Detection of Wheat Lodging by Binocular Cameras during Harvesting Operation

Wheat lodging provides important reference information for self-adaptive header control of a combine harvester. Aimed at real-time detection wheat lodging, this paper proposed method location and area based on binocular vision. In method, the angle relationship between stem vertical direction when is upright, inclined, was determined by mechanical analysis. The discrimination condition degree height visual point cloud surface crops. camera used to obtain image parallax within harvesting region. optical axis parallel model calculate three-dimensional coordinate wheat. Then, obtained further analysis calculation. According detected vision, harvester’s region were analyzed. A field experiment showed that error 5.5 cm algorithm speed under 2000 milliseconds, which enabled calculation location, contour, This study key adaptive harvesters.