CN209656661U - A kind of wheat high throughput phenotypic information acquisition device - Google Patents
A kind of wheat high throughput phenotypic information acquisition device Download PDFInfo
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- CN209656661U CN209656661U CN201920297440.6U CN201920297440U CN209656661U CN 209656661 U CN209656661 U CN 209656661U CN 201920297440 U CN201920297440 U CN 201920297440U CN 209656661 U CN209656661 U CN 209656661U
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Abstract
The utility model discloses a kind of wheat high throughput phenotypic information acquisition device, it include: vehicle frame, measuring device and control system, measuring device and control system are fixed on vehicle frame, wherein: vehicle frame includes frame body, telescopic rod, support frame, first wheel and the second wheel, measuring device includes: network cameras, ultrasonic sensor, NDVI sensor, digital camera, portable bloom spectrometer and infrared distance sensor, control system includes: computer, controller and stepper motor, frame body can move in the blank ground in the ranks of wheat in wheatland under the drive of the first wheel and the second wheel, it can complete the acquisition to wheat phenotypic information, and the information acquired can be sent to computer, due to can be by car body ontology in wheatland free movement, and it can be carried out close to wheat Information collection not only reduces costs but also may be implemented the accuracy of information collection compared to traditional information collecting platform.
Description
Technical field
The utility model relates to crops data acquisition technology fields, and in particular to a kind of wheat high throughput phenotype letter
Cease acquisition device.
Background technique
High-throughput phenotype based on field is a kind of imaging technique characterization crop groups complex character using short distance
New methods.The advantage is that: it can quantify the crop character of difficult a large amount of groups under the conditions of relative growth, thus
The monitoring of the dynamic response to environmental condition is improved, and then the field management of crop, crop breeding can be instructed or make produce
The prediction of amount.
With the development of sensor technology, the measurement of wheat phenotype is also greatly improved, so that quantitatively commenting
The a variety of characters for estimating wheat are possibly realized.Currently, the phenotype measuring table of wheat is roughly divided into remote sensing type and near end formula.
Remote sensing type platform is mainly dependent on unmanned plane, and near end formula platform mainly has survey crew's hand-held platform and large-scale rope outstanding
Floating or rail mounted field high throughput phenotype platform, for the object and character of research.
But above-mentioned measuring table all Shortcomings, the precision prescribed height of sensor has with load capacity in remote sensing type measurement
Limit etc..Hand-held platform major advantage is that structure is simply with strong points, and cheap, disadvantage is to be limited to the survey of single shape
Amount, is not suitable for large-diameter crop.Large-scale rope is floated or rail mounted field high throughput phenotype platform advantage is to measure
Range is wide, full-automatic, high-precision can be achieved, the how duplicate crop phenotype information for accurately measuring, obtaining high throughput, but its cost
It is higher.
Utility model content
In order to solve the above-mentioned technical problem the utility model, proposes following technical solution:
In a first aspect, the utility model embodiment provides a kind of wheat high throughput phenotypic information acquisition device, packet
Include: vehicle frame, measuring device and control system, the measuring device and the control system are fixed on the vehicle frame,
In: the vehicle frame includes frame body, telescopic rod, support frame, the first wheel and the second wheel, first wheel and described
There are two two wheels are respectively set, each wheel is correspondingly arranged a support frame as described above, support frame as described above and the frame body
Between the telescopic rod is set, the telescopic rod is separately connected the frame body and support frame as described above, first wheel and
Second wheel is flexibly connected with corresponding support frame as described above respectively；The measuring device includes: network cameras, supersonic sensing
Device, NDVI sensor, digital camera, portable bloom spectrometer and infrared distance sensor, the network cameras are arranged described
Frame body middle position, and the camera lens of the network cameras is oriented horizontal direction, the ultrasonic sensor is arranged in institute
Frame body is stated close to one end of second wheel, the test side of the ultrasonic sensor downward, the NDVI sensor
Setting is adjacent with ultrasonic sensor setting position in the frame body, and the digital camera is provided in the NDVI
Sensor same position, and camera lens is towards the test side setting direction with one of NDVI sensor on the contrary, the number phase
Downward, the portable bloom spectrometer is positioned close to one end of first wheel, the portable EO-1 hyperion to the camera lens of machine
The camera lens of instrument is downward；The infrared distance sensor is fixed on the support frame of second wheel；The control system
It include: computer, controller and stepper motor, the computer, the controller and the stepper motor are fixed at
In the frame body, the computer is electrically connected with the network cameras and the portable bloom spectrometer；The controller
It is electrically connected with the stepper motor, infrared distance sensor, digital camera, NDVI sensor and ultrasonic sensor, the step
Into motor for driving the acquisition device to run.
