CN103439264B - A kind of fertility of the tea tree live body based on tuning on-line characteristic harvester - Google Patents

Abstract

The invention discloses a kind of tea tree live body based on tuning on-line fertility characteristic harvester, four angle points of rectangle covering tea tree planting region arrange four vertical support bars (2) respectively; The top of each root support bar is provided with a coloured mark (3); Two of this rectangle parallel long limits are respectively provided with a guide rail (1); 4 pulleys of bottom setting of frame (5) and the motor (20) for drive pulley; Omnibearing vision sensor (9) is fixed on the tripod (12) of frame top setting; Frame is also provided with computing machine (7), accumulator (8), ultrasonic sensor (16) and wireless launcher (14); The top of frame is also provided with an EO-1 hyperion sensor; The high feature of automaticity should be had, for the plantation that becomes more meticulous of tea tree provides equipment Foundations based on the tea tree live body fertility characteristic harvester of tuning on-line.

Description

A kind of fertility of the tea tree live body based on tuning on-line characteristic harvester

Technical field

The invention belongs to precision agriculture field, relate to a kind of tea tree live body based on tuning on-line fertility characteristic harvester.

Background technology

China is the original producton location of tealeaves, is the country finding tea tree the earliest, first Tea Production state of the world today and second-biggest-in-the-world exported country, and Tea Production 147.5 ten thousand t in 2011, exceedes 1/3 of world's weight; Export 32.3 ten thousand t, export amount of money about 9.56 hundred million $, occupies very important status as seen in China industrial crops.Along with China's Rural Urbanization Development, rural laborer reduces with aging serious gradually, and production cost increases, and Tea Production profit declines, and constrains the development of Tea Industry, and tea place mechanization of operation and information automation are the inexorable trends of development.

Since the nineties in 20th century, along with GPS (GPS), Geographic Information System (GIS), agriculture application electric technology and arable farming are about the development of analogy model and decision-making of production management back-up system (DDS) technical research, " precision agriculture " has become 21 century developed country is put agricultural resources to rational use, improve crop yield, reduce production cost, variable fertilization, dispenser is implemented, one of the most attractive frontier nature research field of improving the ecological environment according to making substance environment and growing.

In current tea garden management, for grasping the situation of growing of tealeaves in time, often carry out the not high outward appearance diagnosis of reliability according to artificial experience; Or adopt lab analysis based on soil and crop, common demands spoiled soil and vegetation sample, and measure and waste time and energy, process is complicated.Meanwhile, result of study finds that tea fresh leaves output becomes certain proportional relationship with the growth time of tea tree, but becomes certain inversely prroportional relationship with the quality of tealeaves, and therefore the balance of yield and quality is the problem must considered the collecting period.Generally traditional method is also that rule of thumb artificial feel is to judge degree of ripeness and the quality of sprouting, and these methods belong to qualitative or Semi-qualitative, lack sufficient scientific basis, and waste time and energy.

Documents and materials show, and adopt the research of the tealeaves finished product detection such as near infrared technology more.National patent application number CN200910116733.0 discloses a kind of method of rapidly detecting tea quality through near infrared technology, for material recall and processing provide detection to provide convenience; National patent application number: CN200810079810.5 utilizes infrared spectrum to adopt the method establishment spectrogram of sample analysis to detect for the place of production and CN200810236223.2 utilizes infrared spectrum and machine vision to merge Tea Samples quality testing, and above document can not be applied to tea garden management.National patent number: CN200710156126.8 discloses a kind of tea garden microdomain monitoring method based on wireless sensor network and system, can realize the wireless transmission of sensing data, digital independent, data and curves and topological diagram drafting etc.National patent number: ZL201020581129.3 provide a kind of robotization tea place tea tree live body grow measurement and disease and pest pick-up unit, adopt vision and ultrasonic technology to detect roughly in real time growing height and blade disease and pest, be conducive to the fine-grained management such as adjustment moisture, nitrogenous fertilizer and dispenser.

But the physiology of fresh tea passes and the degree of precision monitoring of physical and chemical quality in the tea tree live body growth and development process that also has no basis in prior art, to instruct the technology of the tea place plantation that becomes more meticulous from microcosmic, therefore, a kind of fertility of the tea tree live body based on tuning on-line of design characteristic harvester is necessary.

