Grain unloading method, device, electronic equipment and storage medium for harvesting machinery

Abstract

The present application provides a method, device, electronic device, and storage medium for unloading grain from a harvesting machine. The unloading method includes: adjusting the grain unloading barrel nozzle from an initial position to the center of the loading bucket based on the position information of the target harvesting machine and transport vehicle; obtaining the grain accumulation depth in each of multiple areas of the loading bucket; adjusting the direction of the current grain unloading barrel nozzle based on the grain accumulation depth in each area, and determining whether the grain accumulation depth in a 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 the preset depth threshold, stopping the grain unloading. The technical solution provided by the present application can not only improve the grain unloading efficiency and enhance the accuracy of grain unloading, avoid grain scattering and waste, but also has good adaptability to various grain unloading environments and terrains, thereby improving the flexibility and intelligence level of agricultural production.

Description

Technical Field

[0001] The present application relates to the technical field of automated control of agricultural machinery, and in particular to a grain unloading method, device, electronic equipment and storage medium for a harvesting machinery. Background Art

[0002] Harvesters play a vital role in modern agriculture. They not only significantly improve agricultural production efficiency, shorten harvest cycles, reduce crop losses, and ensure harvest quality, but also promote agricultural scale and modernization. Grain unloading, a key step in the harvesting process, ensures continuous operation of harvesters, prevents grain spoilage and contamination, improves operational efficiency, and provides a solid foundation for safe grain storage and efficient production. In traditional harvester 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 grain 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 completeness of grain unloading, which can easily lead to grain being left behind or residual, affecting operational efficiency. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide at least a method, device, electronic equipment and storage medium for unloading grain for a harvesting machine, which can not only improve the unloading efficiency, enhance the accuracy of unloading grain, avoid waste caused by scattered grain, but also have good adaptability to a variety of 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, an embodiment of the present application provides a grain unloading method for a harvester, the grain unloading method comprising:

[0007] Based on the position of the target harvesting machine and the position of the target transport vehicle, adjusting the grain unloading drum nozzle of the target harvesting machine from an initial position to a 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, adjusting the grain unloading barrel nozzle from the first nozzle position to the center position;

[0010] When the grain unloading barrel nozzle reaches the center position, the target harvester starts unloading 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;

[0011] Based on the grain accumulation depth of each area, adjusting the direction of the current grain unloading barrel nozzle, and determining whether the grain accumulation depth of the preset area of ​​the loading bucket reaches a preset depth threshold;

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

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

[0014] 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;

[0015] 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;

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

[0017] 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;

[0018] According to the first rotation angle, the grain unloading barrel nozzle is adjusted from the initial position to the first nozzle position.

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

[0020] Acquire a first image of a loading bucket of a target transport vehicle;

[0021] performing recognition and image processing on the first image to determine the outline of the loading bucket in the first image;

[0022] Based on the contour, a center position of the shipping bucket is determined.

[0023] Preferably, adjusting the grain unloading barrel nozzle from the first nozzle position to the center position based on the first nozzle position and the center position comprises:

[0024] Based on the first nozzle position and the center position, determining the position difference of the grain unloading barrel nozzle at the first nozzle position relative to the center position;

[0025] 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;

[0026] determining a second rotation angle of the grain unloading drum of the target harvesting machine based on an angle of the grain unloading drum nozzle at the first nozzle position relative to the central position;

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

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

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

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

[0031] Preferably, the adjusting the direction of the current grain unloading barrel spout 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:

[0032] (a) comparing the grain accumulation depths in each of the regions to determine the lowest region having the lowest grain accumulation depth;

[0033] (b) determining, based on the position of the lowest area, an angle of deviation between the current direction of the grain unloading barrel nozzle and a target direction toward the lowest area;

[0034] (c) adjusting the current direction of the grain unloading barrel nozzle to a target direction toward the lowest area according to the deviation angle;

[0035] (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.

