马齿形玉米种子尖端激光定向与胚面识别装置研制
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摘要
为了实现玉米种子的尖端定向与胚面识别,该文以现有尖端定向装置输出的马齿型玉米种子为对象,基于激光开关和测距原理,提出了一种尖端定向与胚面识别方法:依据马齿形玉米种子尖端窄大头宽的轮廓特征,利用激光开关传感器等部件对玉米种子的尖端朝向进行识别,并将大头朝前的玉米种子进行剔除;依据马齿形玉米种子胚面上有胚沟而反面较为平整的表面特征,利用激光测距传感器等部件对尖端朝前的玉米种子进行胚面识别。设计并搭建了玉米种子尖端定向与胚面识别装置,配合现有的尖端定向装置进行试验,结果表明:尖端定向与胚面识别装置的尖端定向成功率达到99.1%,相比现有的尖端定向装置提升了9.5个百分点,胚面识别准确率为96.4%。该方法基本可以实现玉米种子的尖端定向,同时保证胚面识别准确率达到较高水准。该文提出的玉米种子尖端定向与胚面识别方法可为后续玉米种子的自动化定向包装提供参考。
Automatic directional packaging of corn seeds is the precondition for realizing mechanical directional sowing of corn.The key technology is tip orientation and embryo side facing recognition.Combined with the actual demand of directional packaging,tip orientation for dent corn seeds needs that the tip orientation success rate reaches 100%(i.e.the tip is completely directed),and the embryo side facing recognition accuracy rate is required to achieve a high level at the same time.In addition,combining the actual demand of agricultural production and popularization,the method and its dependent device used to realize the tip orientation and embryo side recognition method for corn seeds should have low requirements for the working environment and the operation cost should be reduced as far as possible.The existing methods of tip orientation and embryo recognition are difficult to fulfil practical requirement.On the basis of the available research results of the research team,taking dent corn seeds with horizontal posture and tip orientation incomplete exported by existing tip orientation device as research object,a tip orientation and embryo side recognition method for dent corn seeds based on laser switch and range theory was proposed and the tip orientation and embryo side recognition device was designed in this paper.According to the shape characteristics of the corn seeds,the corn seeds large head facing forward was removed by using the laser sensors and other components first to get the seeds tip orientation done,and then the embryo side facing direction of each corn seed was identified one by one and outputed.There were 2 main characteristics of the corn seed shape:shape characteristic and surface characteristic.The shape characteristic was that the outline of corn seed was similar to "V" shape with narrow tip and wide large head,the surface characteristic was that there was a germinal groove extending from tip to large head on the embryo side,and the germinal groove shape was approximately elliptical,and its long axis coincided with the symmetric axis of the embryo side,the reverse side was smooth.The tip orientation method was proposed based on the shape characteristics of corn seed and laser switch sensor.Referring to the shape characteristics of the corn seed,a "V" shape slot was designed,the corn seeds with tip facing forward could enter into the slot,while the corn seeds with large head facing forward could not enter the slot as the large head of seed would block the entrance,based on this difference,by means of a normally open laser switch sensor,a specific straight track and a push rod,the tip orientation of each corn seed could be identified and the corn seeds with large head facing forward were removed.When the seed's tip was oriented,it would be stayed in the slot with tip facing forward,and then the direction of embryo side would be recognized based on the surface characteristic and laser range sensor.With the combined of designed device and existing tip orientation device,a practical test bench was built and the orientation test for dent corn seeds was carried out to verify the actual effect of tip orientation and embryo side recognition method.The result showed that:the tip orientation success rate of existing tip orientation device was 89.6%,the embryo side recognition accuracy rate of designed device was 96.4% and the tip orientation success rate of designed device was 99.1%,which increased by 9.5 percentage points comparing with the existing tip oriented devices.The orientation method proposed in this study could basically realize the tip orientation of the corn seeds,and at the same time,the embryo side recognition accuracy rate could be reached to a high level.Generally,the tip orientation and embryo side recognition method and the device proposed in this paper have low requirements for working environment and low operation cost,which could provide a reference for automatic directional packaging and mechanically directional sowing of corn.
