CN101294792B - Plant morph parameter vision measurer with automatic calibration function - Google Patents
Plant morph parameter vision measurer with automatic calibration function Download PDFInfo
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- CN101294792B CN101294792B CN2008100391917A CN200810039191A CN101294792B CN 101294792 B CN101294792 B CN 101294792B CN 2008100391917 A CN2008100391917 A CN 2008100391917A CN 200810039191 A CN200810039191 A CN 200810039191A CN 101294792 B CN101294792 B CN 101294792B
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Abstract
A plant morphological parameter vision measuring instrument with the self-calibration function is provided. A high-resolution camera and a wide-angle lens are adopted to capture plant images in a non-contact manner, and measured parameter results are obtained by image processing, pattern recognition and numerical calculation. A ranging laser is adopted to detect the distance between the camera and the measured part and automatically correct and compensate, thus thoroughly overcoming the defects that the conventional measuring method has harsh requirements of the detection distance, and requires manual correction. A white LED light source is adopted for active lighting, eliminating the impact of ambient light on the color parameter measurement and guaranteeing consistency and environmental suitability of the measurement results. A portable measuring instrument consisting of a high performance DSP chip and chargeable lithium batteries is adopted, and the measurement results are memorized in an internal FLASH memorizer, thus meeting the operating requirements of the majority of farming investigations and ensuring higher measurement accuracy.
Description
Technical field
The present invention relates to a kind of instrument of field of measuring technique, specifically is a kind of plant morph parameter vision measurer with automatic calibration function.
Background technology
Accurately automatically measuring plant morph parameter is to realize the plant growing state prerequisite of control automatically, also is one of main contents of crops field investigation, germ plasm resource investigation and evaluation especially, crop growing state analysis and base of prediction.In numerous plant morph parameters, the measurement difficulty maximum of size class parameter (for example plant height, stem are thick, blade length and width and area etc.) and color parameter (for example pattern, leaf look, plant a look), precision is difficult to guarantee.Traditional morphological parameters measuring method is: adopt the method for manually measuring with chi for dimensional parameters, the method for color parameter adopts standard color block to compare waste time and energy, and the result is unreliable, and the human factor influence is big.Someone adopts contact class sensor or lightweight anchor clamps to measure above-mentioned size class parameter, but crop is had damage, and complicated operation.
At present, developed country has begun the growth conditions information that the applied for machines vision technique obtains crop.These class methods have noncontact, robotization, high intelligence, multi-functional series of advantages.Domestic also have some research units to begin one's study, but the drawback of these class methods is: for size class parameter, measuring distance is very big to result's influence.This distance be must determine in the measuring process, and adequate compensation and correction carried out.For the color class parameter, during photographic images the influence of surround lighting very big, result error is big.
Find through retrieval prior art, Chinese patent " long distance wireless Crop Information feedback and greenhouse agriculture intellectualizing system " (application number 200410004716.5, publication number CN1559175), a kind of long distance wireless Crop Information feedback and greenhouse agriculture intellectualizing system are disclosed, physiological diagnosis monitoring system wherein is made up of plant growth data sensor and plant data analysis processor, performer is carried out intellectuality control, its energy monitoring record plant growth data such as stem are thick, fruit size etc., but patent does not clearly adopt which kind of sensor and principle, how to detect above-mentioned parameter.No color parameter detects content.
Also find in the retrieval, Chinese patent " a kind of crop growth status monitoring and nutrient fertilization prescription generating apparatus and method of being used for " (application number 200410014648.0, publication number CN1561669), use video camera and nutritional labeling detector that crops are monitored in real time, picture signal is through behind the digitizer, enter Computer Database, obtain the plant growth information by graphics process.But do not describe in detail and how to ensure measuring accuracy.No color parameter detects content.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of plant morph parameter vision measurer with automatic calibration function is proposed, not only can adopt video camera automatically to obtain the measured target image, can measure automatically simultaneously video camera with by the distance of measuring plants, thereby realize automatic calibration image measurement result, the assurance measuring accuracy is constant, can satisfy the automatic measurement requirement of different shape parameter.Meanwhile, adopt white light-emitting diode to carry out the active illumination, overcome the influence that surround lighting is measured color parameter.In addition, measuring system adopts integrated module design and the chargeable lithium cell power supply plan based on DSP, thereby constitutes Portable Measurement Instrument, and adopts the waterproofing design scheme, can adapt to field measurement environment condition.
