CN102384767B - Nondestructive detection device and method for facility crop growth information - Google Patents
Nondestructive detection device and method for facility crop growth information Download PDFInfo
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Abstract
The invention discloses a nondestructive detection device and a nondestructive detection method for facility crop growth information, and belongs to the technical field of monitoring of facility crops. The device comprises a growth information sensing system, an electric control mechanical rocker arm and a control computer; the control computer drives the electric control mechanical rocker arm to be positioned at a detection position, and controls the growth information sensing system; reflection spectrums of nitrogen, phosphorus, potassium and moisture of crops, multispectral images, canopy temperature characteristic, multispectral morphological characteristics of canopies, stalks, plants and fruits, fruit quality information, and information of environmental illumination, temperature and humidity are acquired by using a multispectral imager and sensors of infrared temperature, irradiance, environmental temperature and humidity and load; nutrient and moisture characteristic spaces are acquired by optimizing and compensating the nutrient and moisture characteristics of the crops; and growth vigor information of canopy area, stalk thickness, fruit quality, plant height and the like is acquired by extracting the multispectral morphological characteristics of the crops, and comprehensive acquisition and nondestructive detection of the growth information of the crops are realized by combining nutrient, moisture and growth vigor characteristics.
Description
Technical field
The present invention relates to a kind of protected crop growth information the cannot-harm-detection device and method, belong to protected crop monitoring technical field.Refer in particular to the visible ray-near-infrared reflection spectrum that utilizes protected crop, multispectral image, canopy surface temperature, canopy illumination, ambient temperature and humidity and load sensor carry out the Non-Destructive Testing of plant growth information, can pass through spectrum, visual pattern, organically blending of the multiple lossless detection technology such as infrared temperature detection, illumination and humiture environmental monitoring in conjunction with plant growth, the comprehensive nitrogen that synchronously obtains protected crop, phosphorus, potassium, moisture and canopy area, stem is thick, plant height, the integrated information of the plant growths such as fruit quality, the information providing by this device, can be according to the growth conditions of protected crop and dynamic need, carry out water and fertilizer management and facilities environment regulation and control.
Background technology
Protected crop growth information refers to the integrated information of main nutrient elements level, moisture, the stem fruit leaf growing way etc. that comprise crop.
China's facilities horticulture total area the first in the world, wherein represents that the ratio of the large-scale attached-greenhouse area of facilities horticulture modernization level increases year by year.But need fertilizer to need water information and growth information detection system owing to lacking advanced and applicable protected crop, cannot carry out comprehensively, detect accurately and resolve the nutrition moisture content of crop, growth information, cannot perception regulate and control really requirement with reflection plant growth, cause crop yield potentiality fully not excavated.And to obtain the product of high yield and high quality and the return of high economic benefit, and just must by obtaining a series of plant growth information, and carry out comprehensive evaluation to growth information according to the actual demand of crop, according to evaluation result, carry out water and fertilizer management and environment conditioning.Therefore, in the urgent need to application more comprehensively, the plant growth information detector of system, science, instruct the production run of modern installations, to improve output, reduce regulation and control cost, reduce waste and pollution of area source that excessive fertilization causes, increase economic efficiency.
The growth informations such as the Non-Destructive Testing of protected crop growth information mainly comprises that the nutrient such as crop n p k nutrition, moisture detects and canopy area, stem are thick, plant height, plant growth rate, fruit quality and growth rate detect two aspects.During due to crop alimentary and moisture shortage and surplus, can cause that crop leaf surface and interior tissue physiological property change, thereby cause that crop leaf and canopy change to the reflection characteristic of spectrum and characteristics of image.Meanwhile, the water stress state of crop and its canopy surface temperature significant correlation, by different saturation vapours being depressed to the analysis of hat-air Temperature Difference (canopy surface temperature and environment temperature poor) Changing Pattern, can carry out Non-Destructive Testing to the moisture information of plant.And the growth informations such as the canopy area of crop, stem are thick, plant height, fruit appearance also can obtain by image method.