Automatic directional packaging of corn seeds is the precondition for realizing mechanical directional sowing of corn.The key technology is tip orientation and embryo side facing recognition.Combined with the actual demand of directional packaging,tip orientation for dent corn seeds needs that the tip orientation success rate reaches 100%(i.e.the tip is completely directed),and the embryo side facing recognition accuracy rate is required to achieve a high level at the same time.In addition,combining the actual demand of agricultural production and popularization,the method and its dependent device used to realize the tip orientation and embryo side recognition method for corn seeds should have low requirements for the working environment and the operation cost should be reduced as far as possible.The existing methods of tip orientation and embryo recognition are difficult to fulfil practical requirement.On the basis of the available research results of the research team,taking dent corn seeds with horizontal posture and tip orientation incomplete exported by existing tip orientation device as research object,a tip orientation and embryo side recognition method for dent corn seeds based on laser switch and range theory was proposed and the tip orientation and embryo side recognition device was designed in this paper.According to the shape characteristics of the corn seeds,the corn seeds large head facing forward was removed by using the laser sensors and other components first to get the seeds tip orientation done,and then the embryo side facing direction of each corn seed was identified one by one and outputed.There were 2 main characteristics of the corn seed shape:shape characteristic and surface characteristic.The shape characteristic was that the outline of corn seed was similar to "V" shape with narrow tip and wide large head,the surface characteristic was that there was a germinal groove extending from tip to large head on the embryo side,and the germinal groove shape was approximately elliptical,and its long axis coincided with the symmetric axis of the embryo side,the reverse side was smooth.The tip orientation method was proposed based on the shape characteristics of corn seed and laser switch sensor.Referring to the shape characteristics of the corn seed,a "V" shape slot was designed,the corn seeds with tip facing forward could enter into the slot,while the corn seeds with large head facing forward could not enter the slot as the large head of seed would block the entrance,based on this difference,by means of a normally open laser switch sensor,a specific straight track and a push rod,the tip orientation of each corn seed could be identified and the corn seeds with large head facing forward were removed.When the seed's tip was oriented,it would be stayed in the slot with tip facing forward,and then the direction of embryo side would be recognized based on the surface characteristic and laser range sensor.With the combined of designed device and existing tip orientation device,a practical test bench was built and the orientation test for dent corn seeds was carried out to verify the actual effect of tip orientation and embryo side recognition method.The result showed that:the tip orientation success rate of existing tip orientation device was 89.6%,the embryo side recognition accuracy rate of designed device was 96.4% and the tip orientation success rate of designed device was 99.1%,which increased by 9.5 percentage points comparing with the existing tip oriented devices.The orientation method proposed in this study could basically realize the tip orientation of the corn seeds,and at the same time,the embryo side recognition accuracy rate could be reached to a high level.Generally,the tip orientation and embryo side recognition method and the device proposed in this paper have low requirements for working environment and low operation cost,which could provide a reference for automatic directional packaging and mechanically directional sowing of corn.
引文
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[16]刘长青,陈兵旗,张新会,等.玉米定向精播种粒形态与品质动态检测方法[J].农业机械学报,2015,46(9):47-54.Liu Changqing,Chen Bingqi,Zhang Xinhui,et al.Dynamic detection of corn seeds for directional precision seeding[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(9):47-54.(in Chinese with English abstract)
[17]陈兵旗,王侨,刘长青,等.一种玉米种子图像精选装置及其使用方法:201410245826.4[P].2017-07-14.
[18]王侨,陈兵旗,杨曦,等.用于定向播种的玉米种穗图像精选方法[J].农业工程学报,2015,31(1):170-177.Wang Qiao,Chen Bingqi,Yang Xi,et al.Corn ears image selection method for directional seeding[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(1):170-177.(in Chinese with English abstract)
[19]Huang Wenqian,Li Jiangbo,Zhang Chi,et al.Identification of maize kernel embryo based on hyperspectral imaging technology and PCA[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(Supp.2):243-247.黄文倩,李江波,张驰,等.高光谱成像技术和主成分分析识别玉米籽粒的胚[J].农业工程学报,2012,28(增刊2):243-247.(in English with Chinese abstract)
[20]宁纪锋,何东健,杨蜀秦.玉米籽粒的尖端和胚部的计算机视觉识别[J].农业工程学报,2004,20(3):117-119.Ning Jifeng,He Dongjian,Yang Shuqin.Identification of tip cap and germ side of corn kernel using computer vision[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2004,20(3):117-119.(in Chinese with English abstract)
[21]韩仲志,赵友刚,杨锦忠.基于籽粒RGB图像独立分量的玉米胚部特征检测[J].农业工程学报,2010,26(3):222-226.Han Zhongzhi,Zhao Yougang,Yang Jinzhong.Detection of embryo based on independent components for kernel RGBimages in maize[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2010,26(3):222-226.(in Chinese with English abstract)
[22]程洪,史智兴,尹辉娟,等.基于机器视觉的多个玉米籽粒胚部特征检测[J].农业工程学报,2013,29(19):145-151.Cheng Hong,Shi Zhixing,Yin Huijuan,et al.Detection of multi-corn kernel embryos characteristic using machine vision[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(19):145-151.(in Chinese with English abstract)
[23]杨积慧.浅谈DCS、SIS、PLC三大控制系统的特点、差异及发展[J].中国仪器仪表,2016(1):67-72.Yang Jihui.The brief discussion on the feature/differences and development of DCS/SIS/PLC control system[J].China Instumentation,2016(1):67-72.(in Chinese with English abstract)
[24]向晓汉,黎雪芬.PLC技术实用手册[M].北京:化学工业出版社,2018.
