CN102175156A - Automatic height measurement device for crops - Google Patents
Automatic height measurement device for crops Download PDFInfo
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- CN102175156A CN102175156A CN 201110020638 CN201110020638A CN102175156A CN 102175156 A CN102175156 A CN 102175156A CN 201110020638 CN201110020638 CN 201110020638 CN 201110020638 A CN201110020638 A CN 201110020638A CN 102175156 A CN102175156 A CN 102175156A
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Abstract
The invention discloses an automatic height measurement device for crops. The device is used for automatic measurement of crop height. The device comprises a pedestal, a transmission part, a sensing part, a control part and a display part; the transmission part, the sensing part, the control part and the display part are arranged on the pedestal; the control part sends instructions to control the operation of the transmission part and drives the sensing part to scan and measure the crops so as to acquire measurement data, and the sensing part returns the measurement data to the control part; and the control part calculates and processes the returned measurement data to acquire the crop height, and outputs the crop height to the display part to display. The device can accurately determine the canopy tops of the crops at the same time of ensuring low hardware cost and finish automatic measurement of the crop height.
Description
Technical field
The present invention relates to the measurement mechanism in a kind of agrometeorological observation field, specifically is the automatic height measuring device of a kind of crop.
Background technology
In the agrometeorological observation field, the plant strain growth height is one of sign of weighing plant growth speed.At present, crop throughout the growing season, to crop carry out height measurement all adopts is manual type.This mode is complex operation not only, increase white elephant for the observation personnel, and measurement result also can be introduced artificial error.
Patent documentation 200810059040.8 discloses a kind of detection method of crop plant height, utilizes optoelectronic scanning system continuous sweep crops, adopts the state of from top to down scan light receiver, thereby extracts the brim height data of current location plant.This method is applicable to the crops mechanized, for example, plucks top etc., because it need depend on telecontrol equipment, so this method is not suitable for long-time observation is automatically highly carried out in plant growth, and the employed sensor of this patent is more simultaneously, and cost is higher.
In addition, also introduced a kind of device that contactless measurement-the supersonic sounding method is measured plant height that uses in the article of on periodical " agricultural research ", delivering in July, 2004 " development of Crop Height Automatic Measuring System ".This measurement mechanism is placed in crop top with the ultrasonic ranging sensor, obtains distance between crop canopies and the sensor by launching ultrasound wave vertically downward, calculates the height of crop.Therefore this device is only applicable to the crop under the sensor is carried out the height measurement, and because there are some shortcomings in ultrasonic ranging sensor itself, such as, reflection problems, noise, cross-cutting issue etc., can be to the crop canopies top determine to bring into bigger error, and then the influence result of measurement highly.
Summary of the invention
At above the deficiencies in the prior art and defective, the present invention has designed the automatic height measuring device of a kind of crop, utilize microprocessor control servomotor to rotate, make it drive sensor crop is carried out autoscan, finish the work that the crop canopies top is determined and highly measured.The present invention finishes the automatic measurement of plant height guaranteeing that hardware cost can determine the crop canopies top in not high exactly.
The present invention is achieved by the following technical solutions:
The automatic height measuring device of a kind of crop comprises five parts: base part, running part, perception part, control section, display part.
Wherein, base part comprises base, pillar, rope rail, and pillar is fixed on the base, and the vertical inboard of pillar is provided with groove, and the setting of rope rail is fixed in the groove.
Running part comprises sliding support, coiling, fixed pulley, servomotor; Sliding support is enclosed within on the rope rail, and can slide up and down along the rope rail, and fixed pulley is fixed on the top of pillar, and the 360 continuous rotating servo motors of degree (first servomotor) are fixed on the base of a column bottom.The slide assemblies upper end links to each other with coiling one end, and the coiling other end links to each other with the continuous rotating servo motor of 360 degree of opposite side by fixed pulley.The continuous rotating servo motor rotation of 360 degree can drive slide assemblies and move vertically.
Described sliding support, be welded by panel, block and roller, panel is mainly used to fix 180 degree rotating servo motor (second servomotor) and infrared, ultrasonic ranging sensors, block is mainly used in sliding support can be enclosed within on the rope rail, and roller can make sliding support paste the pillar scroll-up/down.
