小麦精量播种机排种高精度检测系统设计与试验
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摘要
为实现小麦精量播种机播种量的精准检测,基于电容传感器设计了一套高精度小麦种子粒数检测系统。研究了小麦种子以单粒形式下落和多粒同时下落两种方式下的电容与小麦种子数目之间的关系。对于小麦种子以单粒形式下落,提出用差分动态阈值法检测小麦种子数目,试验表明检测的最大相对误差为1. 54%;对于多粒小麦种子同时下落,排种轮转速从20 r/min到55 r/min,每增加5 r/min,分别建立小麦种子数目与电容积分值之间的最小二乘回归模型。试验结果表明,根据实际转速和速度最近原则选择相应的回归模型,该系统对不同的排种转速均具有较高的检测精度,相对误差介于-2. 16%～2. 23%之间。对于小麦精量播种机不同的排种模式或不同的排种速度,所设计的排种检测系统均有较高的检测精度。
The precision detection of wheat-planter seeding quantity is the key of the automation control and the foundation of realizing precise seeding. Currently,existing seeding detection methods mainly include photoelectric-based methods,image-based methods and capacitance-based methods. For the photoelectric-based method,the detection accuracy of photoelectric sensor is affected by the vibration,light,temperature and other factors on the farmland. For the image-based method,its high precision detection provides a new way to improve the performance of wheat-planter seeding. However,image processing technology requires special equipment with high cost,and cameras are easy to be interfered by external light. Consequently,it is difficult to be widely applied in the complex environment on the farmland. Compared with photoelectric-based and image-based methods,the capacitance-based method is less affected by light and dust and thus has a strong environmental adaptability. Aimed at the problem of precision detection of wheat-planter seeding quantity,a precise detecting system for wheat-planter seeding quantity was developed based on the capacitance sensor. The corresponding parallel plates were designed to improve the detecting accuracy of the capacitance sensor. Then,the relationship between capacitance value and the quantity of wheat seeds under two modes of single-seed falling and several-seed falling was investigated in detail. For the mode of single-seed falling,a differential dynamic threshold method was proposed to detect the number of wheat seeds. The experiment results indicated that the maximum relative error was 1. 54%. For the mode of several-seed falling,the least squares regression model between wheat seeds quantity and capacitance integral value was established at interval of 5 r/min ranged from 20 r/min to 55 r/min. The experiment results showed that according to the principle of the actual speed and the closest speed to select the corresponding regression model,the system had high detection accuracy for different seeding speeds,and the relative error was between-2. 16% and 2. 23%. Consequently,the proposed system can achieve high detection accuracy under the different seeding modes and different seeding speeds.
The precision detection of wheat-planter seeding quantity is the key of the automation control and the foundation of realizing precise seeding. Currently,existing seeding detection methods mainly include photoelectric-based methods,image-based methods and capacitance-based methods. For the photoelectric-based method,the detection accuracy of photoelectric sensor is affected by the vibration,light,temperature and other factors on the farmland. For the image-based method,its high precision detection provides a new way to improve the performance of wheat-planter seeding. However,image processing technology requires special equipment with high cost,and cameras are easy to be interfered by external light. Consequently,it is difficult to be widely applied in the complex environment on the farmland. Compared with photoelectric-based and image-based methods,the capacitance-based method is less affected by light and dust and thus has a strong environmental adaptability. Aimed at the problem of precision detection of wheat-planter seeding quantity,a precise detecting system for wheat-planter seeding quantity was developed based on the capacitance sensor. The corresponding parallel plates were designed to improve the detecting accuracy of the capacitance sensor. Then,the relationship between capacitance value and the quantity of wheat seeds under two modes of single-seed falling and several-seed falling was investigated in detail. For the mode of single-seed falling,a differential dynamic threshold method was proposed to detect the number of wheat seeds. The experiment results indicated that the maximum relative error was 1. 54%. For the mode of several-seed falling,the least squares regression model between wheat seeds quantity and capacitance integral value was established at interval of 5 r/min ranged from 20 r/min to 55 r/min. The experiment results showed that according to the principle of the actual speed and the closest speed to select the corresponding regression model,the system had high detection accuracy for different seeding speeds,and the relative error was between-2. 16% and 2. 23%. Consequently,the proposed system can achieve high detection accuracy under the different seeding modes and different seeding speeds.
