Row-Unit Structured-Light Imaging for Real-Time Furrow Depth
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Solution Overview
Problem
Existing agricultural machines lack accurate real-time estimation of furrow depth, requiring manual verification and lacking a reliable calibration method for furrow camera and light units.
Innovation Solution
A work machine equipped with a chassis, row unit, imaging unit, structured light unit, general illumination light, and control and image processing unit to capture and process images, converting structured light points to plane points for precise furrow depth calculation, with optional calibration using predefined templates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a combination of camera and light unit is used to estimate furrow depth in real-time, then real-time depth estimation capability is improved, but calibration complexity and measurement precision requirements increase
Solution Approach 1:
The system performs self-calibration by automatically detecting features in the captured images and computing the relationship between the camera and light unit without requiring manual intervention or external calibration targets. The processor identifies characteristic points in the image and calculates calibration parameters based on the known geometric relationship between the light unit and camera, enabling the system to calibrate itself during normal operation.
Solution Approach 2:
The patent replaces manual mechanical calibration procedures with an automated optical-computational system. Instead of physically adjusting components or using mechanical calibration tools, the system uses image processing algorithms to automatically determine calibration parameters, substituting mechanical calibration operations with digital image analysis and computation.
2Measurement precision
If manual verification by digging the furrow is used to confirm depth, then measurement precision is improved, but loss of time and productivity are worsened
Solution Approach 1:
The patent replaces the manual mechanical act of digging and measuring with an automated optical measurement system. The camera captures images of the furrow, the light unit illuminates the furrow bottom, and the processor automatically calculates depth through image processing, eliminating the need for manual digging and measurement operations while maintaining or improving measurement precision.
Solution Approach 2:
The system performs automatic self-measurement of furrow depth in real-time without requiring operator intervention. The automated calibration and measurement system continuously monitors furrow depth during planting operations, eliminating the need for manual verification and providing continuous accurate data without time loss.
3Device complexity
If the relationship between furrow camera and light unit position is not well calibrated, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The system automatically determines the geometric relationship between the camera and light unit by analyzing characteristic points in captured images. The processor identifies points on the furrow bottom and sidewalls, tracks their positions across multiple images, and computes the calibration parameters that define the spatial relationship between the two components, eliminating the need for pre-calibrated mechanical assemblies.
Solution Approach 2:
The system performs calibration before actual furrow depth measurement by first capturing images of the furrow structure and computing the geometric relationship between camera and light unit. This preliminary calibration action establishes the necessary geometric parameters that enable accurate subsequent depth measurements without requiring complex pre-calibrated hardware.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate and consistent real-time estimation of furrow depth, improving uniform crop emergence by automating the depth measurement process.
Implementation Method 1
a structured light unit configured to project structured light on the trench or furrow
Implementation Method 2
an imaging unit configured to capture an image including at least part of the trench or furrow
Implementation Method 3
The control and image processing unit may process the image by converting a plurality of points of the structured light of the structured light unit to plane points and calculates a depth of the trench or furrow via the plane points
Data Source
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AI summary
A work machine (140) is disclosed. The work machine (140) comprising: a chassis supported by at least one ground engaging mechanism; and a row unit (14) coupled to the chassis, the row unit (14) comprising: a furrow opener (22) configured to open a trench or furrow (192) as the machine (140) moves across ground; an imaging unit (62) configured to capture an image including at least part of the trench or furrow (192); a structured light unit (64) configured to project structured light on the trench or furrow (192); a general illumination light (68) configured to illuminate the trench or furrow (192); a control and image processing unit (1012) communicatively coupled to the imaging unit (62); and a shield (1908, 1910) configured to limit disturbances in images captured by the imaging unit (62); wherein the imaging unit (62) captures an image (1900), the image (1900) comprising the trench or furrow (192) with the structured light of the structured light unit (64) on the trench or furrow (192), and at least one shield (1908, 1910) and communicates the image (1900) to the control and image processing unit (1012); wherein the control and image processing unit (1012) processes the image by converting a plurality of points of the structured light of the structured light unit (64) to plane points and calculates a depth of the trench or furrow (192) via the plane points; wherein the image at least partially includes the trench or furrow (192), a laser (1906), and at least one of a first or second shield (1908, 1910) wherein the first and second shield (1908, 1910) are configured to limit disturbances in images captures by the imaging unit (62).