CN107782728A - The vertical distribution monitoring device of one kind of groups crop root - Google Patents
The vertical distribution monitoring device of one kind of groups crop root Download PDFInfo
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- CN107782728A CN107782728A CN201710979431.0A CN201710979431A CN107782728A CN 107782728 A CN107782728 A CN 107782728A CN 201710979431 A CN201710979431 A CN 201710979431A CN 107782728 A CN107782728 A CN 107782728A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
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Abstract
The present invention provides the vertical distribution monitoring device of a kind of groups crop root, including：First stepper motor, the second stepper motor, the 3rd stepper motor, vision sensor, control panel and at least one transparent pipe；First stepper motor, the second stepper motor and the 3rd stepper motor are respectively spatially x, y and z axes setting, for realizing the mobile control to the vision sensor；The vision sensor is connected by wire with the 3rd stepper motor, for gathering the subterraneous root area image of colony's crop root；The control panel is used to send instruction by vision sensor feeding transparent pipe according to the position of transparent pipe；The transparent pipe is arranged at the underground in colony's crop-planting region, multiple different transparent pipes scattering device according to the position of different plants.The present invention can realize scene unattended, root system vertical distribution image automatic data collection and real-time Transmission in the case where not influenceing colony crop and growing naturally, and then realize whole-process automatic monitoring.
Description
Technical field
The present embodiments relate to colony's crop root monitoring field, more particularly, to a kind of groups crop root
Vertical distribution monitoring device.
Background technology
The monitoring of colony's crop root changing rule is one of agricultural weather, the basic work of crop environmental monitoring, and
Growing state and regulation to grasping colony crop, Soil Moisture Monitoring prediction and other relevant ecological monitoring and forecasting services will with theory
Considerable effect is played, the development of precision agriculture will be effectively facilitated.For a long time, grinding due to colony's crop underground root system
Study carefully is influenceed by the not convenient factor of observation procedure, condition of work etc., and it is difficult to be in progress to make the research for root system, is tied in deeply
Plant not only can be supported and fixed to crop root system in soil, absorb moisture and nutrient, but also can secrete organic
Thing, be advantageous to the growth and activity of rhizosphere microorganism.After crop harvesting, it is organic that the root system that remains in soil can improve soil
The content of matter, be advantageous to keep the ecological balance of soil system.So growth distribution and reason for crop root in soil
There is critically important value by research and the research about root system pathology and protection, it is vertical according to the root system that batch automatic data collection arrives
The data of growth distribution, the limitation due to technological means can be made up, the resistance of the research to colony's crop root be caused, short
In time a large amount of important data and crucial technological means are provided to work out the optimal growth conditions of colony crop.
At present, the method for the observation crop root growth situation generally used mainly includes three kinds：Root case method, douche,
Tank farming, but in place of three kinds of methods all Shortcomings.
Root case method is to replace field soil with narrow container, allows crop to be grown in extremely limited space, this
Kind of method not only destroys the steric requirements that plant develops naturally, and the structure of soil and composition also with field soil not
Together, this method is can not directly to reflect the situation that crop grows naturally in field.
Douche is to separate root with soil, so as to obtain the root system of crop.It has disadvantages such that the prison that can not continue
The change of same crop different time root system is surveyed, while breakage may also occur during processing for root system, finally it is observed that
Root system be not the crop root that vigor is grown and existed in soil.
Tank farming is to replace field soil using nutrient solution and inert base, likewise, this is difficult to restore work
The true soil texture of thing growth, can not simulate crop root and the various situations met are grown in field soil.
In addition to these three directly observe the method in root area, also have much on root area visualization method, such as basis
The collection and processing of root system of plant CT images, so as to obtain the 3-D view in soil Zhong Gen areas, this visual side in area
Although method is very directly perceived, the requirement to operation is but very high, and not only cumbersome, efficiency is low, and is not suitable for
The real-time information collection of large area colony crop root zone growth, it is difficult often to meet the needs of observer is to root area increment study.
Although above several method all provides the feasible method in part to study the growth of crop root, there is one
The shortcomings that individual common, it can not exactly reflect the truth of crop root growth, especially shape of the root system in growth course
State feature and soil texture, and this several method is almost required for artificial treatment, in this process, operation occurs unavoidably
The problem of cumbersome, human error, low efficiency, so there is an urgent need to a kind of simple to operate, fault rate is low, efficiently and does not influence to make
Thing root system grows naturally, does not destroy the method for root system surrounding soil structure to replace above-mentioned three kinds of observation crop root growth situation
Method.
