Research On Extracting Motion Information Of The Thrown Clods Based On High-speed Imaging System

Submerged reverse-rotary tillage is a type of tillage with the rotary shaft underlying the soil surface and rotation direction reverse to the tractor wheels' rotation direction. A series of researches on the relationship between blade type , cut-force and energy consumption have been studied. Due to many factors , all of the researches were focus on the plane motion of the thrown clod and ignored the motion in the side direction, which cann't reflect the 3D throwing properties of the submerged reverse-rotary tillage. But 3D motion of the thrown clods is most important for researching on avoiding the piled-up clods and improving the cover quality. In the thesis, We developed a method to construct the binocular vision system to research on the 3D motion of clod and developed image processing method to acquire the object characters from the time-arrayed images.According to the properties of the high-speed vidicon, rotary tiller movement parameters and light etc., we found the best parameters of the vidicon and the tracer marker is fit for observing the clod. Image processing results showed that the tracer marker is good for observing the objects in the thrown clods, simplifying the image processing and improving the precision. According to the color properties of the tracer marker, we developed the method of acquiring the component image from RGB image. A method was brought forward to acquire the moving object in the time-arrayed images based on image processing of the region containing objects.Based on the 2D time-arrayed image processing for acquiring objects, We construct the binocular vision system with Motionpro 10000 and CR2000 High speed imaging system. And a method of restore the 3D motion tracks of the clod based on BP Neural network theory were brought forward. The results showed that when the object motion tracking is continuous ,method we developed, can restore the 3D motion tracks with good quality.During our research on the motion rule of the thrown clods, we found a phenomenon of 'similar to ellipse'. In a working cycle of the blade, the periphery of the thrown clods at first looks like an ellipse and then turned to half-arc. In this thesis we give a method named 'image geometry division' to describe the phenomenon.The relationship between the height of the thrown clods and rotary tiller movement parameters was also researched . The results showed that the moving speed and the thrown soil height is not monotony...