CN104019761B - A kind of milpa three-dimensional configuration acquisition methods based on milpa three-dimensional configuration acquisition device - Google Patents
A kind of milpa three-dimensional configuration acquisition methods based on milpa three-dimensional configuration acquisition device Download PDFInfo
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Abstract
The invention provides a kind of milpa three-dimensional configuration acquisition device and method, this device includes: support frame, is used for supporting fixing whole device；Plant clamper, is used for fixing milpa；Image collection module, for obtaining infrared image and the coloured image of described milpa under the control of motion module, and is sent to processing module；Motion module, is used for controlling described image collection module and after mobile fixed range, makes described image collection module stop motion and gather the view data of milpa in XY face；Processing module, for obtaining Z-direction depth data on the infrared image of described milpa, motion in conjunction with motion module, the data in XY direction are obtained from the infrared image of described milpa, and the coloured image of described milpa is merged with infrared image, to obtain the color texture of correspondence position after perspective projection transformation.The present invention automatization can obtain milpa three-dimensional configuration data.
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
Semen Maydis is one of staple crops of China's plantation, and yield is had a major impact by the form of milpa, and moulding plant forms is an important directions on corn breeding.Therefore, it is possible to obtain the three-dimensional modeling of milpa, critical data will be provided for evaluating milpa form.Obtain milpa three-dimensional configuration at present and rely primarily on various spatial digitizer, such as, contact-type 3 D coordinate measuring machine, three-dimensional laser scanner, stereo vision three-dimensional scanner.Existing spatial digitizer is not for milpa design, and maximum deficiency is to need Multiple-Scan could obtain the three-dimensional configuration data of whole plant after splicing for a strain Semen Maydis, and Multiple-Scan adds workload, adds the introducing probability of error.
Summary of the invention
For the deficiencies in the prior art, the present invention provides a kind of milpa three-dimensional configuration acquisition device and method, it is possible to automatization obtains milpa three-dimensional configuration data.
For achieving the above object, the present invention is achieved by the following technical programs:
A kind of milpa three-dimensional configuration acquisition device, this device includes:
Support frame, is used for supporting fixing whole device；
Plant clamper, is used for fixing milpa；
Image collection module, it is made up of sequence switch, iraser projector, infrared camera and color camera, for obtaining infrared image and the coloured image of described milpa under the control of motion module, and it is sent to processing module, wherein, iraser projector, for launching linear laser hot spot to milpa；Infrared camera, is used at iraser projector after milpa launches linear laser hot spot, the representation of laser facula of shooting milpa；Color camera, for, after infrared camera has shot the representation of laser facula of milpa and in the case of iraser projector is closed, shooting the coloured image of milpa；Sequence switch, for controlling the job order of iraser projector, infrared camera and color camera；
Motion module, 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 controls described image collection module and continues in XY face stop motion after mobile fixed range and gather the image information of milpa, until whole measuring route of passing by；
Processing module, for obtaining Z-direction depth data on the infrared image of described milpa, motion in conjunction with motion module, the data in XY direction are obtained from the infrared image of described milpa, and the coloured image of described milpa is merged with infrared image, to obtain the color texture of correspondence position after perspective projection transformation.
Wherein, described fixed range is 0.01cm.
Wherein, described motion module includes motor and leading screw, and motor is provided with motion control card, and after scaling down processing, each pulse step motor turns over 1.8 °, the pitch of leading screw is 0.5cm, and a pulse signal makes described image collection module motion 0.0025cm.
Wherein, the height of described support frame should ensure that the milpa of different growth stage can be by complete scan.
Wherein, described plant clamper is for fixing Semen Maydis from root.
Wherein, described motion module also includes optical axis, moves in the X/Y plane that two optical axises form for still image acquisition module.
A kind of milpa three-dimensional configuration acquisition methods based on milpa three-dimensional configuration acquisition device, the method includes:
S1. milpa is fixed on described plant clamper；
The most described motion module controls described image collection module and moves in XY face, when, 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, iraser projector works, sequence switch controls infrared camera shooting image, iraser projector is closed after shooting image, sequence switch controls color camera shooting coloured image, and infrared image and the coloured image of collection are sent to processing module；
S4. judge that image collection module continues whether to pass by XY face whole measuring route, the most then perform step S5, otherwise perform step S2；
S5. processing module obtains Z-direction depth data from the infrared image of described milpa, motion in conjunction with motion module, the data in XY direction are obtained from the infrared image of described milpa, and the coloured image of described milpa is merged with infrared image, to obtain the color texture of correspondence position after perspective projection transformation.