Summary of the invention

Technical matters to be solved by this invention is to provide a kind of tea tree live body based on tuning on-line fertility characteristic harvester, the high feature of automaticity should be had, for the plantation that becomes more meticulous of tea tree provides equipment Foundations based on the tea tree live body fertility characteristic harvester of tuning on-line.

The technical solution of invention is as follows:

Based on a tea tree live body fertility characteristic harvester for tuning on-line, four angle points of rectangle covering tea tree planting region arrange four vertical support bars (2) respectively; The top of each root support bar is provided with a coloured mark (3); Two of this rectangle parallel long limits are respectively provided with a guide rail (1); Article 2, the two ends of parallel guide rail are respectively provided with guide rail pillow (10) and a stop (11);

4 pulleys of bottom setting of frame (5) and the motor (20) for drive pulley; During machine operation, drive pulley drives frame along slide; Frame is provided with 2 and matches with described stop the limit switch (17) used;

Omnibearing vision sensor (9) is fixed on the tripod (12) of frame top setting;

Frame is also provided with computing machine (7), accumulator (8), ultrasonic sensor (16), light source (4) and wireless launcher (14); The top of frame is also provided with an EO-1 hyperion sensor by the downward connecting link of pendency;

Limit switch, accumulator, ultrasonic sensor, wireless launcher, omnibearing vision sensor are all connected with computing machine with EO-1 hyperion sensor, and motor is controlled by computing machine.

Connecting link comprises telescoping mechanism and is arranged on the rotation clamping device below telescoping mechanism; Telescoping mechanism is connected by web joint (36) with rotation clamping device;

Telescoping mechanism comprises screw shell (33), be arranged on the rotating handles (31) that thread spindle (35) in screw shell and thread spindle top arrange; Screw shell is fixed in frame by web member fixed head (43); Screw shell is provided with the first set bolt (34); [telescoping mechanism first can stretch and put in place, then installs the latter half.] rotate clamping device and comprise the square steel (42) being fixed on web joint (36) bottom and the clamping device (37) be arranged on by gradient fixed head (40) and gib screw (41) on square steel; Gradient fixed head is fan-shaped, and gradient fixed head is provided with a circular hole, and gradient fixed head is mounted on gib screw by this circular hole; Gradient fixed head is also provided with the pilot hole (46) of arc; Clamping device regulates a block (38) to be arranged on gradient fixed head by degree of tilt; Degree of tilt regulates the second set bolt (39) that a block is arranged to complete the fixing of clamping device through described pilot hole (46).

The top of frame is provided with the solar panel (6) be connected with accumulator; Motor is provided with motor encoder (19); Omnibearing vision sensor is connected with computing machine by USB line, and motor encoder is connected with computing machine, and the surrounding of frame is provided with the gobo (44) of band felt tape (45).[gobo is attached to around frame in observation process, reduces light impact.Felt tape is for being bonded at frame by gobo]

Position fixing process is as follows:

The rectangle that 4 coloured mark L1 ~ L4 are formed around operation area long for a, wide be b; Often adjacent two coloured marks in four coloured marks and the azimuth angle theta of omnibearing vision sensor projection centre in omnidirectional images ₁~ θ ₄; According to geometry circular arc formation basic theory, by the coloured identification point of L1 and L2 and above-mentioned azimuth angle theta ₁namely central angle forms arc S ₁, in like manner, L2 and L3, θ ₂form arc S ₂, L3 and L4, θ ₃form arc S ₃, L3 and L4, θ ₄form arc S ₄, arc S ₁~ S ₄two intersect respectively, and draw four intersection points, 4 intersecting point coordinates are:

$\left\{\begin{array}{c}{X}_{I1}=\frac{b(c_1+1/\tan {\mathrm{\θ}}_1)}{1+{c_1}^2}\\ Y_{I1}=\frac{b{c}_1(c_1+1/\tan {\mathrm{\θ}}_1)}{1+{c_1}^2}\end{array}\right.;$ Wherein $c_1=\frac{b/\tan {{\mathrm{\θ}}_1}^{-a}}{a/\tan {{\mathrm{\θ}}_2}^{-b}};$

$\left\{\begin{array}{c}{X}_{I2}=\frac{b(c_2+1/\tan {\mathrm{\θ}}_2)}{1+{c_2}^2}\\ Y_{I2}=\frac{b{c}_2(c_2+1/\tan {\mathrm{\θ}}_2)}{1+{c_2}^2}\end{array}\right.,$ Wherein $c_2=\frac{b/\tan {{\mathrm{\θ}}_2}^{-a}}{a/\tan {{\mathrm{\θ}}_3}^{-b}};$

