CN109063816B - Bean pod number statistics device and method - Google Patents
Bean pod number statistics device and method Download PDFInfo
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- CN109063816B CN109063816B CN201810986637.0A CN201810986637A CN109063816B CN 109063816 B CN109063816 B CN 109063816B CN 201810986637 A CN201810986637 A CN 201810986637A CN 109063816 B CN109063816 B CN 109063816B
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 244000046052 Phaseolus vulgaris Species 0.000 title claims description 58
- 235000010627 Phaseolus vulgaris Nutrition 0.000 title claims description 15
- 238000010008 shearing Methods 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 244000068988 Glycine max Species 0.000 claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 7
- 235000010469 Glycine max Nutrition 0.000 claims description 13
- 238000011160 research Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000032258 transport Effects 0.000 claims description 5
- 241000196324 Embryophyta Species 0.000 claims description 4
- 238000013500 data storage Methods 0.000 claims description 3
- 238000013138 pruning Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 description 7
- 238000009395 breeding Methods 0.000 description 3
- 230000001488 breeding effect Effects 0.000 description 3
- 238000000605 extraction Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M7/00—Counting of objects carried by a conveyor
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
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- Image Analysis (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention relates to a pod number counting device and method, which are used for shearing a soybean plant and counting the pod number, and comprises a detection table, a first mechanical arm, a second mechanical arm, an image acquisition device, an image processing device and a storage device, wherein the image processing device is configured to analyze images acquired from the image acquisition device so as to identify the complete pod position on the soybean plant and feed back the specific pod position to the second mechanical arm, the second mechanical arm is used for shearing the soybean plant according to the specific pod position information, and meanwhile, the image processing device can be used for automatically acquiring the sheared pod number according to the sheared pod image so as to prevent counting errors caused by shielding the pods growing on the bottom layer of the soybean plant by upper layers when the image acquisition and counting are directly carried out on the untrimmed soybean plant.
Description
Technical Field
The invention relates to the field of crop breeding research, in particular to a pod number counting device and method.
Background
In the breeding field, phenotype data is the basic basis of various researches, and in order to accelerate the further deepening of soybean breeding researches, scientific researchers have to acquire more abundant and accurate phenotype data, so new requirements are also put on a phenotype monitoring tool.
For these needs, conventional pod statistics have some drawbacks: the method is dependent on manual operation, has low speed, and has too high time cost and labor cost, and cannot adapt to batch type statistics; the manual recording shear is easy to cause larger errors to influence subsequent research.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a pod number statistics device and method with higher working speed and more accurate data.
The technical scheme for solving the technical problems is as follows: a pod number counting device for shearing a pod plant and counting pod number, comprising:
the clamping device clamps the bean plants to be detected;
a shearing device for shearing all or part of pods of the bean plants clamped by the clamping device;
a detection stage for receiving all or part of the pod;
the image acquisition device acquires bean plant images of the bean plants clamped by the clamping device and bean pod images of the bean pods received by the detection platform;
and the storage device is used for storing the bean plant image and the bean pod image, so that the extraction and the calling of the follow-up research are facilitated.
The apparatus further comprises an image processing apparatus configured to:
and acquiring the current position of the pod which is not shielded according to the bean plant image acquired in real time, and driving the shearing device to shear the pod at the position, so as to prevent counting errors caused by shielding the pod growing at the bottom layer of the bean plant by the upper layer pod when image acquisition and counting are directly carried out.
And after determining that all pods on the bean plants are cut off, identifying pod images acquired by the image acquisition device so as to acquire the pod number in the pod images.
The detection stage includes:
the conveying belt is used for conveying the bean plants to be detected to a detection station, the clamping device is used for clamping the bean plants positioned at the detection station, and the shearing device is positioned above the detection station and is used for shearing all or part of bean pods of the bean plants;
and the transmission belt transports all the pods after shearing to the outside.
Further, the conveyor belt transports all pods after shearing to a pod frame arranged at one end of the conveyor belt.