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

[0037] In a second aspect, an embodiment of the present application further provides a grain unloading device for a harvester, the grain unloading device comprising:

[0038] 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 unloading drum nozzle of the target harvesting machine from the initial position to the first nozzle position;

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

[0040] a center position adjustment module, which adjusts the grain unloading barrel nozzle from the first nozzle position to the center position based on the first nozzle position and the center position;

[0041] a depth acquisition module, which, when the grain unloading barrel nozzle reaches the center position, causes the target harvester to start unloading 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;

[0042] a determination module, which adjusts the direction of the current grain unloading barrel nozzle based on the grain accumulation depth of each area, and determines whether the grain accumulation depth of the preset area of ​​the loading bucket reaches a preset depth threshold;

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

[0044] In a third aspect, an embodiment of the present application further provides an electronic device comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the grain unloading method of the harvesting machinery described in the first aspect or any possible embodiment of the first aspect.

[0045] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of unloading grain by the harvesting machinery described in the first aspect or any possible embodiment of the first aspect are executed.

[0046] The embodiments of the present application provide a method, device, electronic device, and storage medium for unloading grain from a harvester. Based on the position information of the target harvester and transport vehicle, the method adjusts the grain unloading nozzle from its initial position to the center of the loading bucket. The method also obtains the grain accumulation depth in each of multiple areas of the loading bucket. Based on the grain accumulation depth in each area, the method adjusts the direction of the current grain unloading nozzle and determines whether the grain accumulation depth in a preset area of ​​the loading bucket has reached a preset depth threshold. If the grain accumulation depth in a preset area of ​​the loading bucket has reached the preset depth threshold, grain unloading is stopped. This method not only improves grain unloading efficiency and accuracy, and avoids grain scattering and waste, but also has good adaptability to various unloading environments and terrains, thereby increasing the flexibility and intelligence of agricultural production.

[0047] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 One of the flow charts of a grain unloading method of a harvester provided in an embodiment of the present application is shown;

[0050] Figure 2 The second flowchart of a grain unloading method of a harvester provided in an embodiment of the present application is shown;

[0051] Figure 3 The third flowchart of a grain unloading method of a harvester provided in an embodiment of the present application is shown;

[0052] Figure 4 A fourth flow chart of a grain unloading method for a harvester provided in an embodiment of the present application is shown;

[0053] Figure 5 A fifth flow chart of a grain unloading method for a harvester provided in an embodiment of the present application is shown;

[0054] Figure 6 One of the structural schematic diagrams of a grain unloading device of a harvester provided in an embodiment of the present application is shown;

[0055] Figure 7 The second structural diagram of a grain unloading device of a harvester provided in an embodiment of the present application is shown;

[0056] Figure 8 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of illustration and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0058] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0059] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario where agricultural machinery needs to unload grain. The embodiments of the present application are not limited to specific application scenarios. Any solution of the unloading method and device of the harvesting machinery provided by the embodiments of the present application is within the scope of protection 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 scale and modernization of agriculture. Grain unloading, as a key link in the harvesting process, ensures the continuous operation of harvesting machinery, prevents grain spoilage and contamination, improves the economic benefits of operations, and provides a solid guarantee for the safe storage and efficient production of grain. In the unloading operation of traditional harvesting machinery, the operator manually adjusts the position of the grain unloading port based on their own experience. However, the operator needs to manually adjust the position of the grain 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 completeness of grain unloading, which can easily lead to grain being lost or left over, affecting operational efficiency.

[0061] In response to the above problems, the embodiments of the present application provide a method, device, electronic equipment and storage medium for unloading grain for a harvesting machinery, which can not only improve the unloading efficiency, enhance the accuracy of unloading grain, and avoid waste caused by scattered grain, but also have good adaptability to a variety of unloading environments and terrains, thereby improving the flexibility and intelligence level of agricultural production.

[0062] To facilitate understanding of the present application, the technical solutions provided in the present application are described in detail below in conjunction with specific embodiments.

[0063] See also Figure 1 , Figure 1 This is one of the flow charts of a grain unloading method for a harvesting machine provided in an embodiment of the present application.

