CN110319887A - Rape transplants field operation quality on-line monitoring system and its monitoring method - Google Patents
Rape transplants field operation quality on-line monitoring system and its monitoring method Download PDFInfo
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- CN110319887A CN110319887A CN201910705193.3A CN201910705193A CN110319887A CN 110319887 A CN110319887 A CN 110319887A CN 201910705193 A CN201910705193 A CN 201910705193A CN 110319887 A CN110319887 A CN 110319887A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Image Processing (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The present invention provides rape and transplants field operation quality on-line monitoring system, including transplantation device and the feeler mechanism for being installed on transplantation device rear, it further include transplanting monitoring system, the transplanting monitoring system includes the range sensor for being connected to transplantation device rear baffle side, the adjustable support on the crossbeam of transplantation device tail portion and the outer case being fixedly installed on the adjustable support；Camera, industrial personal computer and calibration sensor are equipped in the outer case；The range sensor is for monitoring in feeler mechanism connecting rod to the horizontal distance between baffle side；The calibration sensor is for measuring height of the industrial camera apart from ground.The present invention solves rape transplanting operation quality monitoring problem, can realize monitoring results automation according to equipment job state.
Description
Technical field
The present invention relates to a kind of rapes to transplant field operation quality on-line monitoring system, is adopted based on image
The rape transplanting operation quality real-time monitoring system and method for collection processing.Especially suitable for the rape transplanting under the handling situations of crop field
The real time on-line monitoring of operation quality belongs to farmland management apparatus field.
Background technique
China's winter rape planting site is mainly rice cultivation before winter rape plantation mainly in middle and lower reach of Yangtze River Plain,
Rice-rape or rice-rice-rape rotation system are generallyd use, since harvest implantation time is nervous, using live streaming
Mode will will lead to growth of rape period deficiency, therefore middle and lower reach of Yangtze River Plain mostly uses the mode of transplanting to carry out, rape transplanting
Mode can shorten the turnaround time, ensure that reasonable crop rotation, to realizing that stable yields and high yield have great significance.Current
Rape-transplanting machine in, lack operation quality monitoring, need manually uninterruptedly to be observed, influence mentioning for equipment operating efficiency
Height, increases manual labor's intensity, and operation quality cannot be guaranteed.Therefore rape transplanting operation quality real time monitoring has important
Meaning.
Has the quality-monitoring patent disclosure for being predominantly directed to rice transplanting at present, since paddy-field-working error is small, not
Consider influence of the image calibration to calculated result.But during field transplanting rape, rape planting density is big, and nonirrigated farmland is smooth
It is poor to spend, and height injustice problem in field is affected to calculating in quality monitoring process, cannot be according to equipment during actual job
Working condition is recorded and is counted in real time, and being uneven for field influences spacing in the rows and plant number during transplanting.By upper
The influence for stating factor causes spacing in the rows calculating error larger using the image processing method of no calibration, influences planting quality statistics essence
Degree.
The quality monitoring of rape transplanting at this stage is not directed to big substantially to judge rice shoot whether there is or not based on before planting seedling taking
The operation quality when operation of field monitors problem on-line.Due to practical farm work situation difference, system is monitored after the cultivation of other crops
System not can be used directly transplants in rape.
Summary of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of oil highly reliable, calibration accuracy is high
Dish transplants field operation quality on-line monitoring system.
To achieve the goals above, the present invention is to realize by the following technical solutions: rape transplants farm work matter
On-line monitoring system is measured, including transplantation device and the feeler mechanism for being installed on transplantation device rear, it is characterised in that: further include moving
Monitoring system is planted, the transplanting monitoring system includes the range sensor for being connected to transplantation device rear baffle side, is located at transplanting
Adjustable support on the crossbeam of device tail portion and the outer case being fixedly installed on the adjustable support；It is set in the outer case
There are camera, industrial personal computer and calibration sensor；The range sensor for monitor in feeler mechanism connecting rod to baffle side it
Between horizontal distance；The calibration sensor is for measuring height of the industrial camera apart from ground.
