CN110089260A - A kind of the cereal flow monitoring method and monitoring system of the defeated grain of scraper-type - Google Patents
A kind of the cereal flow monitoring method and monitoring system of the defeated grain of scraper-type Download PDFInfo
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- CN110089260A CN110089260A CN201910299714.XA CN201910299714A CN110089260A CN 110089260 A CN110089260 A CN 110089260A CN 201910299714 A CN201910299714 A CN 201910299714A CN 110089260 A CN110089260 A CN 110089260A
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- cereal
- delaminating units
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1271—Control or measuring arrangements specially adapted for combines for measuring crop flow
- A01D41/1272—Control or measuring arrangements specially adapted for combines for measuring crop flow for measuring grain flow
Abstract
The present invention provides a kind of cereal flow monitoring method of the defeated grain of scraper-type and monitoring systems, include the following steps: the aperture contour images for obtaining cereal delaminating units section on stripper cell；To the contour images in cereal delaminating units section by the method for image procossing, the contour edge curve in cereal delaminating units section is extracted, cereal delaminating units cross section profile boundary curve institute area coverage is calculated；According to cereal delaminating units cross section profile boundary curve institute area coverage, cereal delaminating units volume on stripper cell is calculated, to calculate cereal total volume and cereal flow on single stripper cell.Gray processing and binary conversion treatment are carried out to the contour images in cereal delaminating units section；Contours extract is carried out to the image after binaryzation.The present invention realizes the non-contact measurement of non-uniform Distribution cereal volume using the volume of the method measurement non-uniform Distribution cereal of machine vision by adjusting controller sample frequency and compensating parameter.
Description
Technical field
The present invention relates to agricultural machinery fields of measurement, in particular to the cereal flow monitoring method of a kind of defeated grain of scraper-type and
Monitoring system.
Background technique
Obtaining the accurate production information in cereal operating area is the important indicator for evaluating grain yield and operation effectiveness, yield
The Spatial Variability of information is the scientific basis of coming year precision and quantity-variation operation.Grain yield measures the research in current precision agriculture
It is an essential link in practice.Combined harvester grain yield measurement accuracy in operation process is vibrated, water
Field table out-of-flatness, stalk it is miscellaneous it is remaining etc. influence, therefore develop can accurate, stably measured grain yield device there is important meaning
Justice.
Domestic and foreign scholars have carried out many trials, principle for the combined harvester grain yield monitoring of the defeated grain of scraper-type
Impulse momentum method is mostly used, grain flow-measuring is realized by measurement grain stream impact force, belongs to contact type measurement, vulnerable to shadows such as vibrations
It rings.Mainly pass through measurement scraper plate seed heap for non-contact type photoelectricity principle measurement cereal flow and light is emitted to photoelectric sensor
Line blocks the time, and time reckoning cereal volume is blocked in calculating, calculates grain yield in conjunction with cereal density.Its measurement method not by
Processing temperature, grain moisture influence, and can adapt to the operating environment of farmland complexity.
The RDS Ceres II System that German CLAAS company develops carries out grain yield survey using photoelectric sensor
Amount, principle are that seed heap thickness on defeated grain blade is converted to the product for blocking transmitter light time and elevator revolving speed,
By matching criteria threedimensional model, realizes the cubing of seed heap, be incorporated in the cereal density of manual measurement before operation, calculate
The real-time yield of cereal.The device is designed using one-dimensional photoelectric sensor, can only be obtained Kernel thickness information, can not be obtained non-rule
It is then distributed cereal kernel distributed intelligence, having the shortcomings that can not the irregular distribution cereal volume information of complete characterization.
China Agricultural University Li Min, which is praised etc., devises photoelectricity positive displacement grain yield monitoring system, in the defeated grain device of cereal
Elevator scraper plate is installed, and measures cereal volume in scraper plate two sides installation correlation photoelectric sensor, device is in laboratory
Cereal flow is simulated using rotation code-disc, sensor accuracy class is analyzed.The device is using a pair of of correlation photoelectricity
Switch sensor obtains cereal flow data, can only obtain cereal distribution one-dimension information, have and be unable to characterize irregular distribution paddy
The shortcomings that object two-dimensional signal.