[0064] like Figure 1 As shown in , the grain unloading method of the harvester provided in the embodiment of the present application includes the following steps:

[0065] Step S101: Based on the position of the target harvesting machine and the position of the target transport vehicle, the grain unloading barrel nozzle of the target harvesting machine is adjusted from the initial position to the first nozzle position.

[0066] See also Figure 2 , Figure 2 This is one of the flow charts of a grain unloading method for a harvesting machine provided in an embodiment of the present application.

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

[0068] Step S1011, obtain the position of the target harvester and the position of the target transport vehicle, and determine the position difference of the target transport vehicle relative to the target harvester. Here, a GPS module is installed on the target harvester and the target transport vehicle. The GPS module can obtain the position information of the target harvester and the target transport vehicle in real time, and feed it back to the controller through the wireless communication module, thereby updating the relative position of the two. In an embodiment of the present application, if the position coordinates of the target harvester are (x1, y1), and the position coordinates of the target transport vehicle are (x2, y2), and the position coordinates of the target harvester are used as the origin coordinates, then the position difference ΔX of the target transport vehicle relative to the harvester is 12 =x2-x1, ΔY 12 =y2-y1.

[0069] Step S1012: Determine the angle of the target transport vehicle relative to the target harvester based on the position difference of the target transport vehicle relative to the target harvester. Here, the angle θ1 of the target transport vehicle relative to the target harvester can be obtained by formula (1).

[0070]

[0071] Here, if θ1 = 0, it means that the target transport vehicle is to the right of the target harvester. If θ1 = π, it means that the target transport vehicle is to the left of the target harvester. If θ1 = 3π / 2, it means that the target transport vehicle is behind the target harvester. Here, since the front of the target harvester is the direction in which it is currently working, the front is not considered in this application solution. For example, the front of the harvester is usually the harvesting area, which is the direction in which the harvester is currently harvesting. If the grain unloading drum is turned forward, it will interfere with the normal harvesting operation of the harvester.

[0072] Step S1013: Acquire the current angle of the grain unloading drum of the target harvester. Here, an angle sensor is installed on the grain unloading drum 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 harvester and the current angle of the grain unloading drum of the target harvester, determine the first rotation angle of the grain unloading drum of the target harvester. Here, assuming that the current angle of the grain unloading drum of the target harvester is θ2, and the rotation angle range of the grain unloading drum 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 grain unloading barrel nozzle from the 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 grain unloading barrel is known, so the root position of the grain unloading barrel (x g ,y g ) can be obtained in real time. Assuming that the angle of the grain unloading drum is α (relative to a reference direction of the target harvesting machinery), and the length of the telescopic arm of the grain unloading drum is l, the position of the grain unloading drum nozzle (x n ,y n )=(x g +lcosα,y g +lsinα).

[0075] As an example, assume that the target harvester has a position coordinate of (0, 0), the target transport vehicle has a position coordinate of (5, 0), and the angle θ1 of the target transport vehicle relative to the target harvester is 0, that is, the target transport vehicle is on the right side of the target harvester. Assuming that the current angle θ2 of the grain unloading drum of the target harvester is 3π / 2, the first rotation angle Δθ is 11 =π, that is, the grain unloading barrel needs to be rotated 180 degrees clockwise.

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

[0077] See also Figure 3 , Figure 3 This is the third flow chart of a grain unloading method for a harvesting machine provided in an embodiment of the present application.

