Resumen
To realize the real-time monitoring of the lodging and cavitation state of the rape blanket seedling transplanter, a real-time online monitoring system set for cavitation and lodging based on machine vision was designed. The system was mainly composed of an image acquisition module, a height sensor, and an IPC (Industrial Personal Computer). When the system starts to work, the height of the lens from the ground and the collected images are saved in real time, and the operating status of the equipment is judged according to the height of the lens from the ground, and the actual corresponding size of the image pixels is corrected. We proposed a calculation method for judging the cavitation and lodging state of the seedlings based on the comparison between the actual planting position and the theoretical planting position of the seedlings. The processing and analysis software for the cavitation and lodging monitoring system of the rape blanket transplanter was compiled, and the monitoring system was developed. The dynamic test showed that the maximum absolute error of the cavitation recognition rate was 1.23%, and the maximum absolute error of the lodging recognition rate was 3.80%. The total time consumed of a 1 m image collected in real time from the collection, image processing and stitching, to seedling status recognition of the rape blanket seedling field was about 1 s. The accuracy and system processing time of the seedling cavitation and lodging state judgment can meet the accuracy and real-time requirements of cavitation and lodging state recognition for field transfer of rape blanket seedlings.