$\left\{\begin{array}{c}{X}_{I3}=\frac{b(c_3+1/\tan {\mathrm{\θ}}_3)}{1+{c_3}^2}\\ Y_{I3}=\frac{b{c}_3(c_3+1/\tan {\mathrm{\θ}}_3)}{1+{c_3}^2}\end{array}\right.,$ Wherein $c_3=\frac{b/\tan {{\mathrm{\θ}}_3}^{-a}}{a/\tan {{\mathrm{\θ}}_4}^{-b}};$

$\left\{\begin{array}{c}{X}_{I4}=\frac{b(c_4+1/\tan {\mathrm{\θ}}_4)}{1+{c_4}^2}\\ Y_{I4}=\frac{b{c}_4(c_4+1/\tan {\mathrm{\θ}}_4)}{1+{c_4}^2}\end{array}\right.,$ Wherein $c_4=\frac{b/\tan {{\mathrm{\θ}}_4}^{-a}}{a/\tan {{\mathrm{\θ}}_1}^{-b}};$

Draw intersection point barycentric coordinates P (X ₁, Y ₁), as follows:

$\left\{\begin{array}{c}{X}_1=(X_{I1}+X_{I2}+X_{I3}+X_{I4})/4\\ Y_1=(Y_{I1}+Y_{I2}+Y_{I3}+Y_{I4})/4\end{array}\right.;$

Barycentric coordinates P (X ₁, Y ₁) i.e. the coordinate in XOY plane (i.e. place, tea place plane) of omnibearing vision sensor.

Beneficial effect:

Tea tree live body based on tuning on-line fertility characteristic harvester of the present invention, on the basis of locating at the scene, according to the tea tree live body fertility characteristic collection in tea tree live body growth and development process, thus monitor growth of tea plant process in real time, automatically, accurately, realize the plantation that becomes more meticulous of tea tree, adopt and support for improving to instruct accuracy and be conducive to balancing, measure relation between matter, the object realizing the good quality and high output of tealeaves, prolongation economic life and increase economic efficiency.

Tuning on-line data collector of the present invention, motor is adopted automatically to run, fixed point is mobile, computer automatic data collection, ultrasonic sensor, omni-directional visual alignment sensor and EO-1 hyperion sensor three sensor cooperative work, reduce labor intensity, improve data acquisition efficiency, be conducive to relaxing the social influence that rural laborer reduces and aging brings, promote Tea Industry industry development, promote China and to become more meticulous tea place its construction level, reduce production cost, improve fresh tea passes quality, strengthen Tea Industry Competitiveness of Chinese Industries.

Data collector of the present invention is reasonable in design, according to agriculture requirement design rail and the frame in tea place; According to EO-1 hyperion sensor to the sensitivity of the external environments such as light, design lamp source and shading device, EO-1 hyperion sensor is to the height adjustable of plant simultaneously, and rotary angle controllable is simple to operate.

Fertilising pesticide applicator of the present invention is skillfully constructed; according to the perennial feature of tea tree; in tea place, set up one or several data collection point according to tea place area, kind, distribution etc., and online position data collecting device is installed, realize the tea place fine-grained management of fanning out from point to area; Require in data acquisition simultaneously, ensure that each Data Position point gathered is identical, be conducive to the comparative analysis of data, especially be relatively even more important with multiwave EO-1 hyperion sensor, have employed the locating device that omni-directional visual alignment sensor and manual identification combine, save cost, install simple, positioning precision is very high.The spectroscopic data of EO-1 hyperion sensor can analyze physiology and physical and chemical quality index, ultrasonic sensor can measure growing height change; both combine the relation being used for evaluating tea leaf quality and growing way further; be conducive to realizing becoming more meticulous of tea tree planting, be conducive to reducing fertilising dispenser etc.; Judge best time of picking according to fresh tea passes quality and growing way simultaneously, not only ensure the quality of products but also ensure output.

Generally speaking, data collector of the present invention design is very novel, specialized and automaticity is high, simple to operate, function is unique, and work efficiency is high.