The content of the invention
The embodiment of the present invention provides a kind of colony crop for overcoming above mentioned problem or solving the above problems at least in part
The vertical distribution monitoring device of root system.
One side according to embodiments of the present invention, there is provided the vertical distribution monitoring device of a kind of groups crop root, bag
Include：First stepper motor, the second stepper motor, the 3rd stepper motor, vision sensor, control panel and at least one transparent pipe；
First stepper motor, the second stepper motor and the 3rd stepper motor are respectively spatially x, y and z axes setting,
For realizing the mobile control to the vision sensor；
The vision sensor, it is connected by wire with the 3rd stepper motor, for gathering ground image for control
Making sheet judges transparent pipe position, and the subterraneous root area image of colony's crop root is gathered in transparent pipe；
The control panel, the ground image for being gathered according to the vision sensor obtain the position of transparent pipe, and root
Send and instruct to first stepper motor, the second stepper motor and the 3rd stepper motor according to the position of the transparent pipe, so that
First stepper motor, the second stepper motor and the 3rd stepper motor are moved respectively, and the vision sensor is sent into
The transparent pipe；
The transparent pipe, the underground in colony's crop-planting region is arranged at, multiple different transparent pipes are according to different plants
Position and scattering device.
Further, described device also includes：First main support, the second main support, the first track support, the second track branch
Frame, fixed support and winding wheel；
The both ends of first track support are fixed by the first main support and the second main support respectively；Second track
One end of support and the first track support vertical connection；
The both ends of first stepper motor are fixed by the first main support and the second main support respectively；Second stepping
Motor is parallel with second track support and is fixed by second track support；3rd stepper motor passes through
The fixed support is fixed on second track support, and is connected with the winding wheel；
The vision sensor is connected by the wire on the winding wheel with the 3rd stepper motor.
Further, described device also include the first assistant support, the second assistant support and with the 3rd track support；
The both ends of 3rd track support are fixed by first assistant support and the second assistant support respectively；Described second
The other end of track support is fixed by the 3rd track support.
Further, the vision sensor is made up of camera and light filling equipment；The camera can rotate and at least
Visual angle with parallel ground and visual angle perpendicular to the ground；The light filling equipment is used for when the vision sensor gathers image
Carry out light filling.
Further, the control panel includes image processing module, feedback module and driving stepper motor module；
The feedback module, the ground image for the vision sensor to be collected feed back to described image processing mould
Block is to be further processed；
Described image processing module, the location drawing picture for being arranged at underground according to the transparent pipe determine one it is current thoroughly
The relative position of bright pipe；
The driving stepper motor module, with first stepper motor, the second stepper motor and the 3rd stepper motor electricity
Connection, for driving first stepper motor, the second stepper motor and the 3rd according to the relative position of the current transparent pipe
Stepper motor is moved, and the vision sensor is sent into current transparent pipe.
Further, the control panel also includes memory module；The memory module, for storing the control panel reception
The subterraneous root area image of the vision sensor collection.
Further, the control panel, it is additionally operable to set monitoring cycle, described device is carried out pipe according to the monitoring cycle
Detection, the collection and monitoring of subterraneous root area image of mouth position, to reach the purpose of whole-process automatic detection.
Further, the transparent pipe is vertically installed in below earth's surface, and earth's surface and distance are higher by the mouth of pipe of the transparent pipe
Ground surface 10-20cm.
The embodiment of the present invention proposes the monitoring device of a kind of groups crop root vertical distribution, by x, y and z axes direction
Three stepper motors are set respectively, moving-vision sensor carries out IMAQ in the underground diverse location of colony's crop root,
It can realize that accurate identification positioning, the root system of existing all points to be monitored are vertical in the case where not influenceing colony crop and growing naturally
The collection of distributed image and real-time Transmission.
