CN104458743A - Swing-arm-type facility crop biomass multi-sensing detection device and swing-arm-type facility crop biomass multi-sensing detection method - Google Patents
Swing-arm-type facility crop biomass multi-sensing detection device and swing-arm-type facility crop biomass multi-sensing detection method Download PDFInfo
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Abstract
The invention relates to a swim-arm-type facility crop biomass multi-sensing detection device and a swing-arm-type facility crop biomass multi-sensing detection method. The swim-arm-type facility crop biomass multi-sensing detection device mainly comprises a T-shaped swing arm frame and a support frame, wherein the tail of a cross arm of the T-shaped swing arm frame is provided with a second digital camera; a vertical column of the T-shaped swing arm frame is provided with a first digital camera, and can rotate along the axis under the effect of a movement control clamp; sample brackets are arranged on the support frame; loading sensors are arranged between the sample brackets and the support frame. The method comprises the following steps: firstly, the swim-arm-type facility crop biomass multi-sensing detection device is arranged in advance; secondly, the swim-arm-type facility crop biomass multi-sensing detection device is started up for multi-sensing detection of crop biomass; finally, facility crop biomass characteristic parameters are extracted and described quantitatively. According to the invention, the machine vision and the biomass loading detection method are combined, and by multi-information fusion, the biomass information of the production process of facility crops is acquired circularly, and can be subjected to cruised monitoring automatically.
Description
Technical field
The present invention relates to the device and method of a kind of view-based access control model and mechanics multi-information merging technology checkout facility plant growth information, refer in particular to the many sensing detection devices of a kind of swing-arm type protected crop biomass and method.
Background technology
China is furnished equipments big country, facility area the first in the world, in furnished equipments process, the protected crop especially biomass information of leaf vegetables crop and dynamic changing process thereof is the key index in crop condition monitoring and output estimation, is to carry out the important evidence that science water and fertilizer management and output estimates.At present, it is main that the biomass of crop and regional vegetation detects mainly with manual method, sampling process can be carried out entirety to the crop of resample area and vegetation and be removed, carry out direct weighing measurement, not only direct breaking-up is caused to sample in region, and this disposable sampling method, the continuous dynamic monitoring to same sample cannot be realized.Dynamic Non-Destruction Measurement can not destroy on the basis of organization structure of the plant, utilizes the non-contacting means such as EO-1 hyperion and visual pattern to carry out non-contact monitoring to the upgrowth situation of crop.This method can rapidly, accurately, robotization, nondestructively to monitor crop biomass, be implement accurate agricultural in the urgent need to new and high technology.Load sensor also can carry out the detection of biomass when not destroying plant body simultaneously.Visual imaging and loading detection method combine by the present invention, carry out circulation dynamic monitoring by cantilever mechanism to the biomass of crop, and can grasp the Interspecific competition change information of protected crop in real time, that estimates for science water and fertilizer management and output provides foundation.
Crop biomass Non-Destructive Testing research at present based on machine vision technique and mechanical meaurement method is in the starting stage.Application number is the application for a patent for invention of 201210078528.1, disclose a kind of hand-held biomass estimation device and method, the screen resilience produced when utilizing pressure transducer to obtain crop deformation, the biomass of field crop is detected, this device is applicable to the detection to microcommunity crops biomass in Small burden in the breeding process of field, due to the difference of its detection mode, these apparatus and method are difficult to detect the Individual Biomass of the potted plant crop of facility carry out dynamic Continuous Observation.Application number is the application for a patent for invention of 201210430049.1, disclose a kind of crop biomass pick-up unit and detection method, laser range sensor is utilized to measure plant height, utilize clamping sensor measurement stem thick, the crop that this device each individual plant such as wheat, paddy rice be applicable to self-sow has multiple cane carries out plant height and the thick detection of stem.But these apparatus and method only slightly detect for plant height and stem, could not provide the Detection Information of overall biomass.Application number is the application for a patent for invention of 201210011573.5, disclose a kind of crop biomass Non-Destructive Testing image acquisition and processing device and detection method, by obtaining the image information of crop different angles, obtain fresh biomass and the dry biomass information of potted plant crop.Although this application for a patent for invention can detect the biomass of potted plant crop, but due to the limitation of its detection mode, make it when detecting many strains, be difficult to the accurate location realizing same sample, therefore cannot realize the dynamic observation to process of crop growth biomass variety and research.In sum, existing crop biomass pick-up unit and method are due to the limitation of himself, the very difficult biomass information to the potted plant crop of facility and dynamic changing process thereof carry out continuous print cycle detection, can not meet in modern facilities large-scale production process, crop biomass be carried out to the needs of quasi real time accurately dynamic monitoring.
