CN114812670A - Film-laying seeder and time-space operation parameter omnibearing detection method and system thereof - Google Patents

Film-laying seeder and time-space operation parameter omnibearing detection method and system thereof Download PDF

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CN114812670A
CN114812670A CN202210319363.6A CN202210319363A CN114812670A CN 114812670 A CN114812670 A CN 114812670A CN 202210319363 A CN202210319363 A CN 202210319363A CN 114812670 A CN114812670 A CN 114812670A
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film
mulching
acquiring
seeder
laying
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白圣贺
苑严伟
牛康
刘立晶
周利明
赵博
伟利国
熊师
郑元坤
张巍朋
隗立昂
陈凯康
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Chinese Academy of Agricultural Mechanization Sciences Group Co Ltd
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Chinese Academy of Agricultural Mechanization Sciences Group Co Ltd
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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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G13/00—Protecting plants
    • A01G13/02—Protective coverings for plants; Coverings for the ground; Devices for laying-out or removing coverings
    • A01G13/0256—Ground coverings
    • A01G13/0287—Devices for laying-out or removing ground coverings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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Abstract

A film-laying seeder and a space-time operation parameter omnibearing detection method and a space-time operation parameter omnibearing detection system thereof are provided, the film-laying seeder comprises the space-time operation parameter omnibearing detection system and adopts the following detection method, and the method comprises the following steps: acquiring mulching film allowance, seed allowance in a seed box, longitude and latitude coordinates, operation speed and operation time parameters of the mulching film-laying seeder; acquiring form information of a spread mulching film of the film-spreading seeder and rotation speed parameters of a film-spreading component, wherein the film-spreading component comprises a pressing roller, a film-spreading roller, a film-pressing wheel and an earthing roller; based on the form information of the spread mulching film, acquiring film spreading quality information through image processing, wherein the film spreading quality information comprises the qualified rate of the width of a lighting surface, the damage degree of the lighting surface and the earthing width of a film edge; and acquiring the rotating speed and the operating area parameters of a dibbler of the film-laying seeder, and acquiring seeding quality information by combining contact piezoelectric detection and non-contact electromagnetic detection, wherein the seeding quality information comprises seeding quantity, miss-seeding rate and re-seeding rate.

Description

Film-laying seeder and time-space operation parameter omnibearing detection method and system thereof
Technical Field
The invention relates to a sowing operation and a performance monitoring technology thereof, in particular to a film-laying sowing machine and an all-dimensional detection method and system of time-space operation parameters thereof.
Background
Because the farmland operation environment is complex, when the existing film-laying seeder is in field operation, the seeding process is mostly in a closed state, the seed discharging frequency is high, the monitoring is difficult, the conditions of film breaking, seeding missing, blocking and the like inevitably exist, if the phenomena of strip breaking, sparse seedling shortage and the like in a seeding operation area can be caused by timely finding and processing, the seeding quality and the machine operation efficiency are seriously influenced, and the operation parameter monitoring of the film-laying seeder is particularly important.
The operation parameter detection of the film-laying seeder can enable an operator to know the position, speed, course and the like of the seeder in time on one hand and reflect the density degree, uniformity, quality and the like of film-laying seeding, and on the other hand, abnormal conditions such as film breakage, missing seeding, blockage and the like can be fed back in time, so that the operation quality and the work efficiency can be effectively improved. In addition, the data of the existing sowing detection system are mutually independent, are not further fused, lack of data value mining, cannot comprehensively reflect operation quality information, and cannot perform performance evaluation and operation parameter optimization. Therefore, how to realize the omnibearing detection of the space-time operation parameters of the film-laying seeder is the key for solving the problems that the current operation parameter detection means of the film-laying seeder is deficient, the manual detection efficiency is low, the omnibearing detection is difficult, the operation efficiency is improved and the intelligent process is accelerated.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a film-laying seeder and an omnibearing detection method and system for time-space operation parameters of the film-laying seeder.
In order to achieve the aim, the invention provides an omnibearing detection method for space-time operation parameters of a film-laying seeder, which comprises the following steps:
s100, obtaining mulching film allowance, seed allowance in a seed box, longitude and latitude coordinates, operation speed and operation time parameters of the mulching film-laying seeder;
s200, acquiring form information of a tiled mulching film of the film-laying seeder and a rotating speed parameter of a film-laying component, wherein the film-laying component comprises a pressing roller, a film-spreading roller, a film-pressing wheel and a soil-covering roller; acquiring mulching quality information through image processing based on the shape information of the tiled mulching film, wherein the mulching quality information comprises the qualified rate of the width of a lighting surface, the damage degree of the lighting surface and the earthing width of a film edge; and
s300, acquiring the rotating speed and the operating area parameters of a dibbler of the film-laying seeder, and acquiring seeding quality information by combining contact piezoelectric detection and non-contact electromagnetic detection, wherein the seeding quality information comprises seeding quantity, miss-seeding rate and re-seeding rate.
