Inclined 3D Camera Baseline for Crop Row Detection
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Solution Overview
Problem
The existing agricultural working machines equipped with 3D cameras face inaccuracies in detecting rows of plants and processing the field due to blurring caused by the horizontal alignment of camera lenses, which reduces the precision of field processing, especially when weeds of similar height to crops are present.
Innovation Solution
Inclining the base line of the 3D camera relative to the horizontal plane, allowing the optical centers to be closer together, thereby reducing blurring and improving the accuracy of detecting crop rows and heights, and incorporating adjustable camera configurations to adapt to different plant types.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the baseline of the 3D camera is arranged horizontally with optical centers side by side, then the camera can capture the field crop in the direction of travel, but the detection accuracy of crop rows is reduced due to blurring from different viewing directions
Solution Approach 1:
The patent changes the spatial arrangement of the camera baseline from horizontal to vertical orientation. By positioning the optical centers one above the other in a vertical plane rather than side by side horizontally, the system eliminates the horizontal separation that causes blurring when viewing vertically growing crops. This dimensional reorientation allows both cameras to view the crops from essentially the same horizontal position, removing the harmful blurring effect while maintaining 3D detection capability.
2Measurement precision
If the baseline is positioned vertically with optical centers in a common vertical plane, then the horizontal distance between optical centers is reduced to zero eliminating blurring, but the camera configuration becomes more complex
Solution Approach 1:
The patent describes a camera arrangement where the baseline can be oriented in different planes (vertical or inclined) depending on the application requirements. The system is designed to be adaptable, allowing the same camera assembly to serve multiple functions: vertical orientation for accurate crop row detection, and inclined orientation for other measurement needs. This multi-functional design reduces complexity by using a single adaptable configuration rather than multiple dedicated systems.
3Measurement precision
If the baseline is inclined at an angle to the horizontal plane, then the horizontal distance between optical centers is smaller reducing blurring, but the camera mounting structure becomes more complex
Solution Approach 1:
The patent describes a camera arrangement where the baseline can be inclined at various angles to the horizontal plane, allowing the system to adapt its orientation based on measurement needs. The mounting structure is designed to accommodate different inclination angles, making the system dynamic and adaptable rather than fixed. This enables optimal detection precision for different crop types and field conditions while maintaining a relatively simple mounting structure through its flexibility.
Data Source
Figure 1
Figure 2
Figure 3a~3b
AI summary
The invention relates to an agricultural machine (1), in particular a tractor, with at least one agricultural implement (2) for cultivating a field comprising a plurality of crops (3) and with a camera arrangement (6) comprising a 3D camera (7), wherein the camera arrangement (6) is configured to generate 3D information of the field by means of the 3D camera (7) by recording stereoscopic image pairs along two different viewing axes (10a, 10b), wherein the viewing axes (10a, 10b) originate from optical centers (11a, 11b) of the 3D camera (7) which are connected to each other by a baseline (13). It is proposed that the baseline (13) be inclined with respect to the horizontal.