Harvester monitoring system

Abstract

The utility model discloses a harvester monitoring system, and relates to the technical field of agricultural machinery. The harvester monitoring system comprises a first camera used for collecting granary internal images of a harvester; the second camera is used for collecting a grain unloading image of a grain unloading barrel of the harvester, and the second camera is arranged at an outlet of the grain unloading barrel of the harvester; the third camera is used for collecting vehicle body images of the harvester, at least one of the left side and the right side of the harvester is provided with the third camera, and the signal output ends of the first camera, the second camera and the third camera are connected with the signal input end of the monitoring module. And the monitoring module is used for monitoring the harvester according to the granary internal image, the unloading cylinder unloading image and the vehicle body image. And the safety of the granary and the grain unloading barrel can be ensured, the cost of regular inspection and maintenance is reduced, and accidents caused by equipment failures or misoperation are prevented. And the situation around the harvester can be monitored, and a machinist can be helped to better observe the surrounding and harvesting environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to a harvester monitoring system. BACKGROUND

[0002] When the harvester is working, the roles of the unloading cylinder and the grain tank cannot be ignored. During unloading, if foreign matters such as stones and straws exist in the unloading cylinder, the unloading cylinder will be blocked, which will cause the machine to stop and affect the work efficiency. In addition, the unloading speed needs to be adjusted in real time to match the loading speed of the unloading vehicle, so as to avoid overloading of the unloading cylinder and maintain continuous operation. The capacity of the grain tank of the harvester is limited, and if it is not monitored in time, the grain tank may overflow, which will affect the harvesting work. Knowing the remaining capacity of the grain tank can help the operator to plan the field work path and time, and improve the work efficiency. Real-time viewing of the working status of the grain tank, unloading cylinder and the like can ensure the safety of the components, reduce the cost of periodic inspection and maintenance, and prevent accidents caused by equipment failure or improper operation. Ensuring the normal operation of the unloading cylinder and the grain tank can minimize crop loss, increase the actual harvest, and thus increase the income of farmers.

[0003] The existing harvester monitoring system is generally two schemes:

[0004] The first is to install wide-angle cameras at four positions of front, rear, left and right of the machine. The collected image data is transmitted to the vehicle-mounted controller, processed and corrected, the images of each angle are spliced into a continuous panoramic image, and displayed on the display screen.

[0005] The second is to install a reversing camera only at the rear of the machine, and transmit the reversing image to the vehicle-mounted display screen.

[0006] As can be seen, the existing harvester monitoring system cannot monitor the working status of the grain tank and the unloading cylinder. CONTENT OF THE INVENTION

[0007] The purpose of the embodiment of the present application is to provide a harvester monitoring system to solve the technical problem that the working status of the grain tank and the unloading cylinder cannot be monitored in the prior art.

[0008] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a harvester monitoring system, comprising:

[0009] a first camera for collecting an image inside a grain tank of the harvester;

[0010] a second camera for collecting an unloading image of an unloading cylinder of the harvester, the second camera being arranged at an outlet of the unloading cylinder of the harvester;

[0011] A third camera is arranged on at least one side of the combine harvester to capture an image of a body of the combine harvester.

[0012] A monitoring module is connected to signal output ends of the first camera, the second camera and the third camera, and is configured to monitor the combine harvester according to the image of the inside of the granary, the image of the grain unloading cylinder and the image of the body of the combine harvester.

[0013] In the embodiment, the first camera, the second camera and the third camera are all cameras with image recognition function, and the monitoring module comprises a display screen, and signal output ends of the first camera, the second camera and the third camera are connected to signal input ends of the display screen.

[0014] In the embodiment, the monitoring module comprises a controller and a display screen, and signal output ends of the first camera, the second camera and the third camera are connected to signal input ends of the controller, and a signal output end of the controller is connected to a signal input end of the display screen.

