CN103075982A - Three-dimensional reconstruction and measurement device and method of greenhouse strawberry canopy - Google Patents
Three-dimensional reconstruction and measurement device and method of greenhouse strawberry canopy Download PDFInfo
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- CN103075982A CN103075982A CN2012105351414A CN201210535141A CN103075982A CN 103075982 A CN103075982 A CN 103075982A CN 2012105351414 A CN2012105351414 A CN 2012105351414A CN 201210535141 A CN201210535141 A CN 201210535141A CN 103075982 A CN103075982 A CN 103075982A
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Abstract
The invention relates to a three-dimensional reconstruction and measurement device and a three-dimensional reconstruction and measurement method of a greenhouse strawberry canopy. The three-dimensional reconstruction and measurement device comprises a walking mechanism, wherein the walking mechanism is arranged on a truss of a greenhouse, a control end of the walking mechanism is connected with one output end of an electric control box, and an input end of the electric control box is connected with an ultrasonic sensor group; the other output end of the electric control box is connected with an upper computer, and the ultrasonic sensor group is used for transmitting collected three-dimensional coordinate data of canopy contour points of a greenhouse strawberry plant to the upper computer through the electric control box, so as to perform data processing; and the electric control box is composed of a motor control module and an MCU (Micro Control Unit) main control panel, wherein an output end of the MCU main control panel is respectively connected with the motor control module, the ultrasonic sensor group and the upper computer, the MCU main control panel interacts information with the ultrasonic sensor group and the upper computer, working commands are sent to all components by the MCU main control panel, and the data collected by the ultrasonic sensor group are transmitted to the upper computer. The device and the method have the advantage of higher measurement precision, the requirements of automatic drug spray, precise fertilizer application and estimation of fruit yield of the greenhouse can be satisfied, and the device and the method can be widely applied to the field of modern agricultural equipment and computer measurement and control.
Description
Technical field
The present invention relates to a kind of Strawberry in Greenhouse canopy measurement mechanism and method, particularly about a kind of Strawberry in Greenhouse canopy three-dimensionalreconstruction and measurement mechanism and method for modern agriculture equipment and computer measurement and control field.
Background technology
The anti-season listing of Strawberry in Greenhouse early, the fruit single fruit is large, economic benefit is high, has become the main mode of modernized strawberry cultivating.Simultaneously, the fast development of Strawberry in Greenhouse plantation has greatly strengthened the demand to the corresponding establishment new agricultural technology, and strawberry canopy three-dimensionalreconstruction and measure at greenhouse robotization dispenser, fertilizer and precisely use and fruit produces to estimate and has important Research Significance in the precision management of isothermal chamber strawberry, but because scrambling and the complicacy of Strawberry in Greenhouse canopy shape, conventional method can't effectively be carried out the canopy of plant and be measured.The measuring method that adopts at present is hand dipping or range estimation estimation, and its measured value and actual value deviation are larger, and its measuring accuracy does not reach greenhouse robotization dispenser, fertilizer is precisely used and fruit produces the demand of estimating, and expends simultaneously a large amount of manpower and materials.
Summary of the invention
For the problems referred to above, the purpose of this invention is to provide a kind of measuring accuracy higher, can satisfy greenhouse robotization dispenser, fertilizer is precisely used and fruit produces Strawberry in Greenhouse canopy three-dimensionalreconstruction and measurement mechanism and the method estimate demand.
For achieving the above object, the present invention takes following technical scheme: a kind of Strawberry in Greenhouse canopy three-dimensionalreconstruction and measurement mechanism is characterized in that: it comprises that one is arranged on travel mechanism, electric cabinet, ultrasonic sensor group and the host computer on the greenhouse truss; The control end of described travel mechanism connects an output terminal of described electric cabinet, and the input end of described electric cabinet connects described ultrasonic sensor group; Another output terminal of described electric cabinet connects described host computer, and described ultrasonic sensor group is carried out data with the canopy point three-dimensional coordinate data of the Strawberry in Greenhouse plant that collects and processed in described electric cabinet transfers to described host computer; Described electric cabinet is made of motor control module and MCU master control borad, described MCU master control borad output terminal connects respectively described motor control module, ultrasonic sensor group and host computer, described MCU master control borad and described ultrasonic sensor group and host computer carry out information interaction, send work order by described MCU master control borad to each parts, and the data transmission that described ultrasonic sensor group is collected is to described host computer.
