CN104019761A - Three-dimensional configuration obtaining device and method of corn plant - Google Patents
Three-dimensional configuration obtaining device and method of corn plant Download PDFInfo
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- CN104019761A CN104019761A CN201410150417.6A CN201410150417A CN104019761A CN 104019761 A CN104019761 A CN 104019761A CN 201410150417 A CN201410150417 A CN 201410150417A CN 104019761 A CN104019761 A CN 104019761A
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Abstract
The invention provides a three-dimensional configuration obtaining device and method of a corn plant. The device comprises a support frame, a plant clamping unit, an image obtaining module, a movement module and a processing module, wherein the support frame supports and fixes the whole device; the plant clamping unit fixes the corn plant; under control of the movement module, the image obtaining module obtains infrared and colored images of the corn plant and transmits the images to the processing module; the movement module controls the image obtaining module to move for a fixed distance within the surface XY, and then enables the image obtaining module to stop moving and collect image data of the corn plant; and the processing module obtains the depth data in the direction Z from the infrared image of the corn plant, combines movement of movement module to obtain data in the direction XY from the infrared image of the corn plant, and combines the colored image of the corn plant after perspective projection conversion with the infrared image to obtain colored texture of a corresponding position. The device and method can automatically obtain three-dimensional configuration data of the corn plant.
Description
Technical field
The present invention relates to field of computer technology, be specifically related to a kind of milpa three-dimensional configuration acquisition device and method.
Background technology
Corn is one of staple crops of China's plantation, and the form of milpa has material impact to output, to moulding of plant forms, is an important directions on corn breeding.Therefore can obtain the three-dimensional modeling of milpa, will provide critical data for evaluating milpa form.Obtain at present milpa three-dimensional configuration and mainly rely on various spatial digitizers, for example, contact-type 3 D coordinate measuring machine, three-dimensional laser scanner, stereo vision three-dimensional scanner.Existing spatial digitizer is not to design for milpa, and maximum deficiency is could obtain the three-dimensional configuration data of whole plant after needing Multiple-Scan to splice for a strain corn, and Multiple-Scan has increased workload, has increased the introducing probability of error.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of milpa three-dimensional configuration acquisition device and method, can robotization obtain milpa three-dimensional configuration data.
For achieving the above object, the present invention is achieved by the following technical programs:
A milpa three-dimensional configuration acquisition device, this device comprises:
Support frame, for supporting fixing whole device;
Plant clamper, for fixing milpa;
Image collection module, by sequence switch, the infrared laser projector, infrared camera and color camera, formed, for obtain infrared image and the coloured image of described milpa under the control of motion module, and send to processing module, wherein, the infrared laser projector, for launching linear laser facula to milpa; Infrared camera, after launching linear laser facula at the infrared laser projector to milpa, takes the representation of laser facula of milpa; Color camera, for taken the representation of laser facula of milpa at infrared camera after and in the situation that the infrared laser projector cuts out, takes the coloured image of milpa; Sequence switch, for controlling the job order of the infrared laser projector, infrared camera and color camera;
Motion module, be used for controlling described image collection module in XY face after mobile fixed range, make described image collection module stop motion and gather the view data of milpa, after collection, motion module is controlled the image information that described image collection module continues in XY face stop motion after mobile fixed range and gathers milpa, until the whole measuring route of passing by;
Processing module, for obtaining Z direction depth data from the infrared image of described milpa, motion in conjunction with motion module, from the infrared image of described milpa, obtain the data of XY direction, and the coloured image of described milpa is merged with infrared image after perspective projection transformation, to obtain the color texture of correspondence position.
Wherein, described fixed range is 0.01cm.
Wherein, described motion module comprises stepper motor and leading screw, and motion control card is installed on stepper motor, and after frequency division is processed, each pulse step motor turns over 1.8 °, the pitch of leading screw is 0.5cm, image collection module motion 0.0025cm described in a pulse enable signal.
Wherein, the height of described support frame should guarantee that the milpa of different growth stage can be by complete scan.
Wherein, described plant clamper is for from the fixing corn of root.
Wherein, described motion module also comprises optical axis, the flat in-plane moving of XY forming at two optical axises for still image acquisition module.