[0015] In the embodiment, the controller is further configured to generate multiple images based on the image of the inside of the granary, the image of the grain unloading cylinder and the image of the body of the combine harvester, and send each image to the display screen for display.

[0016] In the embodiment, the monitoring module is arranged in a cab of the combine harvester.

[0017] In the embodiment, the monitoring module is further connected to a signal input end of an alarm device.

[0018] In the embodiment, the first camera, the second camera and the third camera are fixed to the combine harvester through camera supports.

[0019] In the embodiment, the second camera is further configured to capture image information of a grain transport vehicle in real time, and send the image information of the grain transport vehicle to the monitoring module, and the monitoring module is further configured to monitor the grain transport vehicle according to the image information of the grain transport vehicle.

[0020] In the embodiment, a ruler is arranged in the granary of the combine harvester.

[0021] In the embodiment, a fourth camera is arranged at the back of the combine harvester.

[0022] Through the technical scheme, the first camera for collecting the image of the inside of the grain tank of the harvester, the second camera for collecting the unloading image of the unloading cylinder of the harvester and the third camera for collecting the image of the vehicle body of the harvester are arranged, the second camera is arranged at the outlet of the unloading cylinder of the harvester, at least one side of the left and right sides of the harvester is provided with the third camera, and the signal output ends of the first camera, the second camera and the third camera are connected with the signal input end of the monitoring module. The monitoring module monitors the grain tank according to the image collected by the first camera, monitors the unloading cylinder according to the image collected by the second camera and monitors the vehicle body according to the image collected by the third camera, so that the grain tank, the unloading cylinder and the vehicle body are monitored, the safety of the grain tank and the unloading cylinder is ensured, the cost of regular inspection and maintenance is reduced, and accidents caused by equipment failure or improper operation are prevented. The normal operation of the unloading cylinder and the grain tank is ensured, crop loss is minimized, actual harvest is improved, and thus the income of farmers is increased. When the harvester is walking, the surrounding situation of the harvester can be monitored, the blind area can be greatly reduced, and the operator can better observe the surrounding and harvesting environment.

[0023] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the following specific embodiments, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0025] Figure 1 The structure of the harvester monitoring system according to the embodiments of the present application is schematically shown;

[0026] Figure 2 The working logic of the harvester monitoring system according to the embodiments of the present application is schematically shown;

[0027] Figure 3 The installation of the grain tank and unloading cylinder camera according to the embodiments of the present application is schematically shown;

[0028] Figure 4 The side view of the harvester according to the embodiments of the present application is schematically shown;

[0029] Figure 5 The installation of the display screen according to the embodiments of the present application is schematically shown;

[0030] Figure 6 The top view of the harvester according to the embodiments of the present application is schematically shown.

[0031] Explanation of reference signs

[0032] 1 - harvester; 2 - grain tank camera; 3 - left side camera; 4 - unloading cylinder; 5 - unloading cylinder camera; 6 - grain tank; 7 - cab; 8 - display screen; 9 - right side camera; 10 - fourth camera. DETAILED DESCRIPTION

[0033] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain and illustrate the embodiments of the present application and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0034] It should be noted that the acquisition, transmission, storage, use, processing and the like of data in the technical solutions of the present application comply with the relevant provisions of national laws and regulations. In the embodiments of the present application, some industry existing solutions such as software, components, models and the like may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility of the implementation of the technical solutions of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0035] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, motion condition and the like between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0036] In addition, if the embodiments of the present application involve descriptions such as "first", "second" and the like, the descriptions of "first", "second" and the like are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions appears to be contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0037] Reference is made to Figure 1 , Figure 1 The structure of a harvester 1 monitoring system according to an embodiment of the present application is schematically shown. The embodiment provides a harvester 1 monitoring system, which comprises:

[0038] The first camera is used to collect the image of the inside of the grain tank of the harvester 1.

[0039] The second camera is used to collect the image of the unloading of the unloading cylinder of the harvester 1.