The omnibearing detection method for the space-time operation parameters of the film-laying seeder comprises the following steps:
s400, analyzing the reason that the all-dimensional operation parameter data of the film-laying seeder acquired each time are inconsistent, and correcting and debugging.
The omnibearing detection method for the space-time operation parameters of the film-laying seeder is characterized in that in the step S100, the step of obtaining the residual amount of the mulching film comprises the following steps:
s101, measuring the thickness S of the mulching film 1 ；
S102, detecting the distance l between the top end of the mulching film on the film spreading roller of the film spreading seeder and the ultrasonic sensor through the ultrasonic sensor 1 ：
Figure BDA0003569899200000021
S103, measuring the distance l between the ultrasonic sensor and the top end of the mulching film on the film spreading roller before the film spreading roller works 2 And calculating the residual thickness S of the mulching film on the film spreading roller 2 ：
Figure BDA0003569899200000022
Wherein c is the ultrasonic velocity, and t is the time for the ultrasonic to and fro;
s104, detecting the rotating speed n of the film spreading roller through a rotating speed sensor, measuring the total thickness S of the mulching film on the film spreading roller before the film spreading roller does not work, and calculating the residual thickness S of the mulching film on the film spreading roller 3 ＝s-[nt]s 1 Wherein t is the working time of the film spreading roller, [ nt ]]Rounding the rotating turns of the film spreading roller; and
s105, calculating the average thickness of the residual mulching film on the film spreading roller
Figure BDA0003569899200000023
Wherein S is 2 Or S 3 One of the residual mulching film residue values is smaller than the set residual mulching film residue value, and the residual mulching film residue is insufficient.
In the above omnibearing detection method for the time-space operation parameters of the mulching film seeder, in step S200, the acquiring the morphological information of the tiled mulching film includes:
s201, collecting the tiled mulching film image through a camera, cutting the image, adjusting brightness and changing contrast to obtain an enhanced mulching film image;
s202, performing threshold segmentation and contour detection on the enhanced mulching film image, and extracting residual film features to obtain a mulching film image feature map; and
s203, traversing the whole mulch image feature map by using a sliding window, finding out the residual mulch area to the maximum extent, and acquiring the form information of the tiled mulch.
In the above all-round detection method for the time-space operation parameters of the film-mulching sowing machine, in step S202, the threshold segmentation further includes:
s2021, improving the accuracy of target identification by adopting a double-threshold algorithm;
s2022, finding out a detection window with the highest score from the mulching film candidate frame set, and moving the detection window into the final candidate frame set;
s2023, comparing the intersection ratio of any candidate frame and detection window with highest score with threshold d c And d t If it is smaller than d c If yes, keeping the current candidate frame and the corresponding score; if greater than d t If yes, deleting the current candidate frame and the corresponding score; if the two are not satisfied, distributing corresponding weight to the score of the current candidate frame; and
and S2024, repeatedly executing the steps S2022 and S2023 until the mulching film candidate frame set is an empty set, and outputting a final candidate frame and the score of the final candidate frame.
The omnibearing detection method for the time-space operation parameters of the film-laying seeder is characterized in that the intersection ratio and the threshold value d c ＝0.3，d t ＝0.9。
In the above all-round detection method for the time-space operation parameters of the film-mulching seeder, the step S200 of obtaining the film-mulching quality information through image processing includes:
s211, extracting the leftmost characteristic point (x) of the tiled mulching film image 1 ，y 1 ) With the rightmost feature point (x) 2 ，y 2 ) Calculating the width of the lighting surface
Figure BDA0003569899200000031
Pass rate of width of lighting surface
Figure BDA0003569899200000032
Width of membrane edge soil covering B 3 ＝B 2 -B 1 Wherein B is 2 The width of the mulching film; and
s212, normalizing the interested region of the residual film, obtaining a final detection frame through two classification regression of the mulching film and the background, counting non-zero pixel points in the background region, seeking the maximum distance L between the two pixel points, and judging the damage degree of the lighting surface
Figure BDA0003569899200000033
Wherein L is 1 Is the length in the image.
