Cotton harvester adjusting method and equipment and cotton harvester

Abstract

The invention provides a cotton harvester adjusting method and equipment and a cotton harvester, and relates to the technical field of agricultural intelligent equipment. The method comprises the steps that a first pixel volume ratio is obtained according to an obtained sample cotton boll image and sample seed cotton volume, and single-layer stacked sample cotton bolls are displayed in the sample cotton boll image; according to the first pixel volume ratio, the obtained cotton boll image before picking, the cotton boll image after picking and the picked seed cotton volume, the overlapping rate before picking and the overlapping rate after picking are obtained, the overlapping rate before picking is used for indicating the stacking layer number of cotton bolls before picking in the target area, and the overlapping rate after picking is used for indicating the stacking layer number of cotton bolls after picking in the target area; and according to the pre-picking overlapping rate, the post-picking overlapping rate, the pre-picking cotton boll image and the post-picking cotton boll image, obtaining the net picking rate of the target area, and adjusting the working parameters of the cotton harvester according to the net picking rate. According to the method, the net picking rate can be quantified quickly and effectively, and then the working parameters of the cotton harvester can be adjusted accurately.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural intelligent equipment, and in particular to a cotton harvester adjustment method and device and a cotton harvester. Background Art

[0002] With the rapid development of the cotton industry, harvesting with cotton harvesters has become the mainstream method. One of the key factors affecting the fiber quality of machine-picked cotton is the clean cotton rate, which refers to the percentage of seed cotton actually removed from the cotton plant by the harvester during the picking process. A higher clean cotton rate reduces harvest losses, but it also increases the trash content of the seed cotton, potentially leading to fiber damage. Conversely, a lower clean cotton rate results in greater harvest losses.

[0003] To reduce trash content while ensuring appropriate harvest losses, cotton harvester operating parameters need to be adjusted based on the clean cotton percentage to achieve the desired results. However, due to the short seed cotton picking cycle and the time-consuming and labor-intensive manual collection of seed cotton left hanging on branches and fallen on the ground, the clean cotton percentage of machine-picked cotton primarily relies on the operator's visual judgment, and the cotton harvester's operating parameters are adjusted accordingly. This approach makes it difficult to quickly and effectively quantify the clean cotton percentage, which in turn leads to inaccurate adjustments to the cotton harvester's operating parameters. Summary of the Invention

[0004] The present application provides a cotton harvester adjustment method and device and a cotton harvester, which achieves rapid and effective quantification of the clean picking rate, thereby achieving accurate adjustment of the working parameters of the cotton harvester.

[0005] A first aspect of the present application provides a cotton harvester adjustment method, the method comprising:

[0006] Obtaining a sample cotton boll image and a sample seed cotton volume, and obtaining a first pixel volume ratio based on the sample cotton boll image and the sample seed cotton volume; wherein the sample cotton boll image shows a single layer of stacked sample cotton bolls, and the first pixel volume ratio refers to the seed cotton volume corresponding to each cotton boll pixel in the sample cotton boll image;

[0007] Obtaining a pre-picking cotton boll image, a post-picking cotton boll image, and a picked seed cotton volume of a target area, and obtaining a pre-picking overlap ratio and a post-picking overlap ratio based on the first pixel volume ratio, the pre-picking cotton boll image, the post-picking cotton boll image, and the picked seed cotton volume; wherein the pre-picking overlap ratio is used to indicate the number of stacked layers of cotton bolls in the target area before picking, and the post-picking overlap ratio is used to indicate the number of stacked layers of cotton bolls in the target area after picking;

[0008] According to the overlap rate before picking, the overlap rate after picking, the cotton boll image before picking and the cotton boll image after picking, the clean picking rate of the target area is obtained, and the working parameters of the cotton harvester are adjusted according to the clean picking rate.

[0009] In one possible design, the method is applied to a cotton harvester adjustment device of a cotton harvester adjustment device, the cotton harvester adjustment device further comprising: a front camera for mounting at a front end of the cotton harvester, a rear camera for mounting at a rear end of the cotton harvester, and a flow sensor for mounting at a harvesting mechanism of the cotton harvester;

[0010] Obtain pre-harvest and post-harvest cotton boll images and the volume of harvested seed cotton in the target area, including:

[0011] Before the cotton harvester picks the cotton bolls in the target area, it uses the front camera to capture the target area and obtain an image of the cotton bolls before picking.

[0012] After the cotton harvester picks the cotton bolls in the target area, the target area is photographed by the rear camera to obtain the image of the picked cotton bolls, and the volume of the picked seed cotton is obtained by the flow sensor.

[0013] In a possible design, the cotton harvester adjustment device further includes a speed sensor, and a rear camera is used to capture a target area to obtain an image of the harvested cotton bolls, including:

[0014] The speed sensor is used to obtain the travel speed of the cotton harvester, and the travel distance of the cotton harvester is obtained based on the travel speed and the shooting time of the cotton boll image before picking.

[0015] When the driving distance is equal to the preset distance, the target area is photographed by the rear camera to obtain an image of the cotton bolls after picking; wherein the preset distance refers to the distance between the respective shooting areas of the front camera and the rear camera.

[0016] In one possible design, obtaining the overlap rate before picking and the overlap rate after picking according to the first pixel volume ratio, the cotton boll image before picking, the cotton boll image after picking, and the volume of picked seed cotton includes:

[0017] Obtaining a first number of cotton boll pixels based on the image of the cotton bolls before picking, and obtaining a second number of cotton boll pixels based on the image of the cotton bolls after picking;

[0018] Obtaining a second pixel volume ratio based on the first number of cotton boll pixels and the volume of picked seed cotton, and obtaining a pre-picking overlap rate based on the first pixel volume ratio and the second pixel volume ratio; wherein the second pixel volume ratio refers to the seed cotton volume corresponding to each cotton boll pixel in the pre-picking cotton boll image;

[0019] According to the second number of cotton boll pixels and a preset compensation coefficient, the compensated number of cotton boll pixels is obtained, and according to the overlap rate before picking, the first number of cotton boll pixels and the compensated number of cotton boll pixels, the overlap rate after picking is obtained; wherein the compensation coefficient is determined based on the tensile fracture deformation of the cotton wool.

[0020] In one possible design, the overlap ratio after picking is calculated as:

[0021]

[0022] in, Refers to the overlap rate before picking, Refers to the overlap rate after picking, Refers to the first number of cotton boll pixels, Refers to the number of cotton boll pixel compensation.

[0023] In a possible design, the target image is any one of a sample cotton boll image, a cotton boll image before picking, and a cotton boll image after picking, and the target number of cotton boll pixels is the number of cotton boll pixels in the target image;

[0024] For the target image, the methods include:

[0025] Preprocess the target image; preprocessing includes brightness adjustment, mask processing, mask fusion and morphological optimization; mask processing includes RGB channel processing, grayscale image processing and HSV channel processing;

[0026] The preprocessed target image is screened to obtain the target number of cotton boll pixels.

