CN114004857A

CN114004857A - Grain breakage rate obtaining method and device, storage medium and crop harvesting equipment

Info

Publication number: CN114004857A
Application number: CN202111332070.3A
Authority: CN
Inventors: 曾晓斌; 郑森鸿; 贺龙钊
Original assignee: Guangdong Haoyun Technology Co Ltd
Current assignee: Guangdong Haoyun Technology Co Ltd
Priority date: 2021-11-11
Filing date: 2021-11-11
Publication date: 2022-02-01

Abstract

The invention provides a seed breakage rate obtaining method and device, a storage medium and crop harvesting equipment, wherein a first numerical value and a second numerical value are obtained by segmenting a sampling image; the first numerical value is the total number of intact kernel pixels in the sampled image, and the second numerical value is the total number of broken kernel pixels in the sampled image; and acquiring the kernel breakage rate according to the first numerical value and the second numerical value. The method does not need manual participation, is not influenced by factors such as subjective judgment or artificial fatigue and the like, and is simple to operate, high in precision and high in efficiency. The crushing rate information can be obtained in real time in the harvesting process, faults or the unsuitability of part parameters or operation parameters of the harvesting equipment can be found in time, corresponding adjustment or replacement is carried out in time, and the harvesting quality and the harvesting efficiency of the crop harvesting equipment are improved.

Description

Grain breakage rate obtaining method and device, storage medium and crop harvesting equipment

Technical Field

The invention relates to the field of agricultural machinery, in particular to a method and a device for obtaining seed grain breakage rate, a storage medium and crop harvesting equipment.

Background

Crop harvesting equipment plays an extremely important role in agricultural production. The harvesting efficiency of crops can be greatly improved and the harvesting time can be shortened by using the crop harvesting equipment. When crops are harvested through crop harvesting equipment, the feeding amount of the crop harvesting equipment, the peripheral speed of a threshing roller, the gap between concave plates and other operation parameters can influence the breakage rate of the grains, grains with high breakage rate are easy to mildew during storage, and the germination rate cannot be guaranteed when the grains are used as seeds for cultivation.

At present, the mode that artifical naked eye detected after the harvester is shut down is generally adopted to the percentage of damage that detects crop results equipment results cereal, relies on artificial experience, and inaccurate and unstable problem exists in its timeliness and accuracy.

Disclosure of Invention

The present invention aims to provide a seed breakage rate obtaining method, device, storage medium and crop harvesting equipment, so as to at least partially improve the problems.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

in a first aspect, an embodiment of the present invention provides a method for obtaining seed breakage rate, which is applied to crop harvesting equipment, and the method includes:

carrying out segmentation processing on the sampling image to obtain a first numerical value and a second numerical value;

the first numerical value is the total number of intact kernel pixels in the sampling image, and the second numerical value is the total number of broken kernel pixels in the sampling image;

and acquiring the kernel breakage rate according to the first numerical value and the second numerical value.

Compared with the prior art, the method for acquiring the seed breakage rate provided by the embodiment of the invention acquires the first numerical value and the second numerical value by segmenting the sampling image; the first numerical value is the total number of intact kernel pixels in the sampled image, and the second numerical value is the total number of broken kernel pixels in the sampled image; and acquiring the kernel breakage rate according to the first numerical value and the second numerical value. The method does not need manual participation, is not influenced by factors such as subjective judgment or artificial fatigue and the like, and is simple to operate, high in precision and high in efficiency. The crushing rate information can be obtained in real time in the harvesting process, faults or the unsuitability of part parameters or operation parameters of the harvesting equipment can be found in time, corresponding adjustment or replacement is carried out in time, and the harvesting quality and the harvesting efficiency of the crop harvesting equipment are improved.

