CN110319887B - Online monitoring system and method for rape transplanting field operation quality - Google Patents
Online monitoring system and method for rape transplanting field operation quality Download PDFInfo
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- CN110319887B CN110319887B CN201910705193.3A CN201910705193A CN110319887B CN 110319887 B CN110319887 B CN 110319887B CN 201910705193 A CN201910705193 A CN 201910705193A CN 110319887 B CN110319887 B CN 110319887B
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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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Abstract
The invention provides an on-line monitoring system for the field operation quality of rape transplanting, which comprises a transplanting device, a profiling mechanism arranged at the rear of the transplanting device, and a transplanting monitoring system, wherein the transplanting monitoring system comprises a distance sensor connected to the side surface of a rear baffle of the transplanting device, an adjustable bracket positioned on a cross beam at the tail part of the transplanting device and an outer box body fixedly arranged on the adjustable bracket; a camera, an industrial personal computer and a calibration sensor are arranged in the outer box body; the distance sensor is used for monitoring the horizontal distance between the connecting rod in the profiling mechanism and the side surface of the baffle; the calibration sensor is used to measure the height of the industrial camera from the ground. The invention solves the problem of monitoring the quality of rape transplanting operation, and can realize the automation of monitoring operation according to the operation state of the machine tool.
Description
Technical Field
The invention relates to an online monitoring system for rape transplanting field operation quality, in particular to a real-time monitoring system and method for rape transplanting operation quality based on image acquisition and processing. The method is particularly suitable for real-time on-line monitoring of rape transplanting operation quality under the condition of field operation, and belongs to the field of farmland management equipment.
Background
The winter rape planting land in China mainly is the middle and downstream plain of the Yangtze river, rice is mainly planted before winter rape planting, a rice-rape or rice-rape rotation mode is generally adopted, and the harvest planting time is tension, and the direct seeding mode can lead to the shortage of rape growth period, so that the middle and downstream plain of the Yangtze river is mostly carried out by adopting a transplanting mode, the turnover time can be shortened by adopting the rape transplanting mode, reasonable rotation is ensured, and the winter rape planting method has important significance for realizing stable yield and high yield. In the current rape transplanting machine, the lack of operation quality monitoring requires continuous observation by manpower, thereby influencing the improvement of the operation efficiency of the machine tool, increasing the labor intensity and not ensuring the operation quality. Therefore, the real-time monitoring of the rape transplanting operation quality has important significance.
At present, a patent for quality monitoring of rice transplanting is mainly disclosed, and the influence of image calibration on a calculation result is not considered because of small operation error of a paddy field. However, in the process of transplanting rape in the field, the rape planting density is high, the flatness of dry land is poor, the problem of uneven field height in the quality monitoring process has great influence on calculation, real-time recording and statistics cannot be carried out according to the working condition of an implement in the actual working process, and the plant spacing and the planting number are influenced by uneven field height in the transplanting process. Under the influence of the factors, the plant spacing calculation error is larger by using a calibration-free image processing method, and the planting quality statistical accuracy is influenced.
The quality monitoring of rape transplanting at the present stage basically judges whether seedlings exist or not before seedling transplanting, and the problem of on-line monitoring of the operation quality in field operation is not involved. Because of the difference of actual field operation conditions, the monitoring system of other crops after planting cannot be directly applied to rape transplanting.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide an on-line monitoring system for the field operation quality of rape transplanting with strong reliability and high calibration accuracy.
In order to achieve the above object, the present invention is realized by the following technical scheme: the rape transplanting field operation quality on-line monitoring system comprises a transplanting device and a profiling mechanism arranged at the rear of the transplanting device, and is characterized in that: the transplanting monitoring system comprises a distance sensor connected to the side surface of a rear baffle of the transplanting device, an adjustable bracket positioned on a cross beam at the tail of the transplanting device and an outer box body fixedly arranged on the adjustable bracket; a camera, an industrial personal computer and a calibration sensor are arranged in the outer box body; the distance sensor is used for monitoring the horizontal distance between the connecting rod in the profiling mechanism and the side surface of the baffle; the calibration sensor is used to measure the height of the industrial camera from the ground.
