CN207151101U - A kind of rotary cultivator garrulous soil rate real-time detection apparatus - Google Patents

Abstract

A kind of rotary cultivator garrulous soil rate real-time detection apparatus, it is arranged in the frame of rotary cultivator, detection means includes control device, image processing apparatus, image acquisition device and the governor motion for adjusting image acquisition device position, and wherein control device, image processing apparatus and image acquisition device electrically connects between any two.The utility model provides a kind of rotary cultivator garrulous soil rate real-time detection apparatus and method based on image processing techniques, by being taken pictures to upper soll layer, and the size of soil particle is judged according to soil particle shade size, and then the garrulous soil rate of rotary cultivator is calculated, automaticity and accuracy are all higher.

Description

A kind of rotary cultivator garrulous soil rate real-time detection apparatus

Technical field

Rotary cultivator field is the utility model is related to, specifically a kind of rotary cultivator garrulous soil rate real-time detection apparatus.

Background technology

Rotary tillage method is ploughed using the rotary tillage machine with tractor, is rotated by the high speed of Rotary Tiller Blade, Reach cutting soil, ravel topsoil, the purpose of ground grading.With tilth is shallower, broken soil performance is relatively strong, dry farming when soil block After in small, broken bits, cultivated the features such as Land leveling.Turn over, harrow, the effect of several operations of equality because rotary tillage can receive for 1 time, be also beneficial to Process is reduced, reduce cost and ensures that operation is timely, as sandstorm is more and more, the environmental consciousness of people is more and more stronger, makees Law technology is minimal tilled for one kind, rotary tillage method obtains more and more extensive application year by year.

In addition to rotary tillage depth, grading degree vegetation coverage, soil fluffy degree, tractor power consumption, rotary cultivator work is weighed An important indicator for making performance is the garrulous soil rate of soil after rotary tillage.Determine that can such rotary cultivator put into actual production and answer With.

So far, it is existing to rotation also well for the test device and method of soil garrulous soil rate after rotary tillage The improvement for the machine of ploughing and the detection that innovation is to other performances such as rotary tillage depth of soil.

Utility model content

In order to solve deficiency of the prior art, the utility model provides a kind of rotary cultivator garrulous soil rate real-time detection apparatus, By being taken pictures to upper soll layer, and judge according to soil particle shade size the size of soil particle, and then calculate rotation The garrulous soil rate for the machine of ploughing, detection speed is fast, precision is high.

To achieve these goals, the concrete scheme that the utility model uses for：

A kind of rotary cultivator garrulous soil rate real-time detection apparatus, is arranged in the frame of rotary cultivator, and detection means includes control and filled Put, image processing apparatus, image acquisition device and the governor motion for adjusting image acquisition device position, wherein control device, figure As processing unit and image acquisition device electrically connect between any two；

The governor motion includes the auxiliary rack being fixedly connected with frame and two be fixedly installed on auxiliary rack Mechanical head, on the direction of travel of rotary cultivator, auxiliary rack is stretched out from the rear of frame, and auxiliary rack is set up in parallel by two Chang Liang and three short beam composition being fixedly installed between two long beams, the bearing of trend of long beam and the direction of travel of rotary cultivator Vertically, mechanical head includes two telescopic components for being fixedly installed on two short beam bottoms, and telescopic component includes fixing with short beam The fix bar of connection, be provided with fixed block and movable block in fix bar, wherein the close auxiliary rack of fixed block and fix bar One end is fixedly connected, and is rotated on fixed block and is provided with leading screw, handle is fixedly connected with after leading screw break-through movable block, in leading screw On be arranged with ball nut, ball nut is fixedly connected with movable block, and the lower end of fixed block is rotatably connected to fourth link, mobile The lower end of block is rotatably connected to first connecting rod, and the middle part of first connecting rod and the middle part of fourth link are rotatablely connected, first connecting rod Lower end is also rotatably connected to second connecting rod, and the lower end of fourth link is also rotatably connected to third connecting rod, the middle part of third connecting rod with The middle part of second connecting rod is rotatablely connected, and mounting rail is fixedly connected between the lower end of the third connecting rod of two telescopic components, is installed Mounting bracket, the cylinder-like structure that mounting bracket is vertical setting, the fixed setting of described image collector are fixedly installed in the middle part of beam In mounting bracket, protective cover is also arranged with the week side of boss of mounting bracket, protective cover is fixedly connected with mounting rail.