At present, crop alimentary, the more existing correlative studys in water content detection aspect.Crop alimentary lacks and the superfluous change that can cause crop spectral reflection characteristic.Based on this principle, aspect spectral detection, application number is 200510088935.0 application for a patent for invention, lossless detection method and the surveying instrument of a kind of portable plant nitrogen and moisture are disclosed, by detecting plant leaf, at the spectral reflectance strength information of four characteristic wave strong points, carry out the nutrient diagnosis of plant, utilize nitrogen and the water percentage information of the inverting of four wavelength vegetation indexs being obtained to plant.Application number is 200820078489.4 utility application, discloses a kind of nitrogen reflective index detecting instrument, utilize crop leaf in the spectral reflectance information of two certain wave strong points as nitrogen reflection index, and then infer the yield and quality of crop.Application number is 200510088935.0 application for a patent for invention, discloses a kind of lossless detection method of plant leaf blade physical signs, can utilize the spectral reflectance information of 380～1100nm to chlorophyll, xenthophylls, and nitrogen and moisture etc. detects.The application for a patent for invention that is 200410048127.7 at application number, a kind of method for predicting nitrogen content of cucumber leaf based on natural lighting reflectance spectrum is disclosed, can the spectral reflectance intensity at specified wavelength place draw the reflection vegetation index of blade by cucumber leaves, and then judge its nitrogen level.At present, the related research method of patent of the nutrient such as crop alimentary and moisture information spectroscopic diagnostics, mainly to utilize plant leaf blade at spectral reflectivity and the combined information thereof of some certain wave strong point, the nutrition of crop to be detected, that is to say, by the spectral reflectivity to individual blade, analyze, and then infer the nutrition condition of single plant, and colony's trophic level of analyzed area implants accordingly.And only utilize the blade information of plant, and cannot fully characterize the nutritional status of whole strain plant, therefore, the trophic level of knowing crop by individual blade by inference can cause very large error.Therefore, the nutrient diagnosis method based on Canopy could really be satisfied the demand.In addition, what adopt due to spectral information collection is point source sample mode, sampled point is had relatively high expectations, and be subject to the impact of background and context factor, therefore, only utilizes the reflectance spectrum information of crop to carry out nutrition and water content detection error is larger.
It is to lack caused change in physical properties according to crop alimentary that the visual pattern of crop alimentary detects, and utilizes imageing sensor to obtain crop color (gray scale), the Texture eigenvalue relevant with trophic level.In visual pattern context of detection, the patent of invention that application number is 200710069116.0, discloses a kind of method of quickly non-destructive measurement for nitrogen content of tea using multiple spectrum imaging technology.Application number is the application for a patent for invention of 200510062298.X and the utility application that application number is 200520134360.7, has announced a kind of multiple spactrum image diagnosis mothod of rape nitrogen nutrition and diagnostic system.Said system all adopts the multispectral camera system of 3CCD as vision collecting device, under computer control, by the multispectral camera system of 3CCD, gathers influences of plant crown multispectral image information, can the nondestructive nitrogen nutritional status of diagnosing plant.Although this type systematic can pass through the analysis to the color of influences of plant crown multispectral image and textural characteristics, carry out the N Nutrition of diagnosis of plant, but because plant nutrition exists reciprocation each other, especially between nitrogen and moisture, there is significantly positive reciprocation, and this type systematic cannot detect the water stress information of plant, therefore in the situation that cannot knowing moisture information, the detection of nitrogen also can be subject to certain impact.And the multispectral camera system of 3CCD only can be obtained the multispectral image information of specific wavelength, be difficult to crop alimentary feature extract accurately and effectively and screen, therefore, the nutrient information of only having the multispectral or ultra-optical spectrum imaging system ability Obtaining Accurate crop that adopts the variable wavelength that spectral resolution is higher, improves nutrition accuracy of detection.
Utilizing canopy surface temperature to carry out crop water context of detection.Application number is the utility application that 200710178192.5 application for a patent for invention and application number are 200720190401.3, a kind of online crop water stress irrigation decision monitoring system is disclosed, by the monitoring devices such as environment temperature sensor that arrange on the inner infrared canopy temperature sensor of installing of one group of high-speed holder and rack rod, can realize the monitoring to the canopy surface temperature of crop in community.But because the water stress index index based on canopy-air temperature difference can only show the trend of water stress, cannot carry out quantitative evaluation to the water percentage of plant, and water stress index is subject to the impact of ambient temperature and humidity larger, must utilize the environmental information of synchronous acquisition to revise in real time.Therefore, only adopt single canopy-air temperature difference information to carry out the moisture monitoring of plant, can only carry out trend judgement, therefore, must introduce as various features such as near-infrared reflection spectrum and image informations, and envirment factor is revised in real time, could improve the precision of plant water content detection.
Growing way context of detection crop, application number is the application for a patent for invention of 200610097576.X, a kind of embedded agricultural plant growth state monitor and method of work thereof are disclosed, can be thick to the ambient temperature and humidity of plant growth, stem, plant height, consistency of soil and potential of hydrogen survey, this system is, plant height judgement crop growing state thick by stem only, and lack dynamic plant growth evaluation model, be therefore difficult to crop growing state to be made the evaluation of overall scientific.It is a kind of for monitoring of crop growth and nutrient fertilization prescription generating apparatus and method that application number is that 200410014648.0 application for a patent for invention discloses, this invention adopts video camera to obtain the stem of crop, leaf, flower, really, skin image information, utilize nutritional labeling detector to obtain crops and soil nutrient information detects, because video camera only can obtain visible ray composograph, be difficult to the n p k nutrition of crop and water characteristic to carry out Accurate Analysis, although nutritional labeling detector can obtain the nutritional information of crop, but its sampling and detection mode can cause damage to crop.