When transplantation device preparation work, feeler mechanism controls its whereabouts, and connecting rod reduces to distance between rear baffle side,
When distance is less than closure nodal value, distance sensor signal is transmitted to industrial personal computer, and industrial personal computer controls camera and calibration sensor
The closure of circuit；When distance is greater than disconnected node value, distance sensor signal is transmitted to industrial personal computer, industrial personal computer control camera,
The power supply for calibrating sensor disconnects；Work as camera, when calibration sensor is in running order, the image of shooting is carried out in industrial personal computer
Processing, constantly calculates and feeds back to operator；When calculated value is less than setting index, alarm signal can be issued in real time and reminds operation
Person.
The invention further relates to a kind of monitoring methods of rape transplanting field operation quality on-line monitoring system, it is characterised in that
Including the following steps:
The foundation of the first step, calibration data base
1.1) select range for L1, the apparent ruler of scale, which is used as, demarcates object, and ruler is fixed on ground；
1.2) camera is fixed on the adjustable bracket of height, by the adjusting of support height, drives calibration sensing
The height change of device；
1.3) since apart from ground 50cm height, stop to 250cm, every 1cm shoots a photo, shoots 200 altogether
Photo；
1.4) picture is printed, and measures the length L that the ruler of scale is fixed on pictureX’；
1.5) repeatedly shooting, takes the average value of measurement as LX；
1.6) using apart from ground level as abscissa,For ordinate, scatter plot is established, the functional image being fitted；
Image processing step after second step, rape transplanting
2.1) laplacian spectral radius is carried out to the image after rape transplanting, improves the contrast of image；
2.2) binary segmentation is carried out to image based on Otsu method；
2.3) image is corroded using M radius different circular structural elements, utilizes the different pros of N number of side length
The structural element of shape expands image M1, and selecting the least combination in abnormal communication domain is optimal expansion structure element；
2.4) bianry image progress is first corroded using optimal corrosion expansion structure element and is expanded afterwards, obtain image A；
2.5) according to fractional spins, the profile and area of image A is obtained, mass center is calculated；
2.6) successively photo is registrated, calculates the Euclidean distance X between adjacent connected domain mass center；
Third step, industrial personal computer calculate aligning step
3.1) functional image obtained according to calibration sensing data, industrial personal computer obtain actual height pair by interpolation calculation
The error coefficient K answered；
3.2) comprehensive distance Y, Y=K × X is calculated in industrial personal computer, and as Y>=300mm, as leakage is carried, as Y<300mm
When, as normally transplanting state, record Plug seedling number M, leakage carry number M0；
3.3) spacing in the rows Y is exported, load rate P is leaked,
3.4) as P >=8%, start to trigger alarm condition, operator's transplanter is reminded to break down.
Beneficial effects of the present invention: the present invention solves rape transplanting operation quality monitoring problem, can be made according to equipment
Industry state realizes monitoring results automation；Based on image processing techniques, on-line monitoring, real-time feedback information are realized；Utilize height
Sensor real time calibration is spent, spacing in the rows is reduced and calculates error.In rape transplanting experiment, show to calculate data ratio by calibrating installation
Without the data of calibration, error reduces 5%, while counting without human assistance, reduces human cost and improves effect
Rate and accuracy.The present invention can judge equipment job state and realize rape planting hole number under the handling situations of crop field, while energy
Automatically the data of the planting qualities information such as acquisition seeding row spacing, leakage cultivation, lodging are, it can be achieved that rape transplants the view that height is different in the process
Angle calibration.Sampling visual angle real time correction, solving the not gentle equipment in ground highland in rape transplanting operation process, spring etc. is led up and down
The spacing in the rows of cause calculates the problems such as inaccuracy.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the overall structure diagram in the embodiment of the present invention 1.
Fig. 2 is the outer case schematic diagram of internal structure in the embodiment of the present invention 1.
Fig. 3 is the use state diagram in the embodiment of the present invention 1.