[0040] The third camera is used to collect the image of the vehicle body of the harvester 1, and the third camera is arranged on at least one side of the left and right sides of the harvester 1.

[0041] The monitoring module is connected with the signal input end of the monitoring module, and the monitoring module is used to monitor the harvester 1 according to the image of the inside of the grain tank, the unloading cylinder and the vehicle body.

[0042] In the embodiment, please refer to Figure 3 and Figure 4 , Figure 3 The installation schematic diagram of the grain tank 6 and the unloading cylinder camera 5 according to the embodiment of the application is schematically shown, Figure 4 The side view of the harvester 1 according to the embodiment of the application is schematically shown. The first camera, the second camera and the third camera have high resolution, which is usually 1080 or above. The first camera can collect the image data of the inside of the grain tank 6, and the second camera can capture the image in the unloading process. The positions of the first camera, the second camera and the third camera can be determined according to the actual situation, and the installation positions should be able to capture a wider field of view and reduce the blind area. For example, the first camera can be installed at the upper right corner of the inside of the grain tank 6. The first camera, the second camera and the third camera can have good waterproof and dustproof performance to ensure that they can still work normally in different environments. The monitoring module at least includes a display screen 8. The monitoring module monitors the harvester 1 according to the image data of the grain tank, the image data of the unloading cylinder 4 and the vehicle body image, so that the grain entering and leaving the grain tank, the unloading state of the unloading cylinder and the vehicle body condition can be monitored in real time. Specifically, the first camera can capture the image of the inside of the grain tank in real time, and the monitoring module can identify the grain in the image of the inside of the grain tank to determine whether the grain tank is full. The second camera can capture the image of the unloading process at the outlet of the unloading cylinder in real time, and the monitoring module can detect the speed and density of the grain flow in real time according to the unloading image of the unloading cylinder to ensure that the unloading is within the normal range. The third camera can be one or more, for example, please refer to Figure 6 , Figure 6A top view of the harvester 1 according to the embodiment of the present application is schematically shown. The third camera is two, which are left camera 3 and right camera 9 respectively, and are located on the two sides of the harvester 1. The installation positions of the left camera 3 and the right camera 9 can be determined according to actual conditions. The third camera can capture video stream and static images in real time. The image information can be transmitted to the monitoring module in real time. The image information can be pre-processed (adjusting brightness, contrast, and denoising) to improve the image quality, and then the target detection algorithm is used to locate the human body position in the image. A rectangular array is drawn around the detected human body, and relevant information can be labeled on the image, so as to monitor whether there is a person on both sides of the vehicle body in real time, so that the harvester 1 can effectively detect pedestrians when walking, and help the operator to make necessary preparations in advance.

[0043] In the above implementation process, the monitoring module, the first camera for collecting the image of the grain tank inside the harvester 1, the second camera for collecting the image of the grain cylinder unloading of the harvester 1, and the third camera for collecting the image of the vehicle body of the harvester 1 are provided. The second camera is arranged at the grain cylinder outlet of the harvester 1. At least one of the left and right sides of the harvester is provided with a third camera. The signal output ends of the first camera, the second camera and the third camera are connected with the signal input end of the monitoring module respectively. The monitoring module monitors the grain tank 6 according to the image collected by the first camera, monitors the unloading cylinder 4 according to the image collected by the second camera, and monitors the vehicle body according to the image collected by the third camera, so as to realize the monitoring of the grain tank 6, the unloading cylinder 4 and the vehicle body. It helps to ensure the safety of the grain tank 6 and the unloading cylinder, reduces the cost of regular inspection and maintenance, and prevents accidents caused by equipment failure or improper operation. Ensure the normal operation of the unloading cylinder and the grain tank, which can minimize crop loss, increase actual harvest, and thus increase farmers' income. The harvester 1 can monitor the situation around the harvester 1 when walking, which can greatly reduce the blind area, help the operator to better observe the surrounding and harvesting environment, thereby avoiding collision accidents, and can make the operator more accurately aim at the machine, reduce the situation of missing and repeated harvesting, and improve the harvesting efficiency.