The Non-Destructive Testing of the growth information of crop is mainly based on spectrum and image technique at present.Spectral technique can more convenient acquisition nitrogen content, water percentage and spectral reflectivity or its are drilled the relation of raw amount; Visible ray or near-infrared vision color of image (gray scale), texture, morphological feature also can characterize the information such as crop alimentary level, water stress, leaf area, stem fruit leaf to a certain extent, and hat-air Temperature Difference of crop and water stress be significant correlation also.But the single detection method of spectrum, image and canopy surface temperature only, obtains nutrition or moisture or leaf area index, stem, the fruit isolated information such as heavily, be difficult to crop growthing state make comprehensively, the judgement of system, science.And between nutrition, there is reciprocation between nutrition and moisture, testing process is subject to the impact of the envirment factors such as crop canopies structure, Soil Background spectrum and atmospheric window, humiture larger, therefore, only use spectral technique, or the single detective technical deficiencies such as canopy-air temperature difference of photopic vision image or near-infrared vision image or plant are to reflect the growth information such as crop alimentary, moisture and growing way accurately, comprehensively.
In sum, facility is badly in need of in producing a kind ofly can merging multiple Dynamic Non-Destruction Measurement, integrated use much information carries out rapid extraction to growth information such as crop alimentary, moisture and growing ways, the protected crop growth information pick-up unit of accurate analysis and scientific evaluation, the regulation and control of scientific guidance facilities environment and water and fertilizer management, the quality and yield of raising agricultural product, reduces the cost that facilities environment regulates and controls, to increase economic efficiency, realize the great-leap-forward development of China's facilities horticulture.
Summary of the invention
The object of this invention is to provide a kind of based on many senses information mix together technology, can make full use of the multiple effective information such as visible ray-near-infrared reflection spectrum, multispectral image, canopy surface temperature, canopy illumination, ambient temperature and humidity of protected crop, the nutrition of crop, moisture level and growth information are comprehensively judged and the protected crop growth information quick nondestructive detection system of scientific evaluation, for modern installations environment conditioning and water and fertilizer management provide scientific basis.
For achieving the above object, the present invention's a kind of protected crop growth information the cannot-harm-detection device and method are by the following technical solutions:
A protected crop growth information the cannot-harm-detection device, comprises electric-controlled mechanical rocking arm, growth information sensor-based system and controls three parts of computing machine, wherein growth information sensor-based system and control computing machine are arranged on electric-controlled mechanical rocking arm;
Wherein electric-controlled mechanical rocking arm comprise tripod, VTOL (vertical take off and landing) bar, move horizontally bar, automatically controlled The Cloud Terrace A and automatically controlled The Cloud Terrace B; Wherein tripod is arranged on the bottom of electric-controlled mechanical rocking arm, and its bottom is provided with three universal wheels, and there is fixedly internal thread hole at center, tripod upper end, and there is axle sleeve at center, lower end, and VTOL (vertical take off and landing) bar is installed in socket; VTOL (vertical take off and landing) bar is screw structure, and its top is connected and moved horizontally bar by cross connecting piece; Moving horizontally bar is screw structure, is positioned at the top of VTOL (vertical take off and landing) bar and the top of electric-controlled mechanical rocking arm; Described automatically controlled The Cloud Terrace A is arranged on by internal thread slide block on the leading screw that moves horizontally bar, and automatically controlled The Cloud Terrace B is arranged on the screw mandrel of VTOL (vertical take off and landing) bar by internal thread slide block.
Wherein growth information sensor-based system comprises multisensor unit, data collecting card and light source, and multisensor cellular installation is on the automatically controlled The Cloud Terrace A and automatically controlled The Cloud Terrace B of electric-controlled mechanical rocking arm; It is upper that light source is arranged on automatically controlled The Cloud Terrace A, be positioned at multisensor unit under; Data collecting card is connected with multisensor unit, and the tripod top of described electric-controlled mechanical rocking arm is installed.
Wherein control the tripod top that computing machine is arranged on electric-controlled mechanical rocking arm, be connected by usb bus with data collecting card, motion control card and multi-spectral imager A, multi-spectral imager B.
The unit of multisensor described in the present invention comprises by multi-spectral imager A, multi-spectral imager B, infrared temperature sensor A, infrared temperature sensor B, infrared temperature sensor C, irradiance sensor, Temperature Humidity Sensor, load sensor, light shield and scale; Wherein multi-spectral imager A, infrared temperature sensor A, infrared temperature sensor B, irradiance sensor, Temperature Humidity Sensor, light shield are arranged on the automatically controlled The Cloud Terrace A of described electric-controlled mechanical rocking arm, are fixed on the below of automatically controlled The Cloud Terrace A, in head-down position; Described multi-spectral imager B, infrared temperature sensor C are arranged on the automatically controlled The Cloud Terrace B of electric-controlled mechanical rocking arm, are fixed on the left side of automatically controlled The Cloud Terrace B, in side-looking position; Described load sensor is positioned at the below of detecting sample fruit, by support bar, is vertically fixed in greenhouse soil box; Described scale is fixed on and detects the other vertical and ground of sample, and sample is parallel with detecting.