A milpa three-dimensional configuration acquisition methods based on milpa three-dimensional configuration acquisition device, the method comprises:
S1. milpa is fixed on described plant clamper;
S2. described motion module is controlled described image collection module and is moved in XY face, and after mobile fixed range, motion module makes described image collection module stop motion and gathers the view data of milpa;
S3. the sequence switch in image collection module sends pulse signal, the work of the infrared laser projector, sequence switch is controlled infrared camera photographic images, after photographic images, close the infrared laser projector, sequence switch is controlled color camera color image shot, and the infrared image of collection and coloured image are sent to processing module;
S4. judge that image collection module continues whether to pass by whole measuring route in XY face, if so, perform step S5, otherwise execution step S2;
S5. processing module obtains Z direction depth data from the infrared image of described milpa, motion in conjunction with motion module, from the infrared image of described milpa, obtain the data of XY direction, and the coloured image of described milpa is merged with infrared image after perspective projection transformation, to obtain the color texture of correspondence position.
Wherein, described fixed range is 0.01cm.
The present invention at least has following beneficial effect:
Milpa three-dimensional configuration acquisition device of the present invention and method, can robotization obtain milpa three-dimensional configuration data, reduced the operation complexity of traditional milpa 3-D scanning work.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation of milpa three-dimensional configuration acquisition device in one embodiment of the invention;
Fig. 2 is the structure composition diagram of milpa three-dimensional configuration acquisition device in one embodiment of the invention;
Fig. 3 is the process flow diagram of milpa three-dimensional configuration acquisition methods in one embodiment of the invention;
In accompanying drawing 2,1: support frame; 2: optical axis; 3: stepper motor; 4: color camera; 5: sequential is opened the light; 6: the infrared laser projector; 7: infrared camera; 8: leading screw; 9: plant clamper.
Embodiment
For making object, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is carried out to clear, complete description, obviously, described embodiment is the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Referring to Fig. 1, the embodiment of the present invention has proposed a kind of milpa three-dimensional configuration acquisition device, comprises as follows:
Support frame 101, for supporting fixing whole device;
Plant clamper 102, for fixing milpa;
Image collection module 103, by sequence switch, the infrared laser projector, infrared camera and color camera, formed, for obtain infrared image and the coloured image of described milpa under the control of motion module, and send to processing module, wherein, the infrared laser projector, for launching linear laser facula to milpa; Infrared camera, after launching linear laser facula at the infrared laser projector to milpa, takes the representation of laser facula of milpa; Color camera, for taken the representation of laser facula of milpa at infrared camera after and in the situation that the infrared laser projector cuts out, takes the coloured image of milpa; Sequence switch, for controlling the job order of the infrared laser projector, infrared camera and color camera;
Motion module 104, be used for controlling described image collection module in XY face after mobile fixed range, make described image collection module stop motion and gather the view data of milpa, after collection, motion module is controlled the image information that described image collection module continues in XY face stop motion after mobile fixed range and gathers milpa, until the whole measuring route of passing by;
Processing module 105, for obtaining Z direction depth data from the infrared image of described milpa, motion in conjunction with motion module, from the infrared image of described milpa, obtain the data of XY direction, and the coloured image of described milpa is merged with infrared image after perspective projection transformation, to obtain the color texture of correspondence position.
Wherein, fixed range described in motion module 104 can be 0.01cm.
Wherein, described motion module 104 comprises stepper motor and leading screw, and motion control card is installed on stepper motor, and after frequency division is processed, each pulse step motor turns over 1.8 °, the pitch of leading screw is 0.5cm, image collection module motion 0.0025cm described in a pulse enable signal.
Wherein, described motion module 104 also comprises optical axis, the flat in-plane moving of XY forming at two optical axises for still image acquisition module 103.
Wherein, the height of described support frame 101 should guarantee that the milpa of different growth stage can be by complete scan.
Wherein, described plant clamper 102, for from the fixing corn of root, makes corn keep self-sow state.