Summary of the invention
In order to overcome deficiency of the prior art, the invention provides the apparatus and method that a kind of circle collection of the biomass information to protected crop production run machine vision combined with biomass loading detection method and automatic cruising are monitored.
For achieving the above object, the many sensing detection devices of a kind of swing-arm type protected crop biomass provided by the invention, mainly comprise T-shaped Rotating boom and bracing frame, the transverse arm end of described T-shaped Rotating boom is provided with the second digital camera, the column of described T-shaped Rotating boom is provided with the first digital camera, and described first digital camera is connected with computing machine by data collecting card with described second digital camera; The column of described T-shaped Rotating boom can rotate around its axis under the effect of motion control card; Support frame as described above is placed with sample bracket, load sensor is provided with between described sample bracket and support frame as described above, the outside of support frame as described above is provided with background board, and described background board is equipped with reference to scale, the camera lens of described first digital camera is just to the reference scale on background board; The outward flange of described sample bracket is equipped with annular reference scale, and described second digital camera is just to the annular reference scale on described sample bracket.
In such scheme, support frame as described above has eight covers, and described each bracing frame is uniformly distributed in diameter 3 meters circumferentially.
In such scheme, the column of described T-shaped Rotating boom is vertically arranged on the center of circle of support frame as described above composition.
In such scheme, described sample bracket is provided with the locating groove for locking sample.
The present invention also provides a kind of swing-arm type protected crop biomass many sensing detection method, carries out according to following step:
(1) the many sensing detection devices of swing-arm type protected crop biomass is preset;
(2) start the many sensing detection devices of swing-arm type protected crop biomass, carry out many sensing detection of crop biomass;
(3) to extraction and the quantificational description of protected crop biomass characteristic parameter.
Further, the many sensing detection devices of described swing-arm type protected crop biomass preset, specifically comprises the following steps:
1. sample is placed in respectively on sample bracket, the sample on one of them sample bracket is set to demarcation sample, and the locating groove of each bracket is locked;
2. cantilever shalving is adjusted by motion control card, the second digital camera overlooking visual field is made to be positioned at directly over sample bracket, crop canopies image is gathered, make the first digital camera of main visual field with sample bracket axle to vertical, highly be in crop half plant height position, adjustment viewing field of camera enables camera carry out imaging to the canopy of crop and the whole strain of plant;
3. adjust the reference position of rule on background board and sample bracket, guarantee not to be blocked and blur-free imaging;
4. according to without crop reference sample, load sensor is demarcated;
5. detection start bit and the sampling interval stroke distances of the Rotating boom of many sensing detection devices are set, and according to detecting the automatic cruising interval time and the start-up time that need certainty annuity.
Further, many sensing detection process of crop biomass is: first carry out loading information to being in the first demarcation sample and with reference to scale image information collecting, determining reference information; Then cantilever shalving order rotation rest in detecting position, complete the loading heat transfer agent of all crop samples in stroke range and the collection of biomass image information and reset, repeating said process interval time according to setting afterwards, realizing the dynamic monitoring to process of crop growth crop biomass dynamic-change information.
Further, the wherein said extraction to protected crop biomass characteristic parameter and quantificational description process are:
1. based on reference the scale image information of demarcation sample obtained, to the master of start bit depending on and the reference scale of overlooking visual field extract and parameter calculating, obtain the conversion relation of physical size and target signature parameter;
2. based on the loading heat transfer agent of the demarcation sample obtained, the actual mass information without crop sample is obtained;
3. the crop sample image overlooking visual field is processed, extract hat width and canopy area features parameter; The main crop sample image depending on visual field is processed, obtains plant Diameter Distribution parameter vertically, and obtain crop sample volume according to quadrature conversion relation, according to volume density model, the quality estimation information of the crop obtained;
4. according to the loading heat transfer agent of crop sample, carry out calculus of differences with the loading heat transfer agent of demarcating sample, obtain the fresh weight of crop biomass;
5. based on the crop quality estimation information obtained and dynamic changes of fresh weight information, by Multi-information acquisition, quantificational description output is carried out to the growth information of the biomass of protected crop growth course.
