科研之友
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摘要
In order to solve the low loading efficiency caused by uneven loading during the cooperative operation of combine-harvester and transport vehicle, a three-dimensional point cloud based dynamic uniform loading method was proposed. The three-dimensional point cloud of the stowage in the grain box obtained by the camera was used as a state feedback to build up the uniformity evaluation method. With the purpose of accomplishment of the most uniform loading state, the position of unloading and loading point was adjusted in real time to keep the granary in the uniform loading state. According to the established grain pile model and camera occlusion model, the height of grain bulks within camera blind area was estimated with the minimum expected error to complete the defective point cloud which caused by mutual occlusion between heaps. Three loading states of light load, medium load and heavy load which may occur during loading were measured based on the constructed experiment platform. The average error of the blind area height estimation was less than 5 cm. The simulation results showed that the proposed method can load the granary from arbitrary initial loading state to uniform loading state in a finite loading cycle. The maximum height variance of the load was 1 cm2 under the condition that the initial loading state of the grain box was empty and loading with average height increment of 2 cm. The height variance of loading in stable state was positively correlated with the single loading amount according to single factor analysis. Compared with the traditional fixed points loading method, the loading capacity of dynamic uniform loading method was twice higher when they both stopped the loading process at the maximum loading height of 0.35 m.
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