[0027] A second aspect of the present application provides a cotton harvester adjustment device, which includes a cotton harvester adjustment device. The cotton harvester adjustment device is used to execute any one of the cotton harvester adjustment methods of the first aspect.

[0028] In one possible design, the cotton harvester adjustment device further includes:

[0029] The front camera is used to capture images of sample cotton bolls and images of cotton bolls before picking;

[0030] The rear camera is used to capture images of cotton bolls after picking;

[0031] Flow sensor, used to detect the volume of sample seed cotton and the volume of picked seed cotton;

[0032] The speed sensor is used to detect the traveling speed of the cotton harvester.

[0033] A third aspect of the present application provides a cotton harvester, which is equipped with a cotton harvester adjustment device as described in any one of the second aspects.

[0034] In one possible design, the front camera and the rear camera are installed at the same height, and their shooting ranges are mirror-symmetrical.

[0035] A fourth aspect of the present application provides a cotton harvester adjustment device, the device comprising:

[0036] a first calculation module, configured to obtain a sample cotton boll image and a sample seed cotton volume, and to obtain a first pixel volume ratio based on the sample cotton boll image and the sample seed cotton volume; wherein the sample cotton boll image displays a single layer of stacked sample cotton bolls, and the first pixel volume ratio refers to the seed cotton volume corresponding to each cotton boll pixel in the sample cotton boll image;

[0037] a second calculation module, configured to obtain a pre-picking cotton boll image, a post-picking cotton boll image, and a picked seed cotton volume of a target area, and to obtain a pre-picking overlap ratio and a post-picking overlap ratio based on the first pixel volume ratio, the pre-picking cotton boll image, the post-picking cotton boll image, and the picked seed cotton volume; wherein the pre-picking overlap ratio indicates the number of stacked layers of cotton bolls in the target area before picking, and the post-picking overlap ratio indicates the number of stacked layers of cotton bolls in the target area after picking;

[0038] The third calculation module is used to obtain the clean picking rate of the target area based on the overlap rate before picking, the overlap rate after picking, the cotton boll image before picking, and the cotton boll image after picking, and adjust the working parameters of the cotton harvester according to the clean picking rate.

[0039] A fifth aspect of the present application provides an electronic device, comprising: a memory, and the memory communicatively connected to a processor;

[0040] Memory stores computer-executable instructions;

[0041] When the processor executes the computer-executable instructions stored in the memory, it is used to implement the cotton harvester adjustment method of any one of the first aspects.

[0042] The sixth aspect of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the cotton harvester adjustment method of any one of the first aspects.

[0043] The seventh aspect of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the cotton harvester adjustment method of any one of the first aspects.

[0044] The present application provides a cotton harvester adjustment method and device, and a cotton harvester, the method comprising: obtaining a first pixel volume ratio based on an acquired sample cotton boll image and a sample seed cotton volume, wherein the sample cotton boll image shows a single-layer stacked sample cotton boll; obtaining a pre-picking overlap rate and a post-picking overlap rate based on the first pixel volume ratio, as well as the acquired pre-picking cotton boll image, post-picking cotton boll image, and picked seed cotton volume, wherein the pre-picking overlap rate is used to indicate the number of stacked layers of cotton bolls in the target area before picking, and the post-picking overlap rate is used to indicate the number of stacked layers of cotton bolls in the target area after picking; obtaining a clean picking rate in the target area based on the pre-picking overlap rate, the post-picking overlap rate, the pre-picking cotton boll image, and the post-picking cotton boll image, and adjusting the working parameters of the cotton harvester accordingly. The following technical effects are achieved: based on the images of cotton bolls before and after picking and the volume of picked seed cotton, the harvesting effect of the cotton harvester is indirectly detected, and compared with manual visual judgment, the picking rate is quantified quickly and effectively; the working parameters of the cotton harvester are adjusted according to the picking rate, thereby achieving accurate adjustment of the working parameters of the cotton harvester. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0046] Figure 1 A schematic diagram of a cotton harvester adjustment method according to an embodiment of the present application;

[0047] Figure 2 Schematic diagram of the process of adjusting the cotton harvester provided in the embodiment of the present application Figure 1 ;

[0048] Figure 3 Schematic diagram of the process of adjusting the cotton harvester provided in the embodiment of the present application Figure 2 ;

[0049] Figure 4 A graph showing the relationship between the separation force between seed cotton and cotton bolls provided in an embodiment of the present application;

[0050] Figure 5 A graph showing the relationship between the breaking force of cotton provided in the embodiments of the present application;

[0051] Figure 6 A diagram showing the corresponding relationship between walking speed and rotation speed provided in an embodiment of the present application;

[0052] Figure 7A schematic diagram of the structure of a cotton harvester adjustment device provided in an embodiment of the present application;

[0053] Figure 8 A schematic structural diagram of a cotton harvester adjustment device provided in an embodiment of the present application;

[0054] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0055] Reference numerals:

[0056] 111-cotton plant before picking; 112-cotton plant after picking;

[0057] 120-Cotton harvester;

[0058] 130 - Cotton harvester adjustment device; 131 - Front camera; 132 - Rear camera; 133 - Flow sensor; 134 - Rotation speed sensor; 135 - Speed ​​sensor; 136 - Cotton harvester adjustment device; 137 - Display;

[0059] 810-first calculation module; 820-second calculation module; 830-third calculation module;

[0060] 910 - processor; 920 - memory; 930 - communication component; 940 - bus. DETAILED DESCRIPTION

[0061] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0062] In this application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit differences. It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described in this application as "exemplary" or "for example" should not be interpreted as being more preferred or advantageous than other embodiments or design. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way. In this application, "at least one" refers to one or more, and "more than one" refers to two or more.

[0063] It should be noted that the "at..." in this application can be the instant when a certain situation occurs, or it can be a period of time after a certain situation occurs, and this application does not make specific limitations on this. In addition, the cotton harvester adjustment method provided in this application is only an example, and the cotton harvester adjustment method can also include more or less content. The user information (including but not limited to user device information and user personal information, etc.) and data (including but not limited to data for analysis, stored data and displayed data, etc.) involved in one or more embodiments of this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0064] To facilitate a clear description of the technical solution of this application, the following briefly introduces some of the terms and technologies involved in this application:

[0065] Cotton harvester: refers to an agricultural machinery equipment specially used for picking mature seed cotton or cotton bolls, and is a key tool in the cotton harvesting process.

[0066] Machine-picked cotton: refers to cotton picked by cotton harvesters.

[0067] Cotton plant: refers to the plant on which cotton is grown. Cotton can be picked when it matures on the plant.

[0068] Cotton bolls are the fruit of cotton plants. They are spherical in shape and contain cotton fibers and seeds.

[0069] Seed cotton refers to unprocessed cotton that has been picked directly from the boll. Seed cotton consists of both cotton fiber and seeds, and requires further processing to separate the fibers and seeds.