Accompanying drawing explanation

Fig. 1 is the general structure schematic diagram of the tea tree live body fertility characteristic harvester based on tuning on-line;

Fig. 2 is omni-directional visual alignment sensor structural representation;

Fig. 3 is EO-1 hyperion sensor connecting piece structural representation;

Fig. 4 is light-shielding structure schematic diagram;

Fig. 5 is EO-1 hyperion sensor gradient fixed plate structure schematic diagram;

Fig. 6 is the position relationship schematic diagram of omni-directional visual alignment sensor and four coloured marks (L1 ~ L4) in omnidirectional images;

Fig. 7 is omni-directional visual alignment sensor positioning principle figure in XOY plane.

Label declaration: 1. guide rail, 2. support bar, 3. coloured mark, 4. light source, 5. frame, 6. solar cell, 7. computing machine, 8. accumulator, 9. omni-directional visual alignment sensor, 10. guide rail pillow, 11. stops, 12. tripods, 13.USB line, 14. wireless launchers, 15. trigger controllers, 16. ultrasonic sensors, 17. limit switches, 18. angle sheaves, 19. motor encoders, 20. motors, 21. driving wheels, 22. curved minute surfaces, 23. center pins, 24.USB video camera, 25.USB interface, 26. focusing screw threads, 27. camera lenses, 28. lower covers, 29. transparent housings, 30. upper covers, 31. rotating handleses, 32. handle sleeves, 33. screw shells, 34. first set bolts, 35. thread spindles, 36. web joints, 37. EO-1 hyperion sensor holder, 38. degree of tilt regulate a block, 39. second set bolts, 40. gradient fixed heads, 41. gib screws, 42. square steel, 43. web member fixed heads, 44. gobos, 45. felt tapes, 46. pilot holes, 47. tea trees.

Embodiment

Below with reference to the drawings and specific embodiments, the present invention is described in further details:

Embodiment 1:

As shown in figs. 1-7, a kind of tea tree live body based on tuning on-line fertility characteristic harvester, comprises frame and rack-mounted power system, sensing system and running gear, control center; Frame is according to standard tea place agriculture requirement, and width is 200cm, is highly 140 ~ 160cm (according to tea tree height); Power system provides electric energy by solar cell and accumulator;

Sensing system comprises growth developmental characteristic sensor-based system and omni-directional visual positioning sensor system; Growth developmental characteristic sensor-based system comprises ultrasonic sensor, EO-1 hyperion sensor, computing machine; Ultrasonic sensor to be arranged in frame and to be connected with computing machine by data (I/O) interface; Tea tree image data aimed at by ultrasonic sensor, adopts the distance between ultrasonic distance sensor measurement leaf and sensor to gather tea free growing state data; EO-1 hyperion sensor is arranged in frame by web member; light source opposite side and tea tree in about 45 ° of image data; gather the spectral information of tea fresh leaves, the Vegetative Physiological Indexes of tea fresh leaves, physical and chemical quality index and growth indexes are monitored and analyzed to the Quantitative Analysis Model setting up spectral signature and index by experiment with stoechiometric process research; According to physical and chemical quality index and the yield model of tea fresh leaves; utilize the image information of EO-1 hyperion to adopt image processing techniques and ultrasound wave growth information estimation fresh tea passes size, adopt Neural Network Inversion to set up high accuracy and pluck discrimination model (setting up the mature technology that correlation model is this area); Omni-directional visual positioning sensor system comprises puts vision alignment sensor and manual identification entirely, entirely puts vision alignment sensor and to be arranged on above frame and to be connected with computing machine by data (I/O) interface; Manual identification comprises mark support bar and four coloured marks (L1, L2, L3, L4); be arranged on four corners of guide rail respectively; in rectangular or rectangular-shaped, entirely put vision alignment sensor collection manual identification image, extract manual identification's feature and position; In the data input computing machine that sensor gathers.

Running gear comprises guide rail and guide rail pillow, motor, driving wheel, angle sheave, limit switch, stop means; Guide rail refers to rests the head on rail the to-and-fro movement being arranged on reposefully and being used for bearing frame between tea tree ridge, tea place by guide rail; Motor is arranged on both sides below frame; Driving wheel and angle sheave are arranged on bottom frame, with guide rail multiplication strains and direct cooperating; Motor drives driving wheel and data collector motion by sprocket wheel; Guide rail two end is mounting limit device respectively, realizes the stop motion of data collector.