Kunming University of Science and Technology Zhang Zhaoguo etc. devises photoelectricity diffusing reflection formula grain yield metering system, in seed elevator side
Wall installs diffusing reflection formula cereal volume sensor, big by the way that scraper plate cereal thickness is converted to sensor output pulse width voltage signal
It is small, the volume of cereal is obtained in conjunction with elevator revolving speed, cereal volume and cereal density can be calculated the quality of cereal.It is designed
System uses single visible photo structure, can only obtain cereal flow data according to cereal lateral thickness information indirect, cannot achieve
The grain flow-measuring of irregular distribution.
It the apparatus for measuring cereal flow of Chinese patent combined harvester and surveys production method and discloses and a kind of utilize pulse measurement
The apparatus for measuring cereal flow of wheel, the web wheel number of scraping by filling grain in cooling water of units of measurement time calculate cereal flow.This is specially
The apparatus for measuring cereal flow of pulse measurement wheel designed by benefit has the shortcomings that mechanism is complicated, volume is larger, installation and debugging are difficult.
Chinese patent discloses a kind of photoelectric encoder formula cereal flow based on the cereal flow transducer of photoelectric encoder
Photoelectric encoder is connected by sensor using connecting shaft bearing-ring device with stress bearing, utilizes the deflection angle displacement measurement stream of lantern ring
Measure signal.The cereal flow transducer of the patent disclosure is realized using impulse principle, is influenced vulnerable to mechanical oscillation.
A kind of array infrared light electric-type apparatus for measuring cereal flow of Chinese patent and method disclose a kind of red based on array
Outer photoelectric type corn flow measurement device passes through the voltage of Experimental Calibration and the relationship of cereal thickness, segmentation modeling the Fitting Calculation
The cross-sectional area of cereal carries out integral calculation to the cross-sectional area of cereal in conjunction with scraper plate movement velocity and sample frequency, obtains paddy
Object product, the mass flow of cereal is converted into eventually by weight by volume.The array infrared light electric-type grain stream of the patent disclosure
Measuring device is limited by elevator structure and photoelectric sensor size, and cereal can not be completely covered in designed sensor array
Cross section, having the shortcomings that can not complete characterization cereal cross section information.
Domestic photo-electric flow measurement device is mostly single visible or infrared light to penetrating structure, can only be to being uniformly distributed seed
Grain heap is detected, and cannot achieve the detection of non-uniform Distribution cereal, and can only measure for monocrop.And it is directed to array
The apparatus for measuring cereal flow of formula laser structure can not accurately reflect seed heap cross-sectional distribution situation.
Summary of the invention
For the deficiencies in the prior art, the present invention provides a kind of cereal flow monitoring methods of the defeated grain of scraper-type
And monitoring system, using the volume of the method measurement non-uniform Distribution cereal of machine vision, by adjusting controller sample frequency
And compensating parameter, measurement accuracy can be effectively improved, the non-contact measurement of non-uniform Distribution cereal volume is realized, overcomes scraper plate
The problem of upper cereal is unevenly distributed, flow is difficult to precise measurement.
The present invention achieves the above technical objects by the following technical means.
A kind of cereal flow monitoring method of the defeated grain of scraper-type, includes the following steps:
Obtain the aperture contour images in cereal delaminating units section on stripper cell；
To the contour images in cereal delaminating units section by the method for image procossing, it is single to extract the cereal layering
The contour edge curve in first section calculates cereal delaminating units cross section profile boundary curve institute area coverage；
According to cereal delaminating units cross section profile boundary curve institute area coverage, it is single to calculate cereal layering on stripper cell
Elementary volume, to calculate cereal total volume and cereal flow on single stripper cell.
Further, the contour edge curve in cereal delaminating units section is extracted by the method for image procossing, specifically
Are as follows:
Binary conversion treatment is carried out to the contour images in cereal delaminating units section；
Contours extract is carried out to the image after binaryzation.
Further, before binary conversion treatment, first the contour images in cereal delaminating units section are carried out at gray processing
Reason.
Further, gray processing is carried out by contour images of the weighted mean method to the cereal delaminating units section of acquisition
Processing, calculated with weighted average method are specific as follows:
F (x, y)=0.30R (x, y)+0.59G (x, y)+0.11B (x, y),
Wherein: f (x, y) is gray value of the profile color image in cereal delaminating units section at point (x, y)；
R (x, y) is red component of the profile color image in cereal delaminating units section at point (x, y)；
G (x, y) is green component of the profile color image in cereal delaminating units section at point (x, y)；
B (x, y) is blue component of the profile color image in cereal delaminating units section at point (x, y).