[0070] Cotton wool: refers to cotton fibers that have been processed to remove the seeds.

[0071] Trash rate: refers to the proportion of non-cotton materials such as leaves and stems mixed in the seed cotton after picking.

[0072] In order to clearly understand the technical solution of the present application, the solution of the prior art is first introduced in detail.

[0073] With the rapid development of the cotton industry, harvesting with cotton harvesters has become the mainstream method. One of the key factors affecting the fiber quality of machine-picked cotton is the clean cotton rate, which refers to the percentage of seed cotton actually removed from the cotton plant by the harvester during the picking process. A higher clean cotton rate reduces harvest losses, but it also increases the trash content of the seed cotton, potentially leading to fiber damage. Conversely, a lower clean cotton rate results in greater harvest losses.

[0074] In order to reduce the impurity rate while ensuring appropriate harvest losses, it is necessary to adjust the working parameters of the cotton harvester based on the clean cotton rate to achieve the expected goals. However, due to the short seed cotton picking cycle, and the time-consuming and labor-intensive manual picking of seed cotton left on the cotton plants, scattered on the ground, and not effectively collected, the clean cotton rate of machine-picked cotton mainly depends on the operator's visual judgment, and the working parameters of the cotton harvester are adjusted accordingly. Specifically, before the formal operation, the cotton harvester enters the field for trial harvesting a certain distance, and relies on the operator's visual judgment of the clean cotton rate. When the clean cotton rate does not meet the psychological expectations, the operator adjusts the mechanical structures of the cotton harvester, such as the pressing plate and cotton stripping disc, and then repeats the above steps until the naked eye judges that the clean cotton rate meets the psychological expectations.

[0075] This method of visually judging the clean picking rate and adjusting the working parameters of the cotton harvester accordingly makes it impossible to quickly and effectively quantify the clean picking rate, which in turn leads to inaccurate adjustment of the working parameters of the cotton harvester.

[0076] Therefore, in response to this technical problem, the study found that in order to solve this problem, the picking rate can be quickly and effectively quantified based on the image of cotton bolls before picking, the image of cotton bolls after picking and the volume of picked seed cotton, and the working parameters of the cotton harvester can be adjusted accordingly.

[0077] Specifically, in order to capture images of cotton bolls before and after picking, high-definition cameras are installed at the front and rear ends of the cotton harvester. The front camera can be installed on the top of the cotton harvester's cab, and the rear camera can be installed on the top of the cotton box, the top of the baling mechanism, or other suitable locations of the cotton harvester.

[0078] Furthermore, the front and rear cameras are mounted at the same angle relative to the ground, meaning their coverage is mirror-symmetrical. They are also mounted at the same height, or as close as possible. This arrangement improves the consistency between pre-harvest and post-harvest images of cotton bolls.

[0079] Furthermore, a speed sensor is installed on the cotton harvester and pre-calibrated to detect and identify the harvester's speed, enabling calculation of the harvester's travel distance. When the travel distance equals the distance between the camera and rear camera's respective shooting areas, images of the harvested bolls are captured. These pre- and post-harvest boll images are then pre-processed to capture images within the same area.

[0080] Furthermore, a flow sensor is installed on the harvesting mechanism of the cotton harvester, and volume detection calibration is performed in advance to detect and identify the volume of seed cotton passing through the harvesting mechanism.

[0081] Furthermore, a speed sensor is installed on the harvesting mechanism of the cotton harvester, and speed detection calibration is performed in advance to detect the speed of the harvesting mechanism.

[0082] Furthermore, the working parameters of the cotton harvester are adjusted according to the clean picking rate, and the mapping relationship between the driving speed of the cotton harvester and the rotational speed of the harvesting mechanism is adjusted to control the clean picking rate within a certain range.

[0083] Based on the above creative findings, the technical solution of the present application is proposed.

[0084] The following introduces the application scenarios of the cotton harvester adjustment method provided in this application.

[0085] Figure 1 This is a schematic diagram of a cotton harvester adjustment method provided in an embodiment of the present application. Figure 1 What is shown are merely examples of scenarios in which the present application can be applied, to help those skilled in the art understand the technical content of the present application, but does not mean that the present application cannot be used in other devices, systems, environments or scenarios.

[0086] like Figure 1 As shown, the application scenario includes: cotton plants 111 before picking, cotton plants 112 after picking, a cotton harvester 120 , and a cotton harvester adjustment device 130 installed on the cotton harvester 120 .

[0087] Cotton harvester 120 is used to pick seed cotton from pre-harvested cotton plants 111. Post-harvested cotton plants 112 are pre-harvested cotton plants 111 that have been harvested. The core function of cotton harvester 120 is to separate seed cotton from pre-harvested cotton plants 111 using a robotic arm, a picking drum, or airflow. It is typically equipped with a power drive system, a picking mechanism, a conveying device, a cotton bin, and a baling mechanism, enabling efficient and continuous cotton harvesting.

[0088] The cotton harvester adjustment device 130 may be integrated with the cotton harvester 120 or may be installed later on the cotton harvester 120. The cotton harvester adjustment device 130 includes a cotton harvester adjustment device, a front camera 131, a rear camera 132, a flow sensor 133, a rotation speed sensor 134, and a speed sensor 135.

[0089] The cotton harvester adjustment device is used to execute the cotton harvester adjustment method and is the core control module of the cotton harvester adjustment device 130. It dynamically adjusts the operating parameters of the cotton harvester 120 by processing sensor data such as cotton boll images and seed cotton volume through algorithms.

[0090] The front camera 131 is used to be installed at the front end of the cotton harvester 120, and is specifically used to capture sample cotton boll images and images of cotton bolls before picking through multispectral imaging technology.

[0091] Rear camera 132 is mounted on the rear end of cotton harvester 120 and is specifically used to capture images of harvested cotton bolls using multispectral imaging technology. Furthermore, to ensure consistency between pre-harvest and post-harvest images of cotton bolls, front camera 131 and rear camera 132 can be of the same device type and have the same parameters.

[0092] Flow sensor 133 is mounted on the harvesting mechanism of the cotton harvester, specifically within the cotton delivery duct of the harvesting mechanism. Flow sensor 133 can be of a differential pressure, turbine, electromagnetic, or ultrasonic type, and is specifically used to detect the volume of sampled seed cotton and the volume of harvested seed cotton.

[0093] The speed sensor 134 is mounted on the harvesting mechanism of the cotton harvester, specifically on the power input shaft of the harvesting mechanism. The speed sensor 134 can be a Hall effect sensor, a magnetoelectric sensor, a photoelectric sensor, or a capacitive sensor, and is specifically used to detect the speed of the harvesting mechanism.

[0094] The speed sensor 135 is mounted on the cotton harvester and can measure speed based on technologies such as the Global Navigation Satellite System (GNSS), inertial measurement, or laser radar, and is specifically used to detect the speed of the cotton harvester.