Optionally, the step of performing segmentation processing on the sample image to obtain a first numerical value and a second numerical value includes: determining a gray threshold value according to the gray value of each pixel point in the gray image corresponding to the sampling image; determining pixel points with the gray value less than or equal to the gray threshold value as foreground image pixel points; converting foreground image pixel points in the sampling image into HSV space values; determining the types of the foreground image pixel points according to the HSV space value and a preset HSV threshold value, wherein the types comprise intact grain pixel points and broken grain pixel points; and counting the types of the foreground image pixel points to obtain the first numerical value and the second numerical value. Therefore, the first numerical value and the second numerical value are accurately obtained, and the accuracy of the final grain breakage rate is guaranteed.

Optionally, the sampling image is an RGB image, and before the step of determining the gray threshold according to the gray value of each pixel point in the gray image corresponding to the sampling image, the method further includes: and converting the RGB image into the gray-scale image.

Optionally, the expression for converting the foreground image pixel points in the sampling image into HSV spatial values is as follows:

v＝max

；

wherein, (r, g, b) represents the color characteristic value of the foreground image pixel, max represents max (r, g, b), min represents min (r, g, b), h represents the hue value in the HSV space value, s represents the saturation value in the HSV space value, and v represents the brightness value in the HSV space value.

Optionally, the step of determining a gray threshold according to the gray value of each pixel point in the gray image corresponding to the sample image includes: acquiring inter-class variance corresponding to the virtual gray threshold according to the gray value of each pixel point in the gray image; and determining the hypothetical gray threshold corresponding to the maximum value in the inter-class variance as the gray threshold. By reasonably setting the gray threshold, the accurate positioning of the foreground image pixel points can be ensured according to the gray threshold.

Optionally, the expression of the between-class variance is g ═ ω₀ω₁(μ₀-μ₁)²；ω₀＝N₀/(M×N)；ω₁＝N₁(M × N); wherein g characterizes the between-class variance, N₀Characterizing the number, N, of foreground image pixels based on the hypothetical grayscale threshold₁Characterizing the number, ω, of background image pixels based on the hypothetical grayscale threshold₀Characterizing a full-scale ratio, ω, of foreground image pixels based on the hypothetical grayscale threshold₁Characterizing a full-scale ratio, μ, of background image pixels based on the hypothetical grayscale threshold₀Characterizing an average gray level, μ, of foreground image pixels based on the hypothetical gray level threshold₁And representing the average gray of the background image pixel points based on the hypothetical gray threshold, wherein M and N represent the width and height of the image respectively.

Optionally, the step of obtaining a kernel breakage rate according to the first quantity value and the second quantity value comprises: determining the weight of intact kernels and the weight of broken kernels according to the first numerical value and the second numerical value respectively; and acquiring the kernel breakage rate according to the intact kernel weight and the broken kernel weight, wherein the kernel breakage rate determined according to the weight is more accurate and closer to the habit of a user.

Optionally, the expression of the weight of the intact kernel is: m₁＝a₁*S₁+b₁；M₂＝a₂*S₂+b₂(ii) a Wherein M is₁Characterization of intact grain weight, S₁Characterizing a first quantity value, a₁And b₁Is a coefficient, M₂Characterization of kernel weight, S₂Characterizing a second numerical value, a₂And b₂Are coefficients.

Optionally, before performing a segmentation process on the sampled image to obtain the first and second quantitative values, the method further comprises: acquiring the sampling image when a sampling area of the crop harvesting equipment is filled with crops; after said obtaining a grain breakage from said first and second quantitative values, the method further comprises: clearing the sampling region. Thereby being convenient for the crop harvesting equipment to continuously collect and store crops.

Optionally, after obtaining the grain breakage rate from the first and second quantitative values, the method further comprises: judging whether the kernel breakage rate exceeds a preset warning value or not; if yes, adjusting one or more of the upper sieve gap, the lower sieve gap, the feeding amount, the threshing rotating speed, the threshing gap and the cleaning fan rotating speed of the crop harvesting equipment according to the exceeding difference value; wherein, the exceeding difference is the difference between the kernel breakage rate and the preset warning value. Therefore, when the kernel breakage rate exceeds a preset warning value, the kernel breakage rate is reduced in time, and the quality of crops is guaranteed.