Preferably, a weight sensor and an alarm are arranged in the pod frame; the weight sensor is used for acquiring real-time weight data of pods in the pod frame; the alarm is configured to acquire a value of the weight sensor, and to issue an alarm when the value is equal to or greater than a preset value.
Further, the detection stage may also be configured to include:
two parallel conveyor tracks;
at least one conveying plate, wherein the conveying plate is arranged between two parallel conveying tracks, each conveying plate is used for conveying bean plants to a detection station, the clamping device clamps the bean plants positioned at the detection station, and the shearing device is positioned above the detection station and shears all or part of bean pods of the bean plants;
and the conveying plate conveys all pods to the outside after shearing.
Preferably, the clamping device comprises a first mechanical arm and a clamping assembly arranged at the movable end of the first mechanical arm; the shearing device comprises a second mechanical arm and a shearing assembly arranged at the movable end of the second mechanical arm.
The invention also relates to a soybean pod number counting method, which comprises the following steps:
s1, fixing, namely conveying the whole soybean to a detection position through a conveying belt, and fixing a trunk of the whole soybean;
s2, cutting out the position of the first layer of pods by using the image recognition, controlling the mechanical arm to cut out the first layer of pods, sequentially recognizing the positions of the remaining layers of pods, and cutting out the pods;
s3, counting, namely stacking the sheared pods, and identifying the number of each stack of pods;
and S4, data storage, namely acquiring the total pod number of the whole soybean, and storing and recording the data for facilitating subsequent research.
The beneficial effects of the invention are as follows:
1) The bean plant image is acquired in real time by using the image acquisition device, and bean plants are trimmed according to the acquired bean plant image, so that the shielded pods on the bean plants can be completely exposed, and the most complete statistical data can be acquired through repeated trimming processes, so that statistical errors are effectively avoided;
2) The mechanical arm is matched with the image recognition device, the mechanical arm is automatically controlled to trim bean plants according to the pod position information recognized by the image recognition device, and the pod number is automatically recognized according to pod images after trimming; meanwhile, the transmission device is adopted to further reduce the participation of manpower, so that the automation degree of the whole statistical process is high, and the statistical speed and precision are improved;
3) By arranging the storage device, images and statistical data can be archived, and the reading and the calling of subsequent researches are convenient.
Drawings
FIG. 1 is a front view of a pod number counting device according to the present invention;
FIG. 2 is a top view of a pod number counting device according to the present invention;
FIG. 3 is a right side view of a pod number counting device according to the present invention;
FIG. 4 is a schematic view of another embodiment of a pod number counting device according to the present invention;
fig. 5 is a schematic view of another embodiment of the pod number counting device according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. 1-1 parts of detection table, 1-2 parts of conveyor belt, 1-3 parts of pod frame, 1-3 parts of conveying track, 1-4 parts of conveying plate, 2 parts of first mechanical arm, 3 parts of second mechanical arm, 4 parts of panoramic camera.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Example 1
As shown in fig. 1-3, a pod number counting device is used for manually controlling a mechanical arm to cut a pod plant and count the pod number.
The device of this embodiment specifically includes: the detection platform 1 comprises a transmission belt 1-1, and the transmission belt 1-1 transfers bean plants to be detected to a detection station; a first mechanical arm 2 configured with a clamping assembly for clamping a soybean plant to be detected, the clamping assembly clamping the soybean plant located at the detection station; the second mechanical arm 3 is provided with a shearing assembly for shearing pods on soybean plants to be tested, and the shearing assembly is positioned above the detection station and is used for shearing all or part of pods of the soybean plants;
a panoramic camera 4 for collecting bean plant images of the bean plants clamped by the clamping assembly and collecting bean pod images of the bean pods carried on the conveyor belt;
an operator can acquire the current position of the pod which is not shielded through the pod image acquired by the panoramic camera 4, manually remotely or automatically control the shearing assembly on the second mechanical arm 3 to shear the pod at the position, determine to shear all pods on the pod, manually acquire the number of pods in the pod image according to the pod image acquired by the panoramic camera 4, and record the data.