[0095] The technical solution of the present application is described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0096] Figure 2 Schematic diagram of the process of adjusting the cotton harvester provided in the embodiment of the present application Figure 1 .like Figure 2 As shown, in the embodiment of the present application, the execution subject may be a cotton harvester adjustment device, which may be located in an electronic device, which may be a data processing server. The cotton harvester adjustment method provided in the embodiment of the present application includes the following steps:

[0097] S201: Acquire a sample cotton boll image and a sample seed cotton volume, and obtain a first pixel volume ratio according to the sample cotton boll image and the sample seed cotton volume.

[0098] Specifically, experimental data shows that under different planting densities, the number of bolls per plant varies significantly, while the weight of individual bolls fluctuates slightly, and this fluctuation is even smaller within higher yield ranges. Therefore, before officially picking cotton, it's helpful to determine the volume of each boll.

[0099] The sample boll images and sample seed cotton volumes can be actively measured by the cotton harvester's adjustment device. For example, a certain number of pre-collected, qualified sample bolls are stacked in a single layer within the front capture range of the cotton harvester. The front camera then identifies and records the sample boll images, obtaining the number N of boll pixel samples. The sample boll images display a single-layer stack of sample bolls. The sample bolls are then fed into the harvesting mechanism, and the flow sensor measures the sample seed cotton volume V, which refers to the total volume of the sample bolls. Finally, based on the number N of boll pixel samples and the sample seed cotton volume V, the first pixel volume ratio Ds is calculated for the single-layer stacked sample bolls. The first pixel volume ratio refers to the seed cotton volume corresponding to each boll pixel in the sample boll image, and is calculated using the formula: Ds = V / N.

[0100] The sample boll images and sample seed cotton volumes can also be obtained from other devices or equipment by the cotton harvester adjustment device via wired or wireless transmission. For example, if the sample bolls are stacked in another area, the sample boll images can be captured by cameras other than the front and rear cameras, and the sample seed cotton volumes can be measured using other methods such as water displacement, geometric measurement, 3D scanning and modeling, or image analysis.

[0101] S202: Obtain a cotton boll image before picking, a cotton boll image after picking, and a volume of picked seed cotton in a target area, and obtain a pre-picking overlap rate and a post-picking overlap rate based on the first pixel volume ratio, the cotton boll image before picking, the cotton boll image after picking, and the volume of picked seed cotton.

[0102] Specifically, the target area is any area in the cotton field to be harvested. The pre-harvesting boll image shows the cotton bolls in the target area before harvesting, and the post-harvesting boll image shows the cotton bolls in the target area after harvesting. The harvested seed cotton volume refers to the total volume of seed cotton harvested by the cotton harvester from the target area. The pre-harvesting boll image, post-harvesting boll image, and harvested seed cotton volume can be actively measured by the cotton harvester adjustment device or obtained from other devices or equipment via wired or wireless transmission.

[0103] Based on the first pixel volume ratio, the pre-picking and post-picking boll images, and the volume of the harvested seed cotton, the pre-picking overlap ratio and post-picking overlap ratio can be calculated. The pre-picking overlap ratio indicates the number of stacked layers of cotton bolls in the target area before picking, while the post-picking overlap ratio indicates the number of stacked layers of cotton bolls in the target area after picking.

[0104] S203: Obtain a clean picking rate of the target area according to the overlap rate before picking, the overlap rate after picking, the cotton boll image before picking, and the cotton boll image after picking, and adjust the working parameters of the cotton harvester according to the clean picking rate.

[0105] Specifically, the clean cotton harvesting rate refers to the efficiency of seed cotton harvesting, which can be calculated by the theoretical seed cotton volume and the picked seed cotton volume, wherein the theoretical seed cotton volume refers to the total volume of seed cotton that can theoretically be picked from the target area.

[0106] Considering that the theoretical seed cotton volume cannot be measured directly, the pre-picking overlap ratio and the pre-picking cotton boll image are used to represent the theoretical seed cotton volume. The theoretical seed cotton volume is equal to the product of the pre-picking overlap ratio and the number of cotton boll pixels in the pre-picking cotton boll image.

[0107] Similarly, the post-picking overlap rate and the post-picking cotton boll image are used to represent the volume of picked seed cotton. The volume of picked seed cotton is equal to the product of the post-picking overlap rate and the number of cotton boll pixels in the post-picking cotton boll image.

[0108] The calculation formula of the net mining rate K is:

[0109]

[0110] in, Refers to the number of cotton boll pixels in the cotton boll image before picking. Refers to the number of cotton boll pixels in the cotton boll image after picking, Refers to the overlap rate before picking, Refers to the overlap rate after picking.

[0111] In order to optimize the cotton harvesting process, the working parameters of the cotton harvester can be adjusted according to the following steps: apply the adjusted working parameters to the entire cotton field to be picked, so that the cotton harvester operates with this set of working parameters in the entire cotton field to be picked to ensure consistent picking quality.

[0112] Alternatively, you can adjust the cotton harvester's operating parameters by following these steps: Set the next adjacent area to the target area as a new target area and harvest using the adjusted operating parameters for the previous target area. After harvesting the new target area, recalculate the harvest rate for that area and adjust the operating parameters accordingly. Repeat these steps for each new target area until the entire cotton field is harvested.

[0113] An embodiment of the present application provides a cotton harvester adjustment method, which includes: obtaining a first pixel volume ratio based on an acquired sample cotton boll image and a sample seed cotton volume, wherein the sample cotton boll image shows a single layer of stacked sample cotton bolls; obtaining a pre-picking overlap rate and a post-picking overlap rate based on the first pixel volume ratio, as well as the acquired pre-picking cotton boll image, post-picking cotton boll image, and picked seed cotton volume, wherein the pre-picking overlap rate is used to indicate the number of stacked layers of cotton bolls in the target area before picking, and the post-picking overlap rate is used to indicate the number of stacked layers of cotton bolls in the target area after picking; obtaining a clean picking rate in the target area based on the pre-picking overlap rate, the post-picking overlap rate, the pre-picking cotton boll image, and the post-picking cotton boll image, and adjusting the working parameters of the cotton harvester accordingly. The following technical effects are achieved: based on the images of cotton bolls before and after picking and the volume of picked seed cotton, the harvesting effect of the cotton harvester is indirectly detected, and compared with manual visual judgment, the picking rate is quantified quickly and effectively; the working parameters of the cotton harvester are adjusted according to the picking rate, thereby achieving accurate adjustment of the working parameters of the cotton harvester.