In a second aspect, an embodiment of the present invention provides a seed breakage rate obtaining apparatus, which is applied to crop harvesting equipment, and the apparatus includes:

the processing unit is used for carrying out segmentation processing on the sampling image so as to obtain a first numerical value and a second numerical value;

and the breakage rate obtaining unit is used for obtaining the grain breakage rate according to the first numerical value and the second numerical value.

In a third aspect, an embodiment of the present invention provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method described above.

In a fourth aspect, embodiments of the present invention provide a crop harvesting apparatus comprising: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the methods described above.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic diagram of a crop harvesting apparatus according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a grain breakage rate obtaining method according to an embodiment of the present invention;

fig. 3 is a schematic diagram of substep S102 provided by an embodiment of the present invention;

FIG. 4a is a schematic diagram of a sampled image according to an embodiment of the present invention;

FIG. 4b is a schematic diagram of a gray scale image provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of substep S102-2 provided by an embodiment of the present invention;

fig. 6 is a schematic diagram of substep S103 provided by an embodiment of the present invention;

fig. 7 is a schematic diagram illustrating conversion between the number of pixels and the weight of the pixels according to the embodiment of the present invention;

fig. 8 is a schematic flow chart of a grain breakage rate obtaining method according to another embodiment of the present invention;

FIG. 9 is a schematic diagram of a fragmentation rate display page provided by an embodiment of the present invention;

fig. 10 is a schematic flow chart of a grain breakage rate obtaining method according to another embodiment of the present invention;

fig. 11 is a schematic flow chart of a grain breakage rate obtaining method according to another embodiment of the present invention;

fig. 12 is a schematic unit diagram of a grain breakage rate obtaining apparatus according to an embodiment of the present invention.

In the figure: 10-a processor; 11-a memory; 12-a bus; 13-a communication interface; 20-an acquisition device; 201-a processing unit; 202-breakage rate obtaining unit.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", and the like refer to orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the present application, and are used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

In one possible implementation, the broken rate of the crop harvesting equipment for harvesting the grains can be detected by manually sorting broken grains and intact grains after the harvester is stopped, and then weighing the broken grains and intact grains respectively, so as to calculate the weight ratio of the broken grains. However, the way of calculating the crushing rate by manual sorting is influenced by factors such as subjective judgment or artificial fatigue, and has the disadvantages of complicated operation, large error and low efficiency. Meanwhile, in the harvesting process, the information of the breakage rate cannot be obtained in real time, and even the failure occurs, the information cannot be found in time, so that the harvesting quality and the harvesting efficiency of the crop harvesting equipment are affected.

To overcome the above problems, embodiments of the present invention provide a crop harvesting apparatus, which may be a harvester, a thresher, and other harvesters. Referring to fig. 1, a schematic structure of a crop harvesting apparatus is shown. The crop harvesting apparatus comprises a processor 10, a memory 11, a bus 12. The processor 10 and the memory 11 are connected by a bus 12, and the processor 10 is configured to execute an executable module, such as a computer program, stored in the memory 11.

The processor 10 may be an integrated circuit chip having signal processing capabilities. In the implementation process, the steps of the grain breakage rate obtaining method may be completed by an integrated logic circuit of hardware in the processor 10 or by instructions in the form of software. The Processor 10 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.

The Memory 11 may comprise a high-speed Random Access Memory (RAM) and may further comprise a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.

The bus 12 may be an ISA (Industry Standard architecture) bus, a PCI (peripheral Component interconnect) bus, an EISA (extended Industry Standard architecture) bus, or the like. Only one bi-directional arrow is shown in fig. 1, but this does not indicate only one bus 12 or one type of bus 12.

The memory 11 is used for storing programs, such as programs corresponding to the grain breakage rate acquiring device. The grain breakage rate acquiring device comprises at least one software function module which can be stored in a memory 11 in the form of software or firmware or solidified in an Operating System (OS) of the crop harvesting equipment. After receiving the execution instruction, the processor 10 executes the program to implement the grain breakage rate obtaining method.