The sense part branch comprises infrared distance sensor and ultrasonic ranging sensor; Pillar top and bottom are fixed with direction respectively and infrared distance sensor up down.Wherein infrared distance sensor links to each other with the rotating shaft of 180 degree rotating servo motors, and its ray emission direction is a horizontal direction, and ultrasonic ranging sensor sound wave emissions direction is for vertically downward.Described two infrared distance sensors that are fixed on pillar top and bottom are used for obtaining the current information that whether arrives pillar top and bottom of sliding support, use when judging automatically for microprocessor.
Control section is a microprocessor; Described microprocessor comprises: data input module, data processing module, data outputting module.Concrete function is described as follows:
A. data input module is used to receive infrared distance sensor and the ultrasonic ranging sensing data that microprocessor obtains;
B. data processing module is to judge whether to find the crop summit automatically or whether reach the highest and minimum point of pillar according to the data that received, if find the crop top, servomotor is stopped operating, and preservation current sensor data, the computed altitude value is exported to data outputting module with this height value.If do not find the crop summit, servomotor is rotated further;
C. data outputting module be used for showing institute obtain each sensing data, comprising the final height value of measuring.
The display part is a LCD display.LCD display and microprocessor are fixed on respectively on pillar side and the base.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention adopts infrared distance sensor to determine the crop canopies top, and it is more accurate to compare the ultrasonic ranging sensor, and finishes range finding in conjunction with the mode of servomotor motion scanning, compares and uses sensor array, greatly reduces the cost of equipment;
2, the present invention can also measure the crop whole height in the fixed area of measurement mechanism the place ahead, so the scope of application is wider except can measuring the height of individual plant crop;
3, the present invention can finish the measurement of plant height automatically, does not need manual intervention, has therefore alleviated agricultural gas observation personnel's burden, and is time saving and energy saving;
4, the present invention is fit to long-time ocean weather station observation, compares with the artificial observation data, and the plant height data that the present invention obtains can be crop growth situation observation service more accurately fully better.
Description of drawings
Fig. 1 is a structure side view of the present invention.
Fig. 2 is a structure front view of the present invention.
Fig. 3 is a view under the structure of the present invention.
Fig. 4 is a view under the structure of sliding support among the present invention.
Fig. 5 is the structure side view of sliding support among the present invention.
Fig. 6 is the structure rear view of sliding support among the present invention.
Fig. 7 is a microprocessor architecture block diagram among the present invention.
Fig. 8 is a plant height instrumentation plan of the present invention.
Fig. 9 is a microprocessor processes process flow diagram among the present invention.
Among Fig. 1,2,3: 11 bases, 12 pillars, 13 rope rails, 21 sliding supports, 22 coilings, 23 fixed pulleys, 24180 degree rotating servo motors, the continuous rotating servo motor of 25360 degree, 31 infrared distance sensors, 32 infrared distance sensors, 33 infrared distance sensors, 34 ultrasonic ranging sensors, 41 microprocessors, 51LCD display.
Among Fig. 4,5,6: 211 panels, 212 blocks, 213 rollers.
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 shown in Figure 1, 2, 3, the automatic height measuring device of crop of the present invention comprises base part, running part, perception part, control section and display part.Described base part is basic supporting construction, and described running part, perception part, control section and display part are arranged on this base part 1.Described control section is by sending the motion of instruction control running part, drive the perception part crop is carried out scanning survey, obtain measurement data and return to described control section 4, described control section calculates automatically to the measurement data of returning, and the computing result is exported to display part 5 show.
Described base part comprises base 11, pillar 12 and rope rail 13, described pillar 12 vertical being fixed on the base 11, and the groove on these pillar 12 1 lateral surfaces are provided with axially, rope rail 13 places in this groove, the track that formation can move up and down along pillar 12.
Described running part comprises sliding support 21, coiling 22, fixed pulley 23, servomotor 24 and 25.Sliding support 21 is enclosed within on the rope rail 13, can slide up and down on pillar 12 along rope rail 13.Fixed pulley 23 is fixed on the top of pillar 12, and servomotor 25 is fixed near on the base 11 of pillar 12 bottoms.Coiling 22 is on fixed pulley 23, sliding support 21 upper ends link to each other with coiling 22 1 ends, 22 other ends that wind the line are walked around fixed pulley 23 backs and are linked to each other with described servomotor 25, and servomotor 25 rotations can drive sliding support 21 and move vertically along the rope rail 13 on the pillar 12.Described servomotor 24 is fixed on sliding support 21, with sliding support 21 motions.