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

[0079] Step S1021: Acquire a first image of the target vehicle's loading bucket. This application places a visual recognition module (including a camera and an image processing unit) at the nozzle of the grain unloading drum to identify the precise position of the vehicle's loading bucket, thereby facilitating accurate docking of the grain unloading drum. 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. Preprocessing the first image includes grayscale conversion, Gaussian filtering, and histogram equalization. Specifically, the first image is converted from RGB format to a grayscale image. A Gaussian filter is then applied to eliminate noise and improve image clarity. Finally, the brightness of the image is equalized to make the loading bucket easier to separate and detect. Then, the Canny edge detection algorithm is used to identify edges in the first image. Specifically, the gradient and direction of the first image are calculated. After calculating the gradient, the edges in the first image may be relatively coarse. Second, non-maximum suppression is used to remove pixels that do not have the strongest response on the edge, retaining only the local maximum gradient value and refining the edge. Third, two thresholds are set: 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 between the two thresholds are identified as weak edges. Weak edges are connected by tracing. If a weak edge is connected to a strong edge, the weak edge is retained as part of the edge. Finally, contours in the first image are detected using OpenCV's findContours function. Specifically, contour extraction is performed on the first image after edge detection. Second, contours are filtered by calculating their area and perimeter, removing small noisy contours and retaining contours that meet the dimensions of the loading hopper. Finally, the shape of the shipping bucket is determined. Specifically, since the shipping bucket appears as an approximate rectangle in the first image, the shipping bucket can be located by detecting a quadrilateral outline. This application uses a polygon fitting method to simplify the point set of the outline into a small number of vertices. Once a quadrilateral outline is detected, it can be considered as a possible shipping bucket boundary. If higher accuracy is required, a feature matching method can be used. In the first step, 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, etc.). In the second step, the detected key points and descriptors are matched with a pre-stored template using a matching algorithm (such as FLANN or a brute force matcher). The outline of the shipping bucket is further confirmed based on the matching results.

[0081] Step S1023: Determine the center position of the loading bucket based on the outline. Here, based on the first nozzle position of the grain unloading bucket nozzle, determine the pixel point corresponding to the first nozzle position on the first image, calibrate the camera, determine the real coordinates of the corner points of the loading bucket outline, and calculate the center position of the loading bucket (x c ,y cSpecifically, assuming that the coordinates of the four corner points of the loading bucket are: (x3, y3), (x4, y4), (x5, y5), (x6, y6), then x c =(x3+x4+x5+x6) / 4, y c =(y3+y4+y5+y6) / 4. Based on the known position of the grain unloading bucket spout, the corresponding pixel point on the first image is determined, and the camera is calibrated based on this to 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 grain unloading barrel nozzle from the first nozzle position to the center position.

[0083] See also Figure 4 , Figure 4 This is the fourth flow chart of a grain unloading method for a harvesting machine provided in an embodiment of the present application.

[0084] like Figure 4 As shown in FIG, 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 of the grain unloading barrel nozzle at the first nozzle position relative to the center position. Here, the first nozzle position can be obtained according to the angle corresponding to the grain unloading barrel when the grain unloading barrel nozzle is at the first nozzle position. Assuming that the first nozzle position is (x7, y7) and the center position of the loading bucket is (x8, y8), the position difference ΔX of the grain unloading barrel nozzle at the first nozzle position relative to the center position is 78 =x8-x7, ΔY 78 =y8-y7.

[0086] Step S1032: Determine the angle of the grain unloading drum nozzle at the first nozzle position relative to the center position based on the position difference of the grain unloading drum nozzle at the first nozzle position relative to the center position. Here, the angle of the grain unloading drum nozzle at the first nozzle position relative to the center position can be obtained by formula (2).

[0087] Here, the angle θ3 of the target transport vehicle relative to the target harvesting machine can be obtained by formula (2).

[0088]

[0089] Step S1033: Determine a second rotation angle of the grain unloading drum of the target harvesting machine according to the angle of the grain unloading drum nozzle at the first nozzle position relative to the center position.