[25]廖常初.S7-200 PLC编程及应用[M].北京:机械工业出版社,2014.
[26]王德.西门子PLC控制技术[M].北京:机械工业出版社,2014.
[27]黄有全.PLC应用技术[M].北京:机械工业出版社,2012.
[28]邢洁洁,徐丽明,史丽娜,等.玉米种子电磁振动定向装置仿真模型的建立与验证[J].中国农业大学学报,2017,22(4):129-134.Xing Jiejie,Xu Liming,Shi Lina,et al.Establishment and verification for the simulation model of directional device based on electromagnetic vibration for corn seeds[J].Journal of China Agricultural University,2017,22(4):129-134.(in Chinese with English abstract)
[29]邢洁洁,徐丽明,袁全春,等.直线电磁振动下玉米种子定向传输的模拟仿真试验与验证[J].中国农业大学学报,2017,22(10):120-125.Xing Jiejie,Xu Liming,Yuan Quanchun,et al.Simulation test and verification of corn seeds’directional transmission under linear electromagnetic vibration[J].Journal of China Agricultural University,2017,22(10):120-125.(in Chinese with English abstract)
[30]顾平灿.电磁振动给料器给料速度的研究[J].机电工程,2012,29(7):790-794.Gu Pingcan.Research on feeding speed of electromagnetic vibration feeder[J].Mechanical&Electrical Engineering Magazine,2012,29(7):790-794.(in Chinese with English abstract)
[2]Yarnia M,Tabrizi E F M.Effect of seed priming with different concentration of GA3,IAA and kinetin on azarshahr onion germination and seedling growth[J].Journal of Basic and Applied Scientific Research,2012,2(3):2657-2661.
[3]Cole R J,Holl K D,Keene C L,et al.Direct seeding of late-successional trees to restoretropical montane forest[J].Forest Ecology and Management.2011,261(10):1590-1597.
[4]国务院关于加快推进现代农作物种业发展的意见[EB/OL].(2011-04-18)http://www.gov.cn/zhengce/content/2011-04/18/content_2828.htm.2018-07-02.
[5]韩长赋.要加快制定我国玉米产业发展战略规划[EB/OL].(2012-05-30)http://finance.people.com.cn/GB/70392/18022689.html.2018-07-25.
[6]侯彦龙,徐丽明,陈莉明.玉米机械化定向播种技术的现状和发展趋势[J].农机化研究,2012,34(2):10-14.Hou Yanlong,Xu Liming,Chen Liming.The current situation and development trend of corn mechanization oriented seeding technology[J].Journal of Agricultural Mechanization Research,2012,34(2):10-14.(in Chinese with English abstract)
[7]徐丽明,何绍林,邢洁洁.一种玉米定向种子带播种装置:201410546528.9[P].2017-02-01.
[8]赵学观,徐丽明,何绍林,等.玉米定向种子带恒张力卷绕系统自适应模糊PID控制[J].农业机械学报,2015,46(3):90-96.Zhao Xueguan,Xu Liming,He Shaolin,et al.Constant tension winding system of corn directional belt making machine based on self-adaptive fuzzy-PID control[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(3):90-96.(in Chinese with English abstract)
[9]徐丽明,邢洁洁,高振铭,等.一种玉米定向式种子子弹制作装置:201510292460.0[P].2016-08-24.
[10]邢洁洁,徐丽明,袁全春,等.马齿型玉米种子定向播种推送装置设计与试验[J].农业工程学报,2018,34(17):9-15.Xing Jiejie,Xu Liming,Yuan Quanchun,et al.Design and test of pushing device for dent corn seeds directional sowing[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2018,34(17):9-15.(in Chinese with English abstract)
[11]徐丽明,王应彪,赵学观,等.一种玉米种子定向方法及定向装置:201210443038.7[P].2014-10-22.
[12]邢洁洁,徐丽明,袁全春,等.马齿型玉米种子侧立定向定距输出装置的设计与试验[J].农业工程学报,2018,34(4):55-63.Xing Jiejie,Xu Liming,Yuan Quanchun,et al.Design and test of dent corn seed directional and fixed-distance output device with lateral standing posture[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2018,34(4):55-63.(in Chinese with English abstract)
[13]徐丽明,邢洁洁,袁全春,等.一种玉米种子侧立勺式定向定距输出装置:201710656685.9[P].2017-12-08.