Further, binaryzation is carried out by contour images of the iterative method to the cereal delaminating units section after gray processing
Processing, specifically:
By f (x, y)minWith f (x, y)maxInitial estimate T of the mean value as gray thresholdK, initial value k=0, wherein
f(x,y)minFor the minimum gradation value of the profile color image at point (x, y) in cereal delaminating units section；f(x,y)max
For the maximum gradation value of the profile color image at point (x, y) in cereal delaminating units section；
With gray threshold TKSegmented image divides the image into C1And C2, wherein C1For by f (x, y) > TKAll pixels group
At image；C2For by f (x, y)≤TKAll pixels composition image；
Calculate new gray threshold TK+1, whereinμ1For C1The average gray value of interior image, μ2For C2It is interior
The average gray value of image；
It repeats with new gray threshold TK+1Segmented image works as TK+1-TKWhen≤setting value, then optimum gradation threshold value is TK+1；
Wherein g (x, y) is the pixel value of the image after segmentation.
Further, cereal delaminating units cross section profile boundary curve institute area coverage is calculated by pixel counts method,
Specifically:
The pixel number N of statistical-reference unit circlecWith the pixel number N of i-th layer of cereal delaminating units cross sectioni；
The cereal delaminating units area of section calculation formula:
In formula: SiFor the real area in i-th layer of cereal delaminating units section；
ScFor the real area of reference units circle；
NcFor the pixel number of reference units circle；
NiFor the pixel number of i-th layer of cereal delaminating units cross section.
Further, cereal delaminating units volume on stripper cell is calculated specifically:
Wherein:
ViFor the volume between i-th layer of cereal delaminating units section and i+1 layer cereal delaminating units section；
υ is the linear velocity of stripper cell, m/s；
T is sampling time, s；
SiFor the real area in i-th layer of cereal delaminating units section；
Si+1For the real area in i+1 layer cereal delaminating units section.
Further, cereal total volume and cereal flow on single stripper cell are calculated, specifically:
Calculate cereal total volume V on single stripper cell:Wherein, m is delaminating units sum；
The volume V of cerealgAre as follows: Vg=V-V0-V1, wherein V0For scraper plate sump volume；V1For volume compensation parameter；
Cereal flowIn formula: ρ is cereal density；T is the sampling time.
A kind of cereal flow monitoring system of the defeated grain of scraper-type, including image collecting device, light curtain component and control system；
The light curtain component is for generating the light curtain for being parallel to stripper cell；
The cereal that described image acquisition device is used to acquire on stripper cell is overlapped the image to form light profile with light curtain；
The control system includes delaminating units section computing module, cereal delaminating units volume calculation module, cereal body
Product computing module and cereal flow calculate module；
Light contour images are inputted delaminating units section computing module by described image acquisition device, and the layering is single
First section computing module exports cereal delaminating units cross section profile boundary curve institute area coverage；
The cereal delaminating units volume calculation module is according to cereal delaminating units cross section profile boundary curve institute covering surface
Long-pending and scraper plate linear velocity exports cereal delaminating units volume；
The cereal volume calculation module is exported according to cereal delaminating units volume, volume compensation parameter and scraper plate sump volume
The volume of cereal；
The cereal flow calculates module and exports cereal flow according to the volume of cereal.
The cereal flow of a kind of combined harvester, the combined harvester installation defeated grain of scraper-type monitors system.
The beneficial effects of the present invention are:
1. the cereal flow monitoring method of the defeated grain of scraper-type of the present invention, non-using the method measurement of machine vision
The volume of even distribution cereal can effectively improve measurement accuracy by adjusting controller sample frequency and compensating parameter, realize non-equal
The non-contact measurement of even distribution cereal volume.
2. the cereal flow monitoring method of the defeated grain of scraper-type of the present invention, can make the combining of the defeated grain of scraper-type
Machine obtains accurate cereal flow information under the operating environment of field complexity, for precisely investment capital goods in the agricultural sector, realizes height
Profitable agriculture operation provides scientific and technical support.