A long beam in two long beams close to the frame is fixedly connected by several U bolts with frame.

The bottom of the fix bar offers the dovetail groove extended along its length, the top integrally connected of the movable block There are the dovetail tangs to match with dovetail groove.

The cylindrical structure of protective cover, two otic placodes are connected with protective cover, and two otic placodes are on protection The axisymmetrical of cover, two otic placodes are fixedly connected by two fixing bolts with the mounting rail.

The opening axially extended is offered on the mounting bracket, and the both ends for the insertion mounting bracket that is open, the both sides of opening A connecting plate is respectively connected with, two connecting plates are connected by fastening bolt.

Locking nut is also arranged with the leading screw, locking nut is used to lock leading screw and the ball nut.

Beneficial effect：

1st, the utility model obtains upper soll layer particle information by being taken pictures to soil, and by handling image The size information of upper soll layer particle is analyzed, and then calculates the garrulous soil rate of rotary cultivator, accuracy is high；

2nd, the height of image acquisition device can be adjusted flexibly, can so as to be adjusted to the soil erosion that photo is covered Meet the use demand in different soils, when the soil erosion that photo is covered is bigger, computational efficiency is high but can sacrifice certain Precision, when the soil erosion that photo is covered is smaller, precision is higher；

3rd, protective cover is set outside image acquisition device, the dust damage image acquisition device that can prevent rotary cultivator from kicking up.

Brief description of the drawings

Fig. 1 is overall structure diagram of the present utility model；

Fig. 2 is mechanical cradle head structure schematic diagram；

Fig. 3 is Fig. 2 upward view；

Fig. 4 is auxiliary rack structural representation；

Fig. 5 is image acquisition device mounting bracket structural representation；

Fig. 6 is that a step handles image in embodiment；

Fig. 7 is that two steps handle image in embodiment；

Fig. 8 is three step process image in embodiment；

Fig. 9 is that five steps handle image in embodiment.

Reference：1st, tractor, 2, three-point hitch, 3, power transmission shaft, 4, mechanical head, 5, image processing apparatus, 6th, control device, 7, image acquisition device, 8, auxiliary rack, 9, rotary cultivator attachment, 10, frame, 11, fix bar, 12, leading screw, 13, ball Nut, the 14, locking nut, 15, handle, 16, movable block, 17, first connecting rod, 18, mounting bracket, 19, second connecting rod, the 20, the 3rd Connecting rod, 21, fourth link, 22, fixed block, 23, Chang Liang, 24, short beam, 25, U bolt, 26, mounting rail, 27, fixing bolt, 28th, fastening bolt, 29, protective cover.

Embodiment

Embodiment of the present utility model is illustrated below according to accompanying drawing.

As shown in figure 1, a kind of rotary cultivator garrulous soil rate real-time detection apparatus, is arranged in the frame 10 of rotary cultivator, detection dress Put including control device 6, image processing apparatus 5, image acquisition device 7 and governor motion for adjusting the position of image acquisition device 7, Wherein control device 6, image processing apparatus 5 and image acquisition device 7 electrically connect between any two, and image processing apparatus 5 is preferably Microcomputer, control device 6 are preferably webcam driver plate, and image acquisition device 7 is preferably high speed camera.In use, rotation The set-up mode for the machine of ploughing is existing usual manner, i.e. rotary cultivator is fixedly connected with tractor 1 by three-point hitch 2, dragged Machine drawing 1 drives the rotary cultivator attachment 9 of rotary cultivator to rotate and realizes the purpose ploughed by power transmission shaft 3.

As shown in Fig. 2 to 5, governor motion includes the auxiliary rack 8 being fixedly connected with frame 10 and is fixedly installed on auxiliary Two mechanical heads 4 on stand 8.

On the direction of travel of rotary cultivator, auxiliary rack 8 stretches out from the rear of frame 10, and auxiliary rack 8 is arranged side by side by two The long beam 23 and three short beams 24 being fixedly installed between two long beam 23 set forms, the bearing of trend of long beam 23 and rotary tillage The direction of travel of machine is vertical, and the one long beam 23 in two long beam 23 close to frame 10 passes through several U bolts 25 and frame 10 are fixedly connected.

