CN103075982B - 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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- CN103075982B CN103075982B CN201210535141.4A CN201210535141A CN103075982B CN 103075982 B CN103075982 B CN 103075982B CN 201210535141 A CN201210535141 A CN 201210535141A CN 103075982 B CN103075982 B CN 103075982B
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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 for the Strawberry in Greenhouse canopy three-dimensionalreconstruction in agriculture equipment and computer measurement and control field and measurement mechanism and method.
Background technology
Go on the market early in Strawberry in Greenhouse anti-season, fruit single fruit is large, high financial profit, has become the main mode of modernization strawberry cultivating.Simultaneously, the fast development of Strawberry in Greenhouse plantation significantly enhances the demand to corresponding establishment new agricultural technology, and strawberry canopy three-dimensionalreconstruction and measuring precisely to be used and fruit produces to estimate in the precision management of isothermal chamber strawberry and has important Research Significance at greenhouse robotization dispenser, fertilizer, but due to scrambling and the complicacy of Strawberry in Greenhouse canopy shape, the canopy that conventional method cannot carry out plant is effectively measured.The measuring method of current employing is hand dipping or range estimation estimation, and its measured value and actual value deviation are comparatively large, and its measuring accuracy does not reach greenhouse robotization dispenser, fertilizer is precisely used and really produce the demand estimated, simultaneously at substantial manpower and materials.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind of measuring accuracy higher, greenhouse robotization dispenser can be met, fertilizer precisely uses and fruit produces and estimates the Strawberry in Greenhouse canopy three-dimensionalreconstruction of demand and measurement mechanism and method.
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 one and is arranged on travel mechanism, electric cabinet, ultrasonic sensor group and host computer on 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 the canopy point three-dimensional coordinate data of the Strawberry in Greenhouse plant collected transfers in described host computer through described electric cabinet by described ultrasonic sensor group carries out data processing; Described electric cabinet is made up of motor control module and MCU master control borad, described MCU master control borad output terminal connects described motor control module, ultrasonic sensor group and host computer respectively, 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 that described ultrasonic sensor group collects are transferred to described host computer.
Described travel mechanism is made up of guide rail, pulley and stepper motor, and described guide rail is arranged on greenhouse truss along direction, ridge, and described in described driving stepper motor, pulley moves along direction, ridge on described guide rail.
Described ultrasonic sensor group is made up of five ultrasonic sensors and mast, and described five ultrasonic sensors are connected in parallel on described mast, are connected with described electric cabinet through described mast.
As Strawberry in Greenhouse canopy three-dimensionalreconstruction and the measuring method of said apparatus, it comprises the following steps: 1) 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 ultrasonic sensor group; 2) in ultrasonic sensor group, the bee-line between itself and crop canopies measured by each ultrasonic sensor simultaneously, obtain perpendicular to ridge to the canopy irregular section frontier point information of strawberry, transfer to host computer through electric cabinet; 3) host computer adopts MATLAB platform, the frontier point information data received is carried out matching by interp1 () function one dimension interpolation, obtains the matched curve of canopy irregular obstacle body, 4 order polynomial fitting expression and areas of section; 4) ultrasonic sensor group in travel mechanism along ridge to traverse measurement, contour fitting curve and the area in each cross section of canopy is drawn by host computer, interpolation is carried out again by the cubic spline two-dimensional interpolation method in surf function, 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 formed owing to adopting electric cabinet, travel mechanism, ultrasonic sensor group and host computer, the automatic control of measuring can be realized, travel mechanism can be walked along guide rail, control it by electric cabinet to realize advancing, retreating and return function, the data of collection can obtain Strawberry in Greenhouse canopy point three-dimensional coordinate after host computer process.2, the present invention can reach optimum measurement effect owing to adopting 5 ultrasonic sensors to carry out measurement, 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 matching and area of section estimation is also minimum, and measuring accuracy is higher.3, the present invention owing to adopting interp1 () function in host computer, surf function carries out Strawberry in Greenhouse canopy surface fitting and calculates Strawberry in Greenhouse canopy volume, this system test and actual measured results is adopted to contrast, result shows that the method has good repeatability, measurement result is consistent, can be used in Strawberry in Greenhouse canopy three-dimensionalreconstruction and cubing, meet greenhouse robotization dispenser, fertilizer precisely uses and fruit product estimates demand.The present invention can be widely used in in agricultural equipment and computer measurement and control field.