[0044] In some embodiments, the first camera, the second camera and the third camera are all cameras with image recognition function. The monitoring module includes a display screen 8. The signal output ends of the first camera, the second camera and the third camera are connected with the signal input end of the display screen 8 respectively.

[0045] In the embodiment, the first camera, the second camera and the third camera are all cameras with image recognition function, such as 3D camera, and each camera can be connected with the display screen 8 through a wire harness. The display interface of the display screen 8 can be simple and intuitive, which is convenient for the operator to quickly understand the surrounding environment. After collecting images, each camera can identify and process the images, and the collected images of the inside of the granary, the unloading image of the unloading cylinder and the vehicle body image are all images after identification and processing, and then the images are sent to the display screen 8 for display to monitor.

[0046] By adopting the first camera, the second camera and the third camera as cameras with image recognition function, each camera can identify and process images by itself, and then directly send the images to the display screen 8 for display, so that the monitoring system is simpler. When displaying, each image does not need to be spliced, but only needs to be displayed, and the cost is low.

[0047] In some embodiments, the monitoring module includes a controller and a display screen 8, and the signal output ends of the first camera, the second camera and the third camera are connected with the signal input ends of the controller, and the signal output end of the controller is connected with the signal input end of the display screen 8.

[0048] In the embodiment, the controller can be connected with each camera through a wire harness or through wireless connection, which is not limited in the embodiment. The controller has efficient image processing algorithms, including pre-processing (adjusting brightness, contrast, denoising), image recognition, etc., to ensure that image collection and display are completed in a short time, and the images collected by each camera can be displayed on the display screen 8 according to actual conditions.

[0049] By setting the controller, the images collected by each camera can be processed centrally, and then the processed images are displayed, so that the monitoring system can be applied to more monitoring scenes.

[0050] When displaying, the images collected by any one or more of the first camera, the second camera and the third camera can be displayed, for example, the controller can display the images collected by the first camera, the second camera and the third camera on the display screen 8 respectively, realize multi-channel image display, and do not need to splice multi-channel images, so as to reduce the cost and improve the processing speed. The controller can also splice and display the images of the first camera, the second camera and the third camera. The display interface of the display screen 8 can be simple and intuitive to facilitate the operator to quickly understand the surrounding environment.

[0051] In some embodiments, the controller is configured to generate multiple images based on the images of the inside of the grain bin, the unloading cylinder, and the vehicle body, and send each image to the display screen 8 for display.

[0052] In this embodiment, the controller can process the images of the inside of the grain bin, the unloading cylinder, and the vehicle body, respectively, and generate multiple images based on the processed images.

[0053] For example, in the above example, the display screen can display the image of the inside of the grain bin captured by the first camera, the image of the unloading cylinder captured by the second camera, the image captured by the left camera 3, and the image captured by the right camera 9, thereby achieving four-way image monitoring.

[0054] By generating multiple images based on the images of the inside of the grain bin, the unloading cylinder, and the vehicle body, and sending each image to the display screen 8 for display, the multiple images do not need to be spliced during display, and each image can be displayed separately, thereby reducing the cost.

[0055] In some embodiments, the monitoring module is arranged in the cab 7 of the harvester 1.

[0056] In this embodiment, please refer to Figure 5 , Figure 5 The display screen 8 according to the embodiment of the present application is schematically shown in the installation diagram. The display screen is installed in the cab 7. In the case where the monitoring module includes a controller and a display screen, the controller is also arranged in the cab 7.

[0057] By arranging the monitoring module in the cab 7 of the harvester 1, the operator can conveniently view the surrounding situation in real time.

[0058] In some embodiments, the monitoring module further includes an alarm device, and the signal output end of the monitoring module is connected to the signal input end of the alarm device.