Control center comprises computing machine, motor encoder, limit switch, wireless network data transmission system; Computing machine, motor encoder, limit switch, wireless network data transmission system are all fixed in frame; Computing machine and sensor-based system share, and computing machine is by the power supply of the programming controller clocked flip of its inside or artificial turn-on data harvester, ultrasonic sensor, EO-1 hyperion sensor, the work of omni-directional visual alignment sensor; Firing order is moved to motor encoder driven by motor data collector; Omni-directional visual positioning sensor system location Calculation, the programming controller firing order of computer-internal makes data collector fixed point stop motion, image data, again moves; Then the signal of limit switch is accepted, stop motion and data acquisition.Limit switch; its principle of work is when gantry motion is to guide rail edge; limit switch touches by stop means; send signal feedback to computing machine; programming controller launches power off command or directly by contact-making switch deenergization, the work of stopping motor and ultrasonic sensor, EO-1 hyperion sensor, omni-directional visual alignment sensor; Wireless network data transmission system comprises and upper shared computing machine, trigger controller, wireless launcher; After the data that computing machine receiving sensor gathers, triggered the data to data administrative center of wireless launcher emission sensor collection by trigger controller; Also accept operation signal by wireless network simultaneously.

In this example, a kind of tea tree live body fertility feature fine-grained management tuning on-line data collector, comprises frame and rack-mounted power system, sensing system and running gear, backup system, control center; Described frame is according to standard tea place agriculture requirement, and width is 200cm, is highly 140 ~ 160cm (according to tea tree height); Described power system provides electric energy by solar cell and accumulator, is arranged on above frame;

Described sensing system comprises growth developmental characteristic sensor-based system and omni-directional visual positioning sensor system; Described growth developmental characteristic sensor-based system comprises ultrasonic sensor, EO-1 hyperion sensor, computing machine; Described ultrasonic sensor to be arranged in frame and to be connected with computing machine by data (I/O) interface; Tea tree image data aimed at by ultrasonic sensor, adopts the distance between ultrasonic distance sensor measurement leaf and sensor to gather tea free growing state data;

Described EO-1 hyperion sensor is arranged in frame by the web member shown in Fig. 3, and is connected with computing machine by data (I/O) interface; Described web member is connected in frame by fixed head, comprises rotating handles, handle sleeve, screw shell, the first set bolt, thread spindle, web joint, square steel, EO-1 hyperion sensor holder, degree of tilt adjustment block, the second set bolt, gradient fixed head and a gib screw; Thread spindle first stretches out in frame after plane by described rotating handles, is fixed on thread spindle by handle sleeve; Described thread spindle by rotating handles, thread spindle and screw shell relative motion, adjustable and by the first set bolt level altitude; Described screw shell welds with web member fixed head; Described web joint, one piece is welded with thread spindle, and another block welds with square steel; Described square steel connects gradient fixed head by the second set bolt and degree of tilt regulates a block; Described EO-1 hyperion sensor holder is bolted and regulates on a block in degree of tilt; Regulate the angle of inclination of EO-1 hyperion sensor, tighten the second set bolt, fix EO-1 hyperion sensor by screw and pilot hole; The use principle of described EO-1 hyperion sensor; the high-spectrum gathered similarly is the 3-D view block be made up of the optical imagery of series of waves strong point in particular range of wavelengths; both there is the image information under certain specific wavelength, there is again certain specific pixel spectral information at different wavelengths; Spectral information fully can reflect the characteristic information of the inner effective constituent (comprising the hydric group compositions such as Polyphenols, vegetable soda, amino acid and protein) of such as tealeaves, and these characteristic informations are closely related with the quality factor such as the flavour of tealeaves and fragrance again; Image information fully can reflect the external sort feature of tealeaves, can complete the reflection of inside and outside quality.Comprise light and gobo by the utility appliance of EO-1 hyperion sensor image data, described light and gobo provide an operating environment had nothing to do with external environment for EO-1 hyperion sensor, avoid extraneous factor to disturb; Described gobo adopts light-proof material, surrounds frame surrounding, lower than EO-1 hyperion sensor, is bonded into semiclosed shape by felt tape.Light source opposite side and tea tree in about 45 ° of image data, gather the spectral information of tea fresh leaves; It realizes principle: the Vegetative Physiological Indexes of tea fresh leaves, physical and chemical quality index and growth indexes are monitored and analyzed to the Quantitative Analysis Model setting up spectral signature and index by experiment with stoechiometric process research; According to physical and chemical quality index and the yield model of tea fresh leaves, utilize the image information of EO-1 hyperion to adopt image processing techniques and ultrasound wave growth information estimation fresh tea passes size, adopt Neural Network Inversion to set up high accuracy and pluck discrimination model;