3. the cereal flow of the defeated grain of scraper-type of the present invention monitors system, by monitoring system can in laboratory and
Precision real time correction is carried out under field conditions, and camera sample frequency is modified by external parameter setup module and cereal volume is mended
Parameter is repaid, real time correction cereal flow monitors system accuracy, shortens the R&D cycle of cereal flow monitoring system, improves device
Precision and stability.
4. the cereal flow of the defeated grain of scraper-type of the present invention monitors system, the cereal flow monitoring based on machine vision
It for non-cpntact measurement, is not influenced by cereal distribution situation on processing temperature, grain moisture and scraper plate, can adapt to farmland complexity
Operating environment.
5. the cereal flow of the defeated grain of scraper-type of the present invention monitors system, due to the readability of camera acquisition image
It is influenced by light source, the laser light source for selecting penetration power strong constitutes array of source, is scattered by cylindrical lens and is hidden through barn door part
After gear, laser light curtain is formed, reducing in combined harvester operation process influences caused by dust stratification, and laser light curtain can be by same plane
Cereal wraps up on seed scraper plate, forms light profile, provides support for acquisition cereal distributed image.
Detailed description of the invention
Fig. 1 is the cereal flow Fundamentals of Supervisory Systems figure of the defeated grain of scraper-type of the present invention.
Fig. 2 is control system system control principle drawing of the present invention.
Fig. 3 is image acquisition device image schematic illustration of the present invention.
Fig. 4 is between i-th layer of cereal delaminating units section of the present invention and i+1 layer cereal delaminating units section
Volume ViSchematic diagram.
Fig. 5 is the cereal flow monitoring method flow chart of the defeated grain of scraper-type of the present invention.
In figure:
The direction 1-X light curtain component；The direction 2-Y light curtain component；3- camera；4- speed probe；The transmission of 5- hoisting equipment
Band；6- stripper cell；7- cereal；8- elevator drive shaft；9- hoisting equipment housing.
Specific embodiment
Present invention will be further explained with reference to the attached drawings and specific examples, but protection scope of the present invention is simultaneously
It is without being limited thereto.
The defeated grain device of scraper-type in combined harvester is used for grain transportation 7, and cereal 7 is passed by stripper cell in hoisting equipment
It send and conveys under the action of band 5, the defeated grain device of scraper-type is that a kind of common structure no longer describes herein in combined harvester.Such as figure
Shown in 1 and Fig. 2, the cereal flow of the defeated grain of scraper-type of the present invention monitors system, including image collecting device, light curtain component
And control system；The light curtain component is for generating the light curtain for being parallel to stripper cell 6；Described image acquisition device is scraped for acquiring
Cereal 7 on board slot 6 is overlapped the image to form light profile with light curtain；The control system includes that delaminating units section calculates mould
Block, cereal delaminating units volume calculation module, cereal volume calculation module and cereal flow calculate module；Described image acquisition dress
It sets and light contour images is inputted into delaminating units section computing module, delaminating units section computing module exports cereal
Delaminating units cross section profile boundary curve institute area coverage；The cereal delaminating units volume calculation module is layered single according to cereal
First cross section profile boundary curve institute's area coverage and the linear velocity of stripper cell 6 export cereal delaminating units volume；The cereal body
Product computing module exports the volume of cereal according to cereal delaminating units volume, volume compensation parameter and scraper plate sump volume；The paddy
Logistics capacity computing module exports cereal flow according to the volume of cereal.The light curtain component includes laser emitter, cylindrical lens
And barn door, several laser emitters are evenly distributed on the same plane of hoisting equipment housing 9, the laser emitter
It is radiated on barn door by cylindrical lens.
As shown in figures 1 and 3,6 direction of motion of stripper cell is set as Z-direction, and 6 place plane of stripper cell is XOY plane, is risen
X-direction light curtain component 1 and Y-direction light curtain component 2 are installed in 9 outside of shipping unit housing respectively, and every group of light curtain component includes 3 uniform
The laser emitter of arrangement, 1 cylindrical lens and 1 piece of barn door, the laser emitter are radiated at shading by cylindrical lens
On plate, to form light curtain, plane and 6 institute of stripper cell where the cereal 7 in same plane and light curtain can be completely covered in light curtain
It is parallel in plane.Cereal 7 in stripper cell 6 at the uniform velocity be transported to silo, when cereal 7 with hoisting equipment conveyer belt 5 along Z pros
To when moving across light curtain, cereal shuts out the light, and it is bent to form light profile for cereal 7 and light curtain plane overlapping positions in stripper cell 6
Line can grab light contour images by camera 3, extract contour curve, combining camera calibration using the method for image procossing
Parameter calculates contour curve institute area coverage, i.e. the moment cereal delaminating units section real area.Utilize elevator drive shaft 8
3 sample frequency of revolving speed and camera, calculate neighbouring sample moment seed squeegee displacement, obtain cereal delaminating units volume, and
Acquired cereal delaminating units volume is handled using section layered integration method, calculates seed volume.Join in conjunction with outside
The cereal density parameter and volume compensation parameter of number setup module input, realize grain flow-measuring.Cereal flow monitoring device
It is mounted near grain outlet, it is easy to install not will cause cereal blocking, it can be achieved that non-cpntact measurement.