[0059] In this embodiment, the alarm device can be a horn, a buzzer, a voice prompter, or a display screen 8 with an alarm, thereby achieving alarm. For example, the controller determines whether the unloading cylinder is unloading normally based on the image of the unloading cylinder, and if not, sends an alarm signal to the alarm device to alarm. The controller determines whether the grain bin is full based on the image of the inside of the grain bin, and if so, sends an alarm signal to the alarm device to alarm. The controller determines whether a person passes by based on the left camera 3 and the right camera 9, and if so, sends an alarm signal to the alarm device to alarm.

[0060] By arranging the alarm device, the images captured by each camera are monitored, and the alarm can be sent in time when an abnormal situation occurs, thereby reminding the operator.

[0061] In some embodiments, the first camera, the second camera and the third camera are fixed on the harvester 1 through camera supports respectively.

[0062] By fixing the first camera, the second camera and the third camera through supports respectively, the installation of the first camera, the second camera and the third camera is more stable, which helps to ensure the reliable operation of the monitoring system of the harvester 1.

[0063] In some embodiments, the second camera is further configured to collect image information of the grain transport vehicle in real time and send the image information of the grain transport vehicle to the monitoring module, and the monitoring module is further configured to monitor the grain transport vehicle according to the image information of the grain transport vehicle.

[0064] In the embodiment, the second camera can also capture image information of the grain transport vehicle in real time and send the image information to the monitoring module. The image information is preprocessed (adjusting brightness, contrast, and denoising) by the monitoring module to improve the image quality, and then the edge detection algorithm is used to extract the contour information of the transport vehicle, so as to adjust the position of the grain unloading cylinder 4 according to the contour information of the transport vehicle, so as to ensure that the grain outlet is in the grain unloading vehicle. In a specific implementation, the second camera can be a wide-angle camera, which has a wider shooting range, so that the second camera can better capture the image of the grain transport vehicle.

[0065] In some embodiments, a scale is arranged in the grain bin 6 of the harvester 1.

[0066] In the embodiment, the scale can be a scale with a known height. When the first camera collects the image of the grain bin 6, the image also contains information of the scale. By measuring the pixel height of the scale in the image, the height of the grain pile can be calculated according to the actual height of the reference object, so that the height of the grain pile in the grain bin 6 can be determined without adding devices such as grain fullness sensors in the grain bin 6.

[0067] Please refer to Figure 6 In some embodiments, the fourth camera 10 is arranged at the rear of the harvester 1.

[0068] In the embodiment, the fourth camera 10 is used to collect the image at the rear of the vehicle body, so that the operator can observe the real-time conditions of the front, rear, left, right, inside of the grain bin 6 and the grain unloading cylinder 4 in the vehicle, and the visual blind area is eliminated. It should be noted that the image at the rear of the vehicle body can also be obtained through the existing reversing image of the vehicle.

[0069] It should be noted that the algorithms mentioned in this embodiment, such as edge detection algorithm, target detection algorithm, etc. can be realized by using existing technologies, and will not be described again.

[0070] The scheme will be described below with specific examples. Please refer to Figure 2 , Figure 2 The working logic diagram of a harvester 1 monitoring system according to an embodiment of the application is schematically shown.

[0071] The harvester 1 monitoring system includes four high-definition cameras, a camera support, an image processing unit (i.e. a controller), and a display (with an alarm). The cameras are distributed on the left side, the right side, the grain bin 6, and the grain unloading cylinder 4 of the harvester 1, and are fixed on the vehicle body through the support. The image processing unit is located in the cab 7 and is connected with each camera through a wire harness to generate four image paths. The display is installed in the cab 7 for the operator to view the surrounding situation in real time.

[0072] After the harvester 1 is powered on, the left and right cameras are powered on, and the display screen 8 displays the left and right images. The left and right cameras can capture video streams and static images in real time, and the image information is transmitted to the controller in real time. The image information is pre-processed (brightness, contrast, and noise reduction) to improve the image quality, and then the target detection algorithm is used to locate the human body position in the image. A rectangular array is drawn around the detected human body, and relevant information is labeled on the image, and an alarm will be issued.

