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    • 7. 发明授权
    • Method for directing an unloading apparatus of a harvesting machine to a container
    • 将收割机的卸载装置引导到容器的方法
    • US08682540B2
    • 2014-03-25
    • US13579182
    • 2011-02-18
    • Bart M. A. MissottenDidier O. M. VerhaegheWard M. R. ByttebierKarel M. C. Viaene
    • Bart M. A. MissottenDidier O. M. VerhaegheWard M. R. ByttebierKarel M. C. Viaene
    • G06F19/00
    • A01D41/1217A01D43/087
    • The present invention relates to a method for directing a movable unloading apparatus (1) of an agricultural harvesting machine to a container (4) driven adjacent the harvesting machine, the container comprising—as seen from the harvesting machine—near and remote upper borders (6,8). An image of the container is taken by a 3-D camera, in the form of an array of pixels, wherein the camera also generates for each pixel a value of the distance between the camera and the object in the image. The image is analyzed by selecting a number of vertical strips (21,22,23) in the image, determining the filtered distance values for each vertical position along the strips, and determining from these distance values the positions of the near and remote upper borders (6,8). On the basis of these data, the unloading apparatus (1) is moved towards a predetermined position relative to the container, said predetermined relative position being a position wherein the unloading apparatus directs the harvested crop (3) to a position above said near upper border (6) and/or below said remote upper border (8), respectively.
    • 本发明涉及一种用于将农业收获机的可移动卸载装置(1)引导到邻近收获机器驱动的容器(4)的方法,所述容器包括 - 从收获机器可以看出,靠近和偏远的上边界( 6,8)。 容器的图像以像素阵列的形式由3-D照相机拍摄,其中相机还为每个像素生成照相机和图像中物体之间的距离的值。 通过选择图像中的多个垂直条带(21,22,23)来分析图像,确定沿着条带的每个垂直位置的经滤波的距离值,并从这些距离值确定近和远的上边界的位置 (6,8)。 基于这些数据,卸载装置(1)相对于容器移动到预定位置,所述预定相对位置是卸载装置将收割的作物(3)引导到所述近上边界上方的位置的位置 (6)和/或所述远程上边界(8)之下。