Brief description of the drawings
Fig. 1 is the monitoring device schematic diagram of colony's crop root vertical distribution described in the embodiment of the present invention；
Wherein, the 1, second stepper motor, the 2, first stepper motor, the 3, the 3rd stepper motor, the 4, first main support, 5, second
Main support, the 6, first assistant support, the 7, second assistant support, the 8, first track support, the 9, second track support, the 10, the 3rd track branch
Frame, 11, winding wheel, 12, wire, 13, transparent pipe, 14, vision sensor, 15, fixed support, 16, control panel.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Fig. 1 is the monitoring device schematic diagram of colony's crop root vertical distribution described in the embodiment of the present invention, as shown in figure 1,
The monitoring device of one kind of groups crop root vertical distribution, including：First stepper motor 2, the second stepper motor 1, the 3rd stepping
Motor 3, vision sensor 14, control panel 16, control panel 16 and at least one transparent pipe 13；
Respectively spatially x, y and z axes are set for first stepper motor 2, the second stepper motor 1 and the 3rd stepper motor 3
Put, for realizing the mobile control to the vision sensor 14；
The vision sensor 14, be connected by wire with the 3rd stepper motor 3, for gather ground image for
Control panel judges the position of transparent pipe 13, and the subterraneous root area image of colony's crop root is gathered in transparent pipe 13；
The control panel 16, it is electric to first stepper motor 2, the second stepping for the position according to the transparent pipe 13
The stepper motor 3 of machine 1 and the 3rd sends instruction, so that first stepper motor 2, the second stepper motor 1 and the 3rd stepper motor 3
Move respectively, the vision sensor 14 is sent into the transparent pipe 13.
The transparent pipe 13, the underground in colony's crop-planting region is arranged at, multiple different transparent pipes are according to different plants
Position and scattering device, for providing the space that vertically moves for the vision sensor 14；The transparent pipe 13 is at least
One, multiple transparent pipes 13 are generally comprised, each transparent pipe 13 is embedded to underground and is disposed vertically.The transparent pipe
13 be transparent pipe, the outer tube wall of transparent pipe is bonded as far as possible with soil when being embedded to underground, and the inner tubal wall of transparent pipe has necessarily
Anti-reflective optical property, should provide enough spaces inside transparent pipe can be vertically moved up and down with accommodating vision sensor 14.It is excellent
Selection of land, the transparent pipe 13 should have the characteristics of moisture resistance, heat-resisting, anti-aging.
Control panel of the embodiment of the present invention passes through the control that controls the movement of stepper motor to realize to the position of vision sensor
System.The movement of stepper motor specifically includes：The list of one in first stepper motor, the second stepper motor and the 3rd stepper motor
Only movement or the joint movement of any two or the movement of the joint of three, it is possible to achieve in three stepper motor movings range
Three dimensions is accurately positioned to the position of vision sensor.
The embodiment of the present invention proposes the monitoring device of a kind of groups crop root vertical distribution, by x, y and z axes direction
Three stepper motors are set respectively, moving-vision sensor carries out IMAQ in the underground diverse location of colony's crop root,
It can realize the accurate identification positioning of all points to be monitored, root system vertically minute in the case where not influenceing colony crop and growing naturally
The collection of cloth image and real-time Transmission.
Fig. 1 is refer to, in an optional embodiment, the monitoring device of colony's crop root vertical distribution is also wrapped
Include：First main support 4, the second main support 5, the first track support 8, the second track support 9, fixed support 15 and winding wheel 11；
The both ends of first track support 8 are fixed by the first main support 4 and the second main support 5 respectively；Described second
One end of track support 9 and the vertical connection of the first track support 8；
The both ends of first stepper motor 2 are fixed by the first main support 4 and the second main support 5 respectively；Described second
Stepper motor 1 is parallel with second track support 9 and is fixed by second track support 9；3rd stepping
Motor 3 is fixed on second track support 9 by the fixed support 15, and is connected with the winding wheel 11；
The vision sensor 14 is connected by the wire 12 on the winding wheel 11 with the 3rd stepper motor 3.
Fig. 1 is refer to, in an optional embodiment, the monitoring device of colony's crop root vertical distribution is also wrapped
Include the first assistant support 6, the second assistant support 7 and with the 3rd track support 10；
The both ends of 3rd track support 10 are fixed by the assistant support 7 of the first assistant support 6 and second respectively；It is described
The other end of second track support 9 is fixed by the 3rd track support 10.
Specifically, first track support 8 is disposed vertically with the second track support 9, the second track support 9 and the 3rd rail
Road support 10 is disposed vertically, and each sliding contact position should scribble lubriation material.