The present invention is achieved by the following technical solutions, measuring instrument of the present invention is connected to form by cable by probe and measure case two parts, probe includes video camera, camera lens, light source, stadimeter, button, shell and cable, and camera lens is installed in the video camera front end; Light source circularizes structure by a plurality of light-emitting diode group, is centered around the camera lens outside, and stadimeter is arranged in the camera lens outside, and with above-mentioned a plurality of light emitting diode looping structures, button be arranged on shell directly over, cable is connected with the measure case of back, transmit to measure and control signal.
Include microprocessor, image card, measurement card, driver card, display, storer in the measure case, alignment probe plant to be measured need sites measured, by shell top by the work of key control probe whether, light source is controlled by driver card by microprocessor and is lighted, illuminate the measuring point for the treatment of measuring plants, video camera is taken plant image, and is converted into digital picture, and this image information is sent into microprocessor by cable and image card and handled.The distance at video camera and tested position is measured by laser range finder, this range information is sent in the microprocessor by measuring card, microprocessor is revised automatically and is compensated measurement result, shows on display through the measurement result of revising, and is kept among the storer automatically.
After measure finishing, measure case links to each other measure case by USB cable with other computers, and measurement result is uploaded among the other computer, carries out data and gathers, and generates various needed forms.Meanwhile, by USB interface to the lithium cell charging in the measure case.
Described microprocessor is the DSP microprocessor.
Described video camera is a digital camera, so that connect and the transitive graph image signal with microprocessor.Pixel is more than a mega pixel.
Described camera lens is a wide-angle lens, its deformation rate＜2%, visual angle＞60 °.
Described stadimeter is a laser range finder, uses visible laser, directly measures video camera to the actual range between the plant, and sends into microprocessor, in data handling procedure the image measurement result is revised automatically and compensates.
Described light source adopts white light-emitting diode (LED) light source that has than wide spectral range, spectral range comprises whole visible light, illuminates the detected part of plant, obtains testing image, and compare, thereby obtain required color parameter with the built-in standard color block image of measuring instrument.
Described led light source can be made up of a plurality of LED light emitting diodes, can be loop configuration, is centered around the camera lens outside, so that uniform illumination is provided.
Described storer is the FLASH storer greater than 1G, and it can be preserved image and the result obtained simultaneously, even outage can not lost yet.After field investigation finishes, can also upload in other computers, further analyze and handle.
Described display is a LCD.
Described probe and measure case all adopt waterproof and dustproof, vibration-proof structure, realize anti-ly dabbling, dust protection, against shock.All expose device and all adopt sealing on the probe, realize dustproof and waterproof.
Described measure case adopts the flip-shell structure.
The present invention adopts high-resolution camera and wide-angle lens with great visual angle, and plant image is obtained in noncontact, and by Flame Image Process, pattern-recognition and numerical evaluation acquisition measured parameter result.Adopt laser range finder to survey the distance at video camera and tested position, revise automatically and compensate, thoroughly solved traditional measurement method the harsh drawback that also need manual revise of observed range requirement.Adopt White LED light source to carry out the active illumination, eliminate the influence that surround lighting is measured color parameter, ensure the consistance and the environmental suitability of measurement result.Adopt high performance DSP and chargeable lithium cell to form Portable Measurement Instrument, measurement result is kept in the inner FLASH storer, can satisfy the request for utilization of most field investigations, and can guarantee higher measuring accuracy.
The present invention equally also can be used to realize length, angle and the color measuring utensil of other occasions and target, for example occasions such as animal, food, clothes.