A kind of protected crop growth information of the present invention lossless detection method, carries out according to following step:
(1) utilize multi-spectral imager A and multi-spectral imager B, acquisition testing sample overlook visible ray-near-infrared reflection spectrum and the multispectral image with side-looking visual field, and upload control computing machine by usb bus, can judge accordingly nitrogen, phosphorus, Potassium Levels and the canopy area, the fruit morphology information that detect sample;
(2) utilize the canopy surface temperature information of infrared temperature sensor A, infrared temperature sensor B, infrared temperature sensor C acquisition testing sample; Utilize load sensor, the fruit quality information of acquisition testing sample; Utilize irradiance sensor and Temperature Humidity Sensor, the illumination of acquisition testing sample growing environment and humiture information; Above-mentioned information input data capture card is carried out, after digitizing conversion, by usb bus, uploading control computing machine;
(4) visible ray-near-infrared reflection spectrum and the multispectral image that gather are carried out to analyzing and processing, control computing machine and extract nitrogen, phosphorus, the spectral signature wavelength of potassium and color, texture, gray average and the fusion feature of multispectral image that detects sample, utilize the intensity signal synchronously obtaining to carry out feature compensation, and then by the spectral signature wavelength of nitrogen phosphorus potassium of extraction, color, texture, gray average and the fusion feature of multispectral image are optimized, build nitrogen phosphorus potassium spectrum and image combining feature space;
(5) utilize the visible ray-near-infrared reflection spectrum gathering and the canopy surface temperature information that detects sample, control computing machine and extract spectral signature and the canopy surface temperature feature that detects sample moisture, combining environmental humiture information, obtains hat-air Temperature Difference and saturation vapour pressure; Utilize the ambient lighting information of synchronously obtaining to carry out feature compensation, by characteristic optimization, build spectrum and the canopy surface temperature assemblage characteristic space of moisture;
(6) multispectral image and the fruit quality information that utilize to gather, in conjunction with reference to scale, control computing machine extract detect sample canopy area, stem slightly, plant height, fruit morphology and qualitative data; And according to Continuous Observation data, try to achieve canopy area spreading rate, plant growth rate and fruit growth speed;
(7) utilize crop nitrogen, phosphorus, potassium nutrition, moisture and the growth information obtaining, utilize control computing machine to carry out continuous monitoring record, as the detection data that detect the growth information of sample.
Wherein the analysis and processing method of the reflectance spectrum of the employing described in step (4) comprises: first carry out filtering, carry out afterwards successive Regression and principal component analysis (PCA); The analysis and processing method of multispectral image comprises: first strengthen multispectral image and carry out pixel-level image fusion, by super green feature and two-dimensional histogram, cut apart background afterwards, finally carry out color (gray scale) mean value computation, texture analysis and fusion feature analysis.
Effect of the present invention is visible ray-near-infrared reflection spectrum and the multispectral image that (1) the present invention adopts crop simultaneously, canopy surface temperature, canopy illumination, ambient temperature and humidity and load sensor carry out the Non-Destructive Testing of plant growth information, can pass through spectrum, image, infrared temperature, organically blending of the multiple lossless detection technology such as radiation intensity, environment and temperature-humidity monitoring in conjunction with plant growth, the comprehensive integrated information of synchronously obtaining plant growth, not only obtained information quantity is larger, abundanter, and can be more comprehensively, hold exactly the growth conditions of crop, this does not all relate in file in the past, (2) traditional nutrition detection method only detects for nitrogen nutrition and moisture conventionally, growth information also only the information such as and plant height thick by leaf area, stem carry out micro-judgment, owing to thering is mutual and antagonism between crop alimentary, between nutrient water, also have mutual, and crop growing state and the origin cause of formation thereof have uncertainty, therefore, only according to the detection of the nitrogen of crop, moisture or plant height, the thick information of stem being not enough to reflect all sidedly the growth conditions of crop.Compare with detected object with traditional single detection means, the growth informations such as the nutrient information such as nitrogen phosphorus potassium, moisture of crop and canopy area, stem are thick by obtaining in the present invention, plant height, fruit quality, plant and fruit growth speed, combining environmental information detection, can to protected crop growth conditions, carry out the monitoring of continuous Comprehensive, this does not all relate in file in the past; (3) the present invention, by visible ray-near-infrared reflection spectrum of crop and the fusion of multispectral image information, comprehensively judges the n p k nutrition level of crop; By the information fusion of near infrared spectrum and canopy infrared temperature, judge the water stress state of crop, by the visual pattern of crop, extract the growing way of morphological feature and then judgement crop, and by ambient lighting and humiture information, measuring error is compensated, to obtain all-sidedly and accurately the growth information of crop, this does not all relate in file in the past; (4) the present invention organically blends multiple lossless detection technology, and the comprehensive comprehensive growth information of synchronously obtaining crop, has improved efficiency, lower labour intensity.