引文
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[14]陈进,边疆,李耀明,等.基于高速摄像系统的精密排种器性能检测试验[J].农业工程学报,2009,25(9):90-95.CHEN Jin,BIAN Jiang,LI Yaoming,et al. Performance detection experiment of precision seed metering device based on high-speed camera system[J]. Transactions of the CSAE,2009,25(9):90-95.(in Chinese)
[15]周茉,张学明,刘志刚.基于高速摄像系统和图像边缘检测的精密排种器设计[J].农机化研究,2016,38(9):108-112.ZHOU Mo,ZHANG Xueming,LIU Zhigang. Design metering device for precision based on high-speed camera and image edge detection[J]. Journal of Agricultural Mechanization Research,2016,38(9):108-112.(in Chinese)
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[17] KANDALA C V,SUNDARAM J. Nondestructive measurement of moisture content using a parallel-plate capacitance sensor for grain and nuts[J]. IEEE Sensors Journal,2010,10(7):1282-1287.
[18]焦敬品,李亮,何存富,等.厚度渐变结构介电性能测试用变间距叉指型相邻电容传感器设计[J].机械工程学报,2017,53(18):1-9.JIAO Jingpin,LI Liang,HE Cunfu,et al. Design of improved interdigital capacitive proximity sensor used for dielectric property detection of thickness gradual changed structure[J]. Journal of Mechanical Engineering,2017,53(18):1-9.(in Chinese)
[19]吕汉明,王晓叶,马崇启.基于电容传感器的醋酸纤维含油率检测[J].纺织学报,2017,38(6):106-110.LHanming,WANG Xiaoye,MA Chongqi. Testing of oil content of cellulose acetate fibers using capacitance sensor[J].Journal of Textile Research,2017,38(6):106-110.(in Chinese)
[20]郭文川,刘驰,杨军.小麦秸秆含水率测量仪的设计与试验[J].农业工程学报,2013,29(1):33-40.GUO Wenchuan,LIU Chi,YANG Jun. Design and experiment on wheat straw moisture content meter[J]. Transactions of the CSAE,2013,29(1):33-40.(in Chinese)
[21]赵丽清,尚书旗,高连兴,等.基于同心轴圆筒式电容传感器的花生仁水分无损检测技术[J].农业工程学报,2016,32(9):212-218.ZHAO Liqing,SHANG Shuqi,GAO Lianxing,et al. Nondestructive measurement of moisture content of peanut kernels based on concentric cylindrical capacitance[J]. Transactions of the CSAE,2016,32(9):212-218.(in Chinese)
[22]周利明,王书茂,张小超,等.基于电容信号的玉米播种机排种性能监测系统[J].农业工程学报,2012,28(13):16-21.ZHOU Liming,WANG Shumao,ZHANG Xiaochao,et al. Seed monitoring system for corn planter based on capacitance signal[J]. Transactions of the CSAE,2012,28(13):16-21.(in Chinese)
[23]孙伟,王关平,吴建民.勺链式马铃薯排种器漏播检测与补种系统的设计与试验[J].农业工程学报,2016,32(11):8-15.SUN Wei,WANG Guanping,WU Jianmin. Design and experiment on loss sowing testing and compensation system of spoonchain potato metering device[J]. Transactions of the CSAE,2016,32(11):8-15.(in Chinese)
[24]周利明,张小超,苑严伟.小麦播种机电容式排种量传感器设计[J].农业工程学报,2010,26(10):99-103.ZHOU Liming,ZHANG Xiaochao,YUAN Yanwei. Design of capacitance seed rate sensor of wheat planter[J]. Transactions of the CSAE,2010,26(10):99-103.(in Chinese)
[25]秦瑶,陈洁,方广有,等.微波透射法对小麦介电特性的测量[J].农机化研究,2010,32(7):156-159.QIN Yao,CHEN Jie,FANG Guangyou,et al. Microwave transmission method to detecting permittivity of wheat[J]. Journal of Agricultural Mechanization Research,2010,32(7):156-159.(in Chinese)
