CN109220053B - Whole-sugarcane seed cutting device and method based on visual recognition - Google Patents
Whole-sugarcane seed cutting device and method based on visual recognition Download PDFInfo
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- CN109220053B CN109220053B CN201811153888.7A CN201811153888A CN109220053B CN 109220053 B CN109220053 B CN 109220053B CN 201811153888 A CN201811153888 A CN 201811153888A CN 109220053 B CN109220053 B CN 109220053B
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- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C1/00—Apparatus, or methods of use thereof, for testing or treating seed, roots, or the like, prior to sowing or planting
- A01C1/005—Potato seed cutters
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Abstract
The invention discloses a whole sugarcane seed cutting device and method based on visual identification, and belongs to the field of agricultural planting machinery. The method comprises the following steps: the device comprises a sugarcane stalk transverse conveying mechanism, visual processing equipment positioned above the sugarcane stalk transverse conveying mechanism, a position calibration mechanism and a seed cutting box, wherein the seed cutting box is arranged on one side of the sugarcane stalk transverse conveying mechanism; the whole sugarcane stalk is identified based on the visual identification technology, the position of each stalk node is analyzed, the rotation amount of the motor is calculated in advance, the accurate cutting of the whole stalk is realized, and the stalk nodes on each cut stalk are guaranteed. Aiming at the defects of the prior art, the invention discloses a visual identification-based whole-stem sugarcane seed cutting device which is relatively simple in structure, static in identification, dynamic in adjustment and position in calibration.
Description
Technical Field
The invention relates to a whole sugarcane seed cutting device and method based on visual identification, and belongs to the field of agricultural planting machinery.
Background
As an important strategic material of China, more than 90% of sugar is derived from sucrose. Sugarcane production is directly related to the basic supply capacity of sugar in China. In recent years, with the impact of foreign sugar markets and the rise of agricultural labor cost, the Chinese sugar industry faces industrial loss, and the safe supply and social stability of Chinese sugar are seriously affected. The traditional sugarcane planting process is completed manually, more labor is needed, the labor intensity is higher, and the efficiency is low. Due to the shortage of labor force in recent years, labor cost is greatly improved. Therefore, the method has important significance for accelerating the development of sugarcane planting mechanization, solving the shortage of labor in sugarcane areas, reducing the production cost of sugarcane and improving the market competitiveness of sucrose in China.
The current sugarcane planting machine comprises a whole-rod type, a real-time seed cutting type and a pre-seed cutting type. The whole-stalk planter is a planter capable of sequentially completing the procedures of ditching, whole-stalk sugarcane feeding, laying, covering soil, pressing and the like, and is characterized in that the whole sugarcane is sowed, so that the whole-stalk planter is also called as a whole-plant planter. Secondly, the real-time seed cutting type sugarcane planter is also called as a side-cutting and side-planting type planter, and is provided with a seed box, a furrow opener, a seed cutting device, a soil covering device, a water spraying device, a fertilizer applicator, a film spreading device and the like. The seed box is used for containing whole-stalk sugarcane, and the seed cutting device is used for cutting the sugarcane into sugarcane sections with certain length. At present, the work of the sugarcane feeding seed cutting device of the planting machine is also completed by manual feeding. Thirdly, the pre-cutting type sugarcane planter is also called a sugarcane section planter, which is to contain the sugarcane sections which are cut in advance in a seed box, and lay the sugarcane sections in the planting ditches which are opened through a sugarcane section feeding mechanism and a seed sowing mechanism. The sugar cane segments may be obtained by manual pre-cutting into sugar cane segments or by harvesting with a cutting sugar cane harvester. When the seeds are manually cut in advance, sufficient time can be provided for removing the sugarcane with diseases and insect pests, and the sugarcane sections have sufficient time for soaking and disinfection before seeding.
When the sugarcane is cut, the single sugarcane must contain the stem node, and the existing machine can not realize the identification of the stem node, so that the bud ratio of the sugarcane is low, and manpower and material resources are wasted. At present, scientific researchers develop equipment for visual identification and seed cutting, and the information of visual identification equipment or stem nodes is fed back to a sugarcane pole transverse conveying mechanism before sugarcane poles enter a seed cutting box. However, the method adopts dynamic identification, the identification area is more powerful away from the sugarcane box, the identification error rate is high easily, the identification difficulty is large, and when the distance between two nodes is stronger, the reaction delay of the machine can cause the error of cutting the nodes, so that the seed cutting qualification rate is reduced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the whole-stem sugarcane seed cutting device and the method which have relatively simple structure, static identification, dynamic adjustment and position calibration.