Description of drawings
Fig. 1 is that structure of the present invention is formed synoptic diagram;
Fig. 2 is a gage probe synoptic diagram of the present invention;
Among the above-mentioned figure: 1 is video camera, and 2 is camera lens, and 3 is stadimeter, and 4 is light source, and 5 are probe, and 6 is cable, and 7 is measure case, and 8 is shell, and 9 is button.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As depicted in figs. 1 and 2, the present embodiment measuring instrument is made up of probe 5 and measure case 7 two parts, probe 5 includes video camera 1, camera lens 2, light source 4, stadimeter 3, button 9, shell 8 and cable 6, and measure case 7 includes DSP microprocessor, image card, measurement card, driver card, display, storer, keyboard, USB interface, charger and lithium battery.Camera lens 2 is installed in video camera 1 front end; Light source 4 is made up of a plurality of light emitting diodes, is loop configuration, is centered around camera lens 2 outsides; Stadimeter 3 occupies the position of one of them light emitting diode, compact conformation; Button 9 be arranged on shell 8 directly over, be convenient to the operation; Cable 6 is connected with the measure case of back, transmits and measures and control signal; Parts such as DSP microprocessor, image card, measurement card, driver card, display, storer, keyboard, USB interface, charger and lithium battery are placed in the measure case.
The region of interest (positions such as for example whole plant, cane, beanpod, blade, kind grain) that operator's hand hold transducer 5 is aimed at plant to be measured is pressed the button 9 of probe top then.Under the control of microprocessor, lighting source 4 is lighted and is illuminated the measuring point for the treatment of measuring plants, and plant arrives on the image device (for example CCD or CMOS) of video camera 1 by lens imaging at the image at this position, and is converted into digital picture.This image information is sent into microprocessor by cable 6 and image card and is handled.The distance at video camera and tested position is measured by laser range finder 3, and this range information is sent in the microprocessor by cable 6 and measurement card, and measurement result is revised automatically and compensated.Show on the LCD of measure case through the measurement result of revising, and be kept at automatically among the interior storer of measure case.
Present embodiment links to each other measure case by USB cable after whole surveying works finish with other computers, can upload to measurement result among the other computer, carries out data and gathers, and generates various needed forms.Meanwhile, by USB interface, charger is to the lithium cell charging in the measure case.
The video camera 1 of the measuring instrument of present embodiment adopts the digital camera of high pixel, generally adopts USB interface or 1394 interfaces, so that connect and the transitive graph image signal with measure case 6.Image device can adopt CCD or CMOS, and its pixel count generally is higher than 1,000,000, preferably adopts 2,000,000 pixels, so that measuring instrument can be caught by the detailed information of measuring plants (for example tiller, fine hair, speckle etc.).
Can measure the parameter (for example plant height) of large-size in closer distance in order to guarantee measuring instrument, the camera lens 2 of present embodiment has adopted low deformation rate (＜2%), the wide-angle lens even the fish eye lens of (＞60 °) with great visual angle, and be aided with the lens distortion calibration algorithm, thereby efficiently solve the field when gathering between the plant distance short, gather the limited difficult problem of space length.
Video camera 1 and the different influences that measurement result is produced of tested plant distance when sampling in order to eliminate, present embodiment has adopted built-in laser range finder 3 directly to measure video camera 1 and has arrived by the actual range between the measuring plants, and send into microprocessor, in data handling procedure, the image measurement result is revised automatically and compensates, thereby efficiently solve the influence of observed range to the result, avoided the harshness restriction of traditional vision measurement process, also avoided observation to finish the artificial manual operation in back and carried out the trouble and inconvenience that data processing and distance are revised observed range and position.
Meanwhile, the laser range finder 3 that present embodiment adopts uses visible laser, the operator can know the hot spot of seeing that laser that stadimeter 3 sends forms at the tested position of plant, therefore the operator need not view screen and can finish accurate aiming to tested position, its method is similar to the use laser designator, and is very convenient, simple.