Using above-mentioned implementation, frame body can be small in wheatland under the drive of the first wheel and the second wheel
It is moved in the blank ground in the ranks of wheat, network cameras, ultrasonic sensor, NDVI sensor, number in frame body is set
Word camera, portable bloom spectrometer and infrared distance sensor can complete the acquisition to wheat phenotypic information, and acquire
Information can be sent to computer, and computer can complete subsequent analysis according to the information received.The utility model provides
Acquisition device, due to can by car body ontology in wheatland free movement, and can close to wheat carry out information collection,
Compared to traditional information collecting platform, the accuracy of information collection is not only reduced costs but also may be implemented.
With reference to first aspect, in a first possible implementation of that first aspect, the frame body includes first party
Bar, the second square bar, the first round bar, the second round bar, third round bar and the 4th round bar, first square bar are separately connected described first
The first end of round bar and second round bar, second square bar are separately connected the second of a round bar and second round bar
The both ends of end, the third round bar and the 4th round bar are fixedly connected with first round bar and second round bar respectively,
The third round bar and the 4th round bar are evenly distributed between first square bar and second square bar.
The first possible implementation with reference to first aspect, in a second possible implementation of that first aspect, institute
Stating support frame is hexagon support frame, and the corresponding support frame of first wheel passes through the telescopic rod and first square bar
Both ends are connected；The corresponding support frame of second wheel is connected by the telescopic rod with the both ends of second square bar.
Second of possible implementation with reference to first aspect, in first aspect in the third possible implementation, institute
State setting among the first round bar and second round bar and be all connected with a screw rod, two screw rods respectively with first round bar and
Second round bar is fixedly connected, and there are two the network cameras settings, and is separately positioned on two screw rods, two institutes
The camera lens of network cameras is stated towards inside.
The third possible implementation with reference to first aspect, in the 4th kind of possible implementation of first aspect, institute
It states ultrasonic sensor and is provided with multiple, multiple ultrasonic sensors are fixed at described second by the first connector
On square bar, and multiple ultrasonic sensors are uniformly arranged, and the test side of multiple ultrasonic sensors is vertically downward.
4th kind of possible implementation with reference to first aspect, in the 5th kind of possible implementation of first aspect, institute
Stating NDVI sensor includes the first NDVI sensor, the 2nd NDVI sensor and the 3rd NDVI sensor, and the first NDVI is passed
Sensor is fixed at the middle position of the 4th round bar, and the detection of the first NDVI sensor by the second connector
Upward, the 2nd NDVI sensor and the 3rd NDVI sensor pass through second connector respectively and are fixed on institute at end
The both ends of the 4th round bar are stated, and the test side of the 2nd NDVI sensor and the 3rd NDVI sensor is vertically downward；Institute
Digital camera setting is stated in the 4th round bar position corresponding with the first NDVI sensor, the digital camera passes through the
Three connectors are fixedly connected with the 4th round bar, and the both ends of the 4th round bar are additionally provided with GPS module, the GPS module
One end of the 4th round bar, the GPS module and the calculating mechatronics are fixed at by the 4th connector.
5th kind of possible implementation with reference to first aspect, in the 6th kind of possible implementation of first aspect, institute
The middle position that portable bloom spectrometer is fixed at the third round bar by the 5th connector is stated, the infrared distance measurement passes
Sensor is fixed on the support frame of second wheel.
6th kind of possible implementation with reference to first aspect, in the 7th kind of possible implementation of first aspect, institute
Stating stepper motor includes the first stepper motor and second stepper motor, and first stepper motor includes two, and described in two
First stepper motor is respectively and fixedly installed to the outside for the support frame as described above connecting with the first wheel, and first stepper motor
Output shaft on be fixed with gear, two first wheels are equipped with the gear ring engaged with the gear, the gear and institute
State gear ring engagement connection；There are two the second stepper motor settings, and two second stepper motors are respectively fixedly disposed at
Two screw rods are fixed with gear, two screw rods on one end of round bar, the output shaft of the second stepper motor
It is equipped with the gear ring engaged with the gear, the gear engages connection with the gear ring.
7th kind of possible implementation with reference to first aspect, in the 8th kind of possible implementation of first aspect, institute
It states frame body and one end of the third round bar is provided with a support plate, the support board ends are round with described first respectively
Bar is fixedly connected with second round bar, and the computer and the controller are fixed in the support plate；The branch
Also set up a power supply on fagging, the power supply respectively with the computer, the controller, the stepper motor, the network
Camera, the ultrasonic sensor, the NDVI sensor, the digital camera, the portable bloom spectrometer and described red
Outer distance measuring sensor electrical connection.