[0114] Figure 3 Schematic diagram of the process of adjusting the cotton harvester provided in the embodiment of the present application Figure 2 .like Figure 3 As shown, the cotton harvester adjustment method provided in the embodiment of the present application is Figure 2 The cotton harvester adjustment method provided in the embodiment is further refined. The method is applied to a cotton harvester adjustment device of a cotton harvester adjustment device, wherein the cotton harvester adjustment device further includes: a speed sensor, a front camera for installation at the front end of the cotton harvester, a rear camera for installation at the rear end of the cotton harvester, and a flow sensor for installation at the harvesting mechanism of the cotton harvester. The cotton harvester adjustment method provided in the embodiment of the present application includes the following steps.

[0115] S301. Obtain a sample cotton boll image and a sample seed cotton volume.

[0116] S302: Obtain a first pixel volume ratio according to the sample cotton boll image and the sample seed cotton volume.

[0117] After executing S302 , before the cotton harvester picks the cotton bolls in the target area, proceed to executing S303 .

[0118] S303: photograph the target area through the front camera to obtain an image of the cotton boll before picking.

[0119] Specifically, before the cotton harvester enters the target area, the target area is photographed by a front camera installed at the front end of the cotton harvester to obtain an image of the cotton bolls before picking to record the status of the cotton bolls before picking.

[0120] After executing S303, after the cotton harvester picks the cotton bolls in the target area, the target area is photographed by the rear camera to obtain an image of the cotton bolls after picking. This step specifically includes:

[0121] S304: Obtain the travel speed of the cotton harvester through a speed sensor, and obtain the travel distance of the cotton harvester based on the travel speed and the shooting time of the cotton boll image before picking.

[0122] Specifically, the cotton harvester's adjustment device automatically records the timestamp of each shot, identifying the exact moment the cotton boll image was taken before harvesting. The device then combines the shooting time with the actual driving speed to calculate the actual distance traveled by the cotton harvester.

[0123] S305: When the travel distance is equal to the preset distance, the target area is photographed by the rear camera to obtain an image of the harvested cotton bolls.

[0124] Specifically, the preset distance refers to the distance between the respective capture areas of the front and rear cameras. When the driving distance equals the preset distance, it is determined that the rear camera can capture the target area. The rear camera mounted on the rear end of the cotton harvester then captures the target area to obtain an image of the harvested cotton bolls, thereby recording their post-harvest state.

[0125] After the target area is photographed by the rear camera to obtain the image of the harvested cotton bolls, S306 is continued.

[0126] S306: Obtain the volume of picked seed cotton through a flow sensor.

[0127] S307: Obtain a first number of cotton boll pixel points based on the image of the cotton boll before picking, and obtain a second number of cotton boll pixel points based on the image of the cotton boll after picking.

[0128] Specifically, the first number of cotton boll pixels and the second number of cotton boll pixels are identified through image processing algorithms such as threshold segmentation or machine learning.

[0129] In a possible design, the target image is any one of a sample cotton boll image, a cotton boll image before picking, and a cotton boll image after picking, and the target number of cotton boll pixels is the number of cotton boll pixels in the target image;

[0130] For a target image, the method includes:

[0131] Preprocess the target image; preprocessing includes brightness adjustment, mask processing, mask fusion and morphological optimization; mask processing includes RGB channel processing, grayscale image processing and HSV channel processing;

[0132] The preprocessed target image is screened to obtain the target number of cotton boll pixels.

[0133] Specifically, the target image is any one of a sample cotton boll image, a cotton boll image before picking, and a cotton boll image after picking. When the target image is a sample cotton boll image, the target number of cotton boll pixels is the sample number of cotton boll pixels; when the target image is an image of cotton boll before picking, the target number of cotton boll pixels is the first number of cotton boll pixels; when the target image is an image of cotton boll after picking, the target number of cotton boll pixels is the second number of cotton boll pixels.

[0134] First, adjust the target image's brightness by taking the weighted average of the pixel values ​​across the three RGB channels. For example, the calculation might be: Brightness = 0.2126 × R + 0.7152 × G + 0.0722 × B. Based on this brightness result, perform a gamma calculation to correct the overall brightness of the target image. Based on image processing experience, the gamma coefficient is set between 0.6 and 2.

[0135] Secondly, mask processing is performed on the target image after brightness adjustment, and the mask processing includes RGB channel processing, grayscale image processing and HSV channel processing.

[0136] RGB channel processing refers to making the RGB three-color eigenvalues ​​of the cotton boll after Gamma brightness adjustment greater than a certain value based on image processing experience, and the B channel eigenvalue of the cotton boll pixel is larger and the R channel eigenvalue is smaller. Then set the RGB channel experience screening condition and obtain the RGB custom mask. The RGB custom mask is expressed as Among them, the main screening condition is the threshold processing of the RGB feature value of the target image, the feature threshold At least greater than 180, which is close to white.

[0137] Grayscale image processing refers to converting the RGB image after gamma brightness adjustment into a grayscale image, then performing image binarization processing after grayscale histogram equalization to obtain a grayscale mask.

[0138] HSV channel processing refers to extracting the HSV channel features of the RGB image after Gamma brightness adjustment, and performing brightness histogram equalization on the V channel to further enhance the image features. Set the HSV channel empirical screening conditions and obtain the HSV channel mask. The HSV channel empirical screening conditions are expressed as Among them, the main screening condition is the V channel feature of the target image, that is, the brightness feature threshold processing, for example, the V channel feature The threshold is set to 0.7; the secondary screening condition is the S channel feature of the target image, that is, the saturation feature threshold processing, for example, the S channel feature The threshold is set to 0.2. In addition, the span of a single-day operation period under actual cotton picking conditions is relatively large, and the color of cotton is easily affected by light at different times. The H channel screening condition has little effect on improving the image recognition rate, and this application does not make special provisions.

[0139] Thirdly, mask fusion is performed on the target image after mask processing, and the RGB custom mask, grayscale mask and HSV channel mask are intersected to obtain a fused mask.

[0140] Thirdly, the fusion mask is morphologically optimized, that is, the influence of small noise in the fusion mask is first removed by image opening operation, and then the holes of the recognition results are filled by image closing operation, and the connected areas are analyzed to display the processing results with a connected area greater than a certain value.

[0141] Finally, the target image after preprocessing, that is, the fusion mask after morphological optimization, is subjected to target screening. The main screening is expressed as Among them, the condition For circularity condition screening, select the comparison threshold Can be 0.2; condition For density condition screening, select comparison threshold Can be 0.3; condition To filter the connected area conditions, select the comparison threshold Eliminate regions with too large connected areas.

[0142] It should be noted that due to differences in the installation and performance of the front and rear cameras, images of cotton bolls before and after harvesting will vary in terms of image size and image quality. Therefore, the preprocessing method provided in the embodiments of this application is merely an example and may include more or less content.

[0143] The technical effect of the embodiment of the present application is: preprocessing the target image including brightness adjustment, mask processing, mask fusion, morphological optimization and target screening is achieved to determine the target number of cotton boll pixels.

