阅读说明：本技术 一种基于图像通道计算的茶园诱虫板智能更换装置与方法 (Intelligent tea garden insect attracting plate replacing device and method based on image channel calculation ) 是由 李晓丽 张文凯 何勇 周利 边磊 于 2021-08-20 设计创作，主要内容包括：本发明公开了一种基于图像通道计算的茶园诱虫板智能更换装置及方法。该装置包括固定在整机支架上的诱虫板供给模块、诱虫板贴纸揭除模块和机器视觉控制模块；所述机器视觉控制模块,用于采集所述诱虫板供给模块中当前诱虫板的图像,并根据所述图像判断所述当前诱虫板是否失效,当所述当前诱虫板失效时,控制所述诱虫板供给模块更换诱虫板,并控制所述诱虫板贴纸揭除模块对更换后的诱虫板进行揭膜。本发明能够代替人工对茶园中的诱虫板进行及时、精准的自动更换,提高茶园中的虫害诱捕效率,进而提高茶叶的品质。(The invention discloses an intelligent tea garden insect attracting plate replacing device and method based on image channel calculation. The device comprises a trap plate supply module, a trap plate sticker removing module and a machine vision control module which are fixed on a complete machine bracket; the machine vision control module is used for collecting the image of the current insect attracting plate in the insect attracting plate supply module, judging whether the current insect attracting plate fails or not according to the image, controlling the insect attracting plate supply module to replace the insect attracting plate when the current insect attracting plate fails, and controlling the insect attracting plate sticker removing module to remove the film of the replaced insect attracting plate. The invention can replace manual work to automatically replace the insect-attracting plate in the tea garden timely and accurately, thereby improving the insect pest trapping efficiency in the tea garden and further improving the quality of tea.)

1. An intelligent tea garden insect attracting plate replacing device based on image channel calculation is characterized by comprising an insect attracting plate supply module, an insect attracting plate sticker removing module and a machine vision control module, wherein the insect attracting plate supply module, the insect attracting plate sticker removing module and the machine vision control module are fixed on a whole machine support; the machine vision control module is used for collecting the image of the current insect attracting plate in the insect attracting plate supply module, judging whether the current insect attracting plate fails or not according to the image, controlling the insect attracting plate supply module to replace the insect attracting plate when the current insect attracting plate fails, and controlling the insect attracting plate sticker removing module to remove the film of the replaced insect attracting plate.

2. The tea garden insect attracting plate intelligent replacing device based on image channel calculation as claimed in claim 1, further comprising a waste insect attracting plate collecting box and a waste insect attracting plate guiding plate which are fixed on the whole machine support; the waste insect attracting plate collecting box is used for collecting the failed insect attracting plates through the waste insect attracting plate guiding disc.

3. The tea garden insect attracting plate intelligent replacing device based on image channel calculation as claimed in claim 1, wherein the insect attracting plate supplying module comprises: the device comprises a trap plate supply box, an upper top plate, a top plate fixing column, a second screw rod, a lower top plate, a second stepping motor, a stepping motor fixing frame and a trap plate unit, wherein the upper top plate, the top plate fixing column, the second screw rod, the lower top plate, the second stepping motor, the stepping motor fixing frame and the trap plate unit are arranged in the trap plate supply box; a trap plate supply box cover is fixed on the trap plate supply box; the upper top plate and the lower top plate are fixed together through the top plate fixing column, the plurality of insect attracting plate units are fixed on the upper top plate, the second stepping motor is fixed on the stepping motor fixing frame, and the position of the lower top plate is adjusted through the second lead screw, so that the position of the upper top plate is adjusted, and the feeding of the insect attracting plate units is realized.

4. The tea garden insect attracting plate intelligent replacing device based on image channel calculation as claimed in claim 3, wherein the insect attracting plate unit comprises an insect attracting plate, an insect attracting plate sticker and an insect attracting plate fixing plate; the insect attracting plate is fixed on the insect attracting plate fixing plate, and the insect attracting plate sticker is attached to the insect attracting plate through the adhesive layer.