Second aspect, the utility model embodiment provide a kind of control of wheat high throughput phenotypic information acquisition device
Method processed, which comprises determine that growth stage locating for wheat, the growth stage include that wheat is in heading stage and florescence
Front and back；If the wheat is in heading stage, all parts of the acquisition device are adjusted, comprising: according to measurement
The general height of wheat in field, adjusts the height of telescopic rod, so that horizontal plane is away from wheat canopy 90cm where the 4th round bar；Root
The number of ultrasonic sensor is set, and guarantees each across the line number of wheat in measurement field according to two the second wheels
Ultrasonic sensor detects a line wheat；Pass through the initial position in GPS module positioning measurement plot；According to the big of wheat line space
It is small, adjust the setting range of infrared distance sensor；It controls the acquisition device to detect the wheat, comprising: control
Two the first stepper motors drive the first wheels to advance with certain speed, meanwhile, infrared distance sensor real-time detection with it is small
The distance of wheat, and controller is fed back information to, and then adjust the revolving speed of two the first stepper motors, guaranteed using PID control
The device moves in the blank ground in the ranks of wheat；The every row wheat of ultrasonic sensor real-time detection is controlled, by the mould of output
Quasi- voltage signal is sent to the controller, the distance between ultrasonic sensor and canopy can be obtained, then by supersonic sensing
Certain relationship of device and ground, can be obtained the plant height of wheat；Three NDVI sensors are controlled to work at the same time, NDVI sensor according to
NDVI sensor measurement vertically upward is reflected down solar radiation value, and NDVI sensor measurement vertically downward reflects too upwards
The numerical value of NDVI can be obtained in positive radiation value；Control digital camera and portable bloom spectrometer start simultaneously at work, while controlling the
One stepper motor stop motion simultaneously sends the location information of signal refreshing GPS module reacquisition at this time；First stepping electricity after 6s
Machine movement, while the spectral information that image and bloom spectrometer that digital camera obtains obtain is sent respectively to controller and calculating
Machine；Acquisition device repeats above-mentioned workflow after 6s, the measurement work until completing entire field；The data that will acquire carry out
Processing, comprising: spectral information is inputted in well-established mathematical model, wheat leaf blight (STB) can be detected and quantify
Susceptible severity matches spectral information and the historical data of GPS module in controller, can accurately detect this
The serious region of leaf blight in field；The image that digital camera is obtained carries out image procossing, to can be obtained in every image
Total spike number, while the corresponding practical plot of every image is oriented by the historical data of GPS module in controller, and measure
The area in each plot, and then obtain the spike density of wheat；If the wheat was in front of and after florescence, the acquisition is filled
The all parts set are adjusted, comprising: adjust the height of telescopic rod and the setting range of infrared distance sensor, setting ultrasound
Number, the initialization GPS module of wave sensor；It controls the acquisition device to detect the wheat, comprising: control first
Stepper motor, infrared distance sensor and ultrasonic sensor work, device stop after moving 10s, and controller can get ultrasound
The distance between wave sensor and canopy D, and then the average distance in the plot detected at present, according to ultrasonic sensor
With the certain position relation of network cameras, while control second stepper motor rotation drive guide screw movement so that two network phases
Machine is located at the wheat head position of wheat；The first stepper motor work 6s is controlled, device is made to travel forward；Control digital camera with it is portable
Formula bloom spectrometer starts simultaneously at work, while controlling the first stepper motor and stopping working and send signal and refreshing GPS module again
Obtain location information at this time；The first stepper motor works after 6s, while the image and bloom spectrometer that digital camera obtains being obtained
The spectral information obtained is sent respectively to controller and computer；Digital camera and portable bloom spectrometer are controlled after 6s again simultaneously
It starts to work, while controlling the first stepper motor and stopping working and send signal and refreshing the position of GPS module reacquisition at this time
Information, the wheat until completing entire field measure work.