The invention provides a whole-stem sugarcane seed cutting device, which comprises: the device comprises a sugarcane stalk transverse conveying mechanism, visual processing equipment positioned above the sugarcane stalk transverse conveying mechanism, a position calibration mechanism and a seed cutting box, wherein the seed cutting box is arranged on one side of the sugarcane stalk transverse conveying mechanism;
the sugarcane stalk transverse conveying mechanism is used for conveying sugarcane stalks to realize transverse movement of the sugarcane stalks; the visual processing equipment is positioned above the sugarcane stalk transverse conveying mechanism to realize image acquisition of the whole sugarcane stalk; the position calibration mechanism is used for calibrating the position of the cane stalks; the seed cutting box is used for cutting the sugarcane stalks.
In one embodiment, the sugarcane stalk transverse conveying mechanism comprises a driving belt wheel, a driven belt wheel and a conveying belt; wherein the motor is connected with the driving belt wheel; the motor drives the driving chain wheel to rotate, and the driving chain wheel drives the conveying belt to rotate so as to convey the cane stalks on the conveying belt.
In one embodiment, the vision processing device is positioned right above a central shaft of a driving belt wheel and a driven belt wheel of the sugarcane stalk transverse conveying mechanism, and the image of the whole sugarcane stalk can be acquired conveniently to the maximum extent.
In one embodiment, the position calibration mechanism comprises a hydraulic cylinder, a hydraulic push rod and a sensor; the hydraulic push rod is arranged on the hydraulic cylinder, the hydraulic push rod is flat, and the sensor is attached to the right side surface of the hydraulic push rod; after the cane rod touches the sensor, the motor stops rotating, one end of the cane rod is fixed at the calibration position, the other end of the cane rod is a calibration reference point, coordinates of the stem node are determined by taking the calibration reference point as the reference point, and a reference point is provided for the transverse feeding amount of the cane rod at the later stage.
In one embodiment, the vision processing device comprises a camera, a light source, a host and a controller, wherein the image acquisition range of the camera is a conveying belt area, and the interference of other areas on the image is avoided.
In one embodiment, the sensor is a touch sensor to sense whether the cane stalks reach the target point.
In one embodiment, the conveying belt is a straw-type grain conveying belt, the conveying belt is red, and the center distance between the driving belt wheel and the driven belt wheel is 3 meters; the straw-shaped grain conveying belt is selected to prevent the sugarcane from slipping in the conveying process and deviating from the pre-judged seed cutting position, so that the seed cutting qualified rate is reduced; the conveyer belt is in red color which is greatly different from the sugarcane stalks, so that the image processing difficulty is reduced; the center distance between the driving belt wheel and the driven belt wheel is 3 meters, so that the length of the cane stalks is prevented from exceeding the length of a conveying area of the conveying belt.
In one embodiment, the motor, the hydraulic cylinder and the touch sensor are connected with a controller to realize control of all the components.
A whole-stem sugarcane cutting method utilizes any one of the vision-based whole-stem sugarcane cutting devices.
A whole-stem sugarcane seed cutting method comprises the following steps:
step 1: the cane stalks enter a conveyer belt;
step 2: the motor rotates leftwards, the hydraulic cylinder drives the hydraulic push rod to press downwards, the pressing displacement of the hydraulic push rod is judged, the pressing is stopped when the preset displacement is reached, and otherwise, the pressing is continued;
and step 3: when the cane levers touch the touch sensor, the motor stops rotating, the hydraulic push rod rises, otherwise, the motor continues to rotate leftwards;
and 4, step 4: a camera collects sugarcane stalk images;
and 5: analyzing coordinates of each stem node;
step 6: judging the axial displacement clearance of the stalks according to the stalk node coordinates;
and 7: rotating the motor leftwards according to the displacement of each gap;
and 8: and (4) cutting the cane stalks.
The working principle of the invention is as follows:
the cane rod gets into cane rod transverse conveying mechanism, the motor levogyration, hydraulic pressure push rod pushes down, the conveyer belt drives the straight line of cane rod and removes toward seed case cutting direction, when hydraulic pressure push rod pushes down and reaches the predetermined volume, stop pushing down, touch the sensor on the hydraulic pressure push rod when cane rod one end after, motor stall, the demarcation of cane rod position has been realized, the camera gathers the cane rod image this moment, each stalk node coordinate of controller analysis, judge stalk axial displacement clearance volume according to the stalk node coordinate, the rotation amount of controller control motor, the cane rod gets into seed case cutting under cane rod transverse conveying mechanism's transport, accomplish the operation of cutting seeds.