[14]张俊雄,武占元,宋鹏,等.玉米单倍体种子胚部特征提取及动态识别方法[J].农业工程学报,2013,29(4):199-203.Zhang Junxiong,Wu Zhanyuan,Song Peng,et al.Embryo feature extraction and dynamic recognition method for maize haploid seeds[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(4):199-203.(in Chinese with English abstract)
[15]王侨,陈兵旗,寇春荣,等.基于机器视觉的玉米种粒定向定位摆放装置研制[J].农业工程学报,2017,33(11):19-28.Wang Qiao,Chen Bingqi,Kou Chunrong,et al.Development of corn seed directional positioning machine based on machine vision[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2017,33(11):19-28.(in Chinese with English abstract)
[16]刘长青,陈兵旗,张新会,等.玉米定向精播种粒形态与品质动态检测方法[J].农业机械学报,2015,46(9):47-54.Liu Changqing,Chen Bingqi,Zhang Xinhui,et al.Dynamic detection of corn seeds for directional precision seeding[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(9):47-54.(in Chinese with English abstract)
[17]陈兵旗,王侨,刘长青,等.一种玉米种子图像精选装置及其使用方法:201410245826.4[P].2017-07-14.
[18]王侨,陈兵旗,杨曦,等.用于定向播种的玉米种穗图像精选方法[J].农业工程学报,2015,31(1):170-177.Wang Qiao,Chen Bingqi,Yang Xi,et al.Corn ears image selection method for directional seeding[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(1):170-177.(in Chinese with English abstract)
[19]Huang Wenqian,Li Jiangbo,Zhang Chi,et al.Identification of maize kernel embryo based on hyperspectral imaging technology and PCA[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(Supp.2):243-247.黄文倩,李江波,张驰,等.高光谱成像技术和主成分分析识别玉米籽粒的胚[J].农业工程学报,2012,28(增刊2):243-247.(in English with Chinese abstract)
[20]宁纪锋,何东健,杨蜀秦.玉米籽粒的尖端和胚部的计算机视觉识别[J].农业工程学报,2004,20(3):117-119.Ning Jifeng,He Dongjian,Yang Shuqin.Identification of tip cap and germ side of corn kernel using computer vision[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2004,20(3):117-119.(in Chinese with English abstract)
[21]韩仲志,赵友刚,杨锦忠.基于籽粒RGB图像独立分量的玉米胚部特征检测[J].农业工程学报,2010,26(3):222-226.Han Zhongzhi,Zhao Yougang,Yang Jinzhong.Detection of embryo based on independent components for kernel RGBimages in maize[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2010,26(3):222-226.(in Chinese with English abstract)
[22]程洪,史智兴,尹辉娟,等.基于机器视觉的多个玉米籽粒胚部特征检测[J].农业工程学报,2013,29(19):145-151.Cheng Hong,Shi Zhixing,Yin Huijuan,et al.Detection of multi-corn kernel embryos characteristic using machine vision[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(19):145-151.(in Chinese with English abstract)
[23]杨积慧.浅谈DCS、SIS、PLC三大控制系统的特点、差异及发展[J].中国仪器仪表,2016(1):67-72.Yang Jihui.The brief discussion on the feature/differences and development of DCS/SIS/PLC control system[J].China Instumentation,2016(1):67-72.(in Chinese with English abstract)
[24]向晓汉,黎雪芬.PLC技术实用手册[M].北京:化学工业出版社,2018.
[25]廖常初.S7-200 PLC编程及应用[M].北京:机械工业出版社,2014.
[26]王德.西门子PLC控制技术[M].北京:机械工业出版社,2014.
[27]黄有全.PLC应用技术[M].北京:机械工业出版社,2012.
[28]邢洁洁,徐丽明,史丽娜,等.玉米种子电磁振动定向装置仿真模型的建立与验证[J].中国农业大学学报,2017,22(4):129-134.Xing Jiejie,Xu Liming,Shi Lina,et al.Establishment and verification for the simulation model of directional device based on electromagnetic vibration for corn seeds[J].Journal of China Agricultural University,2017,22(4):129-134.(in Chinese with English abstract)
[29]邢洁洁,徐丽明,袁全春,等.直线电磁振动下玉米种子定向传输的模拟仿真试验与验证[J].中国农业大学学报,2017,22(10):120-125.Xing Jiejie,Xu Liming,Yuan Quanchun,et al.Simulation test and verification of corn seeds’directional transmission under linear electromagnetic vibration[J].Journal of China Agricultural University,2017,22(10):120-125.(in Chinese with English abstract)
[30]顾平灿.电磁振动给料器给料速度的研究[J].机电工程,2012,29(7):790-794.Gu Pingcan.Research on feeding speed of electromagnetic vibration feeder[J].Mechanical&Electrical Engineering Magazine,2012,29(7):790-794.(in Chinese with English abstract)