In order to eliminate the influence of surround lighting variation to color parameter (for example pattern, leaf look, fine hair look, scab look etc.), the measuring instrument of present embodiment adopts light source 4 to carry out the active illumination, rather than by means of natural light.In order to guarantee the accuracy of color measuring, reduce system power dissipation, strengthen durability, present embodiment adopts the white light-emitting diode (LED) that has than wide spectral range as illuminating source, spectral range comprises whole visible light, illuminates the detected part of plant, obtains testing image, and compare, thereby obtain required color parameter with the built-in standard color block image of measuring instrument.This standard color block image is under the illumination of light source 4, and standard color block is taken resulting standard picture, and is kept at the memory inside of measuring instrument in advance, the usefulness of comparison when measuring for color parameter.This led light source can be made up of a plurality of LED light emitting diodes, can be loop configuration, is centered around the camera lens outside, so that improve illumination uniformly.
It is core that present embodiment adopts the High Performance DSP digital signal processing chip, finish Flame Image Process, data operation, compensation and correction, result's demonstration and all workings such as preservation, external communication, have simultaneously that volume is little, in light weight, price is low, stablize durable characteristics, form Portable Measurement Instrument thus, satisfy the requirement of field investigation.
Present embodiment adopts the image and the result of LCD liquid crystal display displays picked-up, can show various useful supplementarys in addition.Therefore, compare with other instruments of a traditional display image, the measuring instrument of present embodiment is not only low in energy consumption, and function is more, performance better, more practical.
Adopting the FLASH storer of high capacity (be not less than 1G, preferably adopt the 4G capacity) is a big characteristic of present embodiment, and it can be preserved image and the result obtained simultaneously, even outage can not lost yet.After field investigation finishes, can also upload in other computers, further analyze and handle.
The measuring instrument of present embodiment has adopted the USB communication interface, therefore can be connected with PC, printer or other equipment easily, carries out data transmission, statistical study, print result and form etc.
The electric power system of present embodiment adopts the rechargeable type lithium battery of high capacity (1000mAh preferably adopts more than the 4000mAh), can satisfy the long-time field investigation need of work of measuring instrument, and the while is compliance with environmental protection requirements again.Charging to lithium battery directly utilizes USB interface, when measuring instrument and other computer experts cross USB interface and are connected, automatically lithium battery is charged.After charging finishes, stop charging process automatically.
The probe 5 of present embodiment and measure case 7 all adopts waterproof and dustproofs, vibration-proof structures, realizes anti-ly dabbling, dust protection, against shock.All expose device (comprising button 9, laser range finder 3, light source 4, shell 8, cable 6 etc.) and all adopt sealing on the probe, realize dustproof and waterproof.Measure case 7 adopts the flip-shell structure, and LCD is placed in the top cover inboard, opens during work, is similar to notebook computer.Keyboard has water-proof function, can overcome water and spatter unrestrained with raindrop.When waterproof and dustproof and the reduction of shockproof class requirement, can adopt water proof type or plain edition notebook computer to replace measure case.
Claims (10)
1. the plant morph parameter vision measurer with automatic calibration function is connected to form by cable by probe and measure case two parts, it is characterized in that:
Described probe includes video camera, camera lens, light source, laser range finder, button, shell and cable, and camera lens is installed in the video camera front end; Light source circularizes structure by a plurality of light-emitting diode group, is centered around the camera lens outside, and laser range finder is arranged on the camera lens outside, and with above-mentioned a plurality of light emitting diode looping structures, button be arranged on shell directly over, cable is connected with the measure case of back, transmit to measure and control signal;
Include microprocessor, image card, measurement card, driver card, display, storer in the described measure case, alignment probe plant to be measured need sites measured, by shell top by the work of key control probe whether, light source is controlled by driver card by microprocessor and is lighted, illuminate the measuring point for the treatment of measuring plants, video camera is taken plant image, and is converted into digital picture, and this image information is sent into microprocessor by cable and image card and handled; The distance at video camera and tested position is measured by laser range finder, this range information is sent in the microprocessor by measuring card, microprocessor is revised automatically and is compensated measurement result, shows on display through the measurement result of revising, and is kept among the storer automatically.