Accompanying drawing explanation
Fig. 1 be measurement mechanism of the present invention perpendicular to ridge to time one-piece construction schematic diagram;
Fig. 2 be measurement mechanism of the present invention be parallel to ridge to time 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 one and are arranged on travel mechanism 2, electric cabinet 3, ultrasonic sensor group 4 and 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 host computer (not shown), the canopy point three-dimensional coordinate data of the Strawberry in Greenhouse plant collected transfers in host computer through electric cabinet 3 by ultrasonic sensor group 4 carries out data processing, obtains strawberry canopy three-D profile image and strawberry canopy volume data.
Travel mechanism 2 is made up of guide rail 5, pulley and stepper motor, and guide rail 5 is arranged on greenhouse truss along direction, ridge, and driving stepper motor pulley moves along direction, ridge on guide rail 5.
Electric cabinet 3 is made up of motor control module and MCU master control borad, MCU master control borad output terminal connects motor control module, ultrasonic sensor group 4 and host computer respectively, MCU master control borad and ultrasonic sensor group 4 and host computer carry out information interaction, send work order by MCU master control borad to each parts, and the data that ultrasonic sensor group 4 collects are transferred to host computer.
Ultrasonic sensor group 4 is made up of five ultrasonic sensors 6 and mast 7, and five ultrasonic sensors 6 are connected in parallel on mast 7, are connected with electric cabinet 3 through mast 7.
Strawberry in Greenhouse canopy three-dimensionalreconstruction of the present invention and measuring method comprise the following steps:
1) 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) in ultrasonic sensor group 4, the bee-line between itself and crop canopies measured by each ultrasonic sensor 6 simultaneously, obtain perpendicular to ridge to the canopy irregular section frontier point information of strawberry, transfer to host computer through electric cabinet 3;
3) host computer adopts MATLAB platform, the frontier point information data received is carried out matching by interp1 () function one dimension interpolation, just can obtain the matched curve of canopy irregular obstacle body, 4 order polynomial fitting expression and areas of section;
4) ultrasonic sensor group 4 in travel mechanism 2 along ridge to traverse measurement, and then contour fitting curve and the area in each cross section of canopy is drawn by host computer, interpolation is carried out again by the cubic spline two-dimensional interpolation method in surf function, generate Strawberry in Greenhouse canopy toroidal function, draw Strawberry in Greenhouse canopy three-dimensionalreconstruction and bulking value.
Below by specific embodiment, the invention will be further described.Embodiment: carry out in the heliogreenhouse of strawberry cultivating base, Changping District, Beijing random selecting, the long 80m of strawberry warmhouse booth, wide 8m, rises 3.2m, takes up an area 640m
2, be experimental field sandy loam, pH value 6.5, soil property is excellent, middle fertility, underground water during irrigation.Adopt raised bed cultivate, row spacing 76cm, ridge height 18cm, 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 about 10 000 strain.Experimental cultivar is " all-star " strawberry, the strong and quality better of this kind precocity, high yield, disease resistance.Measure test to carry out in May, strawberry is in accelerated growth phase, and root growth is slow, and part root is withered, starts a small amount of stolon of pumping simultaneously.In heliogreenhouse, wind speed 0m/s, temperature 25.8 DEG C, relative humidity 75%, atmospheric pressure 101.3kPa.
Strawberry in Greenhouse canopy three-dimensionalreconstruction of the present invention and measuring method is adopted to carry out demonstration test to " all-star " strawberry canopy in this experiment, result shows that the method has good 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 controlled by the motor control module in electric cabinet 3 and MCU master control borad, main lift-launch ultrasonic sensor group 7 carries out removable continuous coverage, its speed is adjustable at 0 ~ 21m/min, and direction of travel can be set as advancing, retreating and auto-returned Three models.After the Strawberry in Greenhouse canopy data that ultrasonic sensor group 4 collects transfer to host computer, Strawberry in Greenhouse outline data is obtained in host computer, reconstruct strawberry canopy three-D profile image, matching contour curve also provides 4 order polynomial fitting expression of curve, finally draws area and volume computing value.