Accompanying drawing explanation
Fig. 1 is a kind of protected crop growth information of the present invention the cannot-harm-detection device structural representation;
1-scale 2-light shield 3-halogen light source A
4-irradiance sensor 5-Temperature Humidity Sensor 6-infrared temperature sensor A
7-multi-spectral imager A 8-infrared temperature sensor B 9-halogen light source B
The multispectral video camera B of the automatically controlled The Cloud Terrace A of 10-11-12-infrared temperature sensor C
13-load sensor 14-detects sample 15-and moves horizontally bar
The automatically controlled The Cloud Terrace B of 16-VTOL (vertical take off and landing) bar 17-18-electric-controlled mechanical rocking arm
19-tripod 20-data collecting card 21-motion control card
22-controls computing machine 23-greenhouse soil box.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
With reference to accompanying drawing 1, a kind of protected crop growth information of the present invention the cannot-harm-detection device comprises electric-controlled mechanical rocking arm 18, growth information sensor-based system and controls 22 3 parts of computing machine.Described growth information sensor-based system and control computing machine 22 are arranged on electric-controlled mechanical rocking arm 18, by controlling mechanical rocking arm 18, carry out the adjustment of all around, upper-lower position, make growth information sensor-based system arrive detection position.
Described electric-controlled mechanical rocking arm 18 comprises tripod 19, VTOL (vertical take off and landing) bar 16, moves horizontally bar 15, automatically controlled The Cloud Terrace A10 and automatically controlled The Cloud Terrace B17.Described tripod 19 is arranged on the bottom of electric-controlled mechanical rocking arm 18, and its bottom is provided with three universal wheels, and effect is to stablize electric-controlled mechanical rocking arm 18, and can make electric-controlled mechanical rocking arm 18 move in operating direction all around; There is fixedly internal thread hole at center, tripod upper end, and there is axle sleeve at center, lower end, and VTOL (vertical take off and landing) bar 16 is installed in socket; VTOL (vertical take off and landing) bar 16 is screw structure, and its top is connected and moved horizontally bar 15 by cross connecting piece; Move horizontally bar 15 for screw structure, be positioned at the top of VTOL (vertical take off and landing) bar 16, in the top of electric-controlled mechanical rocking arm 18; Automatically controlled The Cloud Terrace A10 is arranged on by internal thread slide block on the leading screw that moves horizontally bar 15, and automatically controlled The Cloud Terrace B17 is arranged on the screw mandrel of VTOL (vertical take off and landing) bar 16 by internal thread slide block.The position that described electric-controlled mechanical rocking arm 18 can drive automatically controlled The Cloud Terrace B17 to carry out vertical direction in 500～3000mm altitude range by the leading screw rotary actuation internal thread slide block of VTOL (vertical take off and landing) bar 16 is adjusted; Electric-controlled mechanical rocking arm 18 can drive automatically controlled The Cloud Terrace A10 within the scope of 200～2000mm, to carry out horizontal position adjustment by moving horizontally the leading screw rotary actuation internal thread slide block of bar 15.By all around displacement movement of electric-controlled mechanical rocking arm 18, in conjunction with the position of the horizontal and vertical direction of automatically controlled The Cloud Terrace A10 and automatically controlled The Cloud Terrace B17, adjust, can drive the growth information sensor-based system that is arranged on electric-controlled mechanical rocking arm 18 to arrive required detection position.
Described growth information sensor-based system comprises multisensor unit, data collecting card 20 and light source.Described multisensor cellular installation is on the automatically controlled The Cloud Terrace A10 and automatically controlled The Cloud Terrace B17 of electric-controlled mechanical rocking arm 18, and it is upper that light source is arranged on automatically controlled The Cloud Terrace A10, be positioned at electric-controlled mechanical rocking arm 18 the upper multisensor cell mesh of installing of automatically controlled The Cloud Terrace A10 under; Data collecting card 20 is connected with multisensor unit, is arranged on tripod 19 tops of electric-controlled mechanical rocking arm 18.Described multisensor unit comprises multi-spectral imager A7, multi-spectral imager B11, infrared temperature sensor A6, infrared temperature sensor B8, infrared temperature sensor C12, irradiance sensor 4, Temperature Humidity Sensor 5, load sensor 13, light shield 2 and scale 1.Wherein multi-spectral imager A7, infrared temperature sensor A6, infrared temperature sensor B8, light shield 2 are arranged on the automatically controlled The Cloud Terrace A10 of described electric-controlled mechanical rocking arm, be fixed on the below of automatically controlled The Cloud Terrace A10, in head-down position, wherein multi-spectral imager A7 is arranged on center, automatically controlled The Cloud Terrace A below, infrared temperature sensor A6, infrared temperature sensor B8 are arranged on the symmetric position at 1/4th places at the rectangular centre line two ends below automatically controlled The Cloud Terrace A10, lay respectively at left side and the right side of multi-spectral imager A7; Irradiance sensor 4, Temperature Humidity Sensor 5 are fixed on the symmetric position at 1/3rd places at the rectangular centre line two ends, top of automatically controlled The Cloud Terrace A10.Multi-spectral imager B11, infrared temperature sensor C12 are arranged on the automatically controlled The Cloud Terrace B17 of electric-controlled mechanical rocking arm, be fixed on the symmetric position at 1/3rd places at the rectangular centre line two ends, left side of automatically controlled The Cloud Terrace B17, in side-looking position, multi-spectral imager B11 is positioned at the top of infrared temperature sensor C12.Described load sensor is positioned at the fruit below of detecting sample 14, is arranged on support bar, and support bar is fixed on greenhouse soil box 23, perpendicular to greenhouse soil box 23; Described scale 1 is fixed on and detects sample 14 20cm places, left side, vertical and greenhouse soil box 23, and sample 14 is parallel with detecting.In sensor described above, the power input of infrared temperature sensor A6, infrared temperature sensor B8, infrared temperature sensor C12, irradiance sensor 4, Temperature Humidity Sensor 5, load sensor 13 adopts parallel way to connect, all adopt DC24V Power supply, be～5V of its output signal, signal output part is all connected with the signal input part of data collecting card 20, carries out by the usb bus of data collecting card 20, being uploaded and being controlled computing machine 22 after digitizing conversion; Multi-spectral imager A7, multi-spectral imager B11 are connected with control computing machine 22 by usb bus, adopt usb bus power supply and the data transmission of controlling computing machine, visible ray-near-infrared reflection spectrum of collection and multispectral image information are uploaded to control computing machine 22.