2. the plant morph parameter vision measurer with automatic calibration function as claimed in claim 1, it is characterized in that, described video camera is a digital camera, so that connect and the transitive graph image signal with microprocessor, the pixel of its image device is more than a mega pixel.
3. the plant morph parameter vision measurer with automatic calibration function as claimed in claim 1 is characterized in that, described camera lens is a wide-angle lens, its deformation rate＜2%, visual angle＞60 °.
4. the plant morph parameter vision measurer with automatic calibration function as claimed in claim 1, it is characterized in that, described laser range finder is directly measured video camera to the actual range between the plant, and send into microprocessor, in data handling procedure, the image measurement result is revised automatically and compensates.
5. as claim 1 or 4 described plant morph parameter vision measurers, it is characterized in that described laser range finder uses is visible laser with automatic calibration function.
6. the plant morph parameter vision measurer with automatic calibration function as claimed in claim 1, it is characterized in that, described light source is the white light-emitting diode light source, spectral range comprises whole visible light, illuminate the detected part of plant, obtain testing image, and compare, thereby obtain required color parameter with the built-in standard color block image of measuring instrument.
7. the plant morph parameter vision measurer with automatic calibration function as claimed in claim 6, it is characterized in that, described standard color block image is under the illumination of light source, standard color block is taken resulting standard picture, and be kept at memory inside in advance, the usefulness of comparison when measuring for color parameter.
8. the plant morph parameter vision measurer with automatic calibration function as claimed in claim 1 is characterized in that, described storer is the FLASH storer greater than 1G.
9. the plant morph parameter vision measurer with automatic calibration function as claimed in claim 1 is characterized in that described probe and measure case are waterproof and dustproof, vibration-proof structure, and all expose device and all seal on the probe.
10. as claim 1 or 9 described plant morph parameter vision measurers, it is characterized in that described measure case is the flip-shell structure with automatic calibration function.
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101718522B (en) * | 2009-12-25 | 2011-07-27 | 华南农业大学 | Non-contact type nondestructive detecting device for plant growth and detecting method thereof |
| CN102316251A (en) * | 2010-06-29 | 2012-01-11 | 甘肃省治沙研究所 | Automatic phenological shooting recorder for organ of plant |
| CN103186015B (en) * | 2011-12-28 | 2015-12-16 | 天津市亚安科技股份有限公司 | Video camera night-vision illumination system and control method thereof |
| CN102565061B (en) * | 2012-01-16 | 2014-03-12 | 沈阳农业大学 | Crop biomass nondestructive testing image acquisition and processing device and testing method |
| CN102927916B (en) * | 2012-11-29 | 2015-05-20 | 中国农业大学 | Method and device of monitoring height of corn plants in wild environment |
| CN103454279B (en) * | 2013-09-05 | 2015-07-15 | 毕昆 | In-situ scanning device |
| CN104748677B (en) * | 2015-02-11 | 2017-10-31 | 中国矿业大学(北京) | The method that plant forms are measured using 3 D laser scanning mode |
| CN105674881A (en) * | 2016-01-26 | 2016-06-15 | 上海乾菲诺农业科技有限公司 | Plant stem measuring method and device |
| KR102134396B1 (en) * | 2018-11-15 | 2020-07-15 | 한국과학기술연구원 | Portable image acquisition apparatus for plants |
| CN111579082B (en) * | 2020-05-09 | 2021-07-30 | 上海交通大学 | Automatic error compensation method for infrared thermal imaging temperature measurement system |
| CN112212801B (en) * | 2020-09-30 | 2022-05-06 | 内蒙古师范大学 | Sand stabilization shrub configuration data processing system |
| CN115529964A (en) * | 2022-09-29 | 2022-12-30 | 高永强 | Portable laser bud removing device |
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| CN1559175A (en) * | 2004-02-24 | 2005-01-05 | 深圳市宝安区农业科学技术推广中心 | Remote radio information feedback and controlable environment intelligent system for agricultural crops |
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