Possibly, the crop harvesting apparatus provided by the embodiment of the present invention further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus. The crop harvesting apparatus may communicate with other external terminals via the communication interface 13.

Possibly, the crop harvesting equipment provided by the embodiment of the invention further comprises an image acquisition module, a display device, an elevator, a sampling area, a motor and an auger. The image acquisition module, the display device, the elevator and the motor are all connected with the processor 10. The processor 10 may control the elevator to transport the crop to the sampling area. The processor 10 may control the image capture module to capture images of the sample area and receive images transmitted by the image capture module at predetermined time intervals or when the sample area is filled with crop. The processor 10 may also control the motor to drive the auger to empty the crop in the sampling area. The processor 10 may also transmit the acquired breakage rate to a display device to cause the display device to display the breakage rate.

It should be understood that the configuration shown in fig. 1 is merely a schematic illustration of a portion of a crop harvesting apparatus, which may include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.

The method for obtaining seed grain breakage rate provided by the embodiment of the present invention can be applied to, but is not limited to, the crop harvesting equipment shown in fig. 1, and in a specific process, please refer to fig. 2, the method for obtaining seed grain breakage rate includes: s102 and S103.

S102, the sampling image is segmented to obtain a first numerical value and a second numerical value.

The first numerical value is the total number of intact kernel pixels in the sampled image, and the second numerical value is the total number of broken kernel pixels in the sampled image.

In the embodiment of the invention, binarization segmentation can be performed on the sampled image by adopting image binarization segmentation algorithms such as Otsu, Bernsen, Niblack and the like, so that intact grain pixel points and broken grain pixel points can be obtained.

S103, acquiring the kernel breakage rate according to the first numerical value and the second numerical value.

Understandably, after the total number of intact grain pixel points and the total number of broken grain pixel points in the sampling image are obtained, the grain breakage rate can be calculated. The method for acquiring the kernel breakage rate provided by the embodiment of the invention does not need manual participation, is not influenced by factors such as subjective judgment or artificial fatigue and the like, and has the advantages of simple operation, high precision and high efficiency. The crushing rate information can be obtained in real time in the harvesting process, faults or the unsuitability of part parameters or operation parameters of the harvesting equipment can be found in time, corresponding adjustment or replacement is carried out in time, and the harvesting quality and the harvesting efficiency of the crop harvesting equipment are improved.

In summary, an embodiment of the present invention provides a method for acquiring a seed breakage rate, which performs segmentation processing on a sample image to acquire a first numerical value and a second numerical value; the first numerical value is the total number of intact kernel pixels in the sampled image, and the second numerical value is the total number of broken kernel pixels in the sampled image; and acquiring the kernel breakage rate according to the first numerical value and the second numerical value. The method does not need manual participation, is not influenced by factors such as subjective judgment or artificial fatigue and the like, and is simple to operate, high in precision and high in efficiency. The method can acquire the breakage rate information in real time in the harvesting process, can find faults in time, and improves the harvesting quality and efficiency of crop harvesting equipment.

On the basis of fig. 2, as for the content in S102, the embodiment of the present invention further provides a possible implementation manner, please refer to fig. 3, where S102 includes: s102-1 to S102-6.

S102-1, converting the RGB image into a gray image.

Optionally, the sample image is an RGB image. Referring to fig. 4a and 4b, the sampled image is an RGB image as shown in fig. 4a, and fig. 4b is a grayscale image corresponding to the sampled image. Specifically, an image binarization segmentation algorithm such as Otsu, Bernsen, Niblack and the like can be adopted to segment the sampling image, so as to obtain a corresponding gray image, and further obtain a gray value of each pixel point in the gray image.

S102-2, determining a gray threshold value according to the gray value of each pixel point in the gray image corresponding to the sampling image.