Fig. 4 is the control principle drawing of the embodiment of the present invention 1.
Fig. 5 is the monitoring flow chart of the embodiment of the present invention 1.
Fig. 6 is image A schematic diagram in the embodiment of the present invention 1.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Fig. 1-Fig. 3 is please referred to, the present invention provides a kind of rape transplanting field operation quality on-line monitoring system, including transplanting
It device and is installed on the feeler mechanism 4 at transplantation device rear, the range sensor 5 being connected on transplantation device rear baffle 6, is located at
The adjustable support 2 on drive end unit crossbeam 3, the outer case 1 being fixedly installed on adjustable support 2 are transplanted, is fixed in outer case
Industrial camera 1-2, industrial personal computer 1-1 and calibration sensor 1-3 are installed.Wherein range sensor 5 is bolted rear
6 side of baffle, adjustable support are internal and external casing structure, are linked on the crossbeam of tail portion by bolt.Outer case passes through bolt chain
It connects in stent ends, industrial camera, industrial personal computer and the installation of calibration sensor in the outer case, are bolted.
Range sensor is for monitoring in feeler mechanism connecting rod to the horizontal distance between baffle side.When transplanter prepares
When operation, feeler mechanism controls its whereabouts, and connecting rod reduces to distance between baffle side, when distance is less than closure nodal value 86mm
When, sensor transmits the closure for keeping industrial camera and calibrating sensor circuit by signal；When distance is greater than disconnected node value
When 107mm, sensor pass through signal transmission realize industrial camera, calibrate sensor power supply disconnect.Thus can to avoid
When different fields is mobile, or also constantly monitoring during transportation.Working condition judgement is conducive to save electric energy, may be used also
To avoid in the state of transplanting, also not sounding the alarm.
Work as industrial camera, when calibration sensor is in running order, software in industrial personal computer to the image of shooting at
Reason, constantly calculates and feeds back to operator.When calculated value is less than setting index, alarm signal can be issued in real time and reminds operation
Person.
As Figure 4-Figure 6: the invention further relates to a kind of monitoring sides of rape transplanting field operation quality on-line monitoring system
Method, it is characterised in that including the following steps:
The foundation of the first step, calibration data base
1.1) select range for L1, the apparent ruler of scale, which is used as, demarcates object, and ruler is fixed on ground；
1.2) camera is fixed on the adjustable bracket of height, by the adjusting of support height, drives calibration sensing
The height change of device；
1.3) since apart from ground 50cm height, stop to 250cm, every 1cm shoots a photo, shoots 200 altogether
Photo；
1.4) picture is printed, and measures the length L that the ruler of scale is fixed on pictureX’；
1.5) repeatedly shooting, takes the average value of measurement as LX；
1.6) using apart from ground level as abscissa,For ordinate, scatter plot is established, the functional image being fitted；
Image processing step after second step, rape transplanting
2.1) laplacian spectral radius is carried out to the image after rape transplanting, improves the contrast of image；
2.2) binary segmentation is carried out to image based on Otsu method；
2.3) image is corroded using M radius different circular structural elements, utilizes the different pros of N number of side length
The structural element of shape expands image M1, and selecting the least combination in abnormal communication domain is optimal expansion structure element；
2.4) bianry image progress is first corroded using optimal corrosion expansion structure element and is expanded afterwards, obtain image A；
2.5) according to fractional spins, the profile and area of image A is obtained, mass center is calculated；
2.6) successively photo is registrated, calculates the Euclidean distance X between adjacent connected domain mass center；
Third step, industrial personal computer calculate aligning step
3.1) functional image obtained according to calibration sensing data, industrial personal computer obtain actual height pair by interpolation calculation
The error coefficient K answered；
3.2) comprehensive distance Y, Y=K × X is calculated in industrial personal computer, and as Y>=300mm, as leakage is carried, as Y<300mm
When, as normally transplanting state, record Plug seedling number M, leakage carry number M0；
3.3) spacing in the rows Y is exported, load rate P is leaked,
3.4) as P >=8%, start to trigger alarm condition, operator's transplanter is reminded to break down；When leakage load rate is more than
When threshold value, industrial personal computer transfers signals to host computer, and host computer transfers information to Signal Monitor and sounds the alarm.