Described omni-directional visual positioning sensor system comprises puts vision alignment sensor and manual identification entirely; Described vision alignment sensor of entirely putting to be arranged on above frame and to be connected with computing machine by data (I/O) interface; Described omnibearing vision sensor comprises curved minute surface 22, center pin 23, USB video camera 24, USB line interface 25, focusing screw thread 26, camera lens 27, lower cover 28, transparent housing 29 and upper cover 30; Curved minute surface 22 is bonded together with described upper cover 30; Described upper cover 30 is tightened on described transparent housing 29 threadably; Described lower cover 28 is central hollow and stretches out 4mm screw socket to connect described USB camera lens 25; It is outside that described transparent housing 28 is socketed on curved minute surface 22, to support curved minute surface 22, and plays a part to prevent dust; Described center pin 23 is connected with upper cover 29 by screw thread, passes also close adhesion and, at the center of curved minute surface 22, can effectively prevent from mutually reflecting between light generation minute surface; The camera lens 27 of USB video camera 24 is threaded on lower cover 27, and the camera lens 27 of USB video camera is provided with focusing screw thread 24, and the signal that the camera lens 27 of described USB video camera obtains exports through USB interface 25, and outputs to computing machine 7 by USB line 13.Described manual identification comprises mark support bar and four coloured marks (L1, L2, L3, L4); be arranged on four corners of guide rail respectively; in rectangular or rectangular-shaped, entirely put vision alignment sensor collection manual identification image, extract manual identification's feature and position; As shown in Figure 6, a is guide rail width, and b is rail length; Extract the characteristics of image of manual identification, obtain azimuth angle theta ₁~ θ ₄, often form a curve in adjacent two coloured marks and corresponding position angle based on circumference theorem, altogether form 4 camber lines, every 2 arcs are crossing obtains 1 intersection point, obtains 4 intersection I altogether ₁~ I ₄, intersection I ₁~ I ₄center of gravity be locator value;

In the data input computing machine that sensor gathers.

Described running gear comprises guide rail and guide rail pillow, motor, driving wheel, angle sheave, limit switch, stop means; Described guide rail refers to and rail is arranged on by described guide rail pillow the to-and-fro movement being used for bearing frame between tea tree ridge, tea place reposefully; Described motor is arranged on both sides below frame; Described driving wheel and angle sheave are arranged on bottom frame, with guide rail multiplication strains and direct cooperating; Described motor drives described driving wheel and data collector motion by sprocket wheel; Described stop means is arranged on guide rail two end respectively, realizes the stop motion of data collector.

Described control center comprises computing machine, motor encoder, limit switch, wireless network data transmission system; Described computing machine, motor encoder, limit switch, wireless network data transmission system are all fixed in frame; Described computing machine and sensor-based system share, and computing machine is by the power supply of the programming controller clocked flip of its inside or artificial turn-on data harvester, ultrasonic sensor, EO-1 hyperion sensor, the work of omni-directional visual alignment sensor; Firing order is moved to motor encoder driven by motor data collector; Omni-directional visual positioning sensor system location Calculation, the programming controller firing order of computer-internal makes data collector fixed point stop motion, image data, again moves; Then the signal of limit switch is accepted, stop motion and data acquisition.Limit switch; its principle of work is when gantry motion is to guide rail edge; limit switch touches by stop means; send signal feedback to computing machine; programming controller launches power off command or directly by contact-making switch deenergization, the work of stopping motor and ultrasonic sensor, EO-1 hyperion sensor, omni-directional visual alignment sensor; Wireless network data transmission system comprises and upper shared computing machine, trigger controller, wireless launcher; After computing machine accepts the data of sensor collection, triggered the data to data administrative center of wireless launcher emission sensor collection by trigger controller; Also receive operation signal by wireless network simultaneously.

The course of work of the present embodiment is: computing machine is by the power supply of the programming controller clocked flip of its inside or artificial turn-on data harvester, ultrasonic sensor, EO-1 hyperion sensor, the work of omni-directional visual alignment sensor; Firing order is moved to motor encoder driven by motor data collector; Omni-directional visual positioning sensor system location Calculation, the programming controller firing order of computer-internal makes data collector fixed point stop motion, image data, again moves; Then the signal of limit switch is accepted, stop motion and data acquisition.The data gathered are transported in computing machine through data (I/O); Control data corporation is transported to by wireless transmission.