5. The intelligent tea garden insect attracting plate replacing device based on image channel calculation as claimed in claim 4, wherein the insect attracting plate sticker removing module comprises: the device comprises a first air duct, a three-axis cylinder, a guide rail, a membrane uncovering device fixing plate, a waste insect trap plate sticker collecting box, a sliding block, a chuck supporting beam, a chuck cylinder, a chuck outer jaw, a first lead screw fixing plate, a first lead screw, a second air duct, a first stepping motor, a second air control valve, a first air control valve, an airflow distribution conduit, an air pump, a triangular steel supporting frame, I-steel, a chuck inner jaw and a supporting plate;

the triangular steel support frame is fixed on the outer wall of the insect trap plate supply box, and the film uncovering device fixing plate 7 is fixed on the triangular steel support frame; the waste insect attracting plate sticker collecting box and the guide rail are both fixed on the film uncovering device fixing plate; the first lead screw fixing pieces are fixed at two ends of the membrane uncovering device fixing plate, and the first lead screw is fixed between the two first lead screw fixing pieces;

the first stepping motor is fixed on the first lead screw fixing piece and used for driving the first lead screw to rotate so as to drive the chuck supporting cross beam connected with the first lead screw to move left and right; the sliding block is fixedly connected with the lower surface of the chuck supporting beam and slides left and right along the guide rail along with the movement of the chuck supporting beam;

the two chuck outer claws are respectively fixed on two sides of the chuck supporting cross beam and are symmetrical about the central plane of the chuck supporting cross beam; the two chuck cylinders are respectively and centrally distributed on the upper surfaces of the chuck outer claws and fixed above the chuck supporting cross beam; the inner jaw of the chuck is connected with the push rod of the chuck cylinder, is positioned inside the outer jaw of the chuck and is used for clamping and releasing the insect attracting plate sticker;

the three-axis cylinder is fixed on the upper end surface of the I-shaped steel, and the lower end surface of the I-shaped steel is fixed on the outer wall of the insect trapping plate supply box; the supporting plate is fixed on a push rod of a three-shaft cylinder, the three-shaft cylinder is connected with the first pneumatic control valve through the first air guide pipe, the chuck cylinder is connected with the second pneumatic control valve through the second air guide pipe, the second pneumatic control valve and the first pneumatic control valve are connected with an air pump through the air flow distribution guide pipe, and the air pump is installed at the bottom of the whole machine support.

6. The tea garden insect attracting plate intelligent replacing device based on image channel calculation as claimed in claim 4, wherein the machine vision control module comprises an industrial camera 12 and a controller 23, the industrial camera is arranged at the highest point of the whole machine support and used for aligning the insect attracting plate to conduct image collection, and the controller is installed on the side face of the whole machine support.

7. An image channel calculation-based tea garden insect attracting plate intelligent replacing method is applied to the image channel calculation-based tea garden insect attracting plate intelligent replacing device of any one of claims 1 to 6, and the method comprises the following steps:

carrying out image acquisition on the insect attracting plate;

carrying out channel separation on the collected images of the insect attracting plate;

calculating a matrix F norm of the separated image corresponding to the G channel and a matrix F norm of the image corresponding to the B-G channel, and respectively representing the matrix F norms as a first matrix F norm and a second matrix F norm;

calculating a ratio function of the first matrix F norm and the second matrix F norm;

judging whether the insect attracting plate fails or not according to the ratio function;

if yes, determining that the insect attracting plate is invalid, and replacing the insect attracting plate.

8. The tea garden insect attracting plate intelligent replacing method based on image channel calculation as claimed in claim 7, wherein the judging whether the insect attracting plate is invalid or not according to the ratio function specifically comprises:

judging whether the ratio function y (n) is larger than a first judgment factor lambda or not, wherein n represents the image acquisition times;

if yes, continuously acquiring images of the insect attracting plate;

if not, judging whether y (n-1) -y (n) is larger than a second judgment factor kappa;

if yes, continuing to acquire the image of the insect attracting plate;

if not, determining that the insect attracting plate is invalid, and replacing the insect attracting plate.

Technical Field

The invention relates to the technical field of agricultural intelligent equipment, in particular to an intelligent tea garden insect attracting plate replacing device and method based on image channel calculation.