After the present embodiment uses this method, the real-time condition of rape transplanting process can be effectively monitored, shifting is greatly lowered
The probability of happening of process apparatus failure is planted, equipment operating efficiency is improved, reduces manual labor's intensity, improves work income.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (3)
1. rape transplants field operation quality on-line monitoring system, including transplantation device and the profiling for being installed on transplantation device rear
Mechanism, it is characterised in that: further include transplanting monitoring system, the transplanting monitoring system includes being connected to transplantation device rear baffle side
It the range sensor in face, the adjustable support on the crossbeam of transplantation device tail portion and is fixedly installed on the adjustable support
Outer case；Camera, industrial personal computer and calibration sensor are equipped in the outer case；The range sensor is for monitoring profiling
Connecting rod is to the horizontal distance between baffle side in mechanism；The calibration sensor is for measuring height of the industrial camera apart from ground
Degree.
2. rape according to claim 1 transplants field operation quality on-line monitoring system, it is characterised in that: when transplanting fills
When setting preparation work, feeler mechanism controls its whereabouts, and connecting rod reduces to distance between rear baffle side, when distance is less than closure section
When point value, distance sensor signal is transmitted to industrial personal computer, and industrial personal computer controls camera and calibrates the closure of sensor circuit；Work as distance
When greater than disconnected node value, distance sensor signal is transmitted to industrial personal computer, and it is disconnected that industrial personal computer controls camera, the power supply of calibration sensor
It opens；Work as camera, when calibration sensor is in running order, the image of shooting is handled in industrial personal computer, constantly calculates and anti-
Feed operator；When calculated value is less than setting index, alarm signal can be issued in real time and reminds operator.
3. a kind of monitoring method of rape transplanting field operation quality on-line monitoring system, it is characterised in that including following step
It is rapid:
The foundation of the first step, calibration data base
1.1) select range for L1, the apparent ruler of scale, which is used as, demarcates object, and ruler is fixed on ground；
1.2) camera is fixed on the adjustable bracket of height, by the adjusting of support height, drives calibration sensor
Height change；
1.3) since apart from ground 50cm height, stop to 250cm, every 1cm shoots a photo, shoots 200 photos altogether；
1.4) picture is printed, and measures the length L that the ruler of scale is fixed on pictureX’；
1.5) repeatedly shooting, takes the average value of measurement as LX；
1.6) using apart from ground level as abscissa,For ordinate, scatter plot is established, the functional image being fitted；
Image processing step after second step, rape transplanting
2.1) laplacian spectral radius is carried out to the image after rape transplanting, improves the contrast of image；
2.2) binary segmentation is carried out to image based on Otsu method；
2.3) image is corroded using M radius different circular structural elements, utilizes the different square of N number of side length
Structural element expands image M1, and selecting the least combination in abnormal communication domain is optimal expansion structure element；
2.4) bianry image progress is first corroded using optimal corrosion expansion structure element and is expanded afterwards, obtain image A；
2.5) according to fractional spins, the profile and area of image A is obtained, mass center is calculated；
2.6) successively photo is registrated, calculates the Euclidean distance X between adjacent connected domain mass center；
Third step, industrial personal computer calculate aligning step
3.1) according to the functional image that obtains of calibration sensing data, it is corresponding that industrial personal computer by interpolation calculation obtains actual height
Error coefficient K；
3.2) comprehensive distance Y, Y=K × X is calculated in industrial personal computer, and as Y>=300mm, as leakage is carried, as Y<300mm, i.e.,
Normally to transplant state, Plug seedling number M is recorded, leakage carries number M0；
3.3) spacing in the rows Y is exported, load rate P is leaked,
3.4) as P >=8%, start to trigger alarm condition, operator's transplanter is reminded to break down.
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