It should be noted that the gray threshold is used as a boundary point between the gray value of the foreground image pixel in the gray image and the gray value of the background image pixel. Optionally, the pixel points with the gray value less than or equal to the gray threshold are determined as foreground image pixel points, and the pixel points with the gray value greater than the gray threshold are determined as background image pixel points. The foreground image pixel points comprise intact grain pixel points and broken grain pixel points.

And S102-3, determining pixel points with the gray value less than or equal to the gray threshold value as foreground image pixel points.

As described above, the foreground image pixel points can be screened from the gray level image through the gray level threshold, and further, the coordinates of the foreground image pixel points in the gray level image can be obtained. It can be understood that the coordinates of the foreground image pixel points in the gray scale image correspond to the coordinates of the foreground image pixel points in the sampling image one to one.

S102-4, converting foreground image pixel points in the sampling image into HSV space values.

On the basis of S102-3, the specific coordinates of the foreground image pixel points in the sampled image can be obtained, so that the step of converting the foreground image pixel points in the sampled image into HSV space values can be completed.

In a possible implementation manner, an expression for converting a foreground image pixel point in a sample image into an HSV spatial value is as follows:

v＝max

Alternatively, (r, g, b) represents characteristic values corresponding to red, green and blue, respectively.

S102-5, determining the type of the foreground image pixel point according to the HSV space value and a preset HSV threshold value.

Wherein, the types comprise intact grain pixel points and broken grain pixel points.

Optionally, the preset HSV thresholds include a hue threshold, a saturation threshold, and a brightness threshold.

In a possible implementation manner, when one of the pixel points simultaneously satisfies that the hue value is greater than or equal to the hue threshold value, the saturation value is greater than or equal to the saturation threshold value, and the brightness value is greater than or equal to the brightness threshold value, the pixel point can be determined as an intact grain pixel point; otherwise, the seed grain is broken.

In a possible implementation manner, when one of the pixel points satisfies any one of a hue value greater than or equal to a hue threshold value, a saturation value greater than or equal to a saturation threshold value, and a brightness value greater than or equal to a brightness threshold value, the pixel point may be determined as a perfect grain pixel point; otherwise, the seed grain is broken.

By executing the S102-5, the discrimination of the intact grain pixel points and the broken grain pixel points can be completed accurately or according to the types of the pixel points, so that the accuracy of the calculation result of the subsequent breakage rate is improved.

S102-6, counting the types of the foreground image pixel points to obtain a first numerical value and a second numerical value.

On the basis of fig. 3, for the content in S102-2, the embodiment of the present invention further provides a possible implementation manner, please refer to fig. 5, where S102-2 includes: S102-2A and S102-2B.

S102-2A, obtaining the inter-class variance corresponding to the virtual gray threshold value according to the gray value of each pixel point in the gray image.

Optionally, the expression of the between-class variance is:

ω₀＝N₀/(M×N)；

ω₁＝N₁*(M×N)；

N₀+N₁＝M×N；

ω₀+ω₁＝1；

μ＝ω₀μ₀+ω₁μ₁；

g＝ω₀(μ₀-μ)²+ω₁(μ₁-μ)²；

the above formula simplification can obtain: g-omega₀ω₁(μ₀-μ₁)²；

Wherein g represents the between-class variance, N₀Characterizing the number of foreground image pixels based on an imaginary grayscale threshold, N₁Characterizing the number of background image pixels, ω, based on an imaginary gray threshold₀Representing the entire aspect ratio, omega, of the foreground image pixels based on the hypothetical grayscale threshold₁Representing the whole occupation ratio, mu, of background image pixel points based on the hypothetical gray threshold₀Characterizing the average grayscale, μ, of a foreground image pixel based on an imaginary grayscale threshold₁And representing the average gray of the background image pixel points based on the hypothetical gray threshold, wherein M and N represent the width and height of the image respectively.

It can be understood that the range of the virtual gray threshold is (0-255), and when the values of the virtual gray threshold are different, the above parameters are changed correspondingly.

And S102-2B, determining the virtual gray threshold corresponding to the maximum value in the inter-class variance as the final gray threshold.