Servomotor 24 is 180 degree rotating servo motors, and the brightness that preferred model is TowerPro SG5010 is contained servomotor.Servomotor 25 is the continuous rotating servo motors of 360 degree, and the brightness that preferred model is TowerPro MG945 is contained servomotor;
Shown in Fig. 4,5,6, described sliding support 21 is welded with roller 213 by panel 211, block 212; Also can connect by other modes, as be threaded, riveted joint or bonding etc.It is how right that described roller 213 can have, all be connected on the panel 211, block 212 is arranged between two rollers of pair of rollers, rope rail 13 is enclosed within the gap between block 213 and the panel 211, under the drive of servomotor 25, the sliding support 21 that is enclosed within on the rope rail 13 by this space moves up and down on pillar 12 by roller 213.
Perception part 3 comprises infrared distance sensor 31,32,33 and ultrasonic ranging sensor 34; Infrared distance sensor 31 and 33 is separately fixed at the top and the bottom of pillar 12, and direction is distinguished down and, is used for obtaining the range information of sliding support 21 and pillar 12 tops and bottom up, uses when judging automatically for described control section.Described infrared distance sensor 32 links to each other with the rotating shaft of servomotor 24, and its ray emission direction is a horizontal direction, is used for measuring the distance of the place ahead crop to be measured between sensor 32; Ultrasonic ranging sensor 34 is arranged on the sliding support 21, and its sound wave emissions direction is for vertically downward, in order to obtain the distance between sensor 34 and the base 11.Servomotor 24, infrared distance sensor 32 and ultrasonic ranging sensor 34 are fixed on the described panel 211.
In the present embodiment, infrared distance sensor 31 and 33 preferred Sharp infrared distance sensor (models: GP2D12); Infrared distance sensor 32 preferred Sharp infrared distance sensor (models: GP2Y0A02YK0F); Ultrasonic ranging sensor 34 preferred U.S. Parallax ultrasonic ranging sensor (models: RB URF v1.1).
Described control section 4 comprises: data input module, data processing module, data outputting module.As shown in Figure 7, concrete function is described as follows:
Data input module is used to receive the data of infrared distance sensor 31,32,33 and ultrasonic ranging sensor 34, and gives described output module with the data transmission that receives simultaneously;
Data processing module is judged the crop top according to the sensing data that is received, judge whether to reach the highest and minimum point of pillar 12 simultaneously, if find the crop top, servomotor is stopped operating, and preservation current sensor data, the computed altitude value, and this height value exported to data outputting module; If do not find the crop top, servomotor is rotated further;
If reach the pillar peak, expression crop top height surpasses measurement range, and stop operating first servomotor 24 this moment, makes second servomotor 25 rotate drive sliding support 21 and drops to reference position, does not measure; If reach pillar 12 minimum points, second servomotor 25 is stopped operating, measure and finish.
Data outputting module is used for the height value of each sensing data and described calculating is outputed to described display part, and perhaps remote transmission is to other treatment facilities.
Described control section 4 is preferably microprocessor 41, as the interactive controller (model: Duemilanove 2009ATmega328P-PU) of Arduino.
Described display part 5 is a display 51, is used to show the data of sensor measurement, and the plant height value that calculates by control section.Display 51 is preferably Arduino LCD1602 character liquid crystal expansion board v2.0.
As shown in Figure 8, principle of work of the present invention is as follows:
A. at first apparatus of the present invention are placed crop to be measured the place ahead, horizontal range is determined according to the measurement effective range L of infrared distance sensor 32 between device and the crop, and distance gets final product less than L;
C. the range data that horizontal sampled distance data set that infrared distance sensor 32 is obtained and ultrasonic ranging sensor 34 obtain is input to microprocessor 41, and microprocessor 41 judges whether to find the crop top automatically;
If d. find the crop top, then stop the continuous rotating servo motor 25 of 180 degree rotating servo motors 24 and 360 degree and rotate, and according to formula: H=h
1+ h
2+ h
3Obtain the plant height value, and height value is outputed to demonstration in the LCD display 51.Wherein, H is a plant height, h
1Be ultrasonic ranging sensor 34 and the infrared survey height between the sensor 32 reportedly, h
2For ultrasound wave is surveyed the reportedly distance value between the sensor 34 and base 11, h
3Thickness for base 11.
