CN104458743B - Swing-arm-type facility crop biomass multi-sensing detection device and swing-arm-type facility crop biomass multi-sensing detection method - Google Patents
Swing-arm-type facility crop biomass multi-sensing detection device and swing-arm-type facility crop biomass multi-sensing detection method Download PDFInfo
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- CN104458743B CN104458743B CN201410626908.3A CN201410626908A CN104458743B CN 104458743 B CN104458743 B CN 104458743B CN 201410626908 A CN201410626908 A CN 201410626908A CN 104458743 B CN104458743 B CN 104458743B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
Abstract
The invention relates to a swim-arm-type facility crop biomass multi-sensing detection device and a swing-arm-type facility crop biomass multi-sensing detection method. The swim-arm-type facility crop biomass multi-sensing detection device mainly comprises a T-shaped swing arm frame and a support frame, wherein the tail of a cross arm of the T-shaped swing arm frame is provided with a second digital camera; a vertical column of the T-shaped swing arm frame is provided with a first digital camera, and can rotate along the axis under the effect of a movement control clamp; sample brackets are arranged on the support frame; loading sensors are arranged between the sample brackets and the support frame. The method comprises the following steps: firstly, the swim-arm-type facility crop biomass multi-sensing detection device is arranged in advance; secondly, the swim-arm-type facility crop biomass multi-sensing detection device is started up for multi-sensing detection of crop biomass; finally, facility crop biomass characteristic parameters are extracted and described quantitatively. According to the invention, the machine vision and the biomass loading detection method are combined, and by multi-information fusion, the biomass information of the production process of facility crops is acquired circularly, and can be subjected to cruised monitoring automatically.
Description
Technical field
The present invention relates to a kind of view-based access control model and the device of mechanics multi-information merging technology checkout facility plant growth information
And method, refer in particular to a kind of rotary-arm type many sensing detection devices of protected crop Biomass and method.
Background technology
China is furnished equipments big country, facility area the first in the world, during furnished equipments, and protected crop especially leaf
The Biomass information of cole crop and dynamic changing process thereof are the key indexs in crop condition monitoring and yield estimation, are
The important evidence that the science of carrying out water and fertilizer management and yield are estimated.At present, the Biomass detection of crop and regional vegetation is many with manually
Method is main, and sampling process can carry out entirety remove the crop in sampling region and vegetation, carries out direct weighing measurement, the most right
In region, sample causes directly breaking-up, and this disposable sampling method, it is impossible to realize to same sample the most dynamically
Monitoring.Dynamic Non-Destruction Measurement can utilize that EO-1 hyperion and visual pattern etc. are non-to be connect on the basis of not destroying organization structure of the plant
The means touched carry out non-contact monitoring to the upgrowth situation of crop.This method can rapidly, accurately, automatization, non-destructive
Crop biomass is monitored, be implement accurate agricultural in the urgent need to new and high technology.Load sensor can also simultaneously
The detection of Biomass is carried out in the case of not destroying plant body.Visual imaging is tied mutually by the present invention with loading detection method
Close, by cantilever mechanism, the Biomass of crop is circulated dynamic monitoring, it is possible to the Biomass grasping protected crop in real time moves
State change information, the offer foundation estimated for science water and fertilizer management and yield.
The crop biomass Non-Destructive Testing research being currently based on machine vision technique and mechanical meaurement method has been in step
Section.The application for a patent for invention of Application No. 201210078528.1, discloses a kind of hand-held biomass estimation device and method,
The resilience force utilizing pressure transducer to produce when obtaining crop deformation, detects the Biomass of field crop, and this device is fitted
To the detection of small group crops Biomass in Small burden in the breeding process of field, due to the difference of its detection mode, should
Apparatus and method are difficult to the Individual Biomass detection of crop potted plant to facility and carry out dynamic Continuous Observation.Application No.