In the above all-round detection method for the time-space operation parameters of the film-mulching seeder, in step S300, the acquiring seeding quality information by combining contact piezoelectric detection and non-contact electromagnetic detection includes:
s301, calculating theoretical seeding rate
Figure BDA0003569899200000034
Wherein v is the advancing speed of the machine, d is the planting distance, z is the number of rows of the machine, and t is the sowing time;
s302, calculating theoretical voltage amplitude U of single seed falling impact piezoelectric diaphragm 1 Detecting actual voltage amplitude U of falling seeds impacting piezoelectric membrane of hole of dibbler 2 The number of seeds in the hole of the dibbler
Figure BDA0003569899200000041
S303, calculating the magnetic force F of the single seed blocked between the electromagnetism 1 Detecting the magnetic force F of the seed in the hole of the hill planter between the electromagnetism 2 The number of seeds in the hole of the dibbler
Figure BDA0003569899200000042
S304, if k and k 1 Greater than 1.2, it is recorded as replay N 1 (ii) a If k and k 1 If the value is less than 0.8, the result is recorded as miss-seeding N 2 (ii) a And
s305, calculating the replay rate
Figure BDA0003569899200000043
Miss-seeding rate
Figure BDA0003569899200000044
In order to better achieve the above object, the present invention further provides an omnibearing detection system for the time-space operation parameters of a mulching film seeder, wherein the omnibearing detection system comprises:
the ultrasonic sensors are distributed in an array manner and are arranged right above a film spreading roller and a seed box of the film spreading seeder, and are respectively used for acquiring the residual mulching film and the residual seeds in the seed box;
the GPS positioning module is arranged on a main frame of the film-laying seeder and is used for acquiring the film-laying and seeding longitude and latitude coordinates, the machine operation speed and the operation time parameters;
the industrial camera is arranged on a dibbler of the mulching film seeder and is used for acquiring form information and mulching film paving quality information of the paved mulching film;
the rotation speed sensors are respectively arranged on rotating shafts of a pressing roller, a film spreading roller, a film pressing wheel and a soil covering roller of the film spreading and sowing machine and are used for acquiring rotation speed parameters of the pressing roller, the film spreading roller, the film pressing wheel and the soil covering roller;
the encoder is arranged on a dibbler rotating shaft of the film-laying seeder and is used for acquiring the rotating speed and the operating area parameters of the dibbler;
the piezoelectric sensor is arranged at a hole in a dibbler of the film-laying seeder and is used for acquiring seeding quality information;
the electromagnetic sensor is arranged on a hill planter shell of the film laying seeder and is used for acquiring seeding quality information;
the data acquisition module is respectively connected with the ultrasonic sensor, the encoder, the rotating speed sensor, the electromagnetic sensor, the piezoelectric sensor and the GPS positioning module and is used for acquiring information;
the wireless transmitting module is connected with the piezoelectric sensor and used for transmitting a piezoelectric signal;
the wireless receiving module is respectively connected with the wireless transmitting module and the data acquisition module and is used for receiving the piezoelectric signals; and
and the vehicle-mounted terminal is respectively connected with the industrial camera and the data acquisition module and is used for detecting mulching film allowance, seed allowance in the seed box, longitude and latitude coordinates, operation speed, operation time, shape information of the tiled mulching film, rotating speed of a film laying part, film laying quality information, rotating speed of a hill planter, operation area and sowing quality information parameters.
In order to better realize the aim, the invention also provides a film-laying seeder, wherein the space-time operation parameter omnibearing detection system is arranged, and the space-time operation parameter omnibearing detection method is adopted to carry out field film-laying operation.
The invention has the technical effects that:
the invention fundamentally solves the problems of deficient operation parameter detection means, no system parameter detection, low manual detection efficiency and the like of the film-laying seeder, and can detect the machine operation parameters of the current time and space position in real time and all-round way. The mulching film allowance is detected, so that the problem that the mulching film allowance is difficult to obtain in the mulching film paving process of the mulching film paving seeder is solved, and the mulching film paving process and efficiency of the machine are improved; the shape information of the spread mulching film is detected and the image is processed, so that the problems that the mulching film identification and the mulching film quality of the mulching film spreading seeder cannot be detected are solved, and the mulching film spreading quality of the machine is greatly improved; the sowing quality information is detected, so that the problems that the sowing quantity, the miss-sowing rate and the re-sowing rate are difficult to detect in the sowing process of the film-laying sowing machine are solved, and the sowing quality of the machine is greatly improved; in conclusion, the detection method and the detection system are suitable for different types of film-laying seeders, are wide in application range, greatly improve the operation efficiency and the operation quality, accelerate the development of an intelligent process, greatly reduce the labor intensity and the operation cost, effectively promote the conversion from the rough operation to the precise operation of the film-laying seeders, and provide reliable technical support for performance evaluation and operation parameter optimization of the film-laying seeders.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1 is a block diagram of a detection system according to an embodiment of the present invention;
fig. 2 is a flow chart of mulching film residue detection according to an embodiment of the present invention;
fig. 3 is a flow chart of information detection of the morphology and the quality of the spread mulching film after being spread in the embodiment of the invention;
fig. 4 is a flowchart illustrating a sowing quality information detection process according to an embodiment of the present invention.