As shown in Figure 2 and Figure 5, the cereal flow monitoring method of the defeated grain of scraper-type of the present invention, includes the following steps:
The aperture contour images in cereal delaminating units section on stripper cell 6 are obtained, specifically: when being sampled according to camera 3
Difference is carved, causes the sectional profile curve lin formed when cereal is overlapped from laser light curtain plane in stripper cell 6 different, that is, utilizes difference
The light curtain plane at moment intercepts the seed heap of cereal 7 on stripper cell 6, cereal 7 is divided into several units, if total number of plies is m, i
For the number of plies；
Gray processing and binary conversion treatment are carried out to the contour images in cereal delaminating units section, specifically:
Light contour images acquired in camera 3 are color images, and in order to improve processing speed, the present embodiment, which uses, to be added
Weight average method carries out gray processing processing to light contour images collected, i.e., respectively to red (R), green (G), blue 3 channels (B)
Component imparting weighting coefficient 0.30,0.59,0.11, calculated with weighted average method is specific as follows:
F (x, y)=0.30R (x, y)+0.59G (x, y)+0.11B (x, y),
Wherein: f (x, y) is gray value of the profile color image in cereal delaminating units section at point (x, y)；
R (x, y) is red component of the profile color image in cereal delaminating units section at point (x, y)；
G (x, y) is green component of the profile color image in cereal delaminating units section at point (x, y)；
B (x, y) is blue component of the profile color image in cereal delaminating units section at point (x, y).
A threshold value appropriate is chosen as critical value, the gray value for being greater than this threshold value is set as gray scale maximum value
255, the gray value for being less than this threshold value is set as minimum gray value 0, so that target area is separated from background area,
Realize image binaryzation.The present embodiment is split image using iterative method, the specific steps are as follows:
By f (x, y)minWith f (x, y)maxInitial estimate T of the mean value as gray thresholdK, initial value k=0, wherein
f(x,y)minFor the minimum gradation value of the profile color image at point (x, y) in cereal delaminating units section；f(x,y)max
For the maximum gradation value of the profile color image at point (x, y) in cereal delaminating units section；K is positive integer.
With gray threshold TKSegmented image divides the image into C1And C2, wherein C1For by f (x, y) > TKAll pixels group
At image；C2For by f (x, y)≤TKAll pixels composition image；
Calculate new gray threshold TK+1, whereinμ1For C1The average gray value of interior image, μ2For C2It is interior
The average gray value of image；
It repeats with new gray threshold TK+1Segmented image works as TK+1-TKWhen≤setting value, then optimum gradation threshold value is TK+1；
Wherein g (x, y) is the pixel value of the image after segmentation.
Contour curve extraction is carried out to the image after binaryzation, specifically: the present embodiment is by Matlab to bianry image
Carry out contours extract, concrete operations code are as follows: bw2=bwperim (bw1), wherein parameter bw1 is bianry image, output parameter
Bw2 is the contour images of bianry image bw1.Aperture profile can embody cereal delaminating units sectional combined curve feature information, be meter
Calculate the basis of cereal delaminating units area of section.
Cereal delaminating units cross section profile boundary curve institute area coverage is calculated by pixel counts method, specifically:
The pixel number N of statistical-reference unit circlecWith the pixel number N of i-th layer of cereal delaminating units cross sectioni, and refer to
The area of unit circle is known；Reference units circle is that cereal flow measuring test is preceding for obtaining the calibrating parameters of camera 3
Object of reference.