If e. do not find the crop top, then microprocessor 41 continues to send the instruction control slide assemblies unit height that moves up, and so circulation is till finding the crop top.
If f. reach the pillar peak, also do not find the crop top, illustrate that then plant height surpasses measurement range, stop 180 degree rotating servo motors 24 this moment and rotate, send the continuous rotating servo motor 25 of instruction control 360 degree and rotate to make under the slide assemblies and roll back initial position, finish to measure.
As shown in Figure 9, the treatment scheme of microprocessor 41 is as follows among the present invention:
Microprocessor sends continuous rotating servo motor 25 rotations of instruction control 360 degree and makes unit height of slide assemblies rising when a. beginning;
B. obtain the distance value of infrared distance sensor 31;
C. whether the judging distance value is less than threshold value, and this threshold value is the minimum value of slide assemblies from pillar 12 tops;
If d. distance is less than threshold value then make servomotor stop 25 rotating, and forwards step k to;
If e. distance then forwards step f to greater than threshold value;
F. control 180 degree rotating servo motors 24 drive infrared survey reportedly sensor 32 swing one back and forth, meanwhile obtain the range data collection of this sensor;
Whether the data of g. judging this data centralization are all greater than effective finding range L of infrared distance sensor 32;
H. if not then forwarding step a to;
If i. the value of data set is all greater than effective finding range L of infrared distance sensor 32, then the crop top has been found in expression, this moment computed altitude value and servomotor 25 is stopped operating;
J. height value is shown in LCD display 51;
K. control the continuous rotating servo motor 25 of 360 degree and drive slide assemblies decline, detect the distance value of infrared distance sensor 33 simultaneously;
L. whether the judging distance value is less than threshold value, and this threshold value is the distance value between slide assemblies initial position and the infrared distance sensor 33;
If m. greater than threshold value then forward step k to;
If n. less than threshold value then the continuous rotating servo motor 25 of 360 degree is stopped operating, treatment scheme finishes.
Claims (9)
1. automatic height measuring device of crop, be used for the automatic measurement of plant height, this device comprises pedestal, running part, the perception part, control section and display part, described running part, the perception part, control section and display part are arranged on this pedestal, described control section sends the described running part action of instruction control, drive the perception part crop is carried out scanning survey, and then obtain measurement data and return to described control section, this control section carries out computing to the measurement data of returning, obtain plant height, and output to the display part and show.
2. device according to claim 1, it is characterized in that, described pedestal comprises base (11), pillar (12) and rope rail (13), this pillar (12) stands on the base (11) vertically, this pillar (12) lateral surface is provided with axial notch, described rope rail (13) is arranged in this groove, and this groove and rope rail (13) constitute together can be used for the passage that moves up and down along pillar (12).
3. device according to claim 2, it is characterized in that, described running part comprises sliding support (21), coiling (22), fixed pulley (23) and first servomotor (25), this sliding support (21) is enclosed within on the described rope rail (13), can in described passage, slide up and down along this rope rail (13), described fixed pulley (23) is fixed on the top of described pillar (12), described first servomotor (25) is fixed on the described base (11), described coiling (22) is on described fixed pulley (23), these coiling (22) one ends link to each other with described sliding support (21), the other end is walked around fixed pulley (23) back and is connected with described first servomotor (25), drives described sliding support (21) by this coiling (22) during this first servomotor (25) work and moves up and down along pillar (12).
4. device according to claim 3, it is characterized in that, described sliding support (21) comprises panel (211), block (212) and roller (213), described roller (213) is at least a pair of, be arranged on the panel (211), described block (212) is arranged between two rollers (213) of pair of rollers, described rope rail (13) is fixed on the described sliding support (21) after passing space between this block (213) and the panel (211), under the drive of servomotor (25), drive described sliding support (21) and move up and down by the scrolling realization of roller (213) in described passage.