[26]张爱华,王平,丑永新.基于动态差分阈值的脉搏信号峰值检测算法[J].吉林大学学报(工学版),2014,44(3):847-853.ZHANG Aihua,WANG Ping,CHOU Yongxin. Peak detection of pulse signal based on dynamic difference threshold[J].Journal of Jilin University(Engineering and Technology Edition),2014,44(3):847-853.(in Chinese)
[2]苑严伟,张小超,吴才聪,等.玉米免耕播种施肥机精准作业监控系统[J].农业工程学报,2011,27(8):222-226.YUAN Yanwei,ZHANG Xiaochao,WU Caicong,et al. Precision control system of no-tillage corn planter[J]. Transactions of the CSAE,2011,27(8):222-226.(in Chinese)
[3]梅鹤波,刘卉,付卫强,等.小麦精量播种高精度监测系统的设计与试验[J].农机化研究,2013,35(1):68-72.MEI Hebo,LIU Hui,FU Weiqiang,et al. The design and testing of the intelligent monitoring system for wheat precision sowing[J]. Journal of Agricultural Mechanization Research,2013,35(1):68-72.(in Chinese)
[4]郝向泽,何旭鹏,邹翌,等.基于光电传感器的精密播种机排种性能监测系统的研究[J].华南农业大学学报,2017,38(1):120-124.HAO Xiangze,HE Xupeng,ZOU Yi,et al. Research on the sowing performance monitoring system for precision seeders based on photoelectric sensor[J]. Journal of South China Agricultural University,2017,38(1):120-124.(in Chinese)
[5]纪超,陈学庚,陈金成,等.玉米免耕精量播种机排种质量监测系统[J/OL].农业机械学报,2016,47(8):1-6. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20160801&journal_id=jcsam. DOI:10. 6041/j.issn. 1000-1298. 2016. 08. 001.JI Chao,CHEN Xuegeng,CHEN Jincheng,et al. Monitoring system for working performance of no-tillage corn precision seeder[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(8):1-6.(in Chinese)
[6]郑一平,花有清,陈丽能,等.水稻直播机播种监测器研究[J].农业工程学报,2005,21(4):77-80.ZHENG Yiping,HUA Youqing,CHEN Lineng,et al. Seeding detectors for rice drill[J]. Transactions of the CSAE,2005,21(4):77-80.(in Chinese)
[7]车宇,伟利国,刘婞韬,等.免耕播种机播种质量红外监测系统设计与试验[J].农业工程,2017,33(增刊1):11-16.CHE Yu,WEI Liguo,LIU Xingtao,et al. Design and experiment of seeding quality infrared monitoring system for no-tillage seeder[J]. Agricultural Engineering,2017,33(Supp. 1):11-16.(in Chinese)
[8]李雷霞,郝志明,杨薇,等.精密播种机排种性能检测系统的研制[J].农业工程,2012,2(8):16-19.LI Leixia,HAO Zhiming,YANG Wei,et al. Design of seeding performance detection system for precision seeder[J].Agricultural Engineering,2012,2(8):16-19.(in Chinese)
[9]宋鹏,张俊雄,李伟,等.精密播种机工作性能实时监测系统[J].农业机械学报,2011,42(2):71-74.SONG Peng,ZHANG Junxiong,LI Wei,et al. Real time monitoring system for accuracy of precision seeder[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(2):71-74.(in Chinese)
[10]卢彩云,付卫强,赵春江,等.小麦播种实时监控系统设计与试验[J].农业工程学报,2017,33(2):32-40.LU Caiyun,FU Weiqiang,ZHAO Chunjiang,et al. Design and experiment on real-time monitoring system of wheat seeding[J]. Transactions of the CSAE,2017,33(2):32-40.(in Chinese)
[11]廖庆喜,邓在京,黄海东.高速摄影在精密排种器性能检测中的应用[J].华中农业大学学报,2004,23(5):570-573.LIAO Qingxi,DENG Zaijing,HUANG Haidong. Application of the high speed photography checking the precision metering performances[J]. Journal of Huazhong Agricultural University,2004,23(5):570-573.(in Chinese)
[12] TAO G,YI S,WANG C,et al. Analysis on dropping processing of precision sowing device in rice seeding bowl by high-speed photography[J]. Transactions of the CSAE,2012,28(26):197-201.