The described multi-spectral imager A7 in head-down position, visible ray-near-infrared reflection spectrum and the multispectral image information of detection sample 14 at 5 different characteristic wavelength places of 300 ~ 1100nm wavelength coverage can be obtained simultaneously, nitrogen, phosphorus, Potassium Levels and canopy area, the fruit morphology information of crop can be judged accordingly.Multi-spectral imager B11 in side-looking position is identical with multi-spectral imager A7 model, in conjunction with scale 1, can obtain visible ray-near-infrared reflection spectrum and the multispectral image information of detection sample of stem stalk, plant and the different field of view angle of crop, the stem that can obtain accordingly crop is thick, plant height information and n p k nutrition information.Infrared temperature sensor A6, infrared temperature sensor B8, infrared temperature sensor C12 are same model, measurement range is-40～80 ° of C, its major function is to obtain the canopy surface temperature information of crop diverse location, the environment temperature of obtaining in conjunction with Temperature Humidity Sensor 5, can be preced with-air Temperature Difference of moisturt register information and saturation vapour pressure, judgement detects the water stress state of sample accordingly, wherein the measurement range of temperature sensor 5 is-40～80 ° of C, and the measurement range of humidity sensor 5 is 0～100%RH; Irradiance sensor 4 is used for obtaining real-time lighting intensity, can environmental light intensity be changed the impact of measuring accuracy is compensated accordingly, and its measurement range is 0～100Klux; The measurement range of load sensor 13 is 0～1000g, by support bar, fixedly in greenhouse soil box, is measured its quality, and then calculate fruit growth speed according to continuous coverage data by lifting the fruit of crop sample 14.
Described data collecting card 20 is 16 usb data capture cards, be arranged on tripod 19 tops of electric-controlled mechanical rocking arm 18, its signal input part is connected with infrared temperature sensor A6, infrared temperature sensor B8, infrared temperature sensor C12, irradiance sensor 4, Temperature Humidity Sensor 5, load sensor 13 signal output parts, input signal is carried out to A/D conversion, its output terminal is connected with control computing machine 22 by the usb bus of data collecting card 20, digital signal is uploaded to control computing machine 22 and analyzes and process.
Described light-source system comprises light source and light shield 2, is used for providing for multi-spectral imager A7 and multi-spectral imager B11 the visible ray-near-infrared light source of 250～3000nm spectral coverage, to obtain multispectral image and stable reflected spectrum data clearly.Wherein light source is comprised of halogen light source A3 and halogen light source B9, is arranged on respectively automatically controlled The Cloud Terrace A10 and the inner side, two ends, rectangular centre line left and right that moves horizontally the slide block that bar 15 is connected; Light shield 2 is arranged on the outside, rectangular centre line two ends of the slide block that moves horizontally bar 15 connections, its effect is that external light source is shielded, and by radiation intensity and the uniformity coefficient of irreflexive curved reflection face enhancing light source, with shielding external disturbance, improve the precision and stability of reflectance spectrum and high spectrum image data.
The major function of described control computing machine 22 is to realize signals collecting control, the motion control of electric-controlled mechanical rocking arm and data analysis.Control the top that computing machine 22 is arranged on the tripod 19 of electric-controlled mechanical rocking arm 18, by usb data line, be connected with data collecting card 20, motion control card 21, multi-spectral imager A7 and multi-spectral imager B11, by controlling visible ray-near-infrared reflection spectrum and the multispectral image information of multi-spectral imager A7 and multi-spectral imager B11 acquisition testing sample; By controlling data collecting card 20, gather infrared temperature sensor A6, infrared temperature sensor B8, infrared temperature sensor C12, irradiance sensor 4, Temperature Humidity Sensor 5, load sensor 13 signals; By motion control card 21, control the motion of electric-controlled mechanical rocking arm 18.And the plant growth information data of obtaining is shown, analyzed and processes.