In image collection module 103, relative position between the infrared laser projector and infrared camera is demarcated by plane template in advance, motion module drives image collection module at plane template XY in-plane moving, the position calculation of Z component linear laser in infrared image.The coloured image that color camera is taken can merge with infrared image after perspective projection transformation, and perspective projection transformation relation is demarcated thing by cube and calculated.Infrared camera resolution 1280 * 1024 frame of pixels speed 12FPS, color camera resolution 1280 * 1024 frame speed 30FPS.Sequence switch is being controlled the job order of the infrared laser projector, infrared camera, color camera, when moving to a camera site, first sequence switch sends pulse signal, the work of the infrared laser projector, sequence switch is controlled infrared camera photographic images subsequently, after photographic images, close the infrared laser projector, then open color camera color image shot.After a workflow completes, data are sent to processing module 105, processing module 105 obtains Z direction depth data from infrared image, in conjunction with the displacement of each workflow of motion module, obtain XY directional data, from coloured image, obtain the color texture of correspondence position.
In motion module 104, motion control card is installed on stepper motor, after frequency division is processed, each pulse step motor turns over 1.8 °, and the pitch of leading screw is 0.5cm, and a pulse signal can make image collection module motion 0.0025cm.Stepper motor moves under the driving of pulse signal, the image collection module 0.01cm afterpulse signal suspension that moved, and the image collection module acquisition of image data of starting working, after collection, stepper motor continues motion until the whole measuring route of passing by.
Referring to Fig. 2, Fig. 2 is a kind of structure composition diagram of milpa three-dimensional configuration acquisition device, can see intuitively principle of work and the course of work of this device by this figure, wherein in figure 1: support frame; 2: optical axis; 3: stepper motor; 4: color camera; 5: sequential is opened the light; 6: the infrared laser projector; 7: infrared camera; 8: leading screw; 9: plant clamper.
Milpa three-dimensional configuration acquisition device described in the embodiment of the present invention, can robotization obtain milpa three-dimensional configuration data, has reduced the operation complexity of traditional milpa 3-D scanning work.
Referring to Fig. 3, the embodiment of the present invention has also proposed a kind of milpa three-dimensional configuration acquisition methods, comprises as follows:
Step 301: milpa is fixed on described plant clamper.
Step 302: described motion module is controlled described image collection module and moved in XY face, after mobile fixed range, motion module makes described image collection module stop motion and gathers the view data of milpa.
In this step, described fixed range can be 0.01cm.
Step 303: the sequence switch in image collection module sends pulse signal, the work of the infrared laser projector, sequence switch is controlled infrared camera photographic images, after photographic images, close the infrared laser projector, sequence switch is controlled color camera color image shot, and the infrared image of collection and coloured image are sent to processing module.
Step 304: judge the image collection module whole measuring route of whether passing by XY face, if so, perform step 305, otherwise execution step 302.
Step 305: processing module obtains Z direction depth data from the infrared image of described milpa, motion in conjunction with motion module, from the infrared image of described milpa, obtain the data of XY direction, and the coloured image of described milpa is merged with infrared image after perspective projection transformation, to obtain the color texture of correspondence position.
Milpa three-dimensional configuration acquisition methods described in the embodiment of the present invention, can robotization obtain milpa three-dimensional configuration data, has reduced the operation complexity of traditional milpa 3-D scanning work.
Above embodiment only, for technical scheme of the present invention is described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or part technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (8)
1. a milpa three-dimensional configuration acquisition device, is characterized in that, this device comprises:
Support frame, for supporting fixing whole device;
Plant clamper, for fixing milpa;
Image collection module, by sequence switch, the infrared laser projector, infrared camera and color camera, formed, for obtain infrared image and the coloured image of described milpa under the control of motion module, and send to processing module, wherein, the infrared laser projector, for launching linear laser facula to milpa; Infrared camera, after launching linear laser facula at the infrared laser projector to milpa, takes the representation of laser facula of milpa; Color camera, for taken the representation of laser facula of milpa at infrared camera after and in the situation that the infrared laser projector cuts out, takes the coloured image of milpa; Sequence switch, for controlling the job order of the infrared laser projector, infrared camera and color camera;
Motion module, be used for controlling described image collection module in XY face after mobile fixed range, make described image collection module stop motion and gather the view data of milpa, after collection, motion module is controlled the image information that described image collection module continues in XY face stop motion after mobile fixed range and gathers milpa, until the whole measuring route of passing by;
Processing module, for obtaining Z direction depth data from the infrared image of described milpa, motion in conjunction with motion module, from the infrared image of described milpa, obtain the data of XY direction, and the coloured image of described milpa is merged with infrared image after perspective projection transformation, to obtain the color texture of correspondence position.