Effect of the present invention is: visual detection technology and mechanics detection method combine by the present invention, the image detection device on spiral arm and the biomass information of the loading pick-up unit on monitor station to protected crop is utilized to carry out cycle detection, compared with existing detection method, the Real-Time Monitoring of the biomass information to protected crop production run can be realized.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the many sensing detection method of a kind of swing-arm type protected crop biomass;
Fig. 2 is a kind of swing-arm type protected crop biomass many sensing detection devices structure diagram;
Fig. 3 is the position view of T-shaped Rotating boom, background board and bracing frame;
In figure, 1-first digital camera 2-second digital camera 3-background board 4-T type Rotating boom 5-sample bracket 6-load sensor 7-data collecting card 8-motion control card 9-computing machine 10-bracing frame.
Embodiment
Below in conjunction with accompanying drawing and implementation step, the present invention is described in detail.
With reference to accompanying drawing 2 and 3, the many sensing detection devices of a kind of swing-arm type protected crop biomass of the present invention, this device comprises dibit imaging device, quality harvester, Rotating boom (4), monitor station and centralized control system.
Wherein said dibit imaging device comprises the first digital camera 1 and the second digital camera 2, wherein the second digital camera 2 is fixed on the transverse arm end of T-shaped Rotating boom 4, for obtaining the overhead view image of crop, first digital camera 1 is fixed on the column of T-shaped Rotating boom 4, for obtaining the front view picture of crop; First digital camera 1 and the second digital camera 2 are USB interface, and institute's image data is uploaded to centralized control system by usb bus and carries out treatment and analysis.
Wherein said quality harvester comprises load sensor 6 and data collecting card 7, wherein load sensor 6 is arranged between bracing frame 10 and sample bracket 5, for obtaining gross mass and the fresh weight information of crop, quality due to load sensor 6 acquisition also comprises the quality of flowerpot, matrix and nutrient solution or other nutriments, therefore when reality detects, detecting position of monitor station place without crop but the vacant flowerpot comprising equivalent matrix and nutriment for the demarcation of loading heat transfer agent and calculating, be called demarcation sample.After the information that load sensor 6 obtains carries out A/D conversion by data collecting card 7, upload centralized control system by usb bus and carry out treatment and analysis.
Wherein said bracing frame 10 has 8 covers, is uniformly distributed in diameter 3 meters circumferentially.Place crop sample to be measured above sample bracket 5 or demarcate sample without crop, below installed load sensor 6,8 overlaps load sensor 6 and is connected with the analog input port of data collecting card 7, can realize the synchronous acquisition to 8 sample quality information.
Wherein said T-shaped Rotating boom 4 column be fixed on vertically be arranged on support frame as described above 10 form the center of circle on, transverse arm is fixed on column top, transverse arm is installed transverse arm end and be provided with the second digital camera 2, the column of T-shaped Rotating boom 4 is provided with the first digital camera 1, by the column circular-rotation successively of the T-shaped Rotating boom 4 of the programmed control on motion control card 8, realize the circulation imaging to the protected crop be positioned on each monitor station of annular circumferential.
Wherein said centralized control system comprises computing machine 9, data collecting card 7 and motion control card 8.Computer for controlling 9 is connected by usb bus with data collecting card 7, carries out analyzing and processing for obtaining analog quantity information that 8 load sensors 6 gather and converting digital signal to by A/D; Computing machine 9 is connected with the second digital camera 2 with the first digital camera 1 respectively by usb bus, sends the image information that instruction obtains crop, and carry out treatment and analysis by computing machine 9; Computing machine 9 is connected with T-shaped Rotating boom 4 by motion control card 8, and send instruction by computing machine 9, the column controlling T-shaped Rotating boom 4 rests in the detecting position of each monitor station successively, carries out timing cycle detection to crop biomass.