[0144] In a possible design, the front camera and the rear camera are installed at different heights. After pre-processing the images of the cotton bolls before and after picking, the method further includes:

[0145] The image of the cotton bolls before picking and / or the image of the cotton bolls after picking are cropped according to a preset height difference so that the image of the cotton bolls before picking and the image of the cotton bolls after picking have the same size; wherein the preset height difference refers to the difference between the installation heights of the front camera and the rear camera.

[0146] Specifically, the target area images before and after picking are adjusted to the same image size to ensure the consistency between the first number of cotton boll pixels and the second number of cotton boll pixels.

[0147] In one possible design, due to the installation angle of the front camera and / or the rear camera, the trapezoidal distortion of the pre-picking cotton boll image and / or the post-picking cotton boll image is greater than a preset distortion threshold. After pre-processing the pre-picking cotton boll image and the post-picking cotton boll image, the method further includes:

[0148] Gradient correction is performed on the cotton boll image before picking and / or the cotton boll image after picking according to the keystone distortion.

[0149] S308: Obtain a second pixel volume ratio according to the first number of cotton boll pixels and the volume of picked seed cotton, and obtain a pre-picking overlap rate according to the first pixel volume ratio and the second pixel volume ratio.

[0150] Specifically, the second pixel volume ratio refers to the seed cotton volume corresponding to each cotton boll pixel in the cotton boll image before picking. The calculation formula is ,in, Refers to the volume of picked seed cotton, Refers to the first number of cotton boll pixels. The overlap rate before picking can be determined The calculation formula is .

[0151] S309: Obtain the compensated number of cotton boll pixels according to the second number of cotton boll pixels and a preset compensation coefficient, and obtain the post-picking overlap rate according to the pre-picking overlap rate, the first number of cotton boll pixels, and the compensated number of cotton boll pixels.

[0152] Specifically, since the cotton picking process stretches the cotton wool in the bolls, the tensile breaking deformation of the cotton wool is about 2.5 times the original length, so the remaining cotton bolls will occupy more pixels than before picking. Therefore, the compensation coefficient is set based on factors such as the shooting angle. The compensation coefficient is determined based on the tensile breaking deformation of the cotton wool. The compensation amount of the cotton boll pixel can be determined The calculation formula is ,in, Refers to the second number of cotton boll pixels.

[0153] In a possible design, considering that the bolls follow an independent random distribution in three-dimensional space, when the boll diameter d decreases, the overlap probability is The calculation formula of the overlap rate after picking is:

[0154]

[0155] in, Refers to the overlap rate before picking, Refers to the overlap rate after picking, Refers to the first number of cotton boll pixels, Refers to the number of cotton boll pixel compensation.

[0156] S310: Obtain a clean picking rate of the target area according to the overlap rate before picking, the overlap rate after picking, the cotton boll image before picking, and the cotton boll image after picking, and adjust the working parameters of the cotton harvester according to the clean picking rate.

[0157] In one possible design, the operating parameters of the cotton harvester are adjusted according to the clean picking rate, including:

[0158] According to the recovery rate, the rotation speed of the recovery mechanism is adjusted through feedback until the adjusted recovery rate is within a preset value range.

[0159] Specifically, Figure 4 The graph of the relationship between the separation force between seed cotton and cotton bolls provided in the embodiment of the present application shows the relationship between the separation force between seed cotton and cotton bolls of a certain variety of cotton under different moisture content conditions and different maturity time conditions. Figure 5 The graph of the change relationship of the breaking force of cotton provided in the embodiment of the present application shows the change relationship of the breaking force of cotton under different moisture content conditions and different maturity time conditions. Figure 4 and Figure 5 As shown in the figure, the picking force required for cotton is different during the entire picking season. The required picking force first increases with the maturity time and then decreases with the maturity time. However, the cotton's own breaking force is always greater than the separation force between seed cotton and bolls, which provides a basis for adjusting the working parameters of the cotton harvester.

[0160] Figure 6 The corresponding relationship diagram between the travel speed and the rotational speed provided in the embodiment of the present application shows the corresponding relationship between the travel speed of the cotton harvester and the rotational speed of the harvesting mechanism. The rotational speed of the harvesting mechanism is adjusted according to the clean picking rate. Specifically, when the clean picking rate is less than the minimum value of the numerical range, the rotational speed of the harvesting mechanism is gradually increased to increase the cotton picking force, thereby improving the clean picking rate and reducing harvest losses; when the clean picking rate is greater than the maximum value of the numerical range, the rotational speed of the harvesting mechanism is gradually decreased to reduce the cotton picking force, thereby reducing the clean picking rate and reducing the impurity content.

[0161] Furthermore, in some existing cotton harvesters, the ratio between the rotational speed of the harvesting mechanism and the driving speed of the cotton harvester is a fixed value, that is, during the entire picking process, its picking force is fixed and unchanged. In order to adjust the picking force of the cotton harvester, the rotational speed and the driving speed are calibrated before the cotton harvester enters the field. Specifically, before picking in a certain operating area, the ratio between the rotational speed of the harvesting mechanism and the driving speed of the cotton harvester is adjusted from low to high within a reasonable range, for example, within the range of 0.405 to 0.435. Afterwards, the appropriate operating parameters at this time are determined by detecting the picking rate of different cotton field areas. For example, based on the current maturity of the cotton, the appropriate ratio is adjusted to 0.42. This ratio can meet the operational requirements of the cotton harvester's entry trial picking link, reduce the intensity of manual identification, and ensure the quality of cotton fiber.

[0162] The technical effect of the embodiment of the present application is: the rotation speed and the driving speed are calibrated based on the picking rate, which reduces the operator's operation of the cotton harvester and realizes the adjustment of the picking force of the cotton harvester.

[0163] The embodiment of the present application also provides a cotton harvester adjustment device, Figure 7 This is a schematic diagram of the structure of the cotton harvester adjustment device provided in the embodiment of the present application. Figure 7 As shown, in the embodiment of the present application, the cotton harvester adjustment equipment includes a cotton harvester adjustment device 136, and the cotton harvester adjustment device 136 is used to execute the cotton harvester adjustment method of the above method embodiment.

[0164] The implementation principle and technical effect of the cotton harvester adjustment device provided in the embodiment of the present application are similar to Figure 2 The method embodiments shown are similar and will not be described in detail in the embodiments of this application.

[0165] In one possible design, the cotton harvester adjustment device further includes:

[0166] The front camera 131 is used to capture images of sample cotton bolls and images of cotton bolls before picking;

[0167] The rear camera 132 is used to capture images of cotton bolls after picking;

[0168] The flow sensor 133 is used to detect the volume of the sampled seed cotton and the volume of the picked seed cotton;

[0169] The speed sensor 135 is used to detect the traveling speed of the cotton harvester.

[0170] In one possible design, the cotton harvester adjustment device further includes:

[0171] The rotation speed sensor 134 is used to detect the rotation speed of the harvesting mechanism.

[0172] In one possible design, the cotton harvester adjustment device further includes:

[0173] The display 137 is used to display the sample cotton boll image, the cotton boll image before picking and the cotton boll image after picking.

