基于机器视觉的旱地移栽横向精准供苗系统研究  

Research of Horizontal Precision Seedling Supply System for Dryland Transplanting Based on Machine Vision

作　　者：滕乐 刘中原[1] 周坤 那明君[1] 董欣[1] 周脉乐 Teng Le;Liu Zhongyuan;Zhou Kun;Na Mingjun;Dong Xin;Zhou Maile(Engineering College,Northeast Agricultural University,Harbin 150030,China;School of Agricultural Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]东北农业大学工程学院,哈尔滨150030 [2]江苏大学农业工程学院,江苏镇江212013

出　　处：《农机化研究》2023年第3期29-35,共7页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(52005221)。

摘　　要：针对目前全自动旱地移栽机因钵苗播种或生长偏离盘穴横截面中心而无法精准供苗导致取苗过程中伤苗、漏苗的问题,提出了一种基于机器视觉识别控制的横向精准供苗系统。系统实时提取苗盘横截面图像,使用OpenCV经图像预处理后利用GrabCut算法进行图像分割以获取钵苗茎秆图像;将分割后的图像进行轮廓检测,建立钵苗茎秆轮廓的外接矩形,获取秧苗茎秆相对图像中心取苗点偏移的矢量距离;经过Jetson nano处理器信息整合处理,利用STM32单片机产生PWM信号,动态调控直线滑台内步进电机转速和转动角度来移动秧箱,使每株秧苗被横向供给至预定取苗点,从而实现精准取苗。同时,对供苗系统进行了整体设计,完成了三维建模,并搭建精准供苗试验台进行试验。试验结果表明:在不同的移箱速度下,系统平均精准供苗合格率达93.1%,满足移栽生产作业的要求,可显著提高取苗质量。Aiming at the problem that the current automatic dryland transplanter is unable to accurately supply seedlings due to pot seedling sowing or growth deviating from the center of the cross-section of the tray,resulting in seedling damage and leakage during seedling removal,this paper proposes a horizontal precision based on machine vision recognition control seedling supply system.The system extracts the cross-sectional image of the seedling plate in real time,uses OpenCV to preprocess the image and then uses the GrabCut algorithm to segment the image of the pot seedling stalk.The segmented image is subjected to contour detection,and finally the pot seedling stalk contour is established Obtain the vector distance of the offset of the seedling stem relative to the center of the hole.After the Jetson nano processor information integration processing,the STM32 MCU is used to generate the PWM signal,and the servo motor speed and rotation angle in the linear slide are dynamically adjusted to move the seedling box,so that each seedling is horizontally supplied to the predetermined picking point,so as to achieve precise seedling picking.According to the design requirements,the overall design of the seedling supply system was completed,three-dimensional modeling was completed,and a precision seedling supply test bench was built for testing.The test results showed that the average accurate seedling supply qualification rate of the system reached 93.1%under different moving speeds.It meets the requirements of transplanting production operations and can significantly improve the quality of seedling collection.

关 键 词：旱地钵苗 移栽 机器视觉 精准供苗 

分 类 号：S223.92[农业科学—农业机械化工程]