Based on above-described embodiment, the embodiment of the present invention three stepper motors can be fixed, together by above-mentioned part
When stepper motor is connected with vision sensor by winding wheel, it is possible to achieve the control to the position of vision sensor.
In an optional embodiment, the vision sensor 14 is made up of camera and light filling equipment；The shooting
Head can rotate and the visual angle at least with parallel ground and visual angle perpendicular to the ground；The light filling equipment is used in the vision
Sensor carries out light filling when gathering image.
In the embodiment of the present invention, the camera can realize 360 degree of IMAQ by rotation.Due to visual sensing
Device is acquired in the transparent pipe of underground, that light is bad can be present, therefore can carry out light filling by light filling equipment,
The problem of overcoming underground dark, the image that ensure that vision sensor collection is clearly.
The embodiment of the present invention realizes the operation of the vertical distribution monitoring device of colony's crop root by control panel
Automatic Control.
In an optional embodiment, the control panel 16 includes image processing module, feedback module and stepper motor
Drive module；
The feedback module, the ground image for the vision sensor to be collected feed back to described image processing mould
Block is to be further processed；
Described image processing module, the location drawing picture for being arranged at underground according to the transparent pipe determine one it is current thoroughly
The relative position of bright pipe；
The driving stepper motor module, with first stepper motor, the second stepper motor and the 3rd stepper motor electricity
Connection, for driving first stepper motor, the second stepper motor and the 3rd according to the relative position of the current transparent pipe
Stepper motor is moved, and the vision sensor is sent into current transparent pipe.
In the embodiment of the present invention, control panel is realized by image processing module, feedback module and driving stepper motor module
Driving to stepper motor, the position of accurate control vision sensor is realized with this.Specifically, when one or more transparent pipes bury
When entering underground, the location drawing picture of earth's surface when can first obtain transparent pipe embedment underground is in the location drawing picture it can be seen that every
The set location of individual transparent pipe；Image processing module carries out graphical analysis according to location drawing picture, can obtain each transparent pipe
Relative position.The relative position is position of any transparent pipe relative to the transparent pipe where vision sensor.Regarded for example, working as
Feel sensor from transparent pipe A removes when, be if desired moved to transparent pipe B, then calculating transparent pipe B relative to transparent pipe A position,
The transparent pipe B is the current transparent pipe.After calculating relative position, by feedback module by the phase of the current transparent pipe
The driving stepper motor module is fed back to position；Driving stepper motor module drive stepper motor is according to the relative position
Moved horizontally, find current transparent pipe i.e. transparent pipe B, vision sensor is put into transparent pipe B；Then according to the control
The vertical depth of the transparent pipe of plate instruction, vision sensor is set to carry out vertically moving up and down in transparent pipe B, so as to realize vision
The collection being accurately positioned with subterraneous root area image of sensor.
In an optional embodiment, the control panel 16 also includes clock module；The clock module, for setting
The time interval of the vision sensor collection image.There is provided the figure that can avoid obtaining behind acquisition time interval largely repeatedly
Picture.
In an optional embodiment, the control panel 16 also includes memory module；The memory module, for storing
The subterraneous root area image for the vision sensor collection that the control panel receives.
In the embodiment of the present invention, vision sensor 14 is directly connected to control panel 16, the configuration collection figure of vision sensor 14
As data, and it is stored temporarily in control panel, including：Directly handled during positioning in control panel, obtain transparent pipe 13
Particular location；When gathering root area's image, image is write in RAM card simultaneously, whole root area figures is finally obtained in RAM card
Picture.
In an optional embodiment, the control panel 16 also includes Reports module；The Reports module, for basis
Subterraneous root area image, form is drawn according to predetermined period.So periodically drawing form can be supervised with each strain of periodic feedback
Survey the growth pattern of the root system of crop.
In an optional embodiment, the control panel 16, it is additionally operable to set monitoring cycle, makes described device according to institute
Detection, the collection and monitoring of subterraneous root area image that monitoring cycle carries out nozzle position are stated, to reach the mesh of whole-process automatic detection
's.The a cycle of the monitoring cycle carries out underground root area image at least once including vision sensor in each transparent pipe
Collection.