Described travel mechanism is made of guide rail, pulley and stepper motor, and described guide rail is arranged on the greenhouse truss along the ridge direction, and described stepper motor drives described pulley and moves along the ridge direction on described guide rail.
Described ultrasonic sensor group is made of five ultrasonic sensors and mast, and described five ultrasonic sensors are connected in parallel on the described mast, are connected with described electric cabinet through described mast.
Strawberry in Greenhouse canopy three-dimensionalreconstruction and measuring method such as above-mentioned device, it may further comprise the steps: 1) the MCU master control borad sends work order to motor control module, ultrasonic sensor group and host computer, is gathered the canopy point three-dimensional coordinate data of Strawberry in Greenhouse plant by the ultrasonic sensor group; 2) each ultrasonic sensor is measured bee-line between itself and crop canopies simultaneously in the ultrasonic sensor group, obtain perpendicular to the ridge to the canopy irregular section frontier point information of strawberry, transfer to host computer through electric cabinet; 3) host computer adopts the MATLAB platform, and the frontier point information data that receives is carried out match by interp1 () function one dimension interpolation, obtains matched curve, 4 order polynomial fitting expression and the areas of section on the irregular border of canopy; 4) the ultrasonic sensor group on travel mechanism along the ridge to traverse measurement, drawn profile matched curve and the area in each cross section of canopy by host computer, carry out interpolation by the cubic spline two-dimensional interpolation method in the surf function again, generate Strawberry in Greenhouse canopy toroidal function, draw Strawberry in Greenhouse canopy three-dimensionalreconstruction and bulking value.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the present invention is owing to adopting electric cabinet, travel mechanism, ultrasonic sensor group and host computer to consist of, can realize the automatic control of measuring, travel mechanism can be walked along guide rail, control its realization by electric cabinet and advance, retreat and return function, the data of collection can obtain Strawberry in Greenhouse canopy point three-dimensional coordinate after processing through host computer.2, the present invention can reach optimum measurement effect owing to adopting 5 ultrasonic sensors to measure, and adopt cubic spline interpolation to produce the most smooth matched curve result, the error of the maximum residul difference mould of its contour curve 4 order polynomial matches and area of section estimation is also minimum, and measuring accuracy is higher.3, the present invention is owing to adopting interp1 () function, surf function to carry out Strawberry in Greenhouse canopy surface fitting in host computer and calculating Strawberry in Greenhouse canopy volume, adopt the contrast of this system test and actual measured results, the result shows that the method has preferably repeatability, measurement result is consistent, can be used in Strawberry in Greenhouse canopy three-dimensionalreconstruction and cubing, satisfy greenhouse robotization dispenser, fertilizer is precisely used and fruit produces and to estimate demand.The present invention can be widely used in in agricultural equipment and the computer measurement and control field.
Description of drawings
Fig. 1 be measurement mechanism of the present invention perpendicular to the ridge to the time the one-piece construction schematic diagram;
Fig. 2 be measurement mechanism of the present invention be parallel to the ridge to the time the one-piece construction schematic diagram.
Embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 1 and Figure 2, Strawberry in Greenhouse canopy three-dimensionalreconstruction of the present invention and measurement mechanism comprise that one is arranged on travel mechanism 2, electric cabinet 3, ultrasonic sensor group 4 and the host computer on greenhouse 1 truss.The control end of travel mechanism 2 connects the input/output terminal of electric cabinet 3, and the input/output terminal of electric cabinet 3 connects ultrasonic sensor group 4; The input/output terminal of electric cabinet 3 connects the host computer (not shown), ultrasonic sensor group 4 transfers to the canopy point three-dimensional coordinate data of the Strawberry in Greenhouse plant that collects carries out data and processes through electric cabinet 3 in the host computer, obtain strawberry canopy three-D profile image and strawberry canopy volume data.
Travel mechanism 2 is made of guide rail 5, pulley and stepper motor, and guide rail 5 is arranged on the greenhouse truss along the ridge direction, and the stepper motor drive pulley is moved along the ridge direction on guide rail 5.
Electric cabinet 3 is made of motor control module and MCU master control borad, MCU master control borad output terminal connects respectively motor control module, ultrasonic sensor group 4 and host computer, MCU master control borad and ultrasonic sensor group 4 and host computer carry out information interaction, send work order by the MCU master control borad to each parts, and the data transmission that ultrasonic sensor group 4 is collected is to host computer.