Detailed description of the invention
Fig. 1 is that a kind of structure of wheat high throughput phenotypic information acquisition device provided by the embodiment of the utility model is shown
It is intended to；
Fig. 2 is a kind of side view of wheat high throughput phenotypic information acquisition device provided by the embodiment of the utility model
Figure；
Fig. 3 is a kind of wheat high throughput phenotypic information acquisition device bottom view provided by the embodiment of the utility model；
Fig. 4 is a kind of controlling party of wheat high throughput phenotypic information acquisition device provided by the embodiment of the utility model
Method flow diagram；
Fig. 5 is the control of another wheat high throughput phenotypic information acquisition device provided by the embodiment of the utility model
Method flow schematic diagram；
In Fig. 1-5, symbol is expressed as:
1- frame body, 2- telescopic rod, 3- support frame, the first wheel of 4-, the second wheel of 5-, 6- network cameras, 7- ultrasound
Wave sensor, 8- digital camera, the portable bloom spectrometer of 9-, 10- infrared distance sensor, 11- computer, 12- controller,
The first square bar of 13-, the second square bar of 14-, the first round bar of 15-, the second round bar of 16-, 17- third round bar, the 4th round bar of 18-, 19-
Screw rod, the first connector of 20-, the first NDVI sensor of 21-, the 2nd NDVI sensor of 22-, the 3rd NDVI sensor of 23-, 24-
Second connector, 25- third connector, 26-GPS module, the 4th connector of 27-, the 5th connector of 28-, 29- the first stepping electricity
Machine, 30- second stepper motor, 31- support plate, 32- power supply.
Specific embodiment
This programme is illustrated with specific embodiment with reference to the accompanying drawing.
Fig. 1 is that a kind of structure of wheat high throughput phenotypic information acquisition device provided by the embodiment of the utility model is shown
It is intended to, Fig. 2 is a kind of side view of wheat high throughput phenotypic information acquisition device provided by the embodiment of the utility model, figure
3 be a kind of wheat high throughput phenotypic information acquisition device bottom view provided by the embodiment of the utility model.
Referring to figures 1-3, wheat high throughput phenotypic information acquisition device provided by the embodiment of the utility model, packet
Include: vehicle frame, measuring device and control system, the measuring device and the control system are fixed on the vehicle frame,
In: the vehicle frame includes frame body 1, telescopic rod 2, support frame 3, the first wheel 4 and the second wheel 5,4 He of the first wheel
There are two second wheel 5 is respectively set, each wheel is correspondingly arranged a support frame as described above 3, support frame as described above 3 with it is described
The telescopic rod 2 is set between frame body 1, the telescopic rod 2 is separately connected the frame body 1 and support frame as described above 3,
First wheel 4 and the second wheel 5 are flexibly connected with corresponding support frame as described above 3 respectively, wherein the first wheel 4 can be ten thousand
To wheel, the second wheel 5 is common wheel.
Further, the frame body 1 includes the first square bar 13, the second square bar 14, the first round bar 15, the second round bar
16, third round bar 17 and the 4th round bar 18, first square bar 13 are separately connected first round bar 15 and second round bar
16 first end, second square bar 14 are separately connected the second end of a round bar and second round bar 16, the third
The both ends of round bar 17 and the 4th round bar 18 are fixedly connected with first round bar 15 and second round bar 16 respectively, described
Third round bar 17 and the 4th round bar 18 are evenly distributed between first square bar 13 and second square bar 14.
In one illustrative examples of the utility model, support frame as described above 3 is hexagon support frame, and first wheel 4 is right
The support frame 3 answered is connected by the telescopic rod 2 with the both ends of first square bar 13.The corresponding branch of second wheel 5
Support 3 is connected by the telescopic rod 2 with the both ends of second square bar 14.
The measuring device includes: network cameras 6, ultrasonic sensor 7, NDVI sensor, digital camera 8, portable
Bloom spectrometer 9 and infrared distance sensor 10.The network cameras 6 is arranged in 1 middle position of frame body, and the net
The camera lens of network camera 6 is oriented horizontal direction, and the ultrasonic sensor 7 is arranged in the frame body 1 close to described second
One end of wheel 5, the test side of the ultrasonic sensor 7 downward, NDVI sensor setting the frame body 1 with
The setting of ultrasonic sensor 7 position is adjacent, and the digital camera 8 is provided in the NDVI sensor same position, and
Camera lens towards with the test side setting direction of one of NDVI sensor on the contrary, the camera lens of the digital camera 8 downward, it is described
Portable bloom spectrometer is positioned close to one end of first wheel 4, and the camera lens of the portable bloom spectrometer is downward；It is described
Infrared distance sensor 10 is fixed on the support frame 3 of second wheel 5.
Specifically, setting is all connected with a screw rod 19 among first round bar 15 and second round bar 16, described in two
Screw rod 19 is fixedly connected with first round bar 15 and second round bar 16 respectively, and there are two the settings of network cameras 6, and
It is separately positioned on two screw rods 19, the camera lenses of two network cameras 6 is towards inside.
The ultrasonic sensor 7 is provided with multiple, and it is fixed that multiple ultrasonic sensors 7 pass through the first connector 20
It is arranged on second square bar 14, and multiple ultrasonic sensors 7 are uniformly arranged, multiple ultrasonic sensors 7
Test side vertically downward.