Background

China is a main tea-producing area in the world, and has been planted for more than 3000 years to date. The tea soaked by the tea has unique aroma and taste, and is popular with consumers. However, the tea leaves are greatly lost due to the reduction of yield caused by insect pests, the pesticide control causes soil pollution, and the safety quality of the tea leaves is reduced, so that the control of the tea leaf insect pests by using a green prevention and control technology is more and more important. Insect attracting and killing plates are widely used in tea gardens as one of the main green prevention and control technologies for insect pests. The technology is beneficial to reducing the use amount of chemical pesticides, reducing the environmental pollution of the tea garden, ensuring the quality safety of the tea and improving the economic benefit of the tea garden.

However, in the implementation process of insect pest control of the insect attracting plates in the tea garden, the required insect attracting plates are large in number and need to be replaced in time before the insect attracting plates fail, so that the replacement work of the insect attracting plates wastes time and labor, the labor cost is increased, and particularly, the replacement work is more time-consuming for the tea garden with a large area or a more complex terrain. Therefore, the automatic replacement device for the insect attracting plates is urgently needed to replace manual work for operation, the replacement efficiency of the insect attracting plates is improved, and the labor cost is reduced. Through literature reference and market research, the defect that the failure condition of the insect attracting plate is judged in real time by replacing manpower with machine vision in the prior art is not found, so that automatic replacement equipment is completed.

Utilize the timing function of timer among the prior art, can replace the manual work to change the mythimna separata sticky paper regularly, saved the cost of labor, but can't accomplish the real time monitoring to the mythimna separata condition on the sticky paper, consequently probably appear luring the worm board and have become invalid completely, but the change time of timer regulation, the condition of the sticky paper of unable change in time. The phenomenon that the insect attracting plate is not out of work yet but is replaced can also occur, and the waste of resources is caused. In addition, the device is only suitable for the scroll type insect sticking plate and is not suitable for the current mainstream rectangular insect attracting plate, so that the market popularization difficulty is higher.

Disclosure of Invention

The invention aims to provide an intelligent tea garden insect attracting plate replacing device and method based on image channel calculation, which can replace manual work to timely and accurately and automatically replace insect attracting plates in a tea garden, improve insect pest trapping efficiency in the tea garden and further improve tea quality.

In order to achieve the purpose, the invention provides the following scheme:

an intelligent tea garden insect attracting plate replacing device based on image channel calculation comprises an insect attracting plate supply module, an insect attracting plate sticker removing module and a machine vision control module, wherein the insect attracting plate supply module, the insect attracting plate sticker removing module and the machine vision control module are fixed on a whole machine support; the machine vision control module is used for collecting the image of the current insect attracting plate in the insect attracting plate supply module, judging whether the current insect attracting plate fails or not according to the image, controlling the insect attracting plate supply module to replace the insect attracting plate when the current insect attracting plate fails, and controlling the insect attracting plate sticker removing module to remove the film of the replaced insect attracting plate.

Furthermore, the device also comprises a waste insect attracting plate collecting box and a waste insect attracting plate guiding disc which are fixed on the whole machine bracket; the waste insect attracting plate collecting box is used for collecting the failed insect attracting plates through the waste insect attracting plate guiding disc.

Further, the insect attracting plate supplying module includes: the device comprises a trap plate supply box, an upper top plate, a top plate fixing column, a second screw rod, a lower top plate, a second stepping motor, a stepping motor fixing frame and a trap plate unit, wherein the upper top plate, the top plate fixing column, the second screw rod, the lower top plate, the second stepping motor, the stepping motor fixing frame and the trap plate unit are arranged in the trap plate supply box; a trap plate supply box cover is fixed on the trap plate supply box; the upper top plate and the lower top plate are fixed together through the top plate fixing column, the plurality of insect attracting plate units are fixed on the upper top plate, the second stepping motor is fixed on the stepping motor fixing frame, and the position of the lower top plate is adjusted through the second lead screw, so that the position of the upper top plate is adjusted, and the feeding of the insect attracting plate units is realized.

Further, the insect attracting plate unit comprises an insect attracting plate, an insect attracting plate sticker and an insect attracting plate fixing plate; the insect attracting plate is fixed on the insect attracting plate fixing plate, and the insect attracting plate sticker is attached to the insect attracting plate through the adhesive layer.