Mechanical head 4 includes two telescopic components for being fixedly installed on two bottoms of short beam 24, telescopic component include with it is short The fix bar 11 that beam 24 is fixedly connected, is provided with fixed block 22 and movable block 16 in fix bar 11, wherein fixed block 22 with it is fixed One end of the close auxiliary rack 8 of bar 11 is fixedly connected, and the dovetail extended along its length is offered in the bottom of fix bar 11 Groove, the top of movable block 16 are connected with the dovetail tangs to match with dovetail groove, pass through matching somebody with somebody for dovetail groove and dovetail tangs Conjunction enables movable block 16 to be slided along fix bar 11.Rotated on fixed block 22 and be provided with leading screw 12, the break-through movable block of leading screw 12 Handle 15 is fixedly connected with after 16, ball nut 13 is arranged with leading screw 12, ball nut 13 is fixed with movable block 16 to be connected Connect, drive leading screw 12 to rotate by rotational handle 15, and then ball nut 13 is moved along leading screw 12, and drive movable block 16 to move It is dynamic.Locking nut 14 is also arranged with leading screw 12, locking nut 14 is used to lock leading screw 12 and ball nut 13.

The lower end of fixed block 22 is rotatably connected to fourth link 21, and the lower end of movable block 16 is rotatably connected to first connecting rod 17, the middle part of first connecting rod 17 and the middle part of fourth link 21 are rotatablely connected, and the lower end of first connecting rod 17 is also rotatably connected to the Two connecting rods 19, the lower end of fourth link 21 are also rotatably connected to third connecting rod 20, middle part and the second connecting rod 19 of third connecting rod 20 Middle part rotation connection, be fixedly connected with mounting rail 26, mounting rail 26 between the lower end of the third connecting rod 20 of two telescopic components Middle part be fixedly installed mounting bracket 18, the cylinder-like structure that mounting bracket 18 is vertical setting, image acquisition device 7 is fixedly installed on In mounting bracket 18, and the induction end of image acquisition device 7 is vertically downward, and the opening axially extended is offered on mounting bracket 18, and The both ends of opening insertion mounting bracket 18, the both sides of opening are respectively connected with a connecting plate, and two connecting plates are by fastening spiral shell Bolt 28 is connected.Protective cover 29 is also arranged with the week side of boss of mounting bracket 18, protective cover 29 is fixedly connected with mounting rail 26.Protective cover 29 cylindrical structures, two otic placodes, and axisymmetrical of two otic placodes on protective cover 29 are connected with protective cover 29, Two otic placodes are fixedly connected by two fixing bolts 27 with mounting rail 26.Protective cover 29 is used for the dust for preventing that rotary cultivator from kicking up Image acquisition device 7 is caused to damage.

Before arable land, first by rotational handle 15, and then drive ball nut 13 and movable block 16 to move, pass through shifting The distance between motion block 16 and fixed block 12 change, and to adjust the angle of inclination of first connecting rod 17 and fourth link 21, and then adjust The angle of inclination of whole second connecting rod 19 and third connecting rod 20, when the angle of inclination of third connecting rod 20 changes, can adjust the 3rd The height of the lower end of connecting rod 20, and then the height of mounting rail 26 and mounting bracket 18 is adjusted, so as to be carried out to the height of image acquisition device 7 Adjustment, it is final to realize that adjustment image acquisition device 7 is effectively taken pictures the purpose of area.

During arable land, image processing apparatus 5 drives image acquisition device 7 to carry out the soil after ploughing by control device 6 Take pictures, then photo is transferred to image processing apparatus 5 by image acquisition device 7, and image processing apparatus 5 is carried out to the image photographed Handle, and go out the garrulous soil rate of rotary cultivator according to graphical analysis, specific analysis process is as follows.