The NDVI sensor includes the first NDVI sensor 21, the 2nd NDVI sensor 22 and the 3rd NDVI sensor
23, the first NDVI sensor 21 is fixed at the middle position of the 4th round bar 18 by the second connector 24, and
The test side of the first NDVI sensor 21 is upward.The 2nd NDVI sensor 22 and the 3rd NDVI sensor 23 divide
Not Tong Guo second connector 24 be fixed on the both ends of the 4th round bar 18, and the 2nd NDVI sensor 22 and described
The test side of 3rd NDVI sensor 23 is vertically downward.The setting of digital camera 8 is in the 4th round bar 18 and described first
The corresponding position of NDVI sensor 21, the digital camera 8 are fixedly connected by third connector 25 with the 4th round bar 18,
The both ends of 4th round bar 18 are additionally provided with GPS module 26, and the GPS module 26 is fixedly installed by the 4th connector 27
In one end of the 4th round bar 18.
The portable bloom spectrometer 9 is fixed at the interposition of the third round bar 17 by the 5th connector 28
It sets, the infrared distance sensor 10 is fixed on the support frame 3 of second wheel 5.
The control system includes: computer 11, controller 12 and stepper motor, the computer 11, the controller
12 and the stepper motor be fixed in the frame body 1, it is the computer 11 and the network cameras 6, described
Portable bloom spectrometer 9 and the GPS module 26 are electrically connected, and the controller 12 is sensed with the stepper motor, infrared distance measurement
Device 10, digital camera 8, NDVI sensor and ultrasonic sensor 7 are electrically connected, and the stepper motor is for driving the acquisition to fill
Set operation.
In the present embodiment, the stepper motor includes the first stepper motor 29 and second stepper motor 30, the first step
It include two into motor 29, and described in two first stepper motors 29 are respectively and fixedly installed to connect with the first wheel 4
The outside of support frame 3, and gear is fixed on the output shaft of first stepper motor 29, it is set on two first wheels 4
There is the gear ring engaged with the gear, the gear engages connection with the gear ring.
There are two the settings of second stepper motor 30, and two second stepper motors 30 are respectively fixedly disposed at two
The screw rod 19 is fixed with gear, two screw rods on one end of round bar, the output shaft of the second stepper motor 30
19 are equipped with the gear ring engaged with the gear, and the gear engages connection with the gear ring.
The frame body 1 is provided with a support plate 31,31 liang of the support plate close to one end of the third round bar 17
End is fixedly connected with first round bar 15 and second round bar 16 respectively, and the computer 11 and the controller 12 are fixed
It is arranged in the support plate 31.Also set up a power supply 32 in the support plate 31, the power supply 32 respectively with the computer
11, the controller 12, the stepper motor, the network cameras 6, the ultrasonic sensor 7, the NDVI sensor,
The digital camera 8, the portable bloom spectrometer 9 and the infrared distance sensor 10 are electrically connected.The power supply 32 is used for
It is the computer 11, the controller 12, the stepper motor, the network cameras 6, the ultrasonic sensor 7, described
NDVI sensor, the digital camera 8, the portable bloom spectrometer 9 and the infrared distance sensor 10 are powered.
As can be seen from the above embodiments, a kind of wheat high throughput phenotypic information acquisition device, vehicle are present embodiments provided
Frame ontology can move in the blank ground in the ranks of wheat in wheatland under the drive of the first wheel and the second wheel, setting
Network cameras, ultrasonic sensor, NDVI sensor, digital camera, portable bloom spectrometer in frame body and infrared
Distance measuring sensor can complete the acquisition to wheat phenotypic information, and the information acquired can be sent to computer, computer
Subsequent analysis can be completed according to the information received.Acquisition device provided by the utility model, since car body can be passed through
Ontology can carry out information collection close to wheat and both drop compared to traditional information collecting platform in wheatland free movement
The accuracy of information collection may be implemented in low cost again.
It is corresponding with a kind of wheat high throughput phenotypic information acquisition device provided by the above embodiment, the utility model
Additionally provide a kind of embodiment of wheat high throughput phenotypic information acquisition device control method.Referring to fig. 4, it determines at wheat
In the growth stage, which comprises
S101 is adjusted wheat high throughput phenotypic information acquisition device.
According to the general height of wheat in measurement field, the height of telescopic rod is adjusted, so that horizontal plane where the 4th round bar
Away from wheat canopy 90cm；Ultrasonic sensor is set across the line number of wheat in measurement field according to two the second wheels
Number, and guarantee that each ultrasonic sensor detects a line wheat；Pass through the initial position in GPS module positioning measurement plot；
According to the size of wheat line space, the setting range of infrared distance sensor is adjusted.