[0174] The implementation principle and technical effect of the cotton harvester adjustment device provided in the embodiment of the present application are similar to Figures 2 to 6 The method embodiments shown are similar and will not be described in detail in the embodiments of this application.

[0175] An embodiment of the present application also provides a cotton harvester. In the embodiment of the present application, the cotton harvester is equipped with the cotton harvester adjustment device of the above embodiment.

[0176] The implementation principle and technical effect of the cotton harvester provided in the embodiment of the present application are similar to those of the Figure 2 The method embodiments shown are similar and will not be described in detail in the embodiments of this application.

[0177] In one possible design, the front camera 131 and the rear camera 132 are installed at the same height, and their shooting ranges are mirror-symmetrical.

[0178] Figure 8 This is a schematic diagram of the structure of the cotton harvester adjustment device provided in the embodiment of the present application, as shown in FIG. Figure 8 As shown, in the embodiment of the present application, the cotton harvester adjustment device can be located in an electronic device. The cotton harvester adjustment device includes:

[0179] A first calculation module 810 is configured to obtain a sample cotton boll image and a sample seed cotton volume, and to obtain a first pixel volume ratio based on the sample cotton boll image and the sample seed cotton volume. The sample cotton boll image shows a single layer of stacked sample cotton bolls, and the first pixel volume ratio refers to the seed cotton volume corresponding to each cotton boll pixel in the sample cotton boll image.

[0180] The second calculation module 820 is configured to obtain a pre-picking cotton boll image, a post-picking cotton boll image, and a picked seed cotton volume of a target area, and to obtain a pre-picking overlap ratio and a post-picking overlap ratio based on the first pixel volume ratio, the pre-picking cotton boll image, the post-picking cotton boll image, and the picked seed cotton volume; wherein the pre-picking overlap ratio indicates the number of stacked layers of cotton bolls in the target area before picking, and the post-picking overlap ratio indicates the number of stacked layers of cotton bolls in the target area after picking;

[0181] The third calculation module 830 is used to obtain the clean picking rate of the target area based on the overlap rate before picking, the overlap rate after picking, the cotton boll image before picking, and the cotton boll image after picking, and adjust the working parameters of the cotton harvester according to the clean picking rate.

[0182] The cotton harvester adjustment device provided in the embodiment of the present application can be performed Figure 2 The technical solution of the method embodiment shown in the figure has the same implementation principle and technical effect as Figure 2 The method embodiments shown are similar and will not be described in detail in the embodiments of this application.

[0183] At the same time, the cotton harvester adjustment device provided in the embodiment of the present application is further refined based on the cotton harvester adjustment device provided in the embodiment of the previous application.

[0184] In one possible design, the device is located in a cotton harvester adjustment device, which also includes: a front camera for installation at the front end of the cotton harvester, a rear camera for installation at the rear end of the cotton harvester, and a flow sensor for installation at a harvesting mechanism of the cotton harvester;

[0185] The second calculation module 820 includes:

[0186] The first shooting module is used to shoot the target area with the front camera before the cotton harvester picks the cotton bolls in the target area to obtain an image of the cotton bolls before picking;

[0187] The second shooting module is used to shoot the target area through the rear camera after the cotton harvester picks the cotton bolls in the target area, obtain the image of the picked cotton bolls, and obtain the volume of the picked seed cotton through the flow sensor.

[0188] In a possible design, the cotton harvester adjustment device further includes a speed sensor, and the second shooting module includes:

[0189] a distance calculation module, for obtaining the travel speed of the cotton harvester through a speed sensor, and obtaining the travel distance of the cotton harvester based on the travel speed and the shooting time of the cotton boll image before picking;

[0190] The third shooting module is used to shoot the target area through the rear camera when the driving distance is equal to the preset distance to obtain the image of the cotton bolls after picking; wherein the preset distance refers to the distance between the respective shooting areas of the front camera and the rear camera.

[0191] In one possible design, the second calculation module 820 includes:

[0192] a pixel calculation module, configured to obtain a first number of cotton boll pixels based on an image of the cotton boll before picking, and obtain a second number of cotton boll pixels based on an image of the cotton boll after picking;

[0193] a fourth calculation module, configured to obtain a second pixel volume ratio based on the first number of cotton boll pixels and the volume of picked seed cotton, and to obtain a pre-picking overlap ratio based on the first pixel volume ratio and the second pixel volume ratio; wherein the second pixel volume ratio refers to the seed cotton volume corresponding to each cotton boll pixel in the pre-picking cotton boll image;

[0194] The fifth calculation module is used to obtain the compensated number of cotton boll pixels based on the second number of cotton boll pixels and a preset compensation coefficient, and to obtain the overlap rate after picking based on the overlap rate before picking, the first number of cotton boll pixels and the compensated number of cotton boll pixels; wherein the compensation coefficient is determined based on the tensile fracture deformation of the cotton wool.

[0195] In one possible design, the overlap ratio after picking is calculated as:

[0196]

[0197] in, Refers to the overlap rate before picking, Refers to the overlap rate after picking, Refers to the first number of cotton boll pixels, Refers to the number of cotton boll pixel compensation.

[0198] In a possible design, the target image is any one of a sample cotton boll image, a cotton boll image before picking, and a cotton boll image after picking, and the target number of cotton boll pixels is the number of cotton boll pixels in the target image;

[0199] For the target image, the cotton harvester adjustment device further includes:

[0200] The preprocessing module is used to preprocess the target image; wherein, the preprocessing includes brightness adjustment, mask processing, mask fusion and morphological optimization; mask processing includes RGB channel processing, grayscale image processing and HSV channel processing;

[0201] The screening module is used to screen the preprocessed target image and obtain the number of cotton boll pixel targets.

[0202] The cotton harvester adjustment device provided in the embodiment of the present application can perform Figures 2 to 6 The technical solution of the method embodiment shown in the figure has the same implementation principle and technical effect as Figures 2 to 6 The method embodiments shown are similar and will not be described in detail in the embodiments of this application.

[0203] The embodiment of the present application also provides an electronic device, Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 9As shown, the electronic device includes: at least one processor 910 and a memory 920. The electronic device also includes a communication component 930. The processor 910, the memory 920 and the communication component 930 are connected via a bus 940.

[0204] During the specific implementation process, at least one processor 910 executes the computer-executable instructions stored in the memory 920, so that the at least one processor 910 is used to implement the cotton harvester adjustment method of the above embodiment.

[0205] The specific implementation process of the processor 910 can be found in the above-mentioned method embodiment. Its implementation principle and technical effects are similar, and the embodiments of this application will not be repeated here.

[0206] In the above embodiment, it should be understood that the processor 910 may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), or application-specific integrated circuits (ASICs). The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly executed by a hardware processor or by a combination of hardware and software modules within the processor.

[0207] The memory 920 may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage.