And the storage device is used for storing the bean plant image and the bean pod image, so that the extraction and the calling of the follow-up research are facilitated.
Further, the conveyor belt 1-1 transports all pods after shearing to a pod frame 1-2 arranged at one end of the conveyor belt 1-1.
Preferably, a weight sensor and an alarm are arranged in the pod frame 1-2; the weight sensor is used for acquiring real-time weight data of pods in the pod frames 1-2; the alarm is configured to acquire a value of the weight sensor, and to issue an alarm when the value is equal to or greater than a preset value.
Example 2
The difference between this embodiment and embodiment 1 is that the inspection station 1 includes: two parallel conveying tracks 1-3, at least one conveying plate 1-4, wherein the conveying plate 1-4 is arranged between the two parallel conveying tracks 1-3, each conveying plate 1-4 is used for conveying a whole bean plant to a detection station, the clamping component clamps the bean plant positioned at the detection station, and the shearing component is positioned above the detection station and shears all or part of pods of the bean plant;
all pods after the transfer plates 1-4 are transferred and sheared to the outside, a position sensor and an alarm are arranged on each transfer plate 1-4, and when the transfer plates 1-4 are moved to the tail ends of the transfer rails 1-3, the alarm gives an alarm to remind an operator to transfer the pods on the transfer plates 1-4 when the position sensor is triggered.
Example 3
The difference between this embodiment and embodiment 1 is that the apparatus further includes an image processing apparatus for automatically cutting the bean plants and counting the number of pods, the image processing apparatus being configured to:
automatically acquiring the current position of the pod which is not shielded according to the bean plant image acquired in real time, and cutting off the pod at the position by a second mechanical arm according to the position information; and after determining to cut all pods on the bean plants according to the bean plant images acquired in real time, automatically identifying pod images acquired by the image acquisition device so as to acquire the pod quantity in the pod images.
Example 4
A method for counting the number of soybean pods, comprising the following steps:
s1, fixing: conveying the whole soybean to a detection position through a conveyor belt, and fixing the trunk of the whole soybean;
s2, pruning: the position of the first layer pod is identified through the image, the mechanical arm is controlled to cut off the first layer pod, the positions of the remaining layers of pods are sequentially identified, and cutting off is performed;
s3, counting: piling the sheared pods, and identifying the number of the pods in each pile;
s4, data storage: the total pod number of the whole soybean is obtained and the data is stored and recorded for later study.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. A pod number counting device for shearing a pod plant and counting the number of pods, comprising: the clamping device clamps the bean plants to be detected;
a shearing device for shearing all or part of pods of the bean plants clamped by the clamping device;
a detection table (1) for receiving all or part of the pod;
the image acquisition device acquires bean plant images of the bean plants clamped by the clamping device and bean pod images of the bean pods received by the detection platform;
the storage device is used for storing the bean plant image and the bean pod image;
the apparatus further comprises an image processing apparatus configured to:
acquiring the current position of the pod which is not shielded according to the bean plant image acquired in real time, and driving the shearing device to shear the pod at the position;
and after determining that all pods on the bean plants are cut off, identifying pod images acquired by the image acquisition device so as to acquire the pod number in the pod images.
2. Pod number counting device according to claim 1, characterized by the fact that the detection station (1) comprises:
the conveying belt (1-1) is used for conveying the bean plants to be detected to a detection station, the clamping device is used for clamping the bean plants positioned at the detection station, and the shearing device is positioned above the detection station and is used for shearing all or part of bean pods of the bean plants;
and the transmission belt (1-1) transports all pods after shearing to the outside.
3. A pod number counting device according to claim 2, characterized by the fact that the belt (1-1) transports all pods after shearing to a pod frame (1-2) arranged at one end of the belt (1-1).
4. The pod number counting device according to claim 2, characterized in that a weight sensor and an alarm are arranged in the pod frame (1-2);
the weight sensor is used for acquiring real-time weight data of pods in the pod frames (1-2);
the alarm is configured to acquire a value of the weight sensor, and to issue an alarm when the value is equal to or greater than a preset value.