The invention has the advantages and effects that:
the invention provides a device and a method for cutting whole sugarcane seeds based on visual identification, which have relatively simple structure, static identification, dynamic adjustment and position calibration. The invention has the following advantages:
1. identifying the whole sugarcane stalks based on a visual identification technology, analyzing the positions of all the stalk nodes, calculating the rotation amount of a motor in advance, realizing accurate cutting of the whole stalks and ensuring that each cut stalk has the stalk node;
2. the traditional dynamic identification is changed into static identification, so that the image processing difficulty can be greatly reduced, and the identification accuracy is improved;
3. the position calibration function is realized through the hydraulic push plate, one end of the cane rod is calibrated at a specific position, and accurate identification and accurate cutting are realized;
4. the adopted conveying belt is a straw-shaped grain conveying belt, so that the sugarcane stalks are prevented from slipping in the conveying process, and accurate conveying is realized;
5. the color of the conveying belt is red, the color difference with the cane stalks is large, and the image extraction and processing difficulty is reduced.
Drawings
FIG. 1 is a schematic structural diagram of a whole-cane seed cutting device based on visual identification;
FIG. 2 is a schematic flow chart of a method for cutting whole sugarcane seeds based on visual recognition;
reference numbers in the figures: 1-motor, 2-driving pulley, 3-belt, 4-cane rod, 5-sensor, 6-hydraulic push rod, 7-hydraulic cylinder, 8-visual processing equipment and 9-seed cutting box.
Detailed Description
Example 1
As shown in fig. 1, a whole-cane cutting-seeding device comprises: the device comprises a sugarcane stalk transverse conveying mechanism, a visual processing device 8 positioned above the sugarcane stalk transverse conveying mechanism, a position calibration mechanism and a seed cutting box 9, wherein the seed cutting box 9 is arranged on one side of the sugarcane stalk transverse conveying mechanism;
the sugarcane stalk transverse conveying mechanism is used for conveying the sugarcane stalks 4 to realize transverse movement of the sugarcane stalks 4; the vision processing equipment 8 is positioned above the sugarcane stalk transverse conveying mechanism to realize the image acquisition of the whole sugarcane stalk 4; the position calibration mechanism is used for calibrating the position of the cane stalks 4; the seed cutting box 9 is used for cutting the cane stalks 4.
Specifically, the cane-stalk transverse conveying mechanism comprises a driving belt wheel 2, a driven belt wheel and a conveying belt 3; wherein the motor 1 is connected with the driving belt wheel 2; the motor 1 drives the driving belt wheel 2 to rotate, and the driving belt wheel 2 drives the conveying belt 3 to rotate, so that the sugarcane stalks 4 on the conveying belt 3 are conveyed.
Specifically, the vision processing device 8 is positioned right above the central axis of the driving belt wheel 2 and the driven belt wheel of the cane-stalk transverse conveying mechanism, and the image of the whole cane stalk 4 can be conveniently acquired to the maximum degree.
Specifically, the position calibration mechanism comprises a hydraulic cylinder 7, a hydraulic push rod 6 and a sensor 5; the hydraulic push rod 6 is arranged on the hydraulic cylinder 7, the hydraulic push rod 6 is flat, and the sensor 5 is attached to the right side surface of the hydraulic push rod 6; after the cane 4 touches the sensor 5, the motor 1 stops rotating, one end of the cane 4 is fixed at a calibration position, and one end of the cane 4 is a calibration reference point, so that coordinates of the stem nodes are determined by taking the calibration reference point as a reference point, and a reference point is provided for the transverse feeding amount of the cane 4 at the later stage.
Specifically, the vision processing device 8 includes a camera, a light source, a host computer and a controller, and the image acquisition range of the camera is the area of the conveyor belt 3, so that the interference of other areas on the image is avoided.
Specifically, the sensor 5 is a touch sensor 5 to sense whether the cane stalks 4 reach a calibration point.
Specifically, the conveyer belt 3 is a straw-shaped grain conveyer belt 3, the conveyer belt 3 is red, and the center distance between the driving belt wheel 2 and the driven belt wheel is 3 meters; the straw-shaped grain conveyer belt 3 is selected to prevent the sugarcane stalks 4 from slipping in the conveying process and deviating from the pre-judged seed cutting position, so that the seed cutting qualified rate is reduced; the conveying belt 3 is in red with a larger difference with the cane stalks 4, so that the image processing difficulty is reduced; the center distance between the driving belt wheel 2 and the driven belt wheel is 3 meters, so that the length of the cane stalks 4 is prevented from exceeding the length of the conveying area of the conveying belt 3.