When the transplanting device is ready for operation, the profiling mechanism controls the transplanting device to fall, the distance between the connecting rod and the side surface of the rear baffle is reduced, when the distance is smaller than a closing node value, a distance sensor signal is transmitted to the industrial personal computer, and the industrial personal computer controls the camera and the calibration sensor circuit to be closed; when the distance is larger than the disconnection node value, the distance sensor signal is transmitted to the industrial personal computer, and the industrial personal computer controls the power supply of the camera and the calibration sensor to be disconnected; when the camera and the calibration sensor are in a working state, the industrial personal computer processes the shot image, and continuously calculates and feeds back the image to an operator; when the calculated value is smaller than the set index, an alarm signal can be sent out in real time to remind an operator.
The invention also relates to a monitoring method of the rape transplanting field operation quality on-line monitoring system, which is characterized by comprising the following steps:
first step, establishment of calibration database
1.1 A selection range is L 1 A ruler with obvious scales is used as a calibration object, and the ruler is fixed on the ground;
1.2 The camera is fixed on a bracket with adjustable height, and the height of the calibration sensor is driven to change by adjusting the height of the bracket;
1.3 From 50cm to 250cm from the ground, taking a picture every 1cm for a total of 200 pictures;
1.4 Picture is printed, and the length L of a ruler with fixed scales on the picture is measured X’ ；
1.5 Multiple times of shooting, taking the average value of measurement as L X ；
1.6 With the ground level as the abscissa,establishing a scatter diagram for an ordinate to obtain a fitted function image;
second, the image processing step after rape transplanting
2.1 Laplace sharpening is carried out on the image after rape transplanting, so that the contrast ratio of the image is improved;
2.2 Performing binary segmentation on the image based on an Otsu method;
2.3 The image is corroded by M structural elements with different radiuses, the image M1 is expanded by N square structural elements with different side lengths, and the combination with the least abnormal connected domain is selected to be the optimal expansion structural element;
2.4 Performing corrosion and then expansion on the binary image by utilizing the optimal corrosion and expansion structural element to obtain an image A;
2.5 According to watershed segmentation algorithm, obtaining the outline and area of the image A, and calculating the mass center;
2.6 Registering the photos in sequence, and calculating the Euclidean distance X between the centroids of the adjacent connected domains;
third, the industrial personal computer calculates the correction step
3.1 According to the function image obtained by calibrating the sensor data, the industrial personal computer obtains an error coefficient K corresponding to the actual height through interpolation calculation;
3.2 The industrial personal computer calculates the comprehensive distance Y, Y=K -1 X, when Y is more than or equal to 300mm, the seedling is not planted, when Y<When 300mm, the transplanting state is normal, the number M of plug seedlings is recorded, and the number M of missed seedlings is recorded 0 ；
3.3 Outputting plant spacing Y, miss-planting rate P,
3.4 When P is more than or equal to 8%, the alarm state is triggered to remind an operator that the transplanting machine has faults.
The invention has the beneficial effects that: the invention solves the problem of monitoring the quality of rape transplanting operation, and can realize the automation of monitoring operation according to the operation state of the machine tool; based on the image processing technology, the on-line monitoring and the real-time feedback of information are realized; and the height sensor is used for real-time calibration, so that the plant spacing calculation error is reduced. In rape transplanting experiments, the error is reduced by 5% compared with the data which is not calibrated through calculation of the calibration device, meanwhile, manual auxiliary statistics is not needed, the labor cost is reduced, and the efficiency and the accuracy are improved. Under the condition of field operation, the invention can judge the operation state of the machine tool and realize the number of the rape planting holes, can automatically acquire the data of planting quality information such as plant row spacing, missing planting, lodging and the like, and can realize the calibration of different visual angles in the rape transplanting process. The sampling visual angle is corrected in real time, so that the problems of inaccurate plant spacing calculation and the like caused by uneven ground, upward and downward bouncing of a machine tool and the like in the rape transplanting operation process are solved.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
fig. 1 is a schematic diagram of the overall structure in embodiment 1 of the present invention.
Fig. 2 is a schematic view showing the internal structure of the outer case in embodiment 1 of the present invention.
Fig. 3 is a schematic view of the usage state in embodiment 1 of the present invention.
Fig. 4 is a control schematic diagram of embodiment 1 of the present invention.