Wherein the reference numerals
1 Industrial camera
2 GPS positioning module
3 ultrasonic sensor
4 revolution speed transducer
5 encoder
6 piezoelectric sensor
7 electromagnetic sensor
8 wireless receiving module
9 Wireless transmitting module
10 data acquisition module
11 vehicle-mounted terminal
Detailed Description
The invention will be described in detail with reference to the following drawings, which are provided for illustration purposes and the like:
the film-laying seeder is provided with a space-time operation parameter omnibearing detection system as shown in figure 1, and adopts the following space-time operation parameter omnibearing detection method to carry out field film-laying operation. The composition, structure, mutual position relation, connection relation, working principle and the like of other parts of the film-laying seeder are mature prior art, so the details are not described herein, or the time-space operation parameter omnibearing detection method and the time-space operation parameter omnibearing detection system can be widely applied to different types of film-laying seeders, and the specific composition and structure of the film-laying seeder are not limited. During operation, the film-laying seeder starts and completes system initialization, and the touch screen of the film-laying seeder displays the following information: space-time parameters: longitude and latitude coordinates, operation time and operation speed; film laying operation parameters: the rotating speed values of the pressing roller, the film spreading roller, the film pressing wheel and the soil covering roller, the residual mulching film and the shape information of the spread mulching film; film laying quality information: the qualification rate of the width of the lighting surface, the damage degree of the lighting surface and the width of the membrane edge earthing soil; sowing operation parameters: the rotating speed of the dibbler and the seed allowance in the seed box; sowing quality information: seeding rate, miss-seeding rate, re-seeding rate, operation area, etc. and the omnibearing time-space operation parameter detecting system operates based on the set values.
Referring to fig. 1, fig. 1 is a block diagram of a detection system according to an embodiment of the present invention. The invention relates to an all-round detection system of space-time operation parameters of a film-laying seeder, which comprises: the ultrasonic sensors 3 are distributed in an array manner and are arranged right above a film spreading roller and a seed box of the film spreading seeder, and are respectively used for acquiring the residual mulching film and the residual seeds in the seed box; the GPS positioning module 2 is arranged on a main frame of the film-paving seeder and is used for acquiring film-paving seeding longitude and latitude coordinates, machine operation speed and operation time parameters; the industrial camera 1 is arranged on a dibbler of the film laying seeder and is used for acquiring form information and film laying quality information of the tiled mulching film; the rotating speed sensors 4 are respectively arranged on rotating shafts of a pressing roller, a film spreading roller, a film pressing wheel and an earthing roller of the film-laying seeder and are used for acquiring rotating speed parameters of the pressing roller, the film spreading roller, the film pressing wheel and the earthing roller; the encoder 5 is arranged on a dibbler rotating shaft of the film-laying seeder and is used for acquiring the rotating speed and the operating area parameters of the dibbler; the piezoelectric sensor 6 is arranged at a hole in a dibbler of the film-laying seeder and is used for acquiring seeding quality information; the electromagnetic sensor 7 is arranged on a hill planter shell of the film laying seeder and is used for acquiring seeding quality information; the data acquisition module 10 is respectively connected with the ultrasonic sensor 3, the encoder 5, the rotating speed sensor 4, the electromagnetic sensor 7, the piezoelectric sensor 6 and the GPS positioning module 2 and is used for acquiring information; the wireless transmitting module 9 is connected with the piezoelectric sensor 6 and used for transmitting a piezoelectric signal; the wireless receiving module 8 is respectively connected with the wireless transmitting module 9 and the data acquisition module 10 and is used for receiving the piezoelectric signals; and the vehicle-mounted terminal 11 is respectively connected with the industrial camera 1 and the data acquisition module 10 and is used for detecting mulching film allowance, seed allowance in the seed box, longitude and latitude coordinates, operation speed, operation time, mulching film shape information after paving, rotating speed of film paving components (a pressing roller, a film spreading roller, a film pressing wheel and an earthing roller), film paving quality information (lighting surface width qualification rate, lighting surface damage degree and film edge earthing width), hill planter rotating speed, operation area and sowing quality information parameters (sowing quantity, miss sowing rate and rebroadcasting operation parameter optimization).