With reference to accompanying drawing 1, the many sensing detection method of a kind of swing-arm type protected crop biomass of the present invention, carry out according to following step:
1) the many sensing detection devices of swing-arm type protected crop biomass is preset
1. various kinds is originally placed on sample bracket 5 respectively, wherein places on first sample bracket and demarcate sample, and the locating groove of each bracket is locked;
2. the column of T-shaped Rotating boom 4 is adjusted, the second digital camera 2 overlooking visual field is made to be positioned at directly over sample bracket, crop canopies image is gathered, make the first digital camera 1 of main visual field axially vertical with sample bracket 5, highly be in crop half plant height position, adjustment viewing field of camera enables camera carry out imaging to the canopy of crop and the whole strain of plant;
3. at the main annular reference scale depending on the background board 3 in direction, visual field being placed known dimensions, the sample bracket 5 overlooking visual field is placed the annular reference scale of known dimensions, adjustment, with reference to position of rule, is guaranteed not to be blocked and blur-free imaging;
4. demarcate sample according to without crop, load sensor 6 is demarcated;
5. detection start bit and the sampling interval stroke distances of the Rotating boom 4 of many sensing detection devices are set, and according to detecting the automatic cruising interval time and the start-up time that need certainty annuity;
2) start the many sensing detection devices of swing-arm type protected crop biomass, carry out many sensing detection of crop biomass
First pick-up unit carries out loading information to being in the first demarcation sample and with reference to scale image information collecting, determining reference information; Pick-up unit order arrives and rests in detecting position afterwards, completes the loading heat transfer agent of all crop samples in stroke range and the collection of biomass image information and resets.Repeating said process interval time according to setting afterwards, realizing the dynamic monitoring to process of crop growth crop biomass dynamic-change information.
3) to extraction and the quantificational description of protected crop biomass characteristic parameter
1. based on reference the scale image information of demarcation sample obtained, to the master of start bit depending on and the reference scale of overlooking visual field extract and parameter calculating, obtain the conversion relation of physical size and target signature parameter;
2. based on the loading heat transfer agent of the demarcation sample obtained, the actual mass information without crop sample is obtained;
3. the crop sample image overlooking visual field is processed, extract characteristic parameter such as hat width and canopy area etc.; The main crop sample image depending on visual field is processed, obtains the characteristic parameters such as plant diameter distribution vertically, and obtain crop sample volume according to quadrature conversion relation, according to volume density model, the quality estimation information of the crop obtained;
4. according to the loading heat transfer agent of crop sample, carry out calculus of differences with the loading heat transfer agent of demarcating sample, obtain the fresh weight of crop biomass.
5. based on the crop quality estimation information obtained and dynamic changes of fresh weight information, by Multi-information acquisition, quantificational description output is carried out to the growth information of the biomass of protected crop growth course.
Claims (8)
1. the many sensing detection devices of swing-arm type protected crop biomass, it is characterized in that: comprise T-shaped Rotating boom (4) and bracing frame (10), the transverse arm end of described T-shaped Rotating boom (4) is provided with the second digital camera (2), the column of described T-shaped Rotating boom (4) is provided with the first digital camera (1), and described first digital camera (1) is connected with computing machine (9) by data collecting card (7) with described second digital camera (2); The column of described T-shaped Rotating boom (4) can rotate around its axis under the effect of motion control card (8); Support frame as described above (10) is placed with sample bracket (5), load sensor (6) is provided with between described sample bracket (5) and support frame as described above (10), the outside of support frame as described above (10) is provided with background board (3), described background board (3) is equipped with reference to scale, the camera lens of described first digital camera (1) is just to the reference scale on background board (3); The outward flange of described sample bracket (5) is equipped with annular reference scale, and described second digital camera (2) is just to the annular reference scale on described sample bracket (5).
2. the many sensing detection devices of a kind of swing-arm type protected crop biomass according to claim 1, is characterized in that: support frame as described above (10) has eight covers, described each bracing frame (10) is uniformly distributed in diameter 3 meters circumferentially.
3. the many sensing detection devices of a kind of swing-arm type protected crop biomass according to claim 2, is characterized in that: the column of described T-shaped Rotating boom (4) is vertically arranged on the center of circle that support frame as described above (10) forms.
4. the many sensing detection devices of a kind of swing-arm type protected crop biomass according to claim 3, is characterized in that: described sample bracket (5) is provided with the locating groove for locking sample.