Further, the insect attracting board sticker uncovering module comprises: the device comprises a first air duct, a three-axis cylinder, a guide rail, a membrane uncovering device fixing plate, a waste insect trap plate sticker collecting box, a sliding block, a chuck supporting beam, a chuck cylinder, a chuck outer jaw, a first lead screw fixing plate, a first lead screw, a second air duct, a first stepping motor, a second air control valve, a first air control valve, an airflow distribution conduit, an air pump, a triangular steel supporting frame, I-steel, a chuck inner jaw and a supporting plate;

the triangular steel support frame is fixed on the outer wall of the insect trap plate supply box, and the film uncovering device fixing plate 7 is fixed on the triangular steel support frame; the waste insect attracting plate sticker collecting box and the guide rail are both fixed on the film uncovering device fixing plate; the first lead screw fixing pieces are fixed at two ends of the membrane uncovering device fixing plate, and the first lead screw is fixed between the two first lead screw fixing pieces;

the first stepping motor is fixed on the first lead screw fixing piece and used for driving the first lead screw to rotate so as to drive the chuck supporting cross beam connected with the first lead screw to move left and right; the sliding block is fixedly connected with the lower surface of the chuck supporting beam and slides left and right along the guide rail along with the movement of the chuck supporting beam;

the two chuck outer claws are respectively fixed on two sides of the chuck supporting cross beam and are symmetrical about the central plane of the chuck supporting cross beam; the two chuck cylinders are respectively and centrally distributed on the upper surfaces of the chuck outer claws and fixed above the chuck supporting cross beam; the inner jaw of the chuck is connected with the push rod of the chuck cylinder, is positioned inside the outer jaw of the chuck and is used for clamping and releasing the insect attracting plate sticker;

the three-axis cylinder is fixed on the upper end surface of the I-shaped steel, and the lower end surface of the I-shaped steel is fixed on the outer wall of the insect trapping plate supply box; the supporting plate is fixed on a push rod of a three-shaft cylinder, the three-shaft cylinder is connected with the first pneumatic control valve through the first air guide pipe, the chuck cylinder is connected with the second pneumatic control valve through the second air guide pipe, the second pneumatic control valve and the first pneumatic control valve are connected with an air pump through the air flow distribution guide pipe, and the air pump is installed at the bottom of the whole machine support.

Further, the machine vision control module comprises an industrial camera 12 and a controller 23, the industrial camera is arranged at the highest point of the whole machine support and used for aligning the insect attracting plate to acquire images, and the controller is installed on the side face of the whole machine support.

The invention also provides an image channel calculation-based tea garden insect attracting plate intelligent replacing method, which is applied to the image channel calculation-based tea garden insect attracting plate intelligent replacing device and comprises the following steps:

carrying out image acquisition on the insect attracting plate;

carrying out channel separation on the collected images of the insect attracting plate;

calculating a matrix F norm of the separated image corresponding to the G channel and a matrix F norm of the image corresponding to the B-G channel, and respectively representing the matrix F norms as a first matrix F norm and a second matrix F norm;

calculating a ratio function of the first matrix F norm and the second matrix F norm;

judging whether the insect attracting plate fails or not according to the ratio function;

if yes, determining that the insect attracting plate is invalid, and replacing the insect attracting plate.

Further, the determining whether the insect attracting plate fails according to the ratio function specifically includes:

judging whether the ratio function y (n) is larger than a first judgment factor lambda or not, wherein n represents the image acquisition times;

if yes, continuously acquiring images of the insect attracting plate;

if not, judging whether y (n-1) -y (n) is larger than a second judgment factor kappa;

if yes, continuing to acquire the image of the insect attracting plate;

if not, determining that the insect attracting plate is invalid, and replacing the insect attracting plate.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

(1) the device provided by the invention realizes high automation, can replace manpower to automatically replace the insect attracting plate, and reduces the labor cost;

(2) the device provided by the invention utilizes a robot sensing technology to carry out intelligent judgment, so that the waste of the insect attracting plate caused by insufficient manual experience can be avoided, and the problems of poor insect catching effect and the like caused by untimely replacement of the insect attracting plate can also be avoided;

