloading method according to claim 1, characterized in that: Obtain the center position of the target transporter's loading bucket by following these steps: Acquire a first image of a loading bucket of a target transport vehicle; Recognize and process the first image to determine the outline of the loading bucket in the first image; Based on the contour, a center position of the shipping bucket is determined.

4. The grain unloading method according to claim 1, characterized in that: The step of adjusting the grain discharge barrel nozzle from the first nozzle position to the center position based on the first nozzle position and the center position comprises: Based on the first nozzle position and the center position, determining the position difference of the grain discharge barrel nozzle at the first nozzle position relative to the center position; determining an angle of the grain unloading drum nozzle at the first nozzle position relative to the center position based on a position difference of the grain unloading drum nozzle at the first nozzle position relative to the center position; Determining a second rotation angle of the grain unloading drum of the target harvesting machine based on the angle of the grain unloading drum nozzle at the first nozzle position relative to the central position; Based on the second rotation angle, the grain unloading drum nozzle is adjusted from the first nozzle position to the center position.

5. The grain unloading method according to claim 1, characterized in that: The grain accumulation depth of each of the multiple areas of the loading bucket is obtained by the following steps: Acquire a second image of the loading bucket of the target transport vehicle; The second image is divided into a plurality of regions, and the grain stacking depth of each of the plurality of regions of the loading bucket is determined.

6. The grain unloading method according to claim 1, characterized in that: The method of adjusting the direction of the current grain discharge barrel nozzle based on the grain accumulation depth of each area and determining whether the grain accumulation depth of the preset area of ​​the loading bucket reaches a preset depth threshold includes: (a) comparing the grain accumulation depths in each of the regions to determine the lowest region with the lowest grain accumulation depth; (b) determining, based on the position of the lowest area, a deviation angle between the current direction of the grain discharge barrel nozzle and a target direction toward the lowest area; (c) adjusting the current direction of the grain unloading barrel nozzle to a target direction toward the lowest area according to the deviation angle; (d) after the direction of the grain unloading barrel nozzle is currently adjusted to the target direction toward the lowest area, determining whether the grain accumulation depth in the preset area of ​​the loading bucket reaches a preset depth threshold.

7. The grain unloading method according to claim 6, characterized in that: If the grain accumulation depth in the preset area of ​​the loading bucket does not reach the preset depth threshold, return to step (a).

8. A grain unloading device for a harvesting machine, characterized in that: The grain unloading device comprises: A first nozzle position adjustment module, based on the position of the target harvesting machine and the position of the target transport vehicle, adjusts the grain discharge barrel nozzle of the target harvesting machine from the initial position to the first nozzle position; A position acquisition module, which acquires the center position of the loading bucket of the target transport vehicle; A center position adjustment module, based on the first nozzle position and the center position, adjusts the grain discharge barrel nozzle from the first nozzle position to the center position; A depth acquisition module, when the grain unloading barrel nozzle reaches the central position, the target harvesting machine starts to unload grain into the loading bucket of the target transport vehicle, and acquires the grain accumulation depth of each of the multiple areas of the loading bucket; A determination module, based on the grain accumulation depth of each area, adjusts the direction of the current grain discharge barrel nozzle, and determines whether the grain accumulation depth of the preset area of ​​the loading bucket reaches a preset depth threshold; The stop module stops unloading grain if the grain accumulation depth in the preset area of ​​the loading bucket reaches a preset depth threshold.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate via the bus. When the machine-readable instructions are run by the processor, the steps of the grain unloading method of the harvesting machinery as described in any one of claims 1 to 7 are executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the grain unloading method of the harvester as described in any one of claims 1 to 7 are executed.

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