The application for a patent for invention of 201210430049.1, discloses a kind of crop biomass detection device and detection method, utilizes laser
Distance measuring sensor measures plant height, utilizes clamping sensor measurement stem thick, and this device is applicable to the Semen Tritici aestivi of growth, Oryza sativa L. etc. naturally
Each individual plant has the crop of multiple cane and carries out plant height and the thick detection of stem.But these apparatus and method are thick just for plant height and stem
Detect, the detection information of overall Biomass could not be given.The application for a patent for invention of Application No. 201210011573.5,
Disclose a kind of crop biomass Non-Destructive Testing image acquisition and processing device and detection method, by obtaining crop different angles
Image information, obtains fresh Biomass and the dry biomass information of potted plant crop.Although this application for a patent for invention can be to potted plant work
The Biomass of thing detects, but due to the limitation of its detection mode so that it, when detecting many strains, is difficulty with
Being accurately positioned of same sample, therefore cannot realize the dynamically observation to process of crop growth biomass variety and research.To sum up
Described, existing crop biomass detection apparatus and method, due to the limitation of himself, are difficult to the life of crop potted plant to facility
Thing amount information and dynamic changing process thereof carry out continuous print cycle detection, it is impossible to meet modern facilities large-scale production process
In, crop biomass is carried out the needs of quasi real time accurately dynamic monitoring.
Summary of the invention
In order to overcome deficiency of the prior art, the present invention provides one by machine vision and Biomass loading detection method
The circle collection of the Biomass information to protected crop production process combined and the apparatus and method of automatic cruising monitoring.
For achieving the above object, a kind of rotary-arm type many sensing detection devices of protected crop Biomass that the present invention provides, main
Including T-shaped Rotating boom and bracing frame, the transverse arm end of described T-shaped Rotating boom is provided with the second digital camera, described T-shaped Rotating boom
Column be provided with the first digital camera, described first digital camera and described second digital camera and pass through data acquisition
Card is connected with computer；The column of described T-shaped Rotating boom can rotate about the axis thereof under the effect of motion control card；Described
It is placed with sample bracket on support, between described sample bracket and support frame as described above, is provided with load sensor, support frame as described above
Outside is provided with background board, and equipped with reference to scale on described background board, the camera lens of described first digital camera is just to background board
On reference scale；Equipped with annular reference scale on the outward flange of described sample bracket, described second digital camera is just to institute
State the annular reference scale on sample bracket.
In such scheme, support frame as described above has eight sets, and described each bracing frame is uniformly distributed in the circumference of diameter 3 meters
On.
In such scheme, the column of described T-shaped Rotating boom is vertically installed on the center of circle of support frame as described above composition.
In such scheme, described sample bracket is provided with the locating groove for locking sample.
The present invention also provides for a kind of rotary-arm type many sensing detection method of protected crop Biomass, carries out as steps described below:
(1) the many sensing detection devices of rotary-arm type protected crop Biomass is preset；
(2) start the rotary-arm type many sensing detection devices of protected crop Biomass, carry out many sensing detection of crop biomass；
(3) extraction and the quantificational description to protected crop Biomass characteristic parameter.
Further, the described rotary-arm type many sensing detection devices of protected crop Biomass preset, specifically include following step
Rapid:
1. sample is respectively placed on sample bracket, the sample on one of them sample bracket is set to demarcate sample, and
The locating groove of each bracket is locked；
2. adjust cantilever shalving by motion control card, make the second digital camera of vertical view visual field be positioned at sample bracket and just go up
Side, is acquired crop canopies image, makes main the first digital camera regarding visual field axially vertical with sample bracket, at height
In crop half plant height position, adjust viewing field of camera and enable camera that canopy and the whole strain of plant of crop are carried out imaging；
3. the reference position of rule on background board and sample bracket is adjusted, it is ensured that be not blocked and blur-free imaging；
4. according to without crop reference sample, load sensor is demarcated；
5. detection start bit and the sampling interval stroke distances of the Rotating boom of many sensing detection devices are set, and according to detection
It needs to be determined that the automatic cruising interval time of system and the time of startup.
Further, many sensing detection process of crop biomass is: first the demarcation sample being in first place is carried out