(3) the device provided by the invention can improve the insect catching effect, reduce the use of chemical pesticides, reduce the pollution of a tea garden, and simultaneously improve the quality of tea products and the additional value of tea.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a schematic view of a structure of an intelligent tea garden insect attracting plate replacing device based on image channel calculation according to an embodiment of the present invention;

FIG. 2 is a schematic view of an embodiment of the present invention illustrating an assembly of a trap plate and a trap plate fixing plate;

FIG. 3 is an assembly view of an insect attracting plate supply module according to an embodiment of the present invention;

FIG. 4 is a schematic view of an assembly of a sticker removal module for an insect attracting board according to an embodiment of the present invention;

FIG. 5 is a partial cross-sectional view of a sticker removal module for an insect trap in accordance with an embodiment of the present invention;

FIG. 6 is a flowchart of an embodiment of a method for determining larval plate failure and a control method thereof;

FIG. 7 is a schematic diagram of a B-channel and a (B-channel-G-channel) corresponding image for channel separation of an acquired image according to an embodiment of the present invention;

FIG. 8 is a graph illustrating the variation trend of the image channel calculation result according to the embodiment of the present invention.

The reference signs are:

1-a waste trap board collecting box, 2-a whole machine support, 3-a first air duct, 4-a waste trap board guiding disc, 5-a three-axis cylinder, 6-a guide rail, 7-a film uncovering device fixing plate, 8-a waste trap board sticker collecting box, 9-a trap board, 10-a slide block, 11-a chuck supporting beam, 12-an industrial camera, 13-a chuck cylinder, 14-a chuck outer claw, 15-a first lead screw fixing plate, 16-a first lead screw, 17-a second air duct, 18-a trap board supplying box cover, 19-a first stepping motor, 20-a trap board supplying box, 21-a second air control valve, 22-a first air control valve, 23-a controller, 24-an air flow distribution duct, 25-an air pump, 26-a trap board fixing plate, 27-insect attracting plate, 28-insect attracting plate paster, 29-upper top plate, 30-top plate fixing column, 31-second screw rod, 32-lower top plate, 33-stepping motor fixing frame, 34-second stepping motor, 35-triangular steel support frame, 36-I-steel, 37-chuck inner grab and 38-supporting plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide an intelligent tea garden insect attracting plate replacing device and method based on image channel calculation, which can replace manual work to timely and accurately and automatically replace insect attracting plates in a tea garden, improve insect pest trapping efficiency in the tea garden and further improve tea quality.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1, the tea garden insect attracting plate intelligent replacing device based on image channel calculation provided by the invention comprises an insect attracting plate supply module, an insect attracting plate sticker removing module, a machine vision control module, a waste insect attracting plate guiding disc 4 and a waste insect attracting plate collecting box 1, which are all fixed on a whole machine support 23.

As shown in fig. 1 and 3, the insect attracting plate supplying module includes an insect attracting plate supplying box 20, and an upper top plate 29, a top plate fixing column 30, a second screw rod 31, a lower top plate 32, a second stepping motor 34, a stepping motor fixing frame 33 and an insect attracting plate unit which are arranged in the insect attracting plate supplying box 20; the insect attracting plate supply box 20 is fixed with an insect attracting plate supply box cover 18, and plays a role in sun protection and rain protection. The upper top plate 29 and the lower top plate 32 are fixed together through the top plate fixing column 30, and play a role in supporting and feeding the insect attracting plate fixing plate 26. A plurality of the insect attracting plate units are fixed to the upper top plate 29. The second stepping motor 34 is fixed on the stepping motor fixing frame 33, and the position of the lower top plate 32 is adjusted through the second lead screw 31, so that the position of the upper top plate 29 is adjusted, and the feeding of the insect attracting plate 27 is realized. The insect attracting plate supply box 20 inclines a certain angle a with the horizontal direction, so that the insect attracting plate 27 and the insect attracting plate fixing plate 26 can automatically slide down to the insect attracting plate sticker removing module due to gravity to complete the next step of removing the sticker of the insect attracting plate. Preferably, a ° is from 30 ° to 60 °.