[0208] Bus 940 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Bus 940 can be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, the bus 940 in the drawings of this application is not limited to a single bus or a single type of bus.

[0209] The above functions implemented by the electronic device and the main control device have been used to introduce the solutions provided in the embodiments of the present application. It is understandable that, in order to implement the above functions, the electronic device or the main control device includes hardware structures and / or software modules corresponding to the execution of each function. In combination with the units and algorithm steps of the various examples described in the embodiments disclosed in the embodiments of the present application, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software driven hardware manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiments of the present application.

[0210] The present application also provides a computer-readable storage medium storing computer-executable instructions. When executed by a processor, the computer-executable instructions are used to implement the cotton harvester adjustment method of the above embodiment. In the specific implementation of the cotton harvester adjustment method, each module can be implemented as a processor.

[0211] The readable storage medium may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0212] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Alternatively, the readable storage medium may be an integral part of the processor. The processor and the readable storage medium may be located in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium may be present as discrete components in an electronic device or a host control device.

[0213] An embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, it is used to implement the cotton harvester adjustment method of the above embodiment.

[0214] The computer program is stored in a readable storage medium. At least one processor can read the computer program from the readable storage medium, and at least one processor can execute the computer program to perform the solution provided in any of the above embodiments.

[0215] Those skilled in the art will appreciate that all or part of the steps in implementing the aforementioned embodiments of the application can be accomplished by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the aforementioned method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0216] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the scope of protection of the present application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solution to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cotton harvester adjustment method, characterized in that: The method comprises: Obtaining a sample cotton boll image and a sample seed cotton volume, and obtaining a first pixel volume ratio based on the sample cotton boll image and the sample seed cotton volume; wherein the sample cotton boll image shows a single layer of stacked sample cotton bolls, and the first pixel volume ratio refers to the seed cotton volume corresponding to each cotton boll pixel in the sample cotton boll image; Acquire a pre-picking cotton boll image, a post-picking cotton boll image, and a picked seed cotton volume of a target area, and obtain a pre-picking overlap rate and a post-picking overlap rate based on the first pixel volume ratio, the pre-picking cotton boll image, the post-picking cotton boll image, and the picked seed cotton volume; wherein the pre-picking overlap rate is used to indicate the number of stacked layers of cotton bolls in the target area before picking, and the post-picking overlap rate is used to indicate the number of stacked layers of cotton bolls in the target area after picking; The clean picking rate of the target area is obtained according to the overlap rate before picking, the overlap rate after picking, the cotton boll image before picking, and the cotton boll image after picking, and the working parameters of the cotton harvester are adjusted according to the clean picking rate.

2. The cotton harvester adjustment method according to claim 1, characterized in that: The method is applied to a cotton harvester adjustment device of a cotton harvester adjustment device, wherein the cotton harvester adjustment device further comprises: a front camera for being mounted on the front end of the cotton harvester, a rear camera for being mounted on the rear end of the cotton harvester, and a flow sensor for being mounted on a harvesting mechanism of the cotton harvester; The step of obtaining the pre-picking cotton boll image, the post-picking cotton boll image, and the picked seed cotton volume of the target area includes: Before the cotton harvester picks the cotton bolls in the target area, the front camera photographs the target area to obtain the cotton boll image before picking; After the cotton harvester picks the cotton bolls in the target area, the target area is photographed by the rear camera to obtain the picked cotton boll image, and the volume of the picked seed cotton is obtained by the flow sensor.

3. The cotton harvester adjustment method according to claim 2, characterized in that: The cotton harvester adjustment device further includes a speed sensor, and the process of photographing the target area with the rear camera to obtain the image of the harvested cotton bolls includes: Obtaining the travel speed of the cotton harvester through the speed sensor, and obtaining the travel distance of the cotton harvester based on the travel speed and the shooting time of the pre-picking cotton boll image; When the driving distance is equal to the preset distance, the target area is photographed by the rear camera to obtain the image of the harvested cotton bolls; wherein the preset distance refers to the distance between the respective shooting areas of the front camera and the rear camera.

4. The cotton harvester adjustment method according to claim 2 or 3, characterized in that: Obtaining the overlap rate before picking and the overlap rate after picking according to the first pixel volume ratio, the cotton boll image before picking, the cotton boll image after picking, and the volume of picked seed cotton includes: Obtaining a first number of cotton boll pixels based on the pre-picked cotton boll image, and obtaining a second number of cotton boll pixels based on the post-picked cotton boll image; Obtaining a second pixel volume ratio based on the first number of cotton boll pixels and the volume of the picked seed cotton, and obtaining the pre-picking overlap rate based on the first pixel volume ratio and the second pixel volume ratio; wherein the second pixel volume ratio refers to the seed cotton volume corresponding to each cotton boll pixel in the pre-picking cotton boll image; According to the second number of cotton boll pixels and a preset compensation coefficient, the compensated number of cotton boll pixels is obtained, and according to the pre-picking overlap rate, the first number of cotton boll pixels and the compensated number of cotton boll pixels, the post-picking overlap rate is obtained; wherein, the compensation coefficient is determined according to the tensile fracture deformation of the cotton wool.

5. The cotton harvester adjustment method according to claim 4, characterized in that: The calculation formula of the post-picking overlap rate is: Among them, the Refers to the overlap rate before picking, the Refers to the overlapping rate after picking, the Refers to the first number of cotton boll pixels, the Refers to the number of cotton boll pixel compensation.

6. The cotton harvester adjustment method according to claim 4, characterized in that: The target image is any one of the sample cotton boll image, the pre-picking cotton boll image, and the post-picking cotton boll image, and the target number of cotton boll pixels is the number of cotton boll pixels in the target image; For the target image, the method includes: Preprocessing the target image; wherein the preprocessing includes brightness adjustment, mask processing, mask fusion and morphological optimization; the mask processing includes RGB channel processing, grayscale image processing and HSV channel processing; The pre-processed target image is subjected to target screening to obtain the target number of cotton boll pixels.

7. A cotton harvester adjustment device, characterized in that: The cotton harvester adjustment equipment includes a cotton harvester adjustment device, and the cotton harvester adjustment device is used to perform the cotton harvester adjustment method according to any one of claims 1 to 6.

8. The cotton harvester adjustment device according to claim 7, characterized in that: The cotton harvester adjustment device also includes: The front camera is used to capture images of sample cotton bolls and images of cotton bolls before picking; The rear camera is used to capture images of cotton bolls after picking; Flow sensor, used to detect the volume of sample seed cotton and the volume of picked seed cotton; The speed sensor is used to detect the traveling speed of the cotton harvester.

9. A cotton harvester, characterized in that: The cotton harvester is equipped with the cotton harvester adjustment device according to claim 7 or 8.

10. The cotton harvester according to claim 9, characterized in that: The front camera and rear camera are installed at the same height, and their shooting ranges are mirror-symmetrical.

Images