CROSS REFERENCE TO RELATED APPLICATIONS

This patent application claims the benefit and priority under 35 U.S.C. § 119(e) of 202110960855.9 filed on 20 Aug. 2021, the disclosure of which is incorporated by reference herein in its entirety as part of the present application.

TECHNICAL FIELD

The present disclosure relates to the technical field of intelligent agricultural devices, and in particular, to an intelligent replacement device and method for a trap board in a tea garden based on image channel computation.

BACKGROUND ART

China has become the leading tea production region in the world, with the tea planting history of more than 3,000 years. Soaked teas are popular with consumers for the special aromas and mouthfeels. However, the decreased tea yield due to insects causes enormous economic losses. As the control with farm chemicals contaminates the soil and affects the safety of teas, it is particularly important to control diseases and insects of the teas with environment-friendly control technologies. Trap boards have been widely used in tea gardens as one of the main environment-friendly control technologies to kill the insects, which reduces the usage amounts of the farm chemicals, alleviates the environmental pollution of the tea gardens, ensures the safety of the teas, and increases the economic benefits of the tea gardens.

However, during implementation of the trap boards in the tea gardens for the insect control, there are a large number of trap boards that need to be timely replaced before expired. The replacement of the trap boards is time-consuming and labor-consuming to increase the labor cost; and particularly for tea gardens with large areas or complicated landforms, the replacement is more time-consuming. Hence, it is desirable to provide an automatic replacement device for the trap board to replace the manual operation, improve the replacement efficiency of the trap board, and reduce the labor cost. Through literature consultation and market investigation in the prior art, there hasn't been any automatic replacement device that uses the machine vision to determine the failure of the trap board in real-time instead of the manual operation.

In the prior art, although the sticker for sticking the insects can be replaced periodically with the timing function of the timer to save the labor cost, the insects stuck on the sticker cannot be monitored in real time. It is possible that the trap board has expired completely before the specified replacement time of the timer, or the replacement is made to an unexpired trap board to cause the waste of resources. In addition, the scheme is only applied to rolling sticky boards but not the existing mainstream rectangular trap boards, and is hardly promoted to markets.

SUMMARY

An objective of the present disclosure is to provide an intelligent replacement device and method for a trap board in a tea garden based on image channel computation. The present disclosure can replace the trap board in the tea garden automatically, timely and accurately instead of the manual operation, and yield the higher insect trapping efficiency in the tea garden and the better tea quality.

To implement the above objective, the present disclosure provides the following solutions:

An intelligent replacement device for a trap board in a tea garden based on image channel computation includes a trap board supply module, a trap board sticker removal module and a machine vision control module fixed on a machine frame, where the machine vision control module is configured to acquire an image of a present trap board in the trap board supply module, determine whether the present trap board fails according to the image, control, in response to failure of the present trap board, the trap board supply module to replace the trap board, and control the trap board sticker removal module to remove a film of a replaced trap board.

Further, the intelligent replacement device may further include a waste trap board collection box and a waste trap board guide disc fixed on the machine frame; and the waste trap board collection box may collect an expired trap board through the waste trap board guide disc.

Further, the trap board supply module may include: a trap board supply box as well as an upper ejection plate, an ejection plate fixing post, a second lead screw, a lower ejection plate, a second step motor, a step motor fixing frame and trap board units arranged in the trap board supply box; a cover may be fixed on the trap board supply box; the upper ejection plate and the lower ejection plate may be fixed together through the ejection plate fixing post; multiple trap board units may be fixed on the upper ejection plate; the second step motor may be fixed on the step motor fixing frame; and the lower ejection plate may be adjusted through the second lead screw, thereby adjusting the upper ejection plate to feed the trap board units.

Further, the trap board units each may include a trap board, a trap board sticker and a trap board fixing plate; the trap board may be fixed on the trap board fixing plate; and the trap board sticker may be attached with the trap board together through an adhesive layer.

Further, the trap board sticker removal module may include: a first air guide tube, a triaxial cylinder, a guide track, a film remover fixing plate, a waste trap board sticker collection box, a slide block, a chuck support beam, chuck cylinders, outer chuck jaws, first lead screw fixing pieces, a first lead screw, a second air guide tube, a first step motor, a second pneumatic control valve, a first pneumatic control valve, an airflow distribution guide tube, an air pump, a triangular steel support frame, a steel I-beam, inner chuck jaws and a support plate, where

the triangular steel support frame is fixed on an outer wall of the trap board supply box; the film remover fixing plate7is fixed on the triangular steel support frame; the waste trap board sticker collection box and the guide track are fixed on the film remover fixing plate; the first lead screw fixing pieces are fixed on two ends of the film remover fixing plate; and the first lead screw is fixed between two first lead screw fixing pieces;

the first step motor is fixed on the first lead screw fixing pieces; the first step motor is configured to drive the first lead screw to rotate, thereby driving the chuck support beam connected with the first lead screw to move left and right; and the slide block is connected and fixed with a lower surface of the chuck support beam, and slides left and right along the guide track as the chuck support beam moves;

there are two outer chuck jaws in total that are respectively fixed on two sides of the chuck support beam and are symmetric with respect to a central plane of the chuck support beam; there are two chuck cylinders in total that are respectively arranged in centers of upper surfaces of the outer chuck jaws and are fixed above the chuck support beam; and the inner chuck jaws are respectively connected with push rods of the chuck cylinders, located in the outer chuck jaws, and configured to clamp and release the trap board sticker; and

the triaxial cylinder is fixed on an upper end surface of the steel I-beam; a lower end surface of the steel I-beam is fixed on the outer wall of the trap board supply box; the support plate is fixed on a push rod of the triaxial cylinder; the triaxial cylinder is connected with the first pneumatic control valve through the first air guide tube; the chuck cylinders each are connected with the second pneumatic control valve through the second air guide tube; the second pneumatic control valve and the first pneumatic control valve are connected with the air pump through the airflow distribution guide tube; and the air pump is provided at the bottom of the machine frame.

Further, the machine vision control module may include an industrial camera12and a controller23; the industrial camera may be provided at a highest point of the machine frame, and configured to acquire an image of the trap board; and the controller may be provided at a side of the machine frame.

The present disclosure further provides an intelligent replacement method for a trap board in a tea garden based on image channel computation, which is applied to the intelligent replacement device for a trap board in a tea garden based on image channel computation, and includes:

acquiring an image of the trap board;

splitting channels of an acquired image of the trap board;

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

computing a ratio function of the first matrix F norm to the second matrix F norm;

determining whether the trap board fails according to the ratio function; and

determining that the trap board fails and replacing the trap board if yes.

Further, the determining whether the trap board fails according to the ratio function may specifically include:

determining whether the ratio function y(n) is greater than a first determination factor λ, n being a number of image acquisition times;

continuously acquiring an image of the trap board if yes;

determining whether y(n−1)−y(n) is greater than a second determination factor κ if no;

continuously acquiring an image of the trap board if yes; and

determining that the trap board fails and replacing the trap board if no.

Based on specific embodiments provided in the present disclosure, the present disclosure achieves the following technical effects:

(1) The device is highly automatic, automatically replaces the trap board instead of manual operation, and reduces the labor cost.

(2) The device intelligently determines the trap board with the machine vision, can prevent the waste of the trap board due to insufficient artificial experience, and further prevent the problems of poor insect trapping effect and the like because the trap board is not replaced in time.

(3) The device can yield the better insect trapping effect, reduce the usage of farm chemicals, alleviate the pollution in the tea garden, and improve the product quality and added values of the tea.