[0073] After the harvester 1 is powered on, the grain bin camera 2 is powered on, and the display screen 8 displays the internal image of the grain bin. A ruler with a known height is placed in the grain bin 6. First, the pixel height of the ruler in the image is measured, and then the height of the grain pile is calculated according to the actual height of the reference object and labeled on the image. When the height of the grain pile is close to full bin, an alarm will be issued.

[0074] When the grain unloading cylinder 4 is working, the grain unloading cylinder camera 5 is powered on, and the display screen 8 displays the grain unloading state of the grain unloading cylinder 4. The camera can capture images during the grain unloading process, and detect the speed and density of the grain flow in real time to ensure that they are within the normal range. The camera can capture image information of the grain transport vehicle in real time and transmit it to the controller. The image information is pre-processed (brightness, contrast, and noise reduction) to improve the image quality, and then the edge detection algorithm is used to extract the contour information of the transport vehicle. When the contour of the transport vehicle exceeds the predetermined boundary or an abnormal situation (sudden movement, large posture change, etc.) occurs, an alarm will be issued immediately.

[0075] It should also be noted that the terms "comprising", "comprises" or other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0076] The above embodiments are only used to illustrate the present application, but not to limit it. Instead of the above, various modifications and changes can be made to the application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall fall into the scope of the claims of the application.

Claims

1. A harvester monitoring system, characterized in that, include: The first camera is used to capture images of the inside of the grain bin of the harvester; The second camera is used to capture images of grain being unloaded from the unloading hopper of the harvester. The second camera is located at the outlet of the unloading hopper of the harvester. The third camera is used to capture images of the harvester body, and the third camera is provided on at least one of the left and right sides of the harvester. The monitoring module has its signal output terminals of the first camera, the second camera, and the third camera connected to their signal input terminals. The monitoring module is used to monitor the harvester based on images of the grain silo interior, images of grain unloading from the unloading canister, and images of the harvester vehicle.

2. The harvester monitoring system according to claim 1, characterized in that, The first camera, the second camera, and the third camera are all cameras with image recognition capabilities. The monitoring module includes a display screen, and the signal output terminals of the first camera, the second camera, and the third camera are respectively connected to the signal input terminals of the display screen.

3. The harvester monitoring system according to claim 1, characterized in that, The monitoring module includes a controller and a display screen. The signal output terminals of the first camera, the second camera, and the third camera are respectively connected to the signal input terminal of the controller, and the signal output terminal of the controller is connected to the signal input terminal of the display screen.

4. The harvester monitoring system according to claim 3, characterized in that, The controller is used to generate multiple video feeds based on the images inside the grain silo, the images of grain unloading from the unloading can, and the images of the vehicle body, and then send each video feed to the display screen for display.

5. The harvester monitoring system according to claim 1, characterized in that, The monitoring module 2025-A11738-CN12118 U99069CZL intelligent agricultural machinery module is installed in the cab of the harvester.

6. The harvester monitoring system according to claim 1, characterized in that, Also includes: An alarm device is provided, wherein the signal output terminal of the monitoring module is connected to the signal input terminal of the alarm device.

7. The harvester monitoring system according to claim 1, characterized in that, The first camera, the second camera, and the third camera are respectively fixed on the harvester by camera brackets.

8. The harvester monitoring system according to claim 1, characterized in that, The second camera is also used to collect image information of the grain transport vehicle in real time and send the image information of the grain transport vehicle to the monitoring module. The monitoring module is also used to monitor the grain transport vehicle based on the image information of the grain transport vehicle.

9. The harvester monitoring system according to claim 1, characterized in that, The harvester has a measuring scale installed inside its grain bin.

10. The harvester monitoring system according to claim 1, characterized in that, Also includes: A fourth camera is located at the rear of the harvester.

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