The various embodiments described above are only for illustration of 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 of carrying out the connection of individual part and structure according to the principle of the invention and equivalents, all should not get rid of outside protection scope of the present invention.
Claims (3)
1. Strawberry in Greenhouse canopy three-dimensionalreconstruction and a measurement mechanism, is characterized in that: it comprises one and is arranged on travel mechanism, electric cabinet, ultrasonic sensor group and host computer on 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 the canopy point three-dimensional coordinate data of the Strawberry in Greenhouse plant collected transfers in described host computer through described electric cabinet by described ultrasonic sensor group carries out data processing;
Described electric cabinet is made up of motor control module and MCU master control borad, described MCU master control borad output terminal connects described motor control module, ultrasonic sensor group and host computer respectively, 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 that described ultrasonic sensor group collects are transferred to described host computer;
Described travel mechanism is made up of guide rail, pulley and stepper motor, and described guide rail is arranged on greenhouse truss along direction, ridge, and described in described driving stepper motor, pulley moves along direction, ridge on described guide rail; The speed of described travel mechanism is controlled by the motor control module in described electric cabinet and MCU master control borad, and the described ultrasonic sensor group of main lift-launch carries out removable continuous coverage, and its speed is adjustable at 0 ~ 21m/min.
2. a kind of Strawberry in Greenhouse canopy three-dimensionalreconstruction as claimed in claim 1 and measurement mechanism, it is characterized in that: described ultrasonic sensor group is made up of five ultrasonic sensors and mast, described five ultrasonic sensors are connected in parallel on described mast, are connected with described electric cabinet through described mast.
3. the Strawberry in Greenhouse canopy three-dimensionalreconstruction of device and measuring method as described in any one of claim 1 ~ 2, it comprises the following steps:
1) 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 ultrasonic sensor group;
2) in ultrasonic sensor group, the bee-line between itself and crop canopies measured by each ultrasonic sensor simultaneously, obtain perpendicular to ridge to the canopy irregular section frontier point information of strawberry, transfer to host computer through electric cabinet;
3) host computer adopts MATLAB platform, the frontier point information data received is carried out matching by interp1 () function one dimension interpolation, obtains the matched curve of canopy irregular obstacle body, 4 order polynomial fitting expression and areas of section;
4) ultrasonic sensor group in travel mechanism along ridge to traverse measurement, contour fitting curve and the area in each cross section of canopy is drawn by host computer, interpolation is carried out again by the cubic spline two-dimensional interpolation method in surf function, generate Strawberry in Greenhouse canopy toroidal function, draw Strawberry in Greenhouse canopy three-dimensionalreconstruction and bulking value.
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| CN106197545B (en) * | 2016-07-22 | 2018-09-11 | 北京农业信息技术研究中心 | Plant population's structural analysis apparatus and method |
| CN108592832B (en) * | 2018-05-11 | 2020-05-22 | 朱芃嘉 | Agricultural experimental apparatus that grows seedlings based on physics ultrasonic detection |
| CN111307150B (en) * | 2020-02-27 | 2021-07-23 | 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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| KR20020087248A (en) * | 2001-05-15 | 2002-11-22 | 현대중공업 주식회사 | Distance meter apparatus by sonic sensor of Automated guided vehicle |
| CN101449065A (en) * | 2006-04-14 | 2009-06-03 | 株式会社Jms | Plate clamp |
| CN102135418A (en) * | 2010-12-30 | 2011-07-27 | 陕西科技大学 | Volume measuring device for large bulk stockpile |
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Patent Citations (4)
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|---|---|---|---|---|
| KR20020087248A (en) * | 2001-05-15 | 2002-11-22 | 현대중공업 주식회사 | Distance meter apparatus by sonic sensor of Automated guided vehicle |
| CN101449065A (en) * | 2006-04-14 | 2009-06-03 | 株式会社Jms | Plate clamp |
| CN102135418A (en) * | 2010-12-30 | 2011-07-27 | 陕西科技大学 | Volume measuring device for large bulk stockpile |
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