Strawberry in Greenhouse canopy three-dimensionalreconstruction of the present invention and measuring method may further comprise the steps:
1) the MCU master control borad sends work order to motor control module, ultrasonic sensor group 4 and host computer, is gathered the canopy point three-dimensional coordinate data of Strawberry in Greenhouse plant by ultrasonic sensor group 4;
2) each ultrasonic sensor 6 is measured bee-line between itself and crop canopies simultaneously in the ultrasonic sensor group 4, obtain perpendicular to the ridge to the canopy irregular section frontier point information of strawberry, transfer to host computer through electric cabinet 3;
3) host computer adopts the MATLAB platform, and the frontier point information data that receives is carried out match by interp1 () function one dimension interpolation, just can obtain matched curve, 4 order polynomial fitting expression and the areas of section on the irregular border of canopy;
4) ultrasonic sensor group 4 on travel mechanism 2 along the ridge to traverse measurement, and then drawn profile matched curve and the area in each cross section of canopy by host computer, carry out interpolation by the cubic spline two-dimensional interpolation method in the surf function again, generate Strawberry in Greenhouse canopy toroidal function, draw Strawberry in Greenhouse canopy three-dimensionalreconstruction and bulking value.
The invention will be further described below by specific embodiment.Embodiment: in the heliogreenhouse that Changping District, Beijing strawberry cultivating base is chosen at random, carry out, the long 80m of strawberry warmhouse booth, wide 8m rises 3.2m, takes up an area 640m
2, experimental field be sandy loam, pH value 6.5, soil property is good, and middle fertility is used underground water during irrigation.Adopt raised bed cultivate, row spacing 76cm, the high 18cm in ridge, the wide 30cm of furrow, south-north direction, covering with plastic film, 2 row are planted on every ridge, line-spacing 45cm, spacing in the rows 12cm, every 640m
2Field planting 10 000 left and right sides strains.Experimental cultivar is " all-star " strawberry, the strong and quality better of this kind precocity, high yield, disease resistance.Measure test and carry out in May, strawberry is in accelerated growth phase, and root growth is slow, and the part root is withered, begins simultaneously a small amount of stolon of pumping.In the heliogreenhouse, wind speed 0m/s, 25.8 ℃ of temperature, relative humidity 75%, atmospheric pressure 101.3kPa.
In this test, adopt Strawberry in Greenhouse canopy three-dimensionalreconstruction of the present invention and measuring method that " all-star " strawberry canopy is carried out demonstration test, the result shows that the method has preferably repeatability, and consistent with actual measured results, can be used in Strawberry in Greenhouse canopy three-dimensionalreconstruction and cubing.
In sum, the present invention in use, the speed of travel mechanism 2 is by the motor control module in the electric cabinet 3 and the control of MCU master control borad, the main ultrasonic sensor group 7 of carrying is carried out removable continuous coverage, its speed is adjustable at 0～21m/min, and direction of travel can be set as and advance, retreats and three kinds of patterns of auto-returned.The Strawberry in Greenhouse canopy data transmission that ultrasonic sensor group 4 collects is to host computer, in host computer, obtain the Strawberry in Greenhouse outline data, reconstruct strawberry canopy three-D profile image, the match contour curve also provides 4 order polynomial fitting expression of curve, draws at last area and volume calculated value.
The various embodiments described above only are used for explanation the present invention; the connection of each parts and structure all can change to some extent; on the basis of technical solution of the present invention; all improvement and equivalents of connection and the structure of individual component being carried out according to the principle of the invention all should not got rid of outside protection scope of the present invention.
Claims (4)
1. a Strawberry in Greenhouse canopy three-dimensionalreconstruction and measurement mechanism, it is characterized in that: it comprises that one is arranged on travel mechanism, electric cabinet, ultrasonic sensor group and the host computer on the greenhouse truss; The control end of described travel mechanism connects an output terminal of described electric cabinet, and the input end of described electric cabinet connects described ultrasonic sensor group; Another output terminal of described electric cabinet connects described host computer, and described ultrasonic sensor group is carried out data with the canopy point three-dimensional coordinate data of the Strawberry in Greenhouse plant that collects and processed in described electric cabinet transfers to described host computer;
Described electric cabinet is made of motor control module and MCU master control borad, described MCU master control borad output terminal connects respectively described motor control module, ultrasonic sensor group and host computer, described MCU master control borad and described ultrasonic sensor group and host computer carry out information interaction, send work order by described MCU master control borad to each parts, and the data transmission that described ultrasonic sensor group is collected is to described host computer.