Fig. 5 is a monitoring flow chart of embodiment 1 of the present invention.
Fig. 6 is a schematic view of an image a in embodiment 1 of the present invention.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
Referring to fig. 1-3, the invention provides an on-line monitoring system for rape transplanting field operation quality, which comprises a transplanting device, a profiling mechanism 4 arranged at the rear of the transplanting device, a distance sensor 5 connected to a rear baffle 6 of the transplanting device, an adjustable bracket 2 positioned on a tail cross beam 3 of the transplanting device, an outer box body 1 fixedly arranged on the adjustable bracket 2, an industrial camera 1-2 fixedly arranged in the outer box body, an industrial personal computer 1-1 and a calibration sensor 1-3. The distance sensor 5 is connected to the side surface of the rear baffle 6 through bolts, the adjustable support is of an inner sleeve structure and an outer sleeve structure, and is connected to the tail cross beam through bolts. The outer box body is connected to the tail end of the support through bolts, the industrial camera, the industrial personal computer and the calibration sensor are installed in the outer box body and fixed through bolts.
The distance sensor is used for monitoring the horizontal distance between the connecting rod in the profiling mechanism and the side surface of the baffle. When the transplanter is ready for operation, the copying mechanism controls the copying mechanism to fall, the distance between the connecting rod and the side surface of the baffle is reduced, and when the distance is smaller than 86mm of a closed node value, the sensor keeps the industrial camera and the calibration sensor circuit closed through signal transmission; when the distance is 107mm greater than the disconnection node value, the sensor realizes the disconnection of the power supply of the industrial camera and the calibration sensor through signal transmission. This avoids constant monitoring during movement in different fields or during transportation. The judgment of the working state is beneficial to saving electric energy, and can also avoid sending out alarm sound when not in a transplanting state.
When the industrial camera and the calibration sensor are in a working state, software in the industrial personal computer processes the shot image, and the shot image is continuously calculated and fed back to an operator. When the calculated value is smaller than the set index, an alarm signal can be sent out in real time to remind an operator.
As shown in fig. 4-6: the invention also relates to a monitoring method of the rape transplanting field operation quality on-line monitoring system, which is characterized by comprising the following steps:
first step, establishment of calibration database
1.1 A selection range is L 1 A ruler with obvious scales is used as a calibration object, and the ruler is fixed on the ground;
1.2 The camera is fixed on a bracket with adjustable height, and the height of the calibration sensor is driven to change by adjusting the height of the bracket;
1.3 From 50cm to 250cm from the ground, taking a picture every 1cm for a total of 200 pictures;
1.4 Picture is printed, and the length L of a ruler with fixed scales on the picture is measured X’ ；
1.5 Multiple times of shooting, taking the average value of measurement as L X ；
1.6 With the ground level as the abscissa,establishing a scatter diagram for an ordinate to obtain a fitted function image;
second, the image processing step after rape transplanting
2.1 Laplace sharpening is carried out on the image after rape transplanting, so that the contrast ratio of the image is improved;
2.2 Performing binary segmentation on the image based on an Otsu method;
2.3 The image is corroded by M structural elements with different radiuses, the image M1 is expanded by N square structural elements with different side lengths, and the combination with the least abnormal connected domain is selected to be the optimal expansion structural element;
2.4 Performing corrosion and then expansion on the binary image by utilizing the optimal corrosion and expansion structural element to obtain an image A;
2.5 According to watershed segmentation algorithm, obtaining the outline and area of the image A, and calculating the mass center;
2.6 Registering the photos in sequence, and calculating the Euclidean distance X between the centroids of the adjacent connected domains;
third, the industrial personal computer calculates the correction step
3.1 According to the function image obtained by calibrating the sensor data, the industrial personal computer obtains an error coefficient K corresponding to the actual height through interpolation calculation;
3.2 The industrial personal computer calculates the comprehensive distance Y, Y=K -1 X, when Y is more than or equal to 300mm, the seedling is not planted, when Y<When 300mm, the transplanting state is normal, the number M of plug seedlings is recorded, and the number M of missed seedlings is recorded 0 ；
3.3 Outputting plant spacing Y, miss-planting rate P,
3.4 When P is more than or equal to 8%, starting to trigger an alarm state to remind an operator that the transplanting machine has a fault; when the miss planting rate exceeds a threshold value, the industrial personal computer transmits signals to the upper computer, and the upper computer transmits information to the signal display and sends out alarm sounds.