5. according to the described device of one of claim 2-4, it is characterized in that, described sense part branch comprises three infrared distance sensors (31,32,33) and a ultrasonic ranging sensor (34), they all are arranged on the described sliding support (21), two infrared distance sensors (31 wherein, 33) be separately fixed at the top and the bottom of pillar (12), be respectively applied for the distance of obtaining sliding support (21) and pillar (12) top and bottom, another infrared distance sensor (32) links to each other with the rotating shaft of second servomotor (24), is used to measure the distance between the place ahead crop to be measured and the described infrared distance sensor (32); Described ultrasonic ranging sensor (34) is arranged on the sliding support (21), in order to measure the distance between this ultrasonic ranging sensor (34) and the base (11).
6. device according to claim 5 is characterized in that, described control section comprises:
Data input module is used to receive the data of described three infrared distance sensors (31,32,33) and described ultrasonic ranging sensor (34), and gives described output module with the data transmission that receives simultaneously;
Data processing module, it judges the crop top according to the sensing data that is received, and first servomotor (25) is stopped operating, and preserves current sensor data, calculates height value, and this height value is exported to data outputting module;
Data outputting module is used for the height value of each sensing data and described calculating is outputed to described display part, perhaps is transferred to long-range treatment facility.
7. device according to claim 6 is characterized in that, described height value calculates by following formula:
H=?h
1+h
2+h
3
Wherein, H is a plant height, h
1Be ultrasonic ranging sensor (34) and described another infrared survey height between the sensor (32) reportedly, h
2For described ultrasound wave is surveyed the reportedly measured value of sensor (34), h
3Thickness for the base (11) that is arranged on ground.
8. according to claim 6 or 7 described devices, it is characterized in that, described data processing module according to described another infrared survey reportedly the measured value of sensor (32) judge whether to arrive the crop top.
9. according to the described device of one of claim 6-8, it is characterized in that, described data processing module can judge whether sliding support (21) reaches the peak or the minimum point of pillar (12) according to the data that described two infrared distance sensors (31,33) are received.
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| CN103090797A (en) * | 2011-11-01 | 2013-05-08 | 竑腾科技股份有限公司 | Automatic height measuring device and method of splitting machine |
| CN103234460A (en) * | 2013-05-06 | 2013-08-07 | 慈溪迈思特电子科技有限公司 | Lawn height detection device based on infrared rays |
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| CN103090797A (en) * | 2011-11-01 | 2013-05-08 | 竑腾科技股份有限公司 | Automatic height measuring device and method of splitting machine |
| CN103234460A (en) * | 2013-05-06 | 2013-08-07 | 慈溪迈思特电子科技有限公司 | Lawn height detection device based on infrared rays |
| WO2017000553A1 (en) * | 2015-06-29 | 2017-01-05 | 高翔 | Solar battery inductor |
| CN104991459A (en) * | 2015-07-03 | 2015-10-21 | 北京北菜园农业科技发展有限公司 | Organic vegetable greenhouse monitoring system and method |
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| CN106370110A (en) * | 2016-08-30 | 2017-02-01 | 深圳前海弘稼科技有限公司 | Determination method and system of heights of plants in plantation box |
| CN106643521B (en) * | 2016-12-26 | 2019-01-29 | 河南中原光电测控技术有限公司 | A kind of detection method and device of corps canopy height |
| CN106643521A (en) * | 2016-12-26 | 2017-05-10 | 河南中原光电测控技术有限公司 | Method and device for detecting height of crop canopy |
| CN106643457A (en) * | 2016-12-28 | 2017-05-10 | 广州聚旭机电技术研究院有限公司 | Laser caliper and method for measuring tree diameter by laser caliper |
| WO2018188046A1 (en) * | 2017-04-14 | 2018-10-18 | 深圳市瑞荣创电子科技有限公司 | System and method for remote measurement of plant height of maize |
| CN109974590A (en) * | 2019-03-19 | 2019-07-05 | 四川农业大学 | A kind of tea ridge depth detection device based on infrared distance measurement |
| CN111220082A (en) * | 2020-02-17 | 2020-06-02 | 浙江工业职业技术学院 | Height measuring device for engineering cost capable of climbing high and walking |
| CN113566762A (en) * | 2020-04-28 | 2021-10-29 | 上海汽车集团股份有限公司 | Height measuring device and method |
| CN112414383A (en) * | 2020-12-07 | 2021-02-26 | 浙大城市学院 | Portable mapping device is used in view design |
| CN114052000A (en) * | 2021-11-27 | 2022-02-18 | 唐山学院 | Thing networking monitoring and early warning equipment |
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