Wherein, described fixed range is 0.01cm.
The present invention at least has a following beneficial effect:
Milpa three-dimensional configuration acquisition device of the present invention and method, it is possible to automatization obtains milpa three-dimensional configuration data, reduce the operation complexity of traditional corn plant 3-D scanning work.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
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 flow chart of milpa three-dimensional configuration acquisition methods in one embodiment of the invention；
In accompanying drawing 2,1: bracing frame；2: optical axis；3: motor；4: color camera；5: sequence switch；6: iraser projector；7: infrared camera；8: leading screw；9: clamper.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage 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 clear, complete description, obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
Seeing Fig. 1, the embodiment of the present invention proposes a kind of milpa three-dimensional configuration acquisition device, includes the following:
Support frame 101, is used for supporting fixing whole device；
Plant clamper 102, is used for fixing milpa；
Image collection module 103, it is made up of sequence switch, iraser projector, infrared camera and color camera, for obtaining infrared image and the coloured image of described milpa under the control of motion module, and it is sent to processing module, wherein, iraser projector, for launching linear laser hot spot to milpa；Infrared camera, is used at iraser projector after milpa launches linear laser hot spot, the representation of laser facula of shooting milpa；Color camera, for, after infrared camera has shot the representation of laser facula of milpa and in the case of iraser projector is closed, shooting the coloured image of milpa；Sequence switch, for controlling the job order of iraser projector, infrared camera and color camera；
Motion module 104, 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 controls described image collection module and continues in XY face stop motion after mobile fixed range and gather the image information of milpa, until whole measuring route of passing by；
Processing module 105, for obtaining Z-direction depth data on the infrared image of described milpa, motion in conjunction with motion module, the data in XY direction are obtained from the infrared image of described milpa, and the coloured image of described milpa is merged with infrared image, to obtain the color texture of correspondence position after perspective projection transformation.
Wherein, fixed range described in motion module 104 can be 0.01cm.
Wherein, described motion module 104 includes motor and leading screw, and motor is provided with motion control card, and after scaling down processing, each pulse step motor turns over 1.8 °, the pitch of leading screw is 0.5cm, and a pulse signal makes described image collection module motion 0.0025cm.
Wherein, described motion module 104 also includes optical axis, moves in the X/Y plane that two optical axises form for still image acquisition module 103.
Wherein, the height of described support frame 101 should ensure that the milpa of different growth stage can be by complete scan.
Wherein, described plant clamper 102, for fixing Semen Maydis from root, makes Semen Maydis keep nature growth conditions.
In image collection module 103, relative position between iraser projector and infrared camera is demarcated by plane template in advance, motion module drives image collection module at plane template XY in-plane moving, and Z component is by the position calculation of linear laser in infrared image.The coloured image of color camera shooting 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 controls the job order of iraser projector, infrared camera, color camera, when moving to a camera site, first sequence switch sends pulse signal, iraser projector works, sequence switch controls infrared camera shooting image subsequently, close iraser projector after shooting image, then open color camera shooting coloured image.After one workflow completes, data are sent to processing module 105, processing module 105 obtains Z-direction depth data from infrared image, displacement in conjunction with each workflow of motion module obtains XY bearing data, obtains the color texture of correspondence position from coloured image.
In motion module 104, motor being provided with motion control card, after scaling down processing, 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.Motor moves under the driving of pulse signal, and image collection module is moved through 0.01cm afterpulse signal suspension, and image collection module is started working collection view data, and after collection, motor continues motion until whole measuring route of passing by.
See a kind of structure composition diagram that Fig. 2, Fig. 2 are milpa three-dimensional configuration acquisition device, can intuitively be arrived operation principle and the work process of this device by this figure, wherein in figure 1: bracing frame；2: optical axis；3: motor；4: color camera；5: sequence switch；6: iraser projector；7: infrared camera；8: leading screw；9: clamper.
Milpa three-dimensional configuration acquisition device described in the embodiment of the present invention, it is possible to automatization obtains milpa three-dimensional configuration data, reduces the operation complexity of traditional corn plant 3-D scanning work.
Seeing Fig. 3, the embodiment of the present invention also proposed a kind of milpa three-dimensional configuration acquisition methods, includes the following:
Step 301: milpa is fixed on described plant clamper.
Step 302: described motion module controls described image collection module and moves in XY face, when, 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, iraser projector works, sequence switch controls infrared camera shooting image, iraser projector is closed after shooting image, sequence switch controls color camera shooting coloured image, and infrared image and the coloured image of collection are sent to processing module.