S102 controls wheat described in wheat high throughput phenotypic information acquisition device and is detected.
Two the first stepper motors of control drive the first wheel to advance with certain speed, meanwhile, infrared distance sensor
Real-time detection feeds back information to controller at a distance from wheat, and then adjusts the revolving speed of two the first stepper motors, uses
PID control guarantees that the device moves in the blank ground in the ranks of wheat.
The every row wheat of ultrasonic sensor real-time detection is controlled, the analog voltage signal of output is sent to the control
Device can be obtained the distance between ultrasonic sensor and canopy, then by certain relationship of ultrasonic sensor and ground, can be obtained
The plant height of wheat；
Two the first stepper motors of control drive the second wheel to advance with certain speed, meanwhile, infrared distance sensor
Real-time detection feeds back information to controller at a distance from wheat, and then adjusts the revolving speed of two the first stepper motors, uses
PID control guarantees that the device moves in the blank ground in the ranks of wheat.
The every row wheat of ultrasonic sensor real-time detection is controlled, the analog voltage signal of output is sent to the control
The distance between ultrasonic sensor and canopy D can be obtained in device, and according to formula:
The plant height h of wheat can be obtained in h=H-D,
Wherein: H-ultrasonic sensor can have ruler directly to measure at a distance from ground.
Three NDVI sensors are controlled to work at the same time, NDVI sensor according to NDVI sensor measurement vertically upward to
Lower reflected solar radiation value, the upward reflected solar radiation value of NDVI sensor measurement vertically downward, and according to formula:
The numerical value of NDVI is obtained, for evaluating the water stress of field wheat, is convenient for subsequent field management,
Wherein: NIRU- solar radiation value upward under near infrared band,
NIRD- solar radiation value downward under near infrared band,
REDU- solar radiation value upward under red band,
REDD- solar radiation value downward under red band.
Control digital camera and portable bloom spectrometer start simultaneously at work, while controlling the first stepper motor stop motion
And it sends signal and refreshes the location information of GPS module reacquisition at this time.First stepping motor movement after 6s, while by digital phase
The spectral information that the image and bloom spectrometer that machine obtains obtain is sent respectively to the controller and the computer.It is obtained after 6s
Device repeats above-mentioned workflow, the measurement work until completing entire field.
S103, the data that will acquire are handled.
The data that will acquire are handled, comprising: are inputted spectral information in well-established mathematical model, be can detect
The severity susceptible to wheat leaf blight (STB) and quantization, by the historical data of GPS module in spectral information and controller
Match, can accurately detect the serious region of leaf blight in the field；The image that digital camera is obtained carries out image
Processing, so that total spike number in every image can be obtained, while orienting every figure by the historical data of GPS module in controller
As corresponding practical plot, and the area in each plot is measured, and then obtains the spike density of wheat.
Above-described embodiment is at wheat to a kind of control method of wheat high throughput phenotypic information acquisition device
The acquisition that wheat phenotypic information is carried out in heading stage, before and after wheat is in florescence, the utility model additionally provides another kind
The embodiment of wheat high throughput phenotypic information acquisition device control method.
Referring to Fig. 5, which comprises
S201, if wheat was in front of and after florescence, to each of wheat high throughput phenotypic information acquisition device
Component is adjusted.
It adjusts the height of telescopic rod and the setting range of infrared distance sensor, is number that ultrasonic sensor is set, first
Beginningization GPS module.
S202, control wheat high throughput phenotypic information acquisition device detect the wheat.
The first stepper motor, infrared distance sensor and ultrasonic sensor work are controlled, is stopped after device movement 10s,
Controller can get the distance between ultrasonic sensor and canopy D, and then the average distance in the plot detected at present,
According to the certain position relation of ultrasonic sensor and network cameras, while controlling second stepper motor rotation and driving lead screw fortune
It is dynamic, so that two network cameras are located at the wheat head position of wheat；The first stepper motor work 6s is controlled, device is made to travel forward；
Control digital camera and portable bloom spectrometer start simultaneously at work, while the first stepper motor of control stops working and concurrently delivers letters
Number refreshing GPS module reacquires location information at this time；The first stepper motor works after 6s, while digital camera being obtained
The spectral information that image and bloom spectrometer obtain is sent respectively to controller and computer.
Digital camera is controlled after S203,6s again and portable bloom spectrometer starts simultaneously at work, while controlling the first step
It stops working into motor and sends signal and refresh the location information of GPS module reacquisition at this time, until completing entire field
Wheat measures work.