5. the many sensing detection method of swing-arm type protected crop biomass, carry out according to following step:
(1) the many sensing detection devices of swing-arm type protected crop biomass is preset;
(2) start the many sensing detection devices of swing-arm type protected crop biomass, carry out many sensing detection of crop biomass;
(3) to extraction and the quantificational description of protected crop biomass characteristic parameter.
6. the many sensing detection method of a kind of swing-arm type protected crop biomass according to claim 5, is characterized in that: the many sensing detection devices of described swing-arm type protected crop biomass preset, specifically comprise the following steps:
1. sample is placed in respectively on sample bracket (5), wherein places on first sample bracket and demarcate sample, and the locating groove of all the other sample brackets is locked;
2. cantilever shalving (4) is adjusted by motion control card 8, the second digital camera (2) overlooking visual field is made to be positioned at directly over sample bracket, crop canopies image is gathered, make first digital camera (1) of main visual field axially vertical with sample bracket (5), highly be in crop half plant height position, adjustment viewing field of camera enables camera carry out imaging to the canopy of crop and the whole strain of plant;
3. adjust the reference position of rule on background board (3) and sample bracket (5), guarantee not to be blocked and blur-free imaging;
4. according to without crop reference sample, load sensor (6) is demarcated;
5. detection start bit and the sampling interval stroke distances of the Rotating boom (4) of many sensing detection devices are set, and according to detecting the automatic cruising interval time and the start-up time that need certainty annuity.
7. the many sensing detection method of a kind of swing-arm type protected crop biomass according to claim 5, it is characterized in that: many sensing detection process of crop biomass is: first carry out loading information to being in the first demarcation sample and with reference to scale image information collecting, determining reference information; Then cantilever shalving (4) order rotation rest in detecting position, complete the loading heat transfer agent of all crop samples in stroke range and the collection of biomass image information and reset, repeating said process interval time according to setting afterwards, realizing the dynamic monitoring to process of crop growth crop biomass dynamic-change information.
8. the many sensing detection method of a kind of swing-arm type protected crop biomass according to claim 5, is characterized in that: the wherein said extraction to protected crop biomass characteristic parameter and quantificational description process are:
1. based on reference the scale image information of demarcation sample obtained, to the master of start bit depending on and the reference scale of overlooking visual field extract and parameter calculating, obtain the conversion relation of physical size and target signature parameter;
2. based on the loading heat transfer agent of the demarcation sample obtained, the actual mass information without crop sample is obtained;
3. the crop sample image overlooking visual field is processed, extract hat width and canopy area features parameter; The main crop sample image depending on visual field is processed, obtains plant Diameter Distribution parameter vertically, and obtain crop sample volume according to quadrature conversion relation, according to volume density model, the quality estimation information of the crop obtained;
4. according to the loading heat transfer agent of crop sample, carry out calculus of differences with the loading heat transfer agent of demarcating sample, obtain the fresh weight of crop biomass;
5. based on the crop quality estimation information obtained and dynamic changes of fresh weight information, by Multi-information acquisition, quantificational description output is carried out to the growth information of the biomass of protected crop growth course.
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| CN201410626908.3A CN104458743B (en) | 2014-11-10 | 2014-11-10 | Swing-arm-type facility crop biomass multi-sensing detection device and swing-arm-type facility crop biomass multi-sensing detection method |
| PCT/CN2015/086701 WO2016074513A1 (en) | 2014-11-10 | 2015-08-12 | Swing-arm-type facility crop biomass multi-sensing detection device and method |
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| WO2016074513A1 (en) * | 2014-11-10 | 2016-05-19 | 江苏大学 | Swing-arm-type facility crop biomass multi-sensing detection device and method |
| CN105842164A (en) * | 2016-05-06 | 2016-08-10 | 北京农业信息技术研究中心 | Wheat spike number measuring device and use method thereof |
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| CN110991269A (en) * | 2019-11-14 | 2020-04-10 | 安徽科技学院 | Detection system based on hyperspectral imaging and visual identification |
| CN111652935A (en) * | 2020-06-30 | 2020-09-11 | 上海振华重工(集团)股份有限公司 | Positioning system and method for railway train bracket |
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| WO2016074513A1 (en) | 2016-05-19 |
| CN104458743B (en) | 2017-01-11 |
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