It can be understood that, when the maximum value of the inter-class variance is found, the pixels of the background image are most obviously distinguished from the pixels of the foreground image.

On the basis of fig. 2, for the content in S103, the embodiment of the present invention further provides a possible implementation manner, please refer to fig. 6, where S103 includes S103-1 and S103-2.

S103-1, respectively determining the weight of intact grains and the weight of broken grains according to the first numerical value and the second numerical value.

In one possible implementation, the expression of the weight of intact kernels is:

M₁＝a₁*S₁+b₁；

wherein M is₁Characterization of intact grain weight, S₁Characterizing a first quantity value, a₁And b₁Are coefficients.

The expression of the weight of the crushed grains is as follows:

M₂＝a₂*S₂+b₂；

wherein M is₂Characterization of crushed grain weight, S₂Characterizing a second numerical value, a₂And b₂Is a coefficient, M₂Characterization of kernel weight, S₂Characterizing a second numerical value, a₂And b₂Are coefficients.

Optionally, referring to fig. 7, fig. 7 is a schematic diagram illustrating conversion between the number of pixels and the weight according to the embodiment of the present invention, where the abscissa in fig. 7 is the number of pixels, and the ordinate is the weight.

In one possible implementation, data acquisition of photographing and weighing is performed on N groups of intact kernels and N groups of broken kernels respectively. And fitting a linear equation M-a-S + b of the N groups of pixel values and the weight values.

S103-2, acquiring the kernel breakage rate according to the weight of intact kernels and the weight of broken kernels.

Optionally, the kernel breakage rate may be obtained according to an equation.

Wherein r represents the breakage rate of the seeds, and the unit is percentage (%), M₁Characterizing the weight of intact grain in grams (g); m₂The weight of broken kernels was characterized in grams (g).

On the basis of fig. 2, regarding how to acquire a sampling image, the embodiment of the present invention further provides a possible implementation manner, please refer to fig. 8, where the grain breakage rate acquiring method further includes: s101 and S104.

S101, when a sampling area of the crop harvesting equipment is filled with crops, a sampling image is obtained.

Possibly, when the sampling area of the crop harvesting device is filled with crop, the processor 10 controls the image capture module to capture a picture of the sampling area, and the image capture module transmits the captured target image to the processor 10.

The processor 10 may determine whether the sampling area is filled with crop by means of an infrared transceiver device disposed at the upper end of the sampling area.

The image acquisition module may select a suitable industrial camera. The image acquisition module requires wide working temperature range and high protection level. The camera parameters are set and wait for the processor 10 to transmit a trigger signal for image acquisition.

In one possible implementation, the processor 10 may send a trigger signal to the image capturing module at preset time intervals to enable the image capturing module to capture the target picture, or send a trigger signal to the image capturing module to enable the image capturing module to capture the target picture when the sampling area is filled with the crop.

And S104, clearing the sampling area.

It will be appreciated that the sample area needs to be emptied when it is filled with crop. Specifically, the processor 10 may control the motor to drive the auger to empty the sampling area.

It should be noted that, the content shown in fig. 3 is that S104 is executed after S103, but this is not taken as a limitation, and in one possible implementation, S104 may be executed after S101.

Referring to fig. 9, fig. 9 is a schematic diagram of a fragmentation rate display page according to an embodiment of the present invention. The embodiment of the invention also provides a possible implementation way of how to facilitate the observation of the current grain breakage rate by workers.

After S103, the method for obtaining grain breakage rate further includes: and displaying the currently acquired kernel breakage rate on a display device.

Optionally, the processor 10 may transmit the obtained grain breakage rate to a display device, and display the currently obtained grain breakage rate on the display device, so as to facilitate observation by the user.

As shown in fig. 9, the kernel breakage rate can be added to the corresponding target picture, and the target picture is transmitted to the display device for display, so that the intuitive feeling of the user can be improved. As shown in fig. 9, different reminding symbols can be set to inform the user that the current crushing rate is higher, moderate or lower.