As shown in figure 2, the insect attracting plate 27 and the insect attracting plate sticker 28 are adhered together through an adhesive layer and can be fixed on the insect attracting plate fixing sleeve 26. The both sides of the edge of the fixed plate 26 of the insect attracting plate are respectively provided with three inclined plane hook claws, which can play the role of positioning the paster 28 of the insect attracting plate, and can separate the two sides of the edge of the paster 28 of the insect attracting plate 27 and the insect attracting plate, thereby providing conditions for removing the subsequent paster.

As shown in fig. 1, 4 and 5, the insect attracting plate sticker removing module comprises a first air duct 3, a three-axis cylinder 5, a guide rail 6, a membrane removing device fixing plate 7, a waste insect attracting plate sticker collecting box 8, a sliding block 10, a chuck supporting cross beam 11, a chuck air cylinder 13, chuck outer claws 14, a first lead screw fixing plate 15, a first lead screw 16, a second air duct 17, a first stepping motor 19, a second air control valve 21, a first air control valve 22, an air flow distribution duct 24, an air pump 25, a triangular steel supporting frame 35, an i-steel 36, chuck inner claws 37 and a supporting plate 38.

The triangular steel support frame 35 is fixed on the outer wall of the insect attracting plate supply box 20 and is used for supporting the insect attracting plate sticker removing module. The film uncovering device fixing plate 7 is fixed on the triangular steel support frame 35, and the angle between the upper plane of the film uncovering device fixing plate 7 and the horizontal plane is a degrees.

The first screw fixing plate 15, the waste insect attracting plate sticker collecting box 8 and the guide rail 6 are all fixed on the film uncovering device fixing plate 7. The first screw fixing pieces 15 are fixed on the left side and the right side of the upper edge of the film uncovering device fixing plate 7 respectively and used for supporting a first screw 16.

The first stepping motor 19 is fixed on the first screw fixing plate 15 on the right side, and the first screw 16 is rotated to drive the chuck supporting beam 11 to move left and right. The sliding block 10 is fixedly connected with the lower surface of the collet supporting beam 11 and slides left and right along the guide rail 6 along with the movement of the collet supporting beam 11. The two chuck outer claws 14 are respectively fixed on the left side and the right side of the chuck support beam 11 and are symmetrical about the central plane of the chuck support beam 11. The two chuck cylinders 13 are respectively and centrally distributed on the upper surfaces of the chuck outer claws 14 and fixed above the chuck supporting beam 11. The inner jaw 37 of the chuck is connected with the push rod of the chuck cylinder 13, can realize reciprocating linear motion, is positioned inside the outer jaw 14 of the chuck, and finishes clamping and releasing the insect attracting plate paster 28.

The triaxial cylinder 5 is fixed on the upper end surface of the I-shaped steel 36, and the lower end surface of the I-shaped steel 36 is fixed on the outer wall of the insect attracting plate supply box 20. The supporting plate 38 is fixed on the push rod of the three-axis cylinder 5, provides supporting force for the insect-attracting plate fixing plate 26, and plays a role in fixing the insect-attracting plate fixing plate 26 with the membrane uncovering device fixing plate 7, so that the displacement of the insect-attracting plate fixing plate 26 can not occur in the membrane uncovering process. When the film uncovering process is finished, the supporting plate 38 moves downwards along with the push rod of the three-axis cylinder 5, the insect attracting plate 26 and the insect attracting plate paster 27 slide down together, and the waste insect attracting plate guiding disc 4 enters the waste insect attracting plate collecting box 1.

As shown in fig. 1, the three-axis cylinder 5 is connected with the first pneumatic control valve 22 through the first air duct 3, the chuck cylinder 13 is connected with the second pneumatic control valve 21 through the second air duct 17, the second pneumatic control valve 21 and the first pneumatic control valve 22 are connected with the air pump 25 through the air flow distribution duct 24, and the air pump 25 is installed at the bottom of the whole machine support 2.

As shown in fig. 1, the machine vision control module comprises an industrial camera 12 and a controller 23, wherein the industrial camera 12 is installed at the highest point of the complete machine bracket 2 and is aligned with the insect attracting plate 27 for image acquisition. The controller is arranged on the side surface of the whole machine bracket 2.

As shown in fig. 6, the invention also provides an intelligent tea garden insect attracting plate replacing method based on image channel calculation, which comprises the following steps:

the method comprises the following steps: the insect attracting plate is image-captured by the industrial camera 12.