The same or similar parts between the embodiments can be referred to each other in the utility model specification.Especially for
For control method embodiment, since the acquisition device being directed to is substantially similar to the embodiment of acquisition device, so description
It is fairly simple, related place is referring to the explanation in embodiment of the method.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
Certainly, above description is also not limited to the example above, and technical characteristic of the utility model without description can lead to
It crosses or realizes that details are not described herein using the prior art；Above embodiments and attached drawing are merely to illustrate the technology of the utility model
Scheme is not limitations of the present invention, Tathagata substitution, the utility model only in conjunction with and referring to preferred embodiment into
Go detailed description, those skilled in the art should understand that, those skilled in the art are practical new at this
The variations, modifications, additions or substitutions made in the essential scope of type also should belong to this without departure from the objective of the utility model
The claims of utility model.
Claims (9)
1. a kind of wheat high throughput phenotypic information acquisition device characterized by comprising vehicle frame, measuring device and control
System, the measuring device and the control system are fixed on the vehicle frame, in which: the vehicle frame includes frame body
(1), telescopic rod (2), support frame (3), the first wheel (4) and the second wheel (5), first wheel (4) and second vehicle
There are two wheel (5) is respectively set, each wheel is correspondingly arranged a support frame as described above (3), support frame as described above (3) and the vehicle frame
It is arranged between ontology (1) telescopic rod (2), the telescopic rod (2) is separately connected the frame body (1) and support frame as described above
(3), first wheel (4) and the second wheel (5) are flexibly connected with corresponding support frame as described above (3) respectively；
The measuring device includes: network cameras (6), ultrasonic sensor (7), NDVI sensor, digital camera (8), portable
Formula bloom spectrometer (9) and infrared distance sensor (10), the network cameras (6) are arranged in the frame body (1) interposition
It sets, and the camera lens of the network cameras (6) is oriented horizontal direction, the ultrasonic sensor (7) is arranged in the vehicle frame sheet
Body (1) close to second wheel (5) one end, the test side of the ultrasonic sensor (7) downward, the NDVI sensor
Setting is adjacent with the ultrasonic sensor (7) setting position in the frame body (1), and digital camera (8) setting exists
In the NDVI sensor same position, and camera lens towards the test side setting direction with one of NDVI sensor on the contrary,
Downward, the portable bloom spectrometer is positioned close to one end of first wheel (4) to the camera lens of the digital camera (8),
The camera lens of the portable bloom spectrometer is downward；The infrared distance sensor (10) is fixed at second wheel (5)
Support frame (3) on；
The control system includes: computer (11), controller (12) and stepper motor, the computer (11), the control
Device (12) and the stepper motor are fixed on the frame body (1), the computer (11) and the network phase
Machine (6) and portable bloom spectrometer (9) electrical connection；The controller (12) and the stepper motor, infrared distance measurement sense
Device (10), digital camera (8), NDVI sensor and ultrasonic sensor (7) electrical connection, the stepper motor are described for driving
Acquisition device operation.
2. a kind of wheat high throughput phenotypic information acquisition device according to claim 1, which is characterized in that the vehicle
Frame ontology (1) includes the first square bar (13), the second square bar (14), the first round bar (15), the second round bar (16), third round bar (17)
With the 4th round bar (18), first square bar (13) is separately connected the of first round bar (15) and second round bar (16)
One end, second square bar (14) are separately connected the second end of a round bar and second round bar (16), the third circle
The both ends of bar (17) and the 4th round bar (18) are fixed with first round bar (15) and second round bar (16) respectively to be connected
It connects, the third round bar (17) and the 4th round bar (18) are evenly distributed on first square bar (13) and second square bar
(14) between.
3. a kind of wheat high throughput phenotypic information acquisition device according to claim 2, which is characterized in that the branch
Support (3) is hexagon support frame, and the corresponding support frame (3) of first wheel (4) passes through the telescopic rod (2) and described the
The both ends of one square bar (13) are connected；The corresponding support frame (3) of second wheel (5) by the telescopic rod (2) with it is described
The both ends of second square bar (14) are connected.
4. a kind of wheat high throughput phenotypic information acquisition device according to claim 3, which is characterized in that described
Setting is all connected with a screw rod (19) among one round bar (15) and second round bar (16), two screw rods (19) respectively with institute
It states the first round bar (15) to be fixedly connected with second round bar (16), there are two network cameras (6) settings, and is respectively set
On two screw rods (19), the camera lenses of two network cameras (6) is towards inside.
5. a kind of wheat high throughput phenotypic information acquisition device according to claim 4, which is characterized in that described super
Sonic sensor (7) is provided with multiple, and multiple ultrasonic sensors (7) are fixed at institute by the first connector (20)
It states on the second square bar (14), and multiple ultrasonic sensors (7) are uniformly arranged, multiple ultrasonic sensors (7)
Test side is vertically downward.