In an optional embodiment, the transparent pipe 13 is vertically installed in below earth's surface, the pipe of the transparent pipe 13
Earth's surface is higher by mouthful and apart from ground surface 10-20cm.Coated white paint it can be found on transparent pipe beneficial to vision sensor.
The vertical distribution monitoring device of colony's crop root based on above-mentioned all optional implementations, having does not influence root of the crop
Be nature growth, do not destroy root system surrounding soil structure, it is unattended be automatically positioned, a wide range of collective crop sampling, it is especially right
Individual plant crop root can have comprehensive, the top-down beneficial effect intuitively reacted, in the growth week of whole colony crop
The interim authentic data that can obtain root system vertical-growth between individual plant crop and multigroup colony crop real-time.
When being detected using the vertical distribution monitoring device of colony's crop root based on above-mentioned all optional implementations
Key step includes：
Step 1：Before crop is sowed, according to the seedling spacing of colony's plant growth and line-spacing, rationally embedment is more in soil
The individual transparent pipe 13 being disposed vertically, the first main support 4 of the first stepper motor 2, the second main support 5 and the first track will be connected with
Support 8 is vertically fixed in soil after being connected, and by the first assistant support 6, the second assistant support 7 is connected with the 3rd track support 10
After be vertically fixed in soil, the second track support 9 for being connected with the second stepper motor 1 is placed on the He of the 3rd track support 10
On first track support 8, the fixed support 15 for being connected with the 3rd stepper motor 3 is placed on the second track support 9, will be wound with
The winding wheel 11 of wire 12 is fixed on the 3rd stepper motor 3, and vision sensor 14 is connected on wire 12, by the second stepping
Motor 1, the first stepper motor 2, the 3rd stepper motor 3 and vision sensor 14 are connected with control panel 16, are disposed vertically being embedded with
The soil of the transparent pipe 13 colony crop of rational position plantation nearby, one plant of a pipe, i.e. one plant of crop of a transparent pipe.
Step 2：Vision sensor 14 starts to gather image and is transferred in control panel 16, and control panel 16 is carried out to image
Handle and be automatically positioned the transparent pipe 13 near colony's crop root and control the second stepper motor 1, the first stepper motor 2 and
3rd stepper motor 3 works, and the second stepper motor 1 controls orbital direction of the fixed support 15 along the second track support 9 to move,
Control orbital direction of second track support 9 along the first track support 8 to move by the first stepper motor 2, finally make vision
Sensor 14 reaches the surface of the mouth of pipe of transparent pipe 13 automatically.
Step 3：3rd stepper motor 3 is respectively enterd multiple by winding wheel 11 and the control vision sensor 14 of wire 12
Moved in the transparent pipe 13 being disposed vertically and in vertical direction, gather crop root image.
Step 4：The image collected is sent into control panel 16 to handle image, label and storage.
Step 5：The cycle monitored automatically is designed, periodically draws form, feeds back the growth that each strain is monitored crop root
Pattern, all fixed point whole automatic and accurate to be monitored identification positioning are treated, and colony's crop root image of each monitoring point is painted
After the completion of system, the standby next work period return to step two of wait of initial position is returned to.
In summary, colony's crop root vertical distribution fully-automatic intelligent monitoring of a kind of view-based access control model of the invention positioning
Device, fixed point to be monitored is automatically positioned by vision sensor, sends order by control panel so as to drive two track branch
Two stepper motors on frame allow vision sensor accurately to reach the top of fixed point to be monitored, winding wheel is put down wire
Vision sensor is set vertically to lower into the transparent pipe to be measured being disposed vertically, after vision sensor enters the mouth of pipe to be measured, from
The root system vertical distribution pattern of crop around upper and lower collection tube wall, in deposit control panel memory module, this system can be with
Realize that, for the collection of the vertical distribution pattern of one plant of crop and colony crop, having does not influence crop root grows, do not break naturally
Bad root system surrounding soil structure, low-cost high-efficiency, it is unattended be automatically positioned, a wide range of collective crop sampling the characteristics of, especially
It can have beneficial effect that is comprehensive, intuitively reacting from top to bottom to individual plant crop root, in the growth of whole colony crop
The authentic data of root system vertical-growth between individual plant crop and multigroup colony crop can be obtained in cycle real-time.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (8)
1. the vertical distribution monitoring device of a kind of groups crop root, it is characterised in that including：First stepper motor, second step
Stepper motor, the 3rd stepper motor, vision sensor, control panel and at least one transparent pipe；
First stepper motor, the second stepper motor and the 3rd stepper motor are respectively spatially x, y and z axes setting, are used for
Realize the mobile control to the vision sensor；
The vision sensor, it is connected by wire with the 3rd stepper motor, for gathering ground image for control panel
Judge transparent pipe position, and the subterraneous root area image of colony's crop root is gathered in transparent pipe；
The control panel, the ground image for being gathered according to the vision sensor obtain the position of transparent pipe, and according to institute
The position for stating transparent pipe sends instruction to first stepper motor, the second stepper motor and the 3rd stepper motor, so that described
First stepper motor, the second stepper motor and the 3rd stepper motor move respectively, by described in vision sensor feeding
Transparent pipe；
The transparent pipe, is arranged at the underground in colony's crop-planting region, multiple different transparent pipes according to different plants position
And scattering device.