Step 1: driving described image harvester to above soil by governor motion, and make image collector The induction end put is set vertically downward, and the specific method of regulation is：First by rotational handle 15, and then drive ball nut 13 Move with movable block 16, changed by the distance between movable block 16 and fixed block 12, connected to adjust first connecting rod 17 and the 4th The angle of inclination of bar 21, and then adjust the angle of inclination of second connecting rod 19 and third connecting rod 20, the angle of inclination of third connecting rod 20 When changing, the height of the lower end of third connecting rod 20 can be adjusted, and then adjusts the height of mounting rail 26 and mounting bracket 18, so as to right The height of image acquisition device 7 is adjusted, final to realize that adjustment image acquisition device 7 is effectively taken pictures the purpose of area；

Step 2: image collecting device is taken pictures to soil, and the photo photographed is transferred to image procossing dress Put, when taking pictures, when having certain angle preferably between sunlight and ground, it may be necessary to light compensating lamp is used, so that The size of soil particle shows as the size of dash area in the picture；

Step 3: image processing apparatus is handled the image received and calculates garrulous soil rate；

Step 4: image processing apparatus stores and forwards garrulous soil rate.

In the step 3, the processing procedure of image of the image processing apparatus to receiving includes：

Step S1, image processing apparatus carries out discoloration processing to image, obtains step processing image, as shown in Figure 2；

Step S2, image processing apparatus adjusts the brightness and contrast of step processing image, obtains two steps processing image, such as Shown in Fig. 3；

Step S3, image processing apparatus carries out color screening to two steps processing image, retains black in two steps processing image Color part, three step process image is obtained, as shown in figure 4, black picture element is the shade of soil particle in four steps processing image；

Step S4, three step process image is converted into bitmap by image processing apparatus, obtains four steps processing image, and calculate four The quantity m of black picture element in step processing image；

Step S5, four steps are handled several connected black picture elements in image and are divided into an area by image processing apparatus Block, symbiosis symbolize the size of soil particle into multiple blocks, the size of block.The method of block division is, to any one picture Element is judged, if the pixel is white, does not process, then its adjacent pixel is judged, if the pixel is Black, then pixel that is adjacent and having common edge of aliging is judged that such pixel shares four, if this four pixels In have black picture element, then the pixel and adjacent black picture element are merged into a block of cells, and to adjacent black picture element after It is continuous to carry out foregoing judgement, until the edge of a block does not have adjacent black picture element, then the division of the block is completed, in reality In the application process of border, for a photo, judgement is proceeded by from the pixel of the first row first row；

Step S6, image processing apparatus calculates the pixel quantity in each block, if pixel quantity is less than k, Ze Jianggai areas Pixel in block is adjusted to white, if pixel quantity is more than or equal to k, the block is constant, and all block processes are finished Afterwards, obtain five steps processing image, as shown in figure 5, and calculate five steps processing image in black picture element quantity n.

In the step 3, the method that image processing apparatus calculates garrulous soil rate is garrulous soil rate x=(m-n)/m, cloudy by calculating The larger soil particle of shadow area accounts for the ratio of all soil particles, to obtain the garrulous soil rate of rotary cultivator.

Because rotary cultivator it is cultivated go out the garrulous soil rates of soil levels be essentially identical, therefore by calculating top layer hack In approximate can draw the overall garrulous soil rate of rotary cultivator.In addition, garrulous soil rate will not generally be sent out because of rotary cultivator in the course of the work Raw very big change, therefore the detection to garrulous soil rate is carried out without continuous, after one-time detection has been carried out, waits rotary cultivator Second of detection is carried out again after travelling certain distance.

The method of image processing apparatus forwarding garrulous soil rate is is wirelessly transferred in the step 4, by the way that garrulous soil rate is passed in real time Operating personnel are defeated by, the working condition of rotary cultivator can be monitored in real time, be easy to be adjusted rotary cultivator.

The utility model obtains soils particles size percent content information, and then obtain by being taken pictures to soil and photo being handled To the garrulous soil rate of rotary cultivator.Because it is that soils particles size percent content is characterized by soil particle shade size, therefore photo needs The shade of soil particle can be photographed, so sunlight oblique illumination is needed when taking pictures on soil, when necessary Light compensating lamp can be increased on auxiliary head.The height of image acquisition device 7 can be adjusted flexibly, so as to the soil covered to photo Area is adjusted, and disclosure satisfy that the use demand in different soils, when the soil erosion that photo is covered is bigger, computational efficiency High still to sacrifice certain precision, when the soil erosion that photo is covered is smaller, precision is higher.

It should also be noted that, herein, such as first and second or the like relational terms are used merely to one Entity or operation make a distinction with another entity or operation, and not necessarily require or imply between these entities or operation Any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant are intended to contain Lid nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that Other identical element also be present in process, method, article or equipment including the key element.