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

[0091] In the embodiment of the present application, in order to achieve smooth rotation of the grain unloading drum from the current angle to the target angle, a linear interpolation method or a PID control method can be set to slowly rotate the grain unloading drum to the target angle to avoid sudden rotation. Specifically, the linear interpolation method: Assume that the current angle of the grain unloading drum is θ2, the target angle of the grain unloading drum is θ5, and the rotation angle step Δθ 13 =k(θ5-θ2), where k is the proportional coefficient for controlling the rotation speed. 13 Add to the current angle θ2 until the target angle is θ5. PID control method: The angle Δθ that needs to be adjusted for unloading the grain barrel 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 grain unloading barrel, K i1 To adjust the integral coefficient corresponding to the angle of the grain unloading drum, K d1 To adjust the differential coefficient corresponding to the grain unloading drum 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 image recognition accuracy and speed, the image processing area can be restricted to analyze only areas that may contain the bucket, thereby reducing computational complexity and lowering the false positive rate. Furthermore, a deep learning object detection algorithm (such as YOLO or SSD) is introduced to train a model specifically for bucket detection, thereby improving recognition accuracy and robustness. Furthermore, multiple cameras or a depth camera can be installed at the grain unloading hopper nozzle to obtain a more comprehensive perspective and depth information of the bucket, enhancing positioning accuracy.

[0095] Step S104: When the nozzle of the grain unloading barrel reaches the center position, the target harvester starts to unload grain into the loading bucket of the target transport vehicle, and obtains the grain accumulation depth of each area of ​​the loading bucket.

[0096] This application uses a depth sensor located at the grain discharge nozzle to obtain depth information from various areas of the loading bucket surface, 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 can reflect the filling height of each area of ​​grain.

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

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

[0099] Then, the second image is divided into multiple regions, and the grain accumulation depth of each region 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 is used as a detection unit. The average depth value D in each detection unit is calculated. ij , i is the row, j is the column, and the depth distribution matrix D of the entire loading bucket is as shown below.

[0100]

[0101] Step S105: Based on the grain accumulation depth of each area, adjust the direction of the current grain unloading barrel nozzle, and determine whether the grain accumulation depth of the preset area of ​​the loading bucket reaches a preset depth threshold.

[0102] See also Figure 5 , Figure 5 This is the fifth flow chart of a grain unloading method for a harvesting machine provided in an embodiment of the present application.

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

[0104] Step S1051 compares the grain accumulation depths of each region to determine the lowest region with the lowest grain accumulation depth. Here, the data in matrix D is analyzed to compare the depth values ​​of different regions. A smaller depth value indicates a higher filling height in that region; a larger depth value indicates a lower filling height.

[0105] Step S1052, based on the position of the lowest area, determine the deviation angle between the current direction of the grain unloading barrel nozzle and the target direction toward the lowest area; here, find the area with a lower filling height (i.e., the location of the maximum depth value) according to the depth difference, and then calculate the difference between the area and the position of the area currently aimed at the nozzle, and then determine the adjustment direction and angle. A micromotor is provided at the grain unloading barrel nozzle, and the micromotor fine-tunes the nozzle in the left and right and front and back directions to align with the area with insufficient grain, so that the grain can flow more accurately to the area with less filling, ensuring that the grain is evenly distributed and preventing overflow. Specifically, the fine-tuning direction required for the nozzle is calculated by the deviation angle. For example, assuming that the lateral deviation angle of the alignment position is α, the longitudinal deviation angle is β, and the lowest area (i.e., the target point) is (x9, x 10 ) The area that the current grain unloading barrel nozzle is aimed at (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 by formula (4). The longitudinal deviation angle β can be calculated by formula (5).

[0106]

[0107] Step S1053: Adjust the direction of the grain unloading nozzle to the target direction of the lowest area according to the deviation angle. Here, in order to avoid the nozzle from being adjusted too much or too frequently, a PID control algorithm is used to allow the micro motor to adjust the nozzle direction smoothly. Specifically, the X-axis adjustment angle θ x Specifically, it can be calculated by formula (6): the Y-axis adjustment 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 grain unloading barrel nozzle, K i2 To adjust the integral coefficient corresponding to the direction of the grain unloading barrel nozzle, K d2 To adjust the differential coefficient corresponding to the direction of the grain unloading barrel nozzle.