Specifically, the motor 1, the hydraulic cylinder 7 and the touch sensor 5 are connected with a controller to realize control of each component.
Example 2
As shown in figure 2, the whole sugarcane cutting method utilizes any one of the vision-based whole sugarcane cutting devices.
A whole-stem sugarcane seed cutting method comprises the following steps:
step 1: the cane stalks 4 enter the conveyer belt 3;
step 2: the motor 1 rotates leftwards, the hydraulic cylinder 7 drives the hydraulic push rod 6 to press downwards, the pressing displacement of the hydraulic push rod 6 is judged, the pressing is stopped when the preset displacement is reached, and otherwise, the pressing is continued;
and step 3: when the cane levers touch the touch sensor 5, the motor 1 stops rotating, the hydraulic push rod 6 rises again, otherwise, the motor 1 continues to rotate leftwards;
and 4, step 4: a camera collects images of the cane stalks 4;
and 5: analyzing coordinates of each stem node;
step 6: judging the axial displacement clearance of the cane stalks according to the coordinates of the stem nodes;
and 7: the motor 1 rotates left according to each gap displacement;
and 8: and (4) cutting the cane stalks.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (2)
1. A visual recognition-based whole-cane seed cutting method, which is characterized by utilizing a visual recognition-based whole-cane seed cutting device, wherein the device comprises: the device comprises a sugarcane stalk transverse conveying mechanism, visual processing equipment positioned above the sugarcane stalk transverse conveying mechanism, a position calibration mechanism and a seed cutting box, wherein the seed cutting box is arranged on one side of the sugarcane stalk transverse conveying mechanism;
the position calibration mechanism comprises a hydraulic cylinder, a hydraulic push rod and a sensor; the hydraulic push rod is arranged on the hydraulic cylinder, the hydraulic push rod is flat, and the sensor is attached to the right side surface of the hydraulic push rod;
the sugarcane stalk transverse conveying mechanism comprises a driving belt wheel, a driven belt wheel and a conveying belt; wherein the motor is connected with the driving belt wheel;
the visual processing equipment is positioned right above a central shaft of a driving belt wheel and a driven belt wheel of the sugarcane stalk transverse conveying mechanism;
the vision processing equipment comprises a camera, a light source, a host and a controller, wherein the image acquisition range of the camera is a conveying belt area;
the conveyer belt is a straw-shaped grain conveyer belt, and the conveyer belt is red;
the hydraulic cylinder is connected with the controller; the motor is connected with the controller;
the sensor is a touch sensor; the touch sensor is connected with the controller;
the method comprises the following steps:
step 1: the cane stalks enter a conveyer belt;
step 2: the motor rotates leftwards, the hydraulic cylinder drives the hydraulic push rod to press downwards, the pressing displacement of the hydraulic push rod is judged, the pressing is stopped when the preset displacement is reached, and otherwise, the pressing is continued;
and step 3: when the cane levers touch the touch sensor, the motor stops rotating, the hydraulic push rod rises, otherwise, the motor continues to rotate leftwards;
and 4, step 4: a camera collects sugarcane stalk images;
and 5: analyzing coordinates of each stem node;
step 6: judging the axial displacement clearance of the cane stalks according to the coordinates of the stem nodes;
and 7: rotating the motor leftwards according to the displacement of each gap;
and 8: and (4) cutting the cane stalks.
2. The method for cutting whole sugarcane seeds based on visual identification as claimed in claim 1, wherein the center distance between the driving pulley and the driven pulley is 3 m.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109822637B (en) * | 2019-03-28 | 2020-12-29 | 南宁学院 | Bud breaking-proof sugarcane seed cutting device |
| CN109923973A (en) * | 2019-04-22 | 2019-06-25 | 广西壮族自治区农业科学院 | A kind of efficient health cane seedling stem production system |
| CN110100525A (en) * | 2019-05-28 | 2019-08-09 | 青岛理工大学 | Intelligent seed production device and method based on multi-stage self-adaptive positioning and bud eye identification |
| CN110815367A (en) * | 2019-11-09 | 2020-02-21 | 南宁学院 | Bud-breaking-preventing sugarcane seed cutting device of sugarcane planter |
| CN114378867B (en) * | 2022-01-18 | 2024-03-22 | 苏州市翔耀精密自动化设备有限公司 | Visual identification sugarcane seed and knot cutting equipment |
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