The cereal delaminating units area of section calculation formula:
In formula: SiFor the real area in i-th layer of cereal delaminating units section；
ScFor the real area of reference units circle；
NcFor the pixel number of reference units circle；
NiFor the pixel number of i-th layer of cereal delaminating units cross section.
According to cereal delaminating units cross section profile boundary curve institute area coverage, cereal layering on stripper cell 6 is calculated
Unit volume, to calculate cereal total volume and cereal flow on single stripper cell 6.
As shown in figure 4, calculating cereal delaminating units volume on stripper cell 6 specifically:
Wherein:
ViFor the volume between i-th layer of cereal delaminating units section and i+1 layer cereal delaminating units section；
υ is the linear velocity of stripper cell, m/s；υ can pass through the radius r of elevator drive shaft 8 and elevator drive shaft 8
Rotational speed omega calculates；
T is sampling time, s；
SiFor the real area in i-th layer of cereal delaminating units section；
Si+1For the real area in i+1 layer cereal delaminating units section.
Cereal total volume and cereal flow on single stripper cell 6 are calculated, specifically:
Calculate cereal total volume V on single stripper cell 6:Wherein, m is delaminating units sum；
The volume V of cerealgAre as follows: Vg=V-V0-V1, wherein V0For 6 volume of stripper cell；V1For volume compensation parameter, obtain
Method are as follows: combine interval height information in section calculated to restore cereal geometrical model acquired contour images information, use
The method measurement seed heap dynamical angle of repose parameter manually demarcated, analyzes the two difference using 3 d modeling software, obtains difference
Value, as volume compensation parameter.
Cereal flowIn formula: ρ is cereal density；T is the sampling time.
The cereal flow of the combined harvester for the defeated grain of scraper-type of the present embodiment design monitors human-computer interaction device, takes the photograph
Picture head 3 accesses ARM controller by signal wire, handles the acquisition of camera 3 information by controller and calculates cereal real-time traffic,
By LCD real-time display cropper job information, cereal density, cereal volume compensation parameter are inputted by key module, calculate cereal
Seed flow, and 3 sample frequency of camera, regulating device measurement accuracy can be set by key module.
The cereal flow of a kind of combined harvester, the combined harvester installation defeated grain of scraper-type monitors system.
The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not
In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement
Or modification all belongs to the scope of protection of the present invention.
Claims (10)
1. a kind of cereal flow monitoring method of the defeated grain of scraper-type, which comprises the steps of:
Obtain the aperture contour images in cereal delaminating units section on stripper cell (6)；
To the contour images in cereal delaminating units section by the method for image procossing, extracts the cereal delaminating units and cut
The contour edge curve in face calculates cereal delaminating units cross section profile boundary curve institute area coverage；
According to cereal delaminating units cross section profile boundary curve institute area coverage, it is single to calculate cereal layering on stripper cell (6)
Elementary volume, to calculate cereal total volume and cereal flow on single stripper cell (6).
2. the cereal flow monitoring method of the defeated grain of scraper-type according to claim 1, which is characterized in that pass through image procossing
Method extract the contour edge curve in cereal delaminating units section, specifically:
Binary conversion treatment is carried out to the contour images in cereal delaminating units section；
Contours extract is carried out to the image after binaryzation.
3. the cereal flow monitoring method of the defeated grain of scraper-type according to claim 2, which is characterized in that in binary conversion treatment
Before, gray processing processing first is carried out to the contour images in cereal delaminating units section.
4. the cereal flow monitoring method of the defeated grain of scraper-type according to claim 3, which is characterized in that pass through weighted average
Method carries out gray processing processing to the contour images in the cereal delaminating units section of acquisition, and calculated with weighted average method is specifically such as
Under:
F (x, y)=0.30R (x, y)+0.59G (x, y)+0.11B (x, y),
Wherein: f (x, y) is gray value of the profile color image in cereal delaminating units section at point (x, y)；
R (x, y) is red component of the profile color image in cereal delaminating units section at point (x, y)；
G (x, y) is green component of the profile color image in cereal delaminating units section at point (x, y)；
B (x, y) is blue component of the profile color image in cereal delaminating units section at point (x, y).