[0110] In order to achieve fine control, the step value of the angle adjustment is set to a smaller value. This can avoid excessive or frequent nozzle adjustments and make nozzle adjustments more stable and precise.

[0111] Step S1054: After the grain unloading barrel nozzle is oriented toward the lowest area, it is determined whether the grain accumulation depth in the predetermined area of ​​the loading bucket has reached a predetermined depth threshold. If the depth values ​​of certain areas approach the predetermined depth threshold, it indicates that these areas are about to be fully loaded.

[0112] In step S106, if the grain accumulation depth in the preset area of ​​the loading bucket reaches a preset depth threshold, grain unloading stops. Here, the system continuously monitors the depth value of each area of ​​the loading bucket. If the depth value of the majority of areas reaches the preset depth threshold, grain unloading stops and the grain unloading drum returns to its initial position, ready for the next unloading operation.

[0113] If the grain accumulation depth in the preset area of ​​the loading bucket does not reach the preset depth threshold, the process returns to step S105.

[0114] The embodiment of the present application provides a method for unloading grain for a harvesting machine. Through the method, not only can the unloading efficiency be improved, the accuracy of unloading grain be enhanced, and waste of grain caused by scattering be avoided, but also the method has good adaptability to various unloading environments and terrains, thereby improving the flexibility and intelligence level of agricultural production.

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

[0116] See also Figure 6 , Figure 6 One of the structural schematic diagrams of a grain unloading device of a harvesting machine provided in an embodiment of the present application is shown.

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

[0118] A first nozzle position adjustment module 611 adjusts the grain unloading barrel nozzle of the target harvester from an initial position to a first nozzle position based on the position of the target harvester and the position of the target transport vehicle;

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

[0120] A center position adjustment module 613 adjusts the grain unloading barrel nozzle from the first nozzle position to the center position based on the first nozzle position and the center position;

[0121] Depth acquisition module 614, when the grain unloading barrel nozzle reaches the center position, the target harvester starts unloading 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;

[0122] The determination module 615 adjusts the direction of the current grain discharge barrel nozzle based on the grain accumulation depth of each area, and determines whether the grain accumulation depth of the preset area of ​​the loading bucket reaches a preset depth threshold;

[0123] The stopping module 616 stops unloading grain if 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 to:

[0125] 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;

[0126] 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;

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

[0128] 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;

[0129] According to the first rotation angle, the grain unloading barrel nozzle is adjusted from the initial position to the first nozzle position.

[0130] Preferably, the location acquisition module 612 is specifically configured to:

[0131] Acquire a first image of a loading bucket of a target transport vehicle;

[0132] performing recognition and image processing on the first image to determine the outline of the loading bucket in the first image;

[0133] Based on the contour, a center position of the shipping bucket is determined.

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

[0135] Based on the first nozzle position and the center position, determining the position difference of the grain unloading barrel nozzle at the first nozzle position relative to the center position;

[0136] 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;

[0137] determining a second rotation angle of the grain unloading drum of the target harvesting machine based on an angle of the grain unloading drum nozzle at the first nozzle position relative to the central position;

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

[0139] Preferably, the depth acquisition module 614 is specifically configured to:

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

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

[0142] Preferably, the determining module 615 is specifically configured to:

[0143] Comparing the grain accumulation depths in each of the regions to determine the lowest region with the lowest grain accumulation depth;

[0144] Based on the position of the lowest area, determining a deviation angle between the current direction of the grain unloading barrel nozzle and a target direction toward the lowest area;

[0145] According to the deviation angle, the direction of the current grain unloading barrel nozzle is adjusted to a target direction toward the lowest area;

[0146] After the direction of the current grain unloading barrel nozzle is adjusted to the target direction toward the lowest area, it is determined whether the grain accumulation depth in the preset area of ​​the loading bucket reaches a preset depth threshold.

[0147] See also Figure 7 , Figure 7 The second structural diagram of a grain unloading device of a harvester provided in an embodiment of the present application is shown;

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

[0149] Returning to module 617 , if the grain accumulation depth in the preset area of ​​the loading bucket does not reach the preset depth threshold, then returning to determining module 615 .