After the insect attracting plate is placed in the tea garden, an industrial camera is used for carrying out image acquisition on the insect attracting plate, a fixed light source is adopted for avoiding weather influence on the image acquisition effect, and the focal distance of the camera is fixed simultaneously. The sampling frequency was set to f 2 days/time.

Step two: the acquired images are channel separated B, G, R. The results of the computed images for channels B and B-G are shown in FIG. 7.

Step three: matrix F norms of the images corresponding to the G channel and the B-G channel are respectively obtained and are respectively expressed as a first matrix F norm and a second matrix F norm, a ratio function y (n) is calculated, and the calculation result is shown in figure 8.

Wherein | G | non-conducting phosphor_FG channel corresponds to matrix F norm of image, | | B-G | | luminance_FAnd the matrix F norm of the image corresponding to the B-G channel is shown, and n represents the image acquisition times.

As can be seen from the drawing, | G | | non-woven phosphor_FPresenting a descending trend along with the extension of the placing time, | | B-G | | luminance_FShowing an upward trend with increasing time of placement. Meanwhile, it can be found that the ratio function y (n) of the two shows a descending trend with the longer the placing time, the result gradually approaches to 1, and the slower the placing time, the descending speed of y (n). This phenomenon is explained byThe pest sticking effect is also reduced along with the increase of the pest sticking quantity and the increase of the placement time of the pest trapping plate.

And simultaneously setting the first judgment factor lambda to be 1.1 to perform preliminary judgment. If y (n) is less than or equal to lambda, entering the step four to finally judge whether the insect attracting plate is invalid; if y (n) > λ, the next image processing cycle will be entered.

As shown in table 1, when the insect attracting plate is placed for 18 days, if the judgment condition y (n) is less than or equal to lambda is met, the final judgment link of whether the insect attracting plate is invalid is carried out in the fourth step.

Table 1 example results of y (n-1) -y (n)

Step four: and setting a second judgment factor kappa equal to 0.001, if y (n-1) -y (n) is less than or equal to kappa, sending a command to the singlechip by the upper computer based on a Modbus protocol through an RS485 communication circuit according to a processing result, starting an insect attracting plate replacing program, and entering the next image processing cycle if the calculated result is greater than the second judgment factor kappa. As can be seen from Table 1, when the insect-attracting board was left for 24 days, the judgment conditions y (n-1) -y (n) ≦ κ were satisfied.

The preliminary judgment of y (n) is less than or equal to lambda in the third step is helpful to eliminate the situation that the insect attracting plate is not invalid but meets the judgment condition y (n-1) -y (n) is less than or equal to kappa in the fourth step due to accidental factors, thereby avoiding the phenomenon that the insect attracting plate is replaced prematurely due to misjudgment.

The control method of the executive component adopts a singlechip of a lower computer to carry out logic control, the singlechip receives a signal that the insect-attracting plate is completely invalid and transmitted from the upper computer, starts a replacing program of the insect-attracting plate and carries out logic control on the executive component through an I/O port, and the main steps are as follows: i: the air pump 25 is opened to inflate by controlling the relay to be closed; ii: controlling the telescopic rod of the three-axis cylinder to retract through the first air control valve, and keeping the telescopic rod to return after 5 seconds; iii: the first stepping motor is driven to rotate by the first motor driver, so that the feeding action of the insect attracting plate is completed; iv: the push rod of the chuck cylinder is controlled to extend out through a second electromagnetic valve, so that the chuck clamps the sticker of the insect attracting plate; v: the second stepping motor is controlled to rotate through a second motor driver, so that the chuck is driven to finish the linear motion from left to right, and the film uncovering action is finished; vi: the retraction of a push rod of a chuck cylinder is controlled through a second electromagnetic valve, so that the chuck releases the sticker of the insect attracting plate; vii: and controlling a second stepping motor to rotate reversely through a second motor driver to complete the return of the chuck.

The executing element control method has a manual replacing function, after the manual replacing button is triggered, the single chip microcomputer is switched on and off, the automatic replacing program of the insect attracting plate is directly started, and the main program is returned after the replacing is finished.