Step 304: judge whether image collection module passes by whole measuring route in XY face, the most then perform step 305, otherwise perform step 302.
Step 305: processing module obtains Z-direction depth data from the infrared image of described milpa, motion in conjunction with motion module, the data in XY direction are obtained from the infrared image of described milpa, and the coloured image of described milpa is merged with infrared image, to obtain the color texture of correspondence position after perspective projection transformation.
Milpa three-dimensional configuration acquisition methods described in the embodiment of the present invention, it is possible to automatization obtains milpa three-dimensional configuration data, reduces the operation complexity of traditional corn plant 3-D scanning work.
Above example is merely to illustrate technical scheme, is not intended to limit；Although the present invention being described in detail with reference to previous embodiment, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature is carried out equivalent；And these amendments 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 (6)
1. a milpa three-dimensional configuration based on milpa three-dimensional configuration acquisition device obtains
Method, it is characterised in that described milpa three-dimensional configuration acquisition device includes:
Support frame, is used for supporting fixing whole device；
Plant clamper, is used for fixing milpa；
Image collection module, by sequence switch, iraser projector, infrared camera and colour
Camera form, for obtain under the control of motion module described milpa infrared image and
Coloured image, and it is sent to processing module, wherein, iraser projector, for Semen Maydis
Plant launches linear laser hot spot；Infrared camera, for planting to Semen Maydis at iraser projector
After linear laser hot spot is launched in strain, the representation of laser facula of shooting milpa；Color camera,
Project after the representation of laser facula having shot milpa at infrared camera and at iraser
In the case of device cuts out, the coloured image of shooting milpa；Sequence switch, is used for controlling red
The job order of outer laser projecting apparatus, infrared camera and color camera；
Motion module, is used for controlling described image collection module mobile fixed range in XY face
After, make described image collection module stop motion and gather the view data of milpa, gathering
After, motion module control described image collection module continue in XY face mobile fixing away from
From rear stop motion the image information that gathers milpa, until whole measuring route of passing by；
Processing module, for obtaining Z-direction degree of depth number from the infrared image of described milpa
According to, in conjunction with the motion of motion module, from the infrared image of described milpa, obtain XY side
To data, and by the coloured image of described milpa after perspective projection transformation with infrared
Image co-registration, to obtain the color texture of correspondence position；
Described milpa three-dimensional configuration acquisition methods includes:
S1. milpa is fixed on described plant clamper；
The most described motion module controls described image collection module and moves in XY face, works as movement
After fixed range, motion module makes described image collection module stop motion and gathers milpa
View data；
S3. the sequence switch in image collection module sends pulse signal, iraser projector work
Making, sequence switch controls infrared camera shooting image, closes iraser projection after shooting image
Device, sequence switch controls color camera shooting coloured image, and by the infrared image gathered and coloured silk
Color image is sent to processing module；
S4. judge that image collection module continues whether to pass by XY face whole measuring route, if
It is then to perform step S5, otherwise perform step S2；
S5. processing module obtains Z-direction depth data from the infrared image of described milpa,
In conjunction with the motion of motion module, from the infrared image of described milpa, obtain XY direction
Data, and by the coloured image of described milpa after perspective projection transformation with infrared image
Merge, to obtain the color texture of correspondence position.
Method the most according to claim 1, it is characterised in that described fixed range is
0.01cm。
Method the most according to claim 1, it is characterised in that described motion module includes
Motor and leading screw, motor is provided with motion control card, every after scaling down processing
Individual pulse step motor turns over 1.8 °, and the pitch of leading screw is 0.5cm, and a pulse signal makes described
Image collection module motion 0.0025cm.
Method the most according to claim 1, it is characterised in that the height of described support frame
Degree should ensure that the milpa of different growth stage can be by complete scan.
Method the most according to claim 1, it is characterised in that described plant clamper is used
In fixing Semen Maydis from root.
Method the most according to claim 1, it is characterised in that described motion module is also wrapped
Include optical axis, move in the X/Y plane that two optical axises form for still image acquisition module.
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| CN105589552B (en) * | 2014-10-30 | 2018-10-12 | 联想(北京)有限公司 | Projection interactive method based on gesture and projection interactive device |
| CN104748677B (en) * | 2015-02-11 | 2017-10-31 | 中国矿业大学(北京) | The method that plant forms are measured using 3 D laser scanning mode |
| 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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