[0150] The embodiment of the present application provides a grain unloading device for a harvesting machinery. Through the device, not only can the grain unloading efficiency be improved, the grain unloading accuracy be enhanced, and the waste caused by grain scattering be avoided, but also the device has good adaptability to a variety of grain unloading environments and terrains, thereby improving the flexibility and intelligence level of agricultural production.

[0151] See also Figure 8 , Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0152] like Figure 8 As shown in FIG, 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 communicates with the memory 820 via the bus 830. When the machine-readable instructions are executed by the processor 810, the above-mentioned Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 The specific implementation of the steps of the grain unloading method of the harvesting machinery in the method embodiment shown can be found in the method embodiment and will not be repeated here.

[0154] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 The specific implementation of the steps of the grain unloading method of the harvesting machinery in the method embodiment shown can be found in the method embodiment and will not be repeated here.

[0155] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0156] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0157] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0158] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0159] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for unloading grain 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 unloading drum nozzle of the target harvesting machine from an initial position to a 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 center position, the target harvester starts unloading 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 unloading 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, unloading of grain is stopped; The step of adjusting the direction of the current grain unloading barrel nozzle based on the grain accumulation depth in each area and determining whether the grain accumulation depth in 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, an angle of deviation between the current direction of the grain discharge barrel nozzle and a target direction toward the lowest area; wherein the grain discharge barrel nozzle is provided with a micro-motor, and the micro-motor fine-tunes the nozzle in two directions, left and right, and front and back, to align the nozzle with the insufficient grain 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.

2. The grain unloading method according to claim 1, characterized in that: The step of adjusting the grain unloading drum nozzle of the target harvester from an initial position to a 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; performing recognition and image processing on 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 unloading barrel nozzle from the first nozzle position to the center position based on the first nozzle position and the center position includes: Based on the first nozzle position and the center position, determining the position difference of the grain unloading 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 an 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 barrel 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: acquiring a second image of the loading bucket of the target transport vehicle; The second image is divided into a plurality of regions, and a 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: If the grain accumulation depth in the preset area of ​​the loading bucket does not reach the preset depth threshold, the process returns to step (a).

7. 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 unloading drum nozzle of the target harvesting machine from the initial position to the first nozzle position; A position acquisition module obtains the center position of the loading bucket of the target transport vehicle; a center position adjustment module, which adjusts the grain unloading barrel nozzle from the first nozzle position to the center position based on the first nozzle position and the center position; a depth acquisition module, which, when the grain unloading barrel nozzle reaches the center position, causes the target harvester to start unloading 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, which adjusts the direction of the current grain unloading barrel nozzle based on the grain accumulation depth of each area, and determines whether the grain accumulation depth of the preset area of ​​the loading bucket reaches a preset depth threshold; A stop module stops unloading grain if the grain accumulation depth in the preset area of ​​the loading bucket reaches a preset depth threshold; The determining module is specifically configured to: Comparing the grain accumulation depths in each of the regions to determine the lowest region with the lowest grain accumulation depth; Based on the position of the lowest area, determining the deviation angle between the current direction of the grain unloading barrel nozzle and the target direction toward the lowest area; wherein the grain unloading barrel nozzle is provided with a micro-motor, and the micro-motor fine-tunes the nozzle in the left and right directions and the front and back directions to align with the insufficient grain area; According to the deviation angle, the direction of the current grain unloading barrel nozzle is adjusted to a target direction toward the lowest area; After the direction of the current grain unloading barrel nozzle is adjusted to the target direction toward the lowest area, it is determined whether the grain accumulation depth in the preset area of ​​the loading bucket reaches a preset depth threshold.

8. 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 through the bus. When the processor is running, the machine-readable instructions execute the steps of the grain unloading method of the harvesting machinery as described in any one of claims 1 to 6.

9. 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 harvesting machinery as described in any one of claims 1 to 6 are executed.

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