2. a kind of Strawberry in Greenhouse canopy three-dimensionalreconstruction as claimed in claim 1 and measurement mechanism, it is characterized in that: described travel mechanism is made of guide rail, pulley and stepper motor, described guide rail is arranged on the greenhouse truss along the ridge direction, and described stepper motor drives described pulley and moves along the ridge direction on described guide rail.
3. a kind of Strawberry in Greenhouse canopy three-dimensionalreconstruction as claimed in claim 1 or 2 and measurement mechanism, it is characterized in that: described ultrasonic sensor group is made of five ultrasonic sensors and mast, described five ultrasonic sensors are connected in parallel on the described mast, are connected with described electric cabinet through described mast.
4. such as Strawberry in Greenhouse canopy three-dimensionalreconstruction and the measuring method of claim 1～3 device as described in each, it may further comprise the steps:
1) the MCU master control borad sends work order to motor control module, ultrasonic sensor group and host computer, is gathered the canopy point three-dimensional coordinate data of Strawberry in Greenhouse plant by the ultrasonic sensor group;
2) each ultrasonic sensor is measured bee-line between itself and crop canopies simultaneously in the ultrasonic sensor group, obtain perpendicular to the ridge to the canopy irregular section frontier point information of strawberry, transfer to host computer through electric cabinet;
3) host computer adopts the MATLAB platform, and the frontier point information data that receives is carried out match by interp1 () function one dimension interpolation, obtains matched curve, 4 order polynomial fitting expression and the areas of section on the irregular border of canopy;
4) the ultrasonic sensor group on travel mechanism along the ridge to traverse measurement, drawn profile matched curve and the area in each cross section of canopy by host computer, carry out interpolation by the cubic spline two-dimensional interpolation method in the surf function again, generate Strawberry in Greenhouse canopy toroidal function, draw Strawberry in Greenhouse canopy three-dimensionalreconstruction and bulking value.
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Cited By (6)
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| CN106197545A (en) * | 2016-07-22 | 2016-12-07 | 北京农业信息技术研究中心 | Plant population's structural analysis apparatus and method |
| CN107861461A (en) * | 2017-12-12 | 2018-03-30 | 南宁职业技术学院 | A kind of warehouse Intelligent-counting on-line detecting system based on PLC |
| CN108592832A (en) * | 2018-05-11 | 2018-09-28 | 朱芃嘉 | A kind of agricultural cultivation experimental provision based on physics ultrasonic listening |
| CN111307150A (en) * | 2020-02-27 | 2020-06-19 | 华南农业大学 | Flexible plant airflow characterization physical parameter extraction device and method |
| CN112686987A (en) * | 2020-12-30 | 2021-04-20 | 淮北幻境智能科技有限公司 | Method and device for constructing human body virtual model |
| CN113064174A (en) * | 2021-03-22 | 2021-07-02 | 塔里木大学 | Accurate positioning equipment for top organs of cotton plants |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106197545A (en) * | 2016-07-22 | 2016-12-07 | 北京农业信息技术研究中心 | Plant population's structural analysis apparatus and method |
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| CN107861461A (en) * | 2017-12-12 | 2018-03-30 | 南宁职业技术学院 | A kind of warehouse Intelligent-counting on-line detecting system based on PLC |
| CN108592832A (en) * | 2018-05-11 | 2018-09-28 | 朱芃嘉 | A kind of agricultural cultivation experimental provision based on physics ultrasonic listening |
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| CN111307150A (en) * | 2020-02-27 | 2020-06-19 | 华南农业大学 | Flexible plant airflow characterization physical parameter extraction device and method |
| CN112686987A (en) * | 2020-12-30 | 2021-04-20 | 淮北幻境智能科技有限公司 | Method and device for constructing human body virtual model |
| CN113064174A (en) * | 2021-03-22 | 2021-07-02 | 塔里木大学 | Accurate positioning equipment for top organs of cotton plants |
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