By adopting the method, the real-time condition of the rape transplanting process can be effectively monitored, the occurrence probability of faults of the transplanting process device is greatly reduced, the working efficiency of machines and tools is improved, the labor intensity is reduced, and the work income is improved.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (3)
1. The rape transplanting field operation quality on-line monitoring system comprises a transplanting device and a profiling mechanism arranged at the rear of the transplanting device, and is characterized in that: the transplanting monitoring system comprises a distance sensor connected to the side surface of a rear baffle of the transplanting device, an adjustable bracket positioned on a cross beam at the tail of the transplanting device and an outer box body fixedly arranged on the adjustable bracket; a camera, an industrial personal computer and a calibration sensor are arranged in the outer box body; the distance sensor is used for monitoring the horizontal distance between the connecting rod in the profiling mechanism and the side surface of the baffle; the calibration sensor is used to measure the height of the industrial camera from the ground.
2. The on-line monitoring system for the field operation quality of rape transplanting according to claim 1, wherein: when the transplanting device is ready for operation, the profiling mechanism controls the transplanting device to fall, the distance between the connecting rod and the side surface of the rear baffle is reduced, when the distance is smaller than a closing node value, a distance sensor signal is transmitted to the industrial personal computer, and the industrial personal computer controls the camera and the calibration sensor circuit to be closed; when the distance is larger than the disconnection node value, the distance sensor signal is transmitted to the industrial personal computer, and the industrial personal computer controls the power supply of the camera and the calibration sensor to be disconnected; when the camera and the calibration sensor are in a working state, the industrial personal computer processes the shot image, and continuously calculates and feeds back the image to an operator; when the calculated value is smaller than the set index, an alarm signal can be sent out in real time to remind an operator.
3. A monitoring method of an online monitoring system for rape transplanting field operation quality is characterized by comprising the following steps:
first step, establishment of calibration database
1.1 A selection range is L 1 A ruler with obvious scales is used as a calibration object, and the ruler is fixed on the ground;
1.2 The camera is fixed on a bracket with adjustable height, and the height of the calibration sensor is driven to change by adjusting the height of the bracket;
1.3 From 50cm to 250cm from the ground, taking a picture every 1cm for a total of 200 pictures;
1.4 Picture is printed, and the length L of a ruler with fixed scales on the picture is measured X’ ；
1.5 Multiple times of shooting, taking the average value of measurement as L X ；
1.6 With the ground level as the abscissa,establishing a scatter diagram for an ordinate to obtain a fitted function image;
second, the image processing step after rape transplanting
2.1 Laplace sharpening is carried out on the image after rape transplanting, so that the contrast ratio of the image is improved;
2.2 Performing binary segmentation on the image based on an Otsu method;
2.3 The image is corroded by using M structural elements with different radiuses to obtain a corroded image M1, the corroded image M1 is expanded by using N square structural elements with different side lengths, and the combination with the least abnormal connected domain is selected to be the optimal expansion structural element;
2.4 Performing corrosion and then expansion on the binary image by utilizing the optimal corrosion and expansion structural element to obtain an image A;
2.5 According to watershed segmentation algorithm, obtaining the outline and area of the image A, and calculating the mass center;
2.6 Registering the photos in sequence, and calculating the Euclidean distance X between the centroids of the adjacent connected domains;
third, the industrial personal computer calculates the correction step
3.1 According to the function image obtained by calibrating the sensor data, the industrial personal computer obtains an error coefficient K corresponding to the actual height through interpolation calculation;
3.2 The industrial personal computer calculates the comprehensive distance Y, Y=K -1 X, when Y is more than or equal to 300mm, the seedling is not planted, when Y<When 300mm, the transplanting state is normal, the number M of plug seedlings is recorded, and the number M of missed seedlings is recorded 0 ；
3.3 Outputting plant spacing Y, miss-planting rate P,
3.4 When P is more than or equal to 8%, the alarm state is triggered to remind an operator that the transplanting machine has faults.
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