In one possible implementation, the specific locations of the intact grain and the broken grain in the sampled image may also be identified above, thereby facilitating observation by the user.

On the basis of fig. 2, regarding how to reduce the breakage rate, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 10, after S103, the grain breakage rate obtaining method further includes S105, S106, and S107.

And S105, judging whether the kernel breakage rate exceeds a preset warning value. If yes, executing S106; if not, S107 is executed.

When the kernel breakage rate exceeds a preset warning value, which indicates that the breakage rate is high, and the breakage rate needs to be reduced, executing S106; otherwise, the crushing rate is qualified, and the crop harvesting equipment is not required to be adjusted for the moment, then S107 is executed.

And S106, adjusting one or more of the upper screen gap, the lower screen gap, the feeding amount, the threshing rotating speed, the threshing gap and the cleaning fan rotating speed of the crop harvesting equipment according to the exceeding difference value.

And the exceeding difference value is the difference value between the kernel breakage rate and a preset warning value.

In a possible implementation mode, if the breakage rate exceeds a warning value, the feeding amount can be adjusted according to the crop state, the threshing rotating speed and the threshing gap are adjusted to be smaller, the clearance between the upper sieve and the lower sieve is adjusted to be smaller, impurities are reduced to enter the lower sieve, the clearance between the lower sieve and the lower sieve is adjusted to be larger, more air flow is enabled to blow the upper sieve and the rotating speed of the cleaning fan is adjusted to be larger, the wind power is increased, and the purpose of reducing the breakage rate is achieved.

And S107, temporarily not adjusting the crop harvesting equipment.

The embodiment of the present application further provides a possible implementation manner, please refer to fig. 11, in which the method for obtaining the grain breakage rate includes: S101-S107.

Optionally, after S101, S102 and S104 are performed; after S102, S103 is executed; after S103, S105 is performed; after S105, S106 or S107 is executed. For the specific contents in S101-S107, please refer to the contents in the foregoing, which is not described herein.

Referring to fig. 12, fig. 12 is a view illustrating a seed grain breakage rate obtaining apparatus according to an embodiment of the present invention, wherein the seed grain breakage rate obtaining apparatus is optionally applied to the crop harvesting apparatus.

The grain breakage rate obtaining device 20 includes: a processing unit 201 and a breakage rate obtaining unit 202.

The processing unit 201 is configured to perform segmentation processing on the sample image to obtain a first numerical value and a second numerical value.

A grain breakage rate obtaining unit 202, configured to obtain a grain breakage rate according to the first quantity value and the second quantity value.

Alternatively, the processing unit 201 may perform the above S101, S102, and S104, and the breakage rate obtaining unit 202 may perform the above S103.

It should be noted that the grain breakage rate obtaining device provided in the present embodiment may execute the method flows shown in the above method flow embodiments to achieve corresponding technical effects. For the sake of brevity, the corresponding contents in the above embodiments may be referred to where not mentioned in this embodiment.

The embodiment of the invention also provides a storage medium, wherein the storage medium stores computer instructions and programs, and the computer instructions and the programs execute the grain breakage rate acquisition method of the embodiment when being read and run. The storage medium may include memory, flash memory, registers, or a combination thereof, etc.

The following provides a crop harvesting device, which may be a harvester, as shown in fig. 1, and can implement the grain breakage rate obtaining method; specifically, the crop harvesting apparatus comprises: processor 10, memory 11, bus 12. The processor 10 may be a CPU. The memory 11 is used for storing one or more programs, and when the one or more programs are executed by the processor 10, the grain breakage rate obtaining method of the above embodiment is performed.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes 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.