Implement a kind of step of protected crop growth information lossless detection method:
(1) control computing machine 22 control electric-controlled mechanical rocking arms 18 and carry out front and back position adjustment on the operation path in the ranks between protected crop, arrive and detect after sample position, drive the leading screw rotation of VTOL (vertical take off and landing) bar 16, drive internal thread slide block and automatically controlled The Cloud Terrace B17 to make sensor lifting mounted thereto carry out high and low position adjustment, and then carry out sensor horizontal position adjustment and arrive detection position directly over crop by controlling the automatically controlled The Cloud Terrace A10 moving horizontally on bar 15;
(2) start halogen light source 3 and 9, and start to lay respectively at and detect directly over sample 14 on the multi-spectral imager A7 and the automatically controlled The Cloud Terrace B17 in crop middle part on automatically controlled The Cloud Terrace A10, the multi-spectral imager B11 of side direction horizontal position, acquisition testing sample 14 overlook visible ray-near-infrared reflection spectrum and the multispectral image with side-looking visual field, and upload and control computing machine 22 by usb bus;
(3) start and to be positioned at the infrared temperature sensor C12 that detects infrared temperature sensor A6, the infrared temperature sensor B8 on automatically controlled The Cloud Terrace A10 directly over sample 14 and detect the upper side direction horizontal level of automatically controlled The Cloud Terrace B17 at sample 14 middle parts, obtain the canopy surface temperature information of crop; Start and be positioned at the load sensor 13 that detects sample 14 fruit belows, obtain fruit weight information; Synchronous startup is positioned at irradiance sensor 4 and the Temperature Humidity Sensor 5 directly over detection sample 14, the real-time lighting of acquisition testing sample 14 growing environments and ambient temperature and humidity information, and the voltage signal difference input data collecting card 20 of the sensor is carried out by usb bus, being uploaded and being controlled computing machine 22 after A/D conversion;
(4) utilize the visible ray-near-infrared reflection spectrum and the multispectral image that gather to process, the analysis and processing method of the reflectance spectrum adopting comprises: first carry out filtering, carry out afterwards successive Regression and principal component analysis (PCA); The analysis and processing method of multispectral image comprises: first strengthen multispectral image and carry out pixel-level image fusion, by super green feature and two-dimensional histogram, cut apart background afterwards, finally carry out color (gray scale) mean value computation, texture analysis and fusion feature analysis.Control computing machine and extract the spectral signature wavelength of nitrogen phosphorus potassium and color, texture, gray average and the fusion feature of multispectral image that detects sample 14, utilize the intensity signal synchronously obtaining to carry out feature compensation, and then color, texture, gray average and the fusion feature of the spectral signature wavelength of the nitrogen of extraction, phosphorus, potassium, multispectral image are optimized, build nitrogen phosphorus potassium spectrum and image combining feature space;
(5) utilize visible ray-near-infrared reflection spectrum and the canopy surface temperature information gathering, control reflection spectrum characteristic and canopy surface temperature feature that computing machine 22 extracts the moisture that detects sample 14, combining environmental humiture information, obtains hat-air Temperature Difference and saturation vapour pressure; Utilize the ambient lighting information of synchronously obtaining to carry out feature compensation, by characteristic optimization, build spectrum and the canopy surface temperature assemblage characteristic space of moisture;
(6) multispectral image and the fruit quality information that utilize to gather, in conjunction with reference to scale 1 reference target, control computing machine 22 extract detect samples 14 canopy area, stem slightly, plant height, fruit morphology and qualitative data; And according to Continuous Observation data, try to achieve canopy area spreading rate, plant growth rate and fruit growth speed;
(7) utilize n p k nutrition, moisture and the growth information of the detection sample 14 obtaining, utilize control computing machine 22 to carry out continuous monitoring record, as the detection data that detect the growth information of sample 14.
