Abstract
The advancement of unloading technology in combine harvesting is crucial for the intelligent development of agricultural machinery. Accurately measuring material pile height in transport vehicles is essential, as uneven accumulation can lead to spillage and voids, reducing loading efficiency. Relying solely on manual observation for measuring stack height can decrease harvesting efficiency and pose safety risks due to driver distraction. This research applies binocular vision to agricultural harvesting, proposing a novel method that uses a stereo matching algorithm to measure material pile height during harvesting. By comparing distance measurements taken in both empty and loaded states, the method determines stack height. A linear regression model processes the stack height data, enhancing measurement accuracy. A binocular vision system was established, applying Zhang's calibration method on the MATLAB (R2019a) platform to correct camera parameters, achieving a calibration error of 0.15 pixels. The study implemented block matching (BM) and semi-global block matching (SGBM) algorithms using the OpenCV (4.8.1) library on the PyCharm (2020.3.5) platform for stereo matching, generating disparity, and pseudo-color maps. Three-dimensional coordinates of key points on the piled material were calculated to measure distances from the vehicle container bottom and material surface to the binocular camera, allowing for the calculation of material pile height. Furthermore, a linear regression model was applied to correct the data, enhancing the accuracy of the measured pile height. The results indicate that by employing binocular stereo vision and stereo matching algorithms, followed by linear regression, this method can accurately calculate material pile height. The average relative error for the BM algorithm was 3.70%, and for the SGBM algorithm, it was 3.35%, both within the acceptable precision range. While the SGBM algorithm was, on average, 46 ms slower than the BM algorithm, both maintained errors under 7% and computation times under 100 ms, meeting the real-time measurement requirements for combine harvesting. In practical operations, this method can effectively measure material pile height in transport vehicles. The choice of matching algorithm should consider container size, material properties, and the balance between measurement time, accuracy, and disparity map completeness. This approach aids in manual adjustment of machinery posture and provides data support for future autonomous master-slave collaborative operations in combine harvesting.