The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or new using this practicality Type.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein The General Principle of justice can be realized in other embodiments in the case where not departing from spirit or scope of the present utility model.Cause This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein The most wide scope consistent with features of novelty.

Claims (6)

1. a kind of rotary cultivator garrulous soil rate real-time detection apparatus, it is arranged on the frame of rotary cultivator（10）On, it is characterised in that：Detection dress Put including control device（6）, image processing apparatus（5）, image acquisition device（7）With for adjusting image acquisition device（7）Position Governor motion, wherein control device（6）, image processing apparatus（5）And image acquisition device（7）Electrically connect between any two；

The governor motion includes and frame（10）The auxiliary rack being fixedly connected（8）Be fixedly installed on auxiliary rack（8）On Two mechanical heads（4）, on the direction of travel of rotary cultivator, auxiliary rack（8）From frame（10）Rear stretch out, secondary station Frame（8）By two long beams being set up in parallel（23）Two long beams are fixedly installed on three（23）Between short beam（24）Composition, Long beam（23）Bearing of trend it is vertical with the direction of travel of rotary cultivator, mechanical head（4）It is fixedly installed on including two two short Beam（24）The telescopic component of bottom, telescopic component includes and short beam（24）The fix bar being fixedly connected（11）, fix bar（11）On It is provided with fixed block（22）And movable block（16）, wherein fixed block（22）With fix bar（11）Close auxiliary rack（8）One End is fixedly connected, in fixed block（22）Upper rotation is provided with leading screw（12）, leading screw（12）Break-through movable block（16）It is fixed afterwards to connect It is connected to handle（15）, in leading screw（12）On be arranged with ball nut（13）, ball nut（13）With movable block（16）It is fixedly connected, Fixed block（22）Lower end be rotatably connected to fourth link（21）, movable block（16）Lower end be rotatably connected to first connecting rod （17）, first connecting rod（17）Middle part and fourth link（21）Middle part rotation connection, first connecting rod（17）Lower end also rotate It is connected with second connecting rod（19）, fourth link（21）Lower end be also rotatably connected to third connecting rod（20）, third connecting rod（20）'s Middle part and second connecting rod（19）Middle part rotation connection, the third connecting rod of two telescopic components（20）Lower end between be fixedly connected There is mounting rail（26）, mounting rail（26）Middle part be fixedly installed mounting bracket（18）, mounting bracket（18）The cylinder being vertical setting Shape structure, described image collector（7）It is fixedly installed on mounting bracket（18）It is interior, in mounting bracket（18）The week side of boss be also arranged with protection Cover（29）, protective cover（29）With mounting rail（26）It is fixedly connected.

A kind of 2. rotary cultivator garrulous soil rate real-time detection apparatus as claimed in claim 1, it is characterised in that：Two long beams （23）In close to the frame（10）A long beam（23）Pass through several U bolts（25）With frame（10）It is fixedly connected.

A kind of 3. rotary cultivator garrulous soil rate real-time detection apparatus as claimed in claim 1, it is characterised in that：The fix bar（11） Bottom offer the dovetail groove extended along its length, the movable block（16）Top be connected with and dovetail groove phase The dovetail tangs matched somebody with somebody.

A kind of 4. rotary cultivator garrulous soil rate real-time detection apparatus as claimed in claim 1, it is characterised in that：The protective cover（29） Cylindrical structure, protective cover（29）On be connected with two otic placodes, and two otic placodes are on protective cover（29）Axis pair Claim, two otic placodes pass through two fixing bolts（27）With the mounting rail（26）It is fixedly connected.

A kind of 5. rotary cultivator garrulous soil rate real-time detection apparatus as claimed in claim 1, it is characterised in that：The mounting bracket（18） On offer the opening axially extended, and the insertion mounting bracket that is open（18）Both ends, the both sides of opening are respectively connected with one Individual connecting plate, two connecting plates pass through fastening bolt（28）It is connected.

A kind of 6. rotary cultivator garrulous soil rate real-time detection apparatus as claimed in claim 1, it is characterised in that：The leading screw（12）On Also it is arranged with locking nut（14）, locking nut（14）For by leading screw（12）With the ball nut（13）Locking.