[13]张海娜,马玉芳.基于图像处理的机器播种参数检测方法研究[J].测控技术,2015,34(2):44-47.ZHANG Haina,MA Yufang. Research on performance testing method of machine sowing based on image processing[J].Measurement&Control Technology,2015,34(2):44-47.(in Chinese)
[14]陈进,边疆,李耀明,等.基于高速摄像系统的精密排种器性能检测试验[J].农业工程学报,2009,25(9):90-95.CHEN Jin,BIAN Jiang,LI Yaoming,et al. Performance detection experiment of precision seed metering device based on high-speed camera system[J]. Transactions of the CSAE,2009,25(9):90-95.(in Chinese)
[15]周茉,张学明,刘志刚.基于高速摄像系统和图像边缘检测的精密排种器设计[J].农机化研究,2016,38(9):108-112.ZHOU Mo,ZHANG Xueming,LIU Zhigang. Design metering device for precision based on high-speed camera and image edge detection[J]. Journal of Agricultural Mechanization Research,2016,38(9):108-112.(in Chinese)
[16] KANDALA C V,PUPPALA N. Parallel-plate capacitance sensor for nondestructive measurement of moisture content of different types of wheat[C]∥Sensors Applications Symposium. IEEE,2012:1-5.
[17] KANDALA C V,SUNDARAM J. Nondestructive measurement of moisture content using a parallel-plate capacitance sensor for grain and nuts[J]. IEEE Sensors Journal,2010,10(7):1282-1287.
[18]焦敬品,李亮,何存富,等.厚度渐变结构介电性能测试用变间距叉指型相邻电容传感器设计[J].机械工程学报,2017,53(18):1-9.JIAO Jingpin,LI Liang,HE Cunfu,et al. Design of improved interdigital capacitive proximity sensor used for dielectric property detection of thickness gradual changed structure[J]. Journal of Mechanical Engineering,2017,53(18):1-9.(in Chinese)
[19]吕汉明,王晓叶,马崇启.基于电容传感器的醋酸纤维含油率检测[J].纺织学报,2017,38(6):106-110.LHanming,WANG Xiaoye,MA Chongqi. Testing of oil content of cellulose acetate fibers using capacitance sensor[J].Journal of Textile Research,2017,38(6):106-110.(in Chinese)
[20]郭文川,刘驰,杨军.小麦秸秆含水率测量仪的设计与试验[J].农业工程学报,2013,29(1):33-40.GUO Wenchuan,LIU Chi,YANG Jun. Design and experiment on wheat straw moisture content meter[J]. Transactions of the CSAE,2013,29(1):33-40.(in Chinese)
[21]赵丽清,尚书旗,高连兴,等.基于同心轴圆筒式电容传感器的花生仁水分无损检测技术[J].农业工程学报,2016,32(9):212-218.ZHAO Liqing,SHANG Shuqi,GAO Lianxing,et al. Nondestructive measurement of moisture content of peanut kernels based on concentric cylindrical capacitance[J]. Transactions of the CSAE,2016,32(9):212-218.(in Chinese)
[22]周利明,王书茂,张小超,等.基于电容信号的玉米播种机排种性能监测系统[J].农业工程学报,2012,28(13):16-21.ZHOU Liming,WANG Shumao,ZHANG Xiaochao,et al. Seed monitoring system for corn planter based on capacitance signal[J]. Transactions of the CSAE,2012,28(13):16-21.(in Chinese)
[23]孙伟,王关平,吴建民.勺链式马铃薯排种器漏播检测与补种系统的设计与试验[J].农业工程学报,2016,32(11):8-15.SUN Wei,WANG Guanping,WU Jianmin. Design and experiment on loss sowing testing and compensation system of spoonchain potato metering device[J]. Transactions of the CSAE,2016,32(11):8-15.(in Chinese)
[24]周利明,张小超,苑严伟.小麦播种机电容式排种量传感器设计[J].农业工程学报,2010,26(10):99-103.ZHOU Liming,ZHANG Xiaochao,YUAN Yanwei. Design of capacitance seed rate sensor of wheat planter[J]. Transactions of the CSAE,2010,26(10):99-103.(in Chinese)
[25]秦瑶,陈洁,方广有,等.微波透射法对小麦介电特性的测量[J].农机化研究,2010,32(7):156-159.QIN Yao,CHEN Jie,FANG Guangyou,et al. Microwave transmission method to detecting permittivity of wheat[J]. Journal of Agricultural Mechanization Research,2010,32(7):156-159.(in Chinese)
[26]张爱华,王平,丑永新.基于动态差分阈值的脉搏信号峰值检测算法[J].吉林大学学报(工学版),2014,44(3):847-853.ZHANG Aihua,WANG Ping,CHOU Yongxin. Peak detection of pulse signal based on dynamic difference threshold[J].Journal of Jilin University(Engineering and Technology Edition),2014,44(3):847-853.(in Chinese)