6. a kind of wheat high throughput phenotypic information acquisition device according to claim 5, which is characterized in that described
NDVI sensor includes the first NDVI sensor (21), the 2nd NDVI sensor (22) and the 3rd NDVI sensor (23), described
First NDVI sensor (21) is fixed at the middle position of the 4th round bar (18), and institute by the second connector (24)
State the test side of the first NDVI sensor (21) upward, the 2nd NDVI sensor (22) and the 3rd NDVI sensor
(23) both ends of the 4th round bar (18) are fixed on by second connector (24) respectively, and the 2nd NDVI is sensed
The test side of device (22) and the 3rd NDVI sensor (23) is vertically downward；The digital camera (8) is arranged the described 4th
Round bar (18) position corresponding with the first NDVI sensor (21), the digital camera (8) pass through third connector (25)
It is fixedly connected with the 4th round bar (18), the both ends of the 4th round bar (18) are additionally provided with GPS module (26), the GPS
Module (26) is fixed at one end of the 4th round bar (18) by the 4th connector (27), the GPS module (26) with
Computer (11) electrical connection.
7. a kind of wheat high throughput phenotypic information acquisition device according to claim 6, which is characterized in that it is described just
The middle position that formula bloom spectrometer (9) is fixed at the third round bar (17) by the 5th connector (28) is taken, it is described red
Outer distance measuring sensor (10) is fixed on the support frame (3) of second wheel (5).
8. a kind of wheat high throughput phenotypic information acquisition device according to claim 7, which is characterized in that the step
It include the first stepper motor (29) and second stepper motor (30) into motor, first stepper motor (29) includes two, and
Two first stepper motors (29) are respectively and fixedly installed to the outside for the support frame as described above (3) connecting with the first wheel (4),
And gear is fixed on the output shaft of first stepper motor (29), two first wheels (4) are equipped with and the tooth
The gear ring of engagement is taken turns, the gear engages connection with the gear ring；
There are two second stepper motor (30) settings, and two second stepper motors (30) are respectively fixedly disposed at two
The screw rod (19) is fixed with gear on one end of round bar, the output shaft of the second stepper motor (30), described in two
Screw rod (19) is equipped with the gear ring engaged with the gear, and the gear engages connection with the gear ring.
9. a kind of wheat high throughput phenotypic information acquisition device according to claim 8, which is characterized in that the vehicle
Frame ontology (1) is provided with a support plate (31) close to one end of the third round bar (17), support plate (31) the both ends difference
It is fixedly connected with first round bar (15) and second round bar (16), the computer (11) and the controller (12) are solid
It is fixed to be arranged on the support plate (31)；
Also set up a power supply (32) on the support plate (31), the power supply (32) respectively with the computer (11), the control
It is device (12) processed, the stepper motor, the network cameras (6), the ultrasonic sensor (7), the NDVI sensor, described
Digital camera (8), the portable bloom spectrometer (9) and the infrared distance sensor (10) electrical connection.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109813852A (en) * | 2019-03-08 | 2019-05-28 | 山东农业大学 | A kind of wheat high throughput phenotypic information acquisition device and its control method |
| CN111637342A (en) * | 2020-06-10 | 2020-09-08 | 山东农业大学 | Self-propelled crop phenotype acquisition equipment and method for field |
| CN111750777A (en) * | 2020-06-22 | 2020-10-09 | 华中农业大学 | Self-propelled crop phenotype high-flux detection device |
| CN113466132A (en) * | 2021-07-01 | 2021-10-01 | 哈尔滨金融学院 | Hyperspectrum-based rice blast cycle detection equipment |
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2019
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109813852A (en) * | 2019-03-08 | 2019-05-28 | 山东农业大学 | A kind of wheat high throughput phenotypic information acquisition device and its control method |
| CN109813852B (en) * | 2019-03-08 | 2024-03-05 | 山东农业大学 | High-flux phenotype information acquisition device for field wheat and control method thereof |
| CN111637342A (en) * | 2020-06-10 | 2020-09-08 | 山东农业大学 | Self-propelled crop phenotype acquisition equipment and method for field |
| CN111750777A (en) * | 2020-06-22 | 2020-10-09 | 华中农业大学 | Self-propelled crop phenotype high-flux detection device |
| CN113466132A (en) * | 2021-07-01 | 2021-10-01 | 哈尔滨金融学院 | Hyperspectrum-based rice blast cycle detection equipment |
| CN113466132B (en) * | 2021-07-01 | 2022-04-19 | 哈尔滨金融学院 | Hyperspectrum-based rice blast cycle detection equipment |
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