Claims

1. A method for obtaining seed breakage rate is characterized by being applied to crop harvesting equipment, and comprises the following steps:

2. The grain breakage rate obtaining method of claim 1, wherein the step of performing segmentation processing on the sampling image to obtain the first numerical value and the second numerical value comprises:

determining a gray threshold value according to the gray value of each pixel point in the gray image corresponding to the sampling image;

determining pixel points with the gray value less than or equal to the gray threshold value as foreground image pixel points;

converting foreground image pixel points in the sampling image into HSV space values;

determining the types of the foreground image pixel points according to the HSV space value and a preset HSV threshold value, wherein the types comprise intact grain pixel points and broken grain pixel points;

and counting the types of the foreground image pixel points to obtain the first numerical value and the second numerical value.

3. The grain breakage rate obtaining method of claim 2, wherein the sampling image is an RGB image, and before the step of determining the gray level threshold value according to the gray level value of each pixel point in the gray level image corresponding to the sampling image, the method further comprises:

and converting the RGB image into the gray-scale image.

4. The grain breakage rate obtaining method of claim 2, wherein the expression for converting the foreground image pixel points in the sampling image into HSV spatial values is as follows:

v＝max

5. The grain breakage rate obtaining method of claim 2, wherein the step of determining the gray level threshold value according to the gray level value of each pixel point in the gray level image corresponding to the sampling image comprises:

acquiring inter-class variance corresponding to the virtual gray threshold according to the gray value of each pixel point in the gray image;

and determining the hypothetical gray threshold corresponding to the maximum value in the inter-class variance as the gray threshold.

6. The grain breakage rate acquisition method of claim 5 wherein the expression of the between-class variance is:

g＝ω₀ω₁(μ₀-μ₁)²；

ω₀＝N₀/(M×N)；

ω₁＝N₁/(M×N)；

wherein g characterizes the between-class variance, N₀Characterizing the number, N, of foreground image pixels based on the hypothetical grayscale threshold₁The characterization is based on the hypothetical grayscale thresholdNumber of background image pixels of value, omega₀Characterizing a full-scale ratio, ω, of foreground image pixels based on the hypothetical grayscale threshold₁Characterizing a full-scale ratio, μ, of background image pixels based on the hypothetical grayscale threshold₀Characterizing an average gray level, μ, of foreground image pixels based on the hypothetical gray level threshold₁And representing the average gray of the background image pixel points based on the hypothetical gray threshold, wherein M and N represent the width and height of the image respectively.

7. The grain breakage rate obtaining method of claim 1, wherein the step of obtaining the grain breakage rate according to the first numerical value and the second numerical value comprises:

determining the weight of intact kernels and the weight of broken kernels according to the first numerical value and the second numerical value respectively;

and acquiring the kernel breakage rate according to the weight of the intact kernels and the weight of the broken kernels.

8. The grain breakage rate acquisition method of claim 7 wherein the weight of intact grain is expressed as:

M₁＝a₁*S₁+b₁；

M₂＝a₂*S₂+b₂；

wherein M is₁Characterization of intact grain weight, S₁Characterizing a first quantity value, a₁And b₁Is a coefficient, M₂Characterization of kernel weight, S₂Characterizing a second numerical value, a₂And b₂Are coefficients.

9. The grain breakage rate acquisition method of claim 1, wherein before the sampling image is subjected to segmentation processing to acquire the first numerical value and the second numerical value, the method further comprises:

acquiring the sampling image when a sampling area of the crop harvesting equipment is filled with crops;

after said obtaining a grain breakage from said first and second quantitative values, the method further comprises:

clearing the sampling region.

10. The grain breakage rate acquisition method of claim 1, wherein after acquiring the grain breakage rate from the first numerical value and the second numerical value, the method further comprises:

judging whether the kernel breakage rate exceeds a preset warning value or not;

if yes, adjusting one or more of the upper sieve gap, the lower sieve gap, the feeding amount, the threshing rotating speed, the threshing gap and the cleaning fan rotating speed of the crop harvesting equipment according to the exceeding difference value;

wherein, the exceeding difference is the difference between the kernel breakage rate and the preset warning value.

11. A seed breakage rate obtaining apparatus, for use in a crop harvesting device, the apparatus comprising:

12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-10.

13. A crop harvesting apparatus, comprising: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the method of any of claims 1-10.