Embodiment 2: structure is with embodiment 1, and difference is: frame, according to the difference of crop, is designed to different width and width; At the good operating environment of condition, in greenhouse, level land, can not guide rail be used, be applicable to the data acquisition of Different Crop (veterinary antibiotics etc.).

Embodiment 3: structure is with embodiment 1, difference is: EO-1 hyperion sensor can comprise multispectral, the different spectrum sensor such as ultraphotic spectrum, infrared ray, Raman spectrum, THz spectrum, can be used for the data acquisition of residues of pesticides, germination and experimental chemistry, physical process.

Embodiment 4: structure is with embodiment 1, and difference is: data collector can be realized by the change of direct current generator electrode and move back and forth.

Claims (4)

1. based on a tea tree live body fertility characteristic harvester for tuning on-line, it is characterized in that, four angle points of rectangle covering tea tree planting region arrange four vertical support bars (2) respectively; The top of each root support bar is provided with a coloured mark (3); Two of this rectangle parallel long limits are respectively provided with a guide rail (1); Article 2, the two ends of parallel guide rail are respectively provided with guide rail pillow (10) and a stop (11);

4 pulleys of bottom setting of frame (5) and the motor (20) for drive pulley; During machine operation, drive pulley drives frame along slide; Frame is provided with 2 and matches with described stop the limit switch (17) used;

Omnibearing vision sensor (9) is fixed on the tripod (12) of frame top setting;

Frame is also provided with computing machine (7), accumulator (8), ultrasonic sensor (16), light source (4) and wireless launcher (14); The top of frame is also provided with an EO-1 hyperion sensor by the downward connecting link of pendency;

Limit switch, accumulator, ultrasonic sensor, wireless launcher, omnibearing vision sensor are all connected with computing machine with EO-1 hyperion sensor, and motor is controlled by computing machine.

2. the fertility of the tea tree live body based on tuning on-line characteristic harvester according to claim 1, it is characterized in that, connecting link comprises telescoping mechanism and is arranged on the rotation clamping device below telescoping mechanism; Telescoping mechanism is connected by web joint (36) with rotation clamping device;

Telescoping mechanism comprises screw shell (33), be arranged on the rotating handles (31) that thread spindle (35) in screw shell and thread spindle top arrange; Screw shell is fixed in frame by web member fixed head (43); Screw shell is provided with the first set bolt (34);

Rotate clamping device and comprise the square steel (42) being fixed on web joint (36) bottom and the clamping device (37) be arranged on by gradient fixed head (40) and gib screw (41) on square steel; Gradient fixed head is fan-shaped, and gradient fixed head is provided with a circular hole, and gradient fixed head is mounted on gib screw by this circular hole; Gradient fixed head is also provided with the pilot hole (46) of arc; Clamping device regulates a block (38) to be arranged on gradient fixed head by degree of tilt; Degree of tilt regulates the second set bolt (39) that a block is arranged to complete the fixing of clamping device through described pilot hole (46).

3. the fertility of the tea tree live body based on tuning on-line characteristic harvester according to claim 1 and 2, it is characterized in that, the top of frame is provided with the solar panel (6) be connected with accumulator; Motor is provided with motor encoder (19); Omnibearing vision sensor is connected with computing machine by USB line, and motor encoder is connected with computing machine, and the surrounding of frame is provided with the gobo (44) of band felt tape (45).

4. the fertility of the tea tree live body based on tuning on-line characteristic harvester according to claim 3, it is characterized in that, position fixing process is as follows:

The rectangle that 4 coloured mark L1 ~ L4 are formed around operation area long for a, wide be b; Often adjacent two coloured marks in four coloured marks and the azimuth angle theta of omnibearing vision sensor projection centre in omnidirectional images ₁~ θ ₄; According to geometry circular arc formation basic theory, by the coloured identification point of L1 and L2 and above-mentioned azimuth angle theta ₁namely central angle forms arc S ₁, in like manner, L2 and L3, θ ₂form arc S ₂, L3 and L4, θ ₃form arc S ₃, L4 and L1, θ ₄form arc S ₄, arc S ₁~ S ₄two intersect respectively, and draw four intersection points, 4 intersecting point coordinates are:

wherein

wherein

wherein

wherein

Draw intersection point barycentric coordinates P (X ₁, Y ₁), as follows:

Barycentric coordinates P (X ₁, Y ₁) i.e. the coordinate in XOY plane of omnibearing vision sensor.