Based on the executive component control method, the working process of the intelligent tea garden insect attracting plate replacing device based on image channel calculation provided by the invention is as follows:

in the image acquisition stage: the industrial camera 12 is aimed at the insect attracting plate 27 for image acquisition, the acquired image is processed by an upper computer image processing module to complete channel separation and calculation, and the failure condition of the insect attracting plate is judged. If the result of the channel calculation does not meet the failure judgment condition, entering the next image processing cycle; if the judgment result is failure, the upper computer sends an instruction to the single chip microcomputer through the RS485 communication circuit based on the Modbus protocol, and a trap board replacement program is started.

In the waste insect-attracting plate release stage: when the single chip microcomputer receives a replacement instruction of the insect attracting plate sent by the upper computer, the single chip microcomputer controls the relay to be closed through the I/O port, and the air pump 25 is electrified and inflated. After the air pump 25 is ready, the push rod of the three-axis air cylinder 5 retracts by controlling the first pneumatic control valve 22, the supporting plate 38 is driven to move along the retraction direction of the push rod, the insect attracting plate fixing plate 26 and the insect attracting plate 27 slide down under the action of gravity, and finally the waste insect attracting plate collecting box 1 slides down along the waste insect attracting plate guiding disc 4. The push rod of the three-shaft cylinder 5 is retracted and then kept for 5s, the first air control valve 22 switches channels, so that the push rod of the three-shaft cylinder 5 extends outwards, the supporting plate 38 returns to the original position, and feeding of a new insect attracting plate is waited.

In the feeding stage of the insect-attracting plate: the single chip microcomputer sends an instruction to the second stepping motor driver to drive the second stepping motor 34 to drive the second screw rod 31 to rotate, the upper top plate 29, the top plate fixing column 30 and the lower top plate 32 move upwards along the inner wall of the insect attracting plate supply box 20 under the rotation of the second screw rod 31 until the insect attracting plate fixing plate 26 is sent out of the insect attracting plate supply box 20 to enter the insect attracting plate sticker removing module, and the second screw rod 31 stops rotating to complete the feeding of a new insect attracting plate.

In the stage of tearing off the adhesive film of the insect-attracting plate: in an initial state, the chuck support beam 11 is positioned at the rightmost side of the insect attracting plate sticker removing module, the single chip microcomputer sends an instruction to the first stepping motor driver to drive the first stepping motor 19 to drive the first lead screw 16 to rotate and drive the chuck support beam 11 to translate from right to left until the right edge of the insect attracting plate sticker 28 enters the inner side of the chuck outer claw 14, and the first lead screw 16 stops rotating. The single chip microcomputer continues to send an instruction to the second pneumatic control valve 21, so that the push rod of the chuck cylinder 13 extends outwards to drive the chuck inner claw 37 to move downwards, and the chuck inner claw and the chuck outer claw 14 clamp the right edge of the insect attracting plate 27 together. And further controlling the first stepping motor 19 to drive the first lead screw 16 to rotate continuously, so that the chuck supporting beam 11 drives the chuck to move leftwards together until the insect attracting plate 27 is completely uncovered. Then, the control singlechip controls the second pneumatic control valve 21 to switch the channel, so that the push rod of the chuck cylinder 13 retracts to complete the release of the insect attracting plate paster 28, and the insect attracting plate paster 28 falls into the waste insect attracting plate paster collecting box 8. And finally, the single chip microcomputer controls the first stepping motor 19 to rotate reversely, the chuck supporting beam 11 is driven to return to the rightmost side of the insect attracting plate sticker removing module, and the insect attracting plate sticker removing stage is completed.

According to the invention, the images of the insect attracting plates can be acquired in real time through the industrial camera, and the failure condition of the insect attracting plates can be accurately judged through the image channel calculation method. The technical method disclosed by the invention can replace manual work to automatically replace the insect trapping plate in the tea garden timely and accurately, so that the insect pest trapping efficiency in the tea garden is improved, and the quality of tea is further improved; the method has strong applicability and can be applied to insect trapping operation in different seasons and different regional environments; meanwhile, the implementation of the invention can fill the market gap of automatic replacement equipment of the tea garden insect attracting plate applying machine vision.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.