The invention discloses an omnibearing detection method for space-time operation parameters of a film-laying seeder, which comprises the following steps:
s100, respectively acquiring mulching film allowance, seed allowance in a seed box, longitude and latitude coordinates, operation speed and operation time parameters of the film-laying seeder through the ultrasonic sensor 3 and the GPS positioning module 2;
s200, respectively acquiring form information of a spread mulching film of the film-spreading seeder and a rotating speed parameter of a film-spreading component through an industrial camera 1 and a rotating speed sensor 4, wherein the film-spreading component comprises a pressing roller, a film spreading roller, a film pressing wheel and an earthing roller; acquiring mulching quality information through image processing based on the shape information of the tiled mulching film, wherein the mulching quality information comprises the qualified rate of the width of a lighting surface, the damage degree of the lighting surface and the earthing width of a film edge; and
and step S300, respectively acquiring the rotating speed and the operating area parameters of a dibbler of the film-laying seeder through an encoder 5, a piezoelectric sensor 6, an electromagnetic sensor 7 and the like, and acquiring seeding quality information by combining contact piezoelectric detection and non-contact electromagnetic detection, wherein the seeding quality information comprises seeding quantity, miss rate and re-seeding rate.
In this embodiment, the method may further include:
and S400, analyzing the reason that the all-dimensional operation parameter data of the film-laying seeder acquired each time are inconsistent, and correcting and debugging.
Referring to fig. 2, fig. 2 is a flow chart of mulching film residue detection according to an embodiment of the present invention. In step S100, obtaining the mulching film allowance includes:
step S101, measuring the thickness S of the mulching film 1 ；
S102, detecting the distance l between the top end of a mulching film on a film spreading roller of the film spreading seeder and the ultrasonic sensor 3 through the ultrasonic sensor 3 1 ：
Figure BDA0003569899200000081
Step S103, measuring the distance l between the ultrasonic sensor 3 and the top end of the mulching film on the film spreading roller before the film spreading roller works 2 And calculating the residual thickness S of the mulching film on the film spreading roller 2 ：
Figure BDA0003569899200000082
Wherein c is the ultrasonic velocity, and t is the time for the ultrasonic to and fro;
s104, detecting the rotating speed n of the film spreading roller through the rotating speed sensor 4, measuring the total thickness S of the mulching film on the film spreading roller before the film spreading roller does not work, and calculating the residual thickness S of the mulching film on the film spreading roller 3 ＝s-[nt]s 1 Wherein t is the working time of the film spreading roller, [ nt ]]The film spreading roller rotates for the whole number of turns; and
step S105, calculating the average thickness of the residual mulching film on the film spreading roller
Figure BDA0003569899200000083
Wherein S is 2 Or S 3 One of the values is smaller than a set margin value, and the set margin value is preferably 1cm, so that the insufficient mulching film margin is indicated.
Referring to fig. 3, fig. 3 is a flow chart illustrating detection of mulching film morphology and mulching film quality information after the mulching film is spread according to an embodiment of the present invention. In step S200, acquiring the morphological information of the tiled mulching film includes:
step S201, collecting the tiled mulching film image through a camera, cutting the image, adjusting brightness and changing contrast to obtain an enhanced mulching film image;
s202, performing threshold segmentation and contour detection on the enhanced mulching film image, and extracting residual film features to obtain a mulching film image feature map; and
and S203, traversing the whole mulch film image feature map by using a sliding window, finding out a residual mulch film area to the maximum extent, and acquiring the form information of the tiled mulch film.
In step S202, the threshold segmentation further includes:
step S2021, a double-threshold algorithm is adopted, and the accuracy rate of target identification is improved;
step S2022, finding out a detection window with the highest score from the mulching film candidate frame set, moving the detection window into the final candidate frame set, and deleting the detection window from the mulching film candidate frame set;
step S2023, comparing the intersection ratio of any candidate frame and detection window with highest score with threshold d c And d t If it is smaller than d c If yes, keeping the current candidate frame and the corresponding score; if greater than d t If yes, deleting the current candidate frame and the corresponding score; if the two are not satisfied, distributing corresponding weight to the score of the current candidate frame; and
step S2024, repeating steps S2022 and S2023 until the mulching film candidate frame set is an empty set, outputting a final candidate frame and a score thereof, and finally determining d c ＝0.3，d t The best effect is obtained when the content is 0.9.