5. the cereal flow monitoring method of the defeated grain of scraper-type according to claim 3, which is characterized in that pass through iterative method pair
The contour images in the cereal delaminating units section after gray processing carry out binary conversion treatment, specifically:
By f (x, y)minWith f (x, y)maxInitial estimate T of the mean value as gray thresholdK, initial value k=0, wherein f (x,
y)minFor the minimum gradation value of the profile color image at point (x, y) in cereal delaminating units section；f(x,y)maxFor institute
State maximum gradation value of the profile color image in cereal delaminating units section at point (x, y)；
With gray threshold TKSegmented image divides the image into C1And C2, wherein C1For by f (x, y) > TKAll pixels composition
Image；C2For by f (x, y)≤TKAll pixels composition image；
Calculate new gray threshold TK+1, whereinμ1For C1The average gray value of interior image, μ2For C2Interior image
Average gray value；
It repeats with new gray threshold TK+1Segmented image works as TK+1-TKWhen≤setting value, then optimum gradation threshold value is TK+1；
Wherein g (x, y) is the pixel value of the image after segmentation.
6. the cereal flow monitoring method of the defeated grain of scraper-type according to claim 1, which is characterized in that pass through pixel counts
Method calculates cereal delaminating units cross section profile boundary curve institute area coverage, specifically:
The pixel number N of statistical-reference unit circlecWith the pixel number N of i-th layer of cereal delaminating units cross sectioni；
The cereal delaminating units area of section calculation formula:
In formula: SiFor the real area in i-th layer of cereal delaminating units section；
ScFor the real area of reference units circle；
NcFor the pixel number of reference units circle；
NiFor the pixel number of i-th layer of cereal delaminating units cross section.
7. the cereal flow monitoring method of the defeated grain of scraper-type according to claim 6, which is characterized in that calculate stripper cell
(6) cereal delaminating units volume on specifically:
Wherein:
ViFor the volume between i-th layer of cereal delaminating units section and i+1 layer cereal delaminating units section；
υ is the linear velocity of stripper cell, m/s；
T is sampling time, s；
SiFor the real area in i-th layer of cereal delaminating units section；
Si+1For the real area in i+1 layer cereal delaminating units section.
8. the cereal flow monitoring method of the defeated grain of scraper-type according to claim 7, which is characterized in that calculate single scraper plate
Cereal total volume and cereal flow on slot (6), specifically:
Calculate cereal total volume V on single stripper cell (6):Wherein, m is delaminating units sum；
The volume V of cerealgAre as follows: Vg=V-V0-V1, wherein V0For stripper cell (6) volume；V1For volume compensation parameter；
Cereal flowIn formula: ρ is cereal density；T is the sampling time.
9. a kind of monitoring system of the cereal flow monitoring method of the defeated grain of scraper-type according to claim 1-8,
It is characterised in that it includes image collecting device, light curtain component and control system；
The light curtain component is for generating the light curtain for being parallel to stripper cell (6)；
The cereal (7) that described image acquisition device is used to acquire on stripper cell (6) is overlapped the image to form light profile with light curtain；
The control system includes delaminating units section computing module, cereal delaminating units volume calculation module, cereal stereometer
It calculates module and cereal flow calculates module；
Light contour images are inputted delaminating units section computing module by described image acquisition device, and the delaminating units are cut
Face computing module exports cereal delaminating units cross section profile boundary curve institute area coverage；
The cereal delaminating units volume calculation module according to cereal delaminating units cross section profile boundary curve institute's area coverage and
The linear velocity of stripper cell (6) exports cereal delaminating units volume；
The cereal volume calculation module exports cereal according to cereal delaminating units volume, volume compensation parameter and scraper plate sump volume
Volume；
The cereal flow calculates module and exports cereal flow according to the volume of cereal.
10. a kind of combined harvester, which is characterized in that the combined harvester installs the defeated grain of scraper-type as claimed in claim 9
Cereal flow monitor system.
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| CN113188946A (en) * | 2021-04-13 | 2021-07-30 | 山东省农业机械科学研究院 | Grain quality monitoring device with grain density measuring function and monitoring method |
| CN113950938A (en) * | 2021-09-28 | 2022-01-21 | 江苏大学 | Combine harvester and grain flow online detection device and method |
| CN115152410A (en) * | 2022-08-15 | 2022-10-11 | 四川农业大学 | Multifunctional combined type real-time corn yield measurement device and method |
| RU2786925C1 (en) * | 2022-06-30 | 2022-12-26 | Акционерное общество "Когнитив" | Method for modernizing equipment that collects and transports grain |
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