5. Pod number counting device according to claim 1, characterized by the fact that the detection station (1) comprises:
two parallel conveyor tracks (1-3);
at least one conveying plate (1-4), wherein the conveying plate (1-4) is arranged between two parallel conveying tracks (1-3), each conveying plate (1-4) is used for conveying bean plants to a detection station, the clamping device clamps the bean plants positioned at the detection station, and the shearing device is positioned above the detection station and is used for shearing all or part of bean pods of the bean plants;
the conveying plates (1-4) convey all pods to the outside after shearing.
6. Pod number counting device according to claim 1, characterized in that the clamping device comprises a first mechanical arm (2) and a clamping assembly arranged at the movable end of the first mechanical arm (2) for clamping the pod plants to be detected.
7. The pod number counting device according to claim 1, characterized in that the shearing device comprises a second mechanical arm (3) and a shearing assembly arranged at the movable end of the second mechanical arm (3), wherein the shearing assembly shears all or part of pods clamped by the clamping device.
8. A method of counting the number of pods of soybean as defined in claim 1 including the steps of:
s1, a fixing step, namely conveying the whole soybean to a detection position, and fixing the trunk of the whole soybean;
s2, a pruning step, namely identifying the position of the first layer of pods by using the image, controlling the mechanical arm to prune the first layer of pods, sequentially identifying the positions of the remaining layers of pods, and pruning;
s3, a counting step, namely stacking the sheared pods, and identifying the number of the pods in each stack;
s4, a data storage step, namely acquiring the total pod quantity of the whole soybean, and storing and recording the data so as to facilitate subsequent research.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810986637.0A CN109063816B (en) | 2018-08-28 | 2018-08-28 | Bean pod number statistics device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810986637.0A CN109063816B (en) | 2018-08-28 | 2018-08-28 | Bean pod number statistics device and method |
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| Publication Number | Publication Date |
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| CN109063816A CN109063816A (en) | 2018-12-21 |
| CN109063816B true CN109063816B (en) | 2024-02-13 |
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| CN201810986637.0A Active CN109063816B (en) | 2018-08-28 | 2018-08-28 | Bean pod number statistics device and method |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112668404B (en) * | 2020-12-10 | 2022-08-30 | 哈尔滨师范大学 | Effective identification method for soybean diseases and insect pests |
| CN115222717B (en) * | 2022-07-29 | 2023-05-16 | 四川农业大学 | Rapid counting method and device for soybean pods and storage medium |
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|---|---|---|---|---|
| CN204974512U (en) * | 2015-07-29 | 2016-01-20 | 河南赛欧图高新材料有限公司 | Device is selected to high minal powder heterochrosis impurity |
| CN105319166A (en) * | 2015-11-13 | 2016-02-10 | 无锡艾科瑞思产品设计与研究有限公司 | Real-time soybean detection instrument |
| CN106881281A (en) * | 2017-02-22 | 2017-06-23 | 上海理工大学 | A kind of automatic sorting device and system |
| CN208766708U (en) * | 2018-08-28 | 2019-04-19 | 武汉古奥基因科技有限公司 | A kind of beanpod quantity statistics device |
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- 2018-08-28 CN CN201810986637.0A patent/CN109063816B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204974512U (en) * | 2015-07-29 | 2016-01-20 | 河南赛欧图高新材料有限公司 | Device is selected to high minal powder heterochrosis impurity |
| CN105319166A (en) * | 2015-11-13 | 2016-02-10 | 无锡艾科瑞思产品设计与研究有限公司 | Real-time soybean detection instrument |
| CN106881281A (en) * | 2017-02-22 | 2017-06-23 | 上海理工大学 | A kind of automatic sorting device and system |
| CN208766708U (en) * | 2018-08-28 | 2019-04-19 | 武汉古奥基因科技有限公司 | A kind of beanpod quantity statistics device |
Non-Patent Citations (2)
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