2. device according to claim 1, is characterized in that, described fixed range is 0.01cm.
3. device according to claim 1, it is characterized in that, described motion module comprises stepper motor and leading screw, motion control card is installed on stepper motor, after frequency division is processed, each pulse step motor turns over 1.8 °, the pitch of leading screw is 0.5cm, image collection module motion 0.0025cm described in a pulse enable signal.
4. device according to claim 1, is characterized in that, the height of described support frame should guarantee that the milpa of different growth stage can be by complete scan.
5. device according to claim 1, is characterized in that, described plant clamper is for from the fixing corn of root.
6. device according to claim 1, is characterized in that, described motion module also comprises optical axis, the flat in-plane moving of XY forming at two optical axises for still image acquisition module.
7. the milpa three-dimensional configuration acquisition methods based on device described in claim 1, is characterized in that, the method comprises:
S1. milpa is fixed on described plant clamper;
S2. described motion module is controlled described image collection module and is moved in XY face, and after mobile fixed range, motion module makes described image collection module stop motion and gathers the view data of milpa;
S3. the sequence switch in image collection module sends pulse signal, the work of the infrared laser projector, sequence switch is controlled infrared camera photographic images, after photographic images, close the infrared laser projector, sequence switch is controlled color camera color image shot, and the infrared image of collection and coloured image are sent to processing module;
S4. judge that image collection module continues whether to pass by whole measuring route in XY face, if so, perform step S5, otherwise execution step S2;
S5. processing module obtains Z direction depth data from the infrared image of described milpa, motion in conjunction with motion module, from the infrared image of described milpa, obtain the data of XY direction, and the coloured image of described milpa is merged with infrared image after perspective projection transformation, to obtain the color texture of correspondence position.
8. method according to claim 7, is characterized in that, described fixed range is 0.01cm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410150417.6A CN104019761B (en) | 2014-04-15 | 2014-04-15 | A kind of milpa three-dimensional configuration acquisition methods based on milpa three-dimensional configuration acquisition device |
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| CN201410150417.6A CN104019761B (en) | 2014-04-15 | 2014-04-15 | A kind of milpa three-dimensional configuration acquisition methods based on milpa three-dimensional configuration acquisition device |
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| CN104019761B CN104019761B (en) | 2016-08-31 |
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| CN104748677A (en) * | 2015-02-11 | 2015-07-01 | 中国矿业大学(北京) | Method of measuring plant morphology by adopting three-dimensional laser scanner way |
| CN104776815A (en) * | 2015-03-23 | 2015-07-15 | 中国科学院上海光学精密机械研究所 | Color three-dimensional profile measuring device and method based on Dammann grating |
| CN105589552A (en) * | 2014-10-30 | 2016-05-18 | 联想(北京)有限公司 | Projection interaction method and projection interaction device based on gestures |
| CN105674881A (en) * | 2016-01-26 | 2016-06-15 | 上海乾菲诺农业科技有限公司 | Plant stem measuring method and device |
| CN108280807A (en) * | 2017-01-05 | 2018-07-13 | 浙江舜宇智能光学技术有限公司 | Monocular depth image collecting device and system and its image processing method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105589552A (en) * | 2014-10-30 | 2016-05-18 | 联想(北京)有限公司 | Projection interaction method and projection interaction device based on gestures |
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| CN104748677A (en) * | 2015-02-11 | 2015-07-01 | 中国矿业大学(北京) | Method of measuring plant morphology by adopting three-dimensional laser scanner way |
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| CN104776815A (en) * | 2015-03-23 | 2015-07-15 | 中国科学院上海光学精密机械研究所 | Color three-dimensional profile measuring device and method based on Dammann grating |
| CN104776815B (en) * | 2015-03-23 | 2018-04-17 | 中国科学院上海光学精密机械研究所 | A kind of color three dimension contour outline measuring set and method based on Darman raster |
| CN105674881A (en) * | 2016-01-26 | 2016-06-15 | 上海乾菲诺农业科技有限公司 | Plant stem measuring method and device |
| CN108280807A (en) * | 2017-01-05 | 2018-07-13 | 浙江舜宇智能光学技术有限公司 | Monocular depth image collecting device and system and its image processing method |
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