Claims (3)
1. a protected crop growth information the cannot-harm-detection device, is characterized in that comprising electric-controlled mechanical rocking arm, growth information sensor-based system and controls three parts of computing machine, and wherein growth information sensor-based system and control computing machine are arranged on electric-controlled mechanical rocking arm;
Wherein electric-controlled mechanical rocking arm comprise tripod, VTOL (vertical take off and landing) bar, move horizontally bar, automatically controlled The Cloud Terrace A and automatically controlled The Cloud Terrace B; Wherein tripod is arranged on the bottom of electric-controlled mechanical rocking arm, and its bottom is provided with three universal wheels, and there is fixedly internal thread hole at center, tripod upper end, and there is axle sleeve at center, lower end, and VTOL (vertical take off and landing) bar is installed in socket; VTOL (vertical take off and landing) bar is screw structure, and its top is connected and moved horizontally bar by cross connecting piece; Moving horizontally bar is screw structure, is positioned at the top of VTOL (vertical take off and landing) bar and the top of electric-controlled mechanical rocking arm; Described automatically controlled The Cloud Terrace A is arranged on by internal thread slide block on the leading screw that moves horizontally bar, and automatically controlled The Cloud Terrace B is arranged on the screw mandrel of VTOL (vertical take off and landing) bar by internal thread slide block;
Wherein growth information sensor-based system comprises multisensor unit, data collecting card and light source, and multisensor cellular installation is on the automatically controlled The Cloud Terrace A and automatically controlled The Cloud Terrace B of electric-controlled mechanical rocking arm; It is upper that light source is arranged on automatically controlled The Cloud Terrace A, be positioned at multisensor unit under; Data collecting card is connected with multisensor unit, and the tripod top of described electric-controlled mechanical rocking arm is installed;
Wherein control the tripod top that computing machine is arranged on electric-controlled mechanical rocking arm, be connected by usb bus with data collecting card, motion control card and multi-spectral imager A, multi-spectral imager B;
Described multisensor unit comprises by multi-spectral imager A, multi-spectral imager B, infrared temperature sensor A, infrared temperature sensor B, infrared temperature sensor C, irradiance sensor, Temperature Humidity Sensor, load sensor, light shield and scale; Wherein multi-spectral imager A, infrared temperature sensor A, infrared temperature sensor B, irradiance sensor, Temperature Humidity Sensor, light shield are arranged on the automatically controlled The Cloud Terrace A of described electric-controlled mechanical rocking arm, are fixed on the below of automatically controlled The Cloud Terrace A, in head-down position; Described multi-spectral imager B, infrared temperature sensor C are arranged on the automatically controlled The Cloud Terrace B of electric-controlled mechanical rocking arm, are fixed on the left side of automatically controlled The Cloud Terrace B, in side-looking position; Described load sensor is positioned at the below of detecting sample fruit, by support bar, is vertically fixed in greenhouse soil box; Described scale is fixed on and detects the other vertical and ground of sample, and sample is parallel with detecting.
2. a protected crop growth information lossless detection method, is characterized in that carrying out according to following step:
(1) utilize multi-spectral imager A and multi-spectral imager B, acquisition testing sample overlook visible ray-near-infrared reflection spectrum and the multispectral image with side-looking visual field, and upload control computing machine by usb bus, can judge accordingly nitrogen, phosphorus, Potassium Levels and the canopy area, the fruit morphology information that detect sample;
(2) utilize the canopy surface temperature information of infrared temperature sensor A, infrared temperature sensor B, infrared temperature sensor C acquisition testing sample; Utilize load sensor, the fruit quality information of acquisition testing sample; Utilize irradiance sensor and Temperature Humidity Sensor, the illumination of acquisition testing sample growing environment and humiture information; Above-mentioned information input data capture card is carried out, after digitizing conversion, by usb bus, uploading control computing machine;
(4) visible ray-near-infrared reflection spectrum and the multispectral image that gather are carried out to analyzing and processing, control computing machine and extract nitrogen, phosphorus, the spectral signature wavelength of potassium and color, texture, gray average and the fusion feature of multispectral image that detects sample, utilize the intensity signal synchronously obtaining to carry out feature compensation, and then by the spectral signature wavelength of nitrogen phosphorus potassium of extraction, color, texture, gray average and the fusion feature of multispectral image are optimized, build nitrogen phosphorus potassium spectrum and image combining feature space;
(5) utilize the visible ray-near-infrared reflection spectrum gathering and the canopy surface temperature information that detects sample, control computing machine and extract spectral signature and the canopy surface temperature feature that detects sample moisture, combining environmental humiture information, obtains hat-air Temperature Difference and saturation vapour pressure; Utilize the ambient lighting information of synchronously obtaining to carry out feature compensation, by characteristic optimization, build spectrum and the canopy surface temperature assemblage characteristic space of moisture;
(6) multispectral image and the fruit quality information that utilize to gather, in conjunction with reference to scale, control computing machine extract detect sample canopy area, stem slightly, plant height, fruit morphology and qualitative data; And according to Continuous Observation data, try to achieve canopy area spreading rate, plant growth rate and fruit growth speed;
(7) utilize crop nitrogen, phosphorus, potassium nutrition, moisture and the growth information obtaining, utilize control computing machine to carry out continuous monitoring record, as the detection data that detect the growth information of sample.
3. a kind of protected crop growth information lossless detection method according to claim 2, is characterized in that the analyzing and processing of the reflectance spectrum as adopted in step (4) comprises: first carry out filtering, carry out afterwards successive Regression and principal component analysis (PCA); The analysis and processing method of multispectral image comprises: first strengthen multispectral image and carry out pixel-level image fusion, cut apart background afterwards by super green feature and two-dimensional histogram, finally carry out the calculating of color gray average, texture analysis and fusion feature analysis.
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