2. device according to claim 1, it is characterised in that also include：First main support, the second main support, the first rail
Road support, the second track support, fixed support and winding wheel；
The both ends of first track support are fixed by the first main support and the second main support respectively；Second track support
One end and the first track support vertical connection；
The both ends of first stepper motor are fixed by the first main support and the second main support respectively；Second stepper motor
It is parallel with second track support and be fixed by second track support；3rd stepper motor passes through described
Fixed support is fixed on second track support, and is connected with the winding wheel；
The vision sensor is connected by the wire on the winding wheel with the 3rd stepper motor.
3. device according to claim 2, it is characterised in that also including the first assistant support, the second assistant support and with the 3rd
Track support；
The both ends of 3rd track support are fixed by first assistant support and the second assistant support respectively；Second track
The other end of support is fixed by the 3rd track support.
4. device according to claim 1, it is characterised in that the vision sensor is by camera and light filling equipment group
Into；The camera can rotate and the visual angle at least with parallel ground and visual angle perpendicular to the ground；The light filling equipment is used
Light filling is carried out when in vision sensor collection image.
5. device according to claim 1, it is characterised in that the control panel includes image processing module, feedback module
With driving stepper motor module；
The feedback module, the ground image for the vision sensor to be collected feed back to described image processing module with
It is further processed；
Described image processing module, the image for vision sensor to be collected are handled accordingly, determine one currently
The relative position of transparent pipe；
The driving stepper motor module, electrically connected with first stepper motor, the second stepper motor and the 3rd stepper motor,
For driving first stepper motor, the second stepper motor and the 3rd stepping electricity according to the relative position of the current transparent pipe
Machine is moved, and the vision sensor is sent into current transparent pipe.
6. device according to claim 5, it is characterised in that the control panel also includes memory module；The storage mould
Block, the subterraneous root area image of the vision sensor collection received for storing the control panel.
7. the device according to claim 5 or 6, it is characterised in that the control panel, be additionally operable to set monitoring cycle, make
Described device carries out the detection of nozzle position, the collection and monitoring of subterraneous root area image according to the monitoring cycle, to reach complete
The purpose of journey automatic detection.
8. device according to claim 1, it is characterised in that the transparent pipe is vertically installed in below earth's surface, described
Earth's surface is higher by the mouth of pipe of bright pipe and apart from ground surface 10-20cm.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111165228A (en) * | 2020-01-29 | 2020-05-19 | 南京慧瞳作物表型组学研究院有限公司 | Movable phenotype cabin for obtaining and analyzing field crop phenotypes |
| CN112857440A (en) * | 2021-01-08 | 2021-05-28 | 成都农业科技职业学院 | Intelligent agricultural greenhouse control system and control method |
| CN112911229A (en) * | 2021-01-21 | 2021-06-04 | 江苏财经职业技术学院 | Farmland environment monitoring system based on big data |
| CN114544910A (en) * | 2022-02-14 | 2022-05-27 | 中国农业大学 | Crop root system and soil information monitoring device and method |
| CN117929374A (en) * | 2024-03-18 | 2024-04-26 | 慧诺云谱(海南)科技有限公司 | High-flux root germination phenotype detection system and detection method |
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| CN111239340B (en) * | 2020-01-29 | 2021-08-03 | 南京慧瞳作物表型组学研究院有限公司 | Multichannel acquisition system and installation method for field crop root phenotype |
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