In step S200, the acquiring of the filming quality information by image processing includes:
step S211, extracting the leftmost characteristic point (x) of the tiled mulching film image 1 ，y 1 ) With the rightmost feature point (x) 2 ，y 2 ) Calculating the width of the lighting surface
Figure BDA0003569899200000091
Pass rate of width of lighting surface
Figure BDA0003569899200000092
Width of membrane edge soil covering B 3 ＝B 2 -B 1 Wherein B is 2 The width of the mulching film; and
step S212, normalization processing is carried out on the interested region of the residual film, a final detection frame is obtained through two classification regression of the mulching film and the background, non-zero pixel points in the background region are counted, the largest distance L between the two pixel points is found, and the damage degree of the lighting surface is determined
Figure BDA0003569899200000093
Wherein L is 1 Is the length in the image.
Referring to fig. 4, fig. 4 is a flowchart of sowing quality information detection according to an embodiment of the present invention. In step S300, the acquiring seeding quality information by combining contact piezoelectric detection and non-contact electromagnetic detection includes:
step S301, calculating theoretical seeding rate
Figure BDA0003569899200000094
Wherein v is the advancing speed of the machine, d is the planting distance, z is the number of rows of the machine, and t is the sowing time;
s302, calculating theoretical voltage amplitude U of single seed falling impact piezoelectric diaphragm 1 Detecting actual voltage amplitude U of falling seeds impacting piezoelectric membrane of hole of dibbler 2 The number of seeds in the hole of the dibbler
Figure BDA0003569899200000095
S303, calculating the magnetic force F of the single seed blocked between the electromagnetism 1 Detecting the magnetic force F of the seed in the hole of the hill planter between the electromagnetism 2 The number of seeds in the hole of the dibbler
Figure BDA0003569899200000096
S304, if k and k 1 Greater than 1.2, it is recorded as replay N 1 (ii) a If k and k 1 If the value is less than 0.8, the result is recorded as miss-seeding N 2 (ii) a And
s305, calculatingRebroadcast rate
Figure BDA0003569899200000101
Miss-seeding rate
Figure BDA0003569899200000102
In the working process, the system is installed, the power supply is switched on, the data acquisition and processing software is started, and the operation parameter on-line detection of the film-laying seeder can be started. After the system is started, pulse signals acquired by each sensor are converted into digital signals through a data acquisition module 10 and transmitted to a vehicle-mounted terminal 11 for data processing, and finally all-dimensional operation parameters of the film-laying seeder are acquired, wherein the parameters of mulching film allowance, seed allowance in a seed box, longitude and latitude coordinates, operation speed and operation time are acquired through a plurality of ultrasonic sensors 3 and a GPS positioning module 2; the method comprises the steps that the shape information of a spread mulching film and the rotating speed (a pressing roller, a film spreading roller, a film pressing wheel and an earthing roller) parameters of key rotating parts of the spread mulching film are obtained through an industrial camera 1 and a plurality of rotating speed sensors 4; based on the morphological information of the spread mulching film, acquiring the film spreading quality information (the qualified rate of the width of a lighting surface, the damage degree of the lighting surface and the width of film edge earthing) by adopting an image processing method; the rotating speed and the operation area parameters of the hill planter are obtained through the encoder 5, the piezoelectric sensor 6 and the electromagnetic sensor 7, and sowing quality information (sowing quantity, miss-sowing rate and re-sowing rate) is obtained by adopting a method of combining contact type piezoelectric detection and non-contact type electromagnetic detection.
The invention effectively promotes the conversion from extensive operation to accurate operation of the film-laying seeder, fundamentally solves the problems of deficient operation parameter detection means, no system parameter detection, low manual detection efficiency and the like of the film-laying seeder, and can detect the machine operation parameters of the current time and space position in real time and all-round. The mulching film allowance is detected, so that the problem that the mulching film allowance is difficult to obtain in the film laying process of the film laying seeder is solved, and the film laying process and efficiency of the machine are improved; the shape information of the spread mulching film is detected and the image is processed, so that the problems that the mulching film identification and the mulching film quality of the mulching film spreading seeder cannot be detected are solved, and the mulching film spreading quality of the machine is greatly improved; the sowing quality information is detected, the problems that the sowing quantity, the miss-sowing rate and the re-sowing rate are difficult to detect in the sowing process of the film-laying sowing machine are solved, and the sowing quality of the machine is greatly improved. In conclusion, the detection method and the detection system are suitable for different types of film-laying seeders, have wide application range, greatly improve the operation efficiency and the operation quality, accelerate the development of intelligent processes, greatly reduce the labor intensity and the operation cost, effectively promote the conversion from extensive operation to accurate operation of the film-laying seeders, and provide reliable technical support for performance evaluation and operation parameter optimization of the film-laying seeders.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. An all-round detection method of space-time operation parameters of a film-laying seeder is characterized by comprising the following steps:
s100, obtaining the mulching film allowance, seed allowance in a seed box, longitude and latitude coordinates, operation speed and operation time parameters of the film-laying seeder;
s200, acquiring form information of a spread mulching film of the film spreading seeder and rotating speed parameters of a film spreading component, wherein the film spreading component comprises a pressing roller, a film spreading roller, a film pressing wheel and an earthing roller; acquiring mulching quality information through image processing based on the shape information of the tiled mulching film, wherein the mulching quality information comprises the qualified rate of the width of a lighting surface, the damage degree of the lighting surface and the earthing width of a film edge; and
s300, acquiring the rotating speed and the operating area parameters of a dibbler of the film-laying seeder, and acquiring seeding quality information by combining contact piezoelectric detection and non-contact electromagnetic detection, wherein the seeding quality information comprises seeding quantity, miss-seeding rate and re-seeding rate.
2. The omnibearing detection method for the space-time operation parameters of the film-laying seeder as claimed in claim 1, further comprising:
s400, analyzing the reason that the all-dimensional operation parameter data of the film-laying seeder acquired each time are inconsistent, and correcting and debugging.
3. The all-round detection method of the space-time operation parameters of the film-laying seeder of claim 1 or 2, wherein in step S100, obtaining the mulching film allowance comprises:
s101, measuring the thickness S of the mulching film 1 ；
S102, detecting the distance l between the top end of the mulching film on the film spreading roller of the film spreading and sowing machine and the ultrasonic sensor through the ultrasonic sensor 1 ：
Figure FDA0003569899190000011
S103, measuring the distance l between the ultrasonic sensor and the top end of the mulching film on the film spreading roller before the film spreading roller works 2 And calculating the residual thickness S of the mulching film on the film spreading roller 2 ：
Figure FDA0003569899190000012
Wherein c is the ultrasonic velocity, and t is the time for the ultrasonic to and fro;
s104, detecting the rotating speed n of the film spreading roller through a rotating speed sensor, measuring the total thickness S of the mulching film on the film spreading roller before the film spreading roller does not work, and calculating the residual thickness S of the mulching film on the film spreading roller 3 ＝s-[nt]s 1 Wherein t is the working time of the film spreading roller, [ nt ]]Rounding the rotating turns of the film spreading roller; and
s105, calculating the average thickness of the residual mulching film on the film spreading roller
Figure FDA0003569899190000021
Wherein S is 2 Or S 3 One of the residual mulching film residue values is smaller than the set residual mulching film residue value, and the residual mulching film residue is insufficient.
4. The omnibearing detection method for the space-time operation parameters of the film-laying seeder as claimed in claim 1 or 2, wherein in step S200, the acquiring of the morphological information of the tiled mulching film comprises:
s201, collecting the tiled mulching film image through a camera, cutting the image, adjusting brightness and changing contrast to obtain an enhanced mulching film image;
s202, performing threshold segmentation and contour detection on the enhanced mulching film image, and extracting residual film features to obtain a mulching film image feature map; and
s203, traversing the whole mulch image feature map by using a sliding window, finding out the residual mulch area to the maximum extent, and acquiring the form information of the tiled mulch.
5. The all-round detection method for the time-space operation parameters of the film-laying seeder as claimed in claim 4, wherein in the step S202, the threshold segmentation further comprises:
s2021, improving the accuracy of target identification by adopting a double-threshold algorithm;
s2022, finding out a detection window with the highest score from the mulching film candidate frame set, and moving the detection window into the final candidate frame set;
s2023, comparing the intersection ratio of any candidate frame and detection window with highest score with threshold d c And d t If it is smaller than d c If yes, keeping the current candidate frame and the corresponding score; if greater than d t If yes, deleting the current candidate frame and the corresponding score; if the two are not satisfied, distributing corresponding weight to the score of the current candidate frame; and
and S2024, repeatedly executing the steps S2022 and S2023 until the mulching film candidate frame set is an empty set, and outputting a final candidate frame and the score of the final candidate frame.
6. The all-round detection method of the space-time operation parameters of the film-laying seeder as claimed in claim 5, characterized in that the intersection ratio and the threshold d are set c ＝0.3，d t ＝0.9。
7. The omnibearing detection method for the space-time operation parameters of the film-laying seeder as claimed in claim 1 or 2, wherein the step S200 of acquiring the film-laying quality information through image processing comprises:
s211, extracting the leftmost characteristic point (x) of the tiled mulching film image 1 ，y 1 ) With the rightmost feature point (x) 2 ，y 2 ) Calculating the width of the lighting surface
Figure FDA0003569899190000022
Pass rate of width of lighting surface
Figure FDA0003569899190000023
Width of membrane edge soil covering B 3 ＝B 2 -B 1 Wherein B is 2 The width of the mulching film; and
s212, normalizing the interested region of the residual film, obtaining a final detection frame through two classification regression of the mulching film and the background, counting non-zero pixel points in the background region, seeking the maximum distance L between the two pixel points, and judging the damage degree of the lighting surface
Figure FDA0003569899190000031
Wherein L is 1 Is the length in the image.
8. The omnibearing detection method for the space-time operation parameters of the film-laying seeder as claimed in claim 1 or 2, wherein the step S300 of acquiring seeding quality information by combining contact type piezoelectric detection and non-contact type electromagnetic detection comprises:
s301, calculating theoretical seeding rate
Figure FDA0003569899190000032
Wherein v is the advancing speed of the machine, d is the planting distance, z is the number of rows of the machine, and t is the sowing time;
s302, calculating theoretical voltage amplitude U of single seed falling impact piezoelectric diaphragm 1 Detecting actual voltage amplitude U of falling seeds impacting piezoelectric membrane of hole of dibbler 2 The number of seeds in the hole of the dibbler
Figure FDA0003569899190000033
S303, calculating the magnetic force F of the single seed blocked between the electromagnetism 1 Detecting the magnetic force F between electromagnetism for separating the seeds in the holes of the dibbler 2 The number of seeds in the hole of the dibbler
Figure FDA0003569899190000034
S304, if k and k 1 Greater than 1.2, it is recorded as replay N 1 (ii) a If k and k 1 If the value is less than 0.8, the result is recorded as miss-seeding N 2 (ii) a And
s305, calculating the replay rate
Figure FDA0003569899190000035
Miss-seeding rate
Figure FDA0003569899190000036
9. The utility model provides an all-round detecting system of space-time operation parameter of shop membrane seeder which characterized in that includes:
the ultrasonic sensors are distributed in an array manner and are arranged right above a film spreading roller and a seed box of the film spreading seeder, and are respectively used for acquiring the residual mulching film and the residual seeds in the seed box;
the GPS positioning module is arranged on a main frame of the film-paving seeder and is used for acquiring film-paving seeding longitude and latitude coordinates, machine operation speed and operation time parameters;
the industrial camera is arranged on a dibbler of the mulching film seeder and is used for acquiring form information and mulching film paving quality information of the paved mulching film;
the rotation speed sensors are respectively arranged on rotating shafts of a pressing roller, a film spreading roller, a film pressing wheel and a soil covering roller of the film spreading and sowing machine and are used for acquiring rotation speed parameters of the pressing roller, the film spreading roller, the film pressing wheel and the soil covering roller;
the encoder is arranged on a dibbler rotating shaft of the film-laying seeder and is used for acquiring the rotating speed and the operating area parameters of the dibbler;
the piezoelectric sensor is arranged at a hole in a dibbler of the film-laying seeder and is used for acquiring seeding quality information;
the electromagnetic sensor is arranged on a hill planter shell of the film laying seeder and is used for acquiring seeding quality information;
the data acquisition module is respectively connected with the ultrasonic sensor, the encoder, the rotating speed sensor, the electromagnetic sensor, the piezoelectric sensor and the GPS positioning module and is used for acquiring information;
the wireless transmitting module is connected with the piezoelectric sensor and used for transmitting a piezoelectric signal;
the wireless receiving module is respectively connected with the wireless transmitting module and the data acquisition module and is used for receiving the piezoelectric signals; and
and the vehicle-mounted terminal is respectively connected with the industrial camera and the data acquisition module and is used for detecting mulching film allowance, seed allowance in the seed box, longitude and latitude coordinates, operation speed, operation time, shape information of the tiled mulching film, rotating speed of a film laying part, film laying quality information, rotating speed of a hill planter, operation area and sowing quality information parameters.
10. A mulching and seeding machine, characterized in that the omnibearing detection system of the time-space operation parameters of the claim 9 is arranged, and the omnibearing detection method of the time-space operation parameters of any one of the claims 1 to 8 is adopted for field mulching operation.
CN202210319363.6A 2022-03-29 2022-03-29 Film-laying seeder and time-space operation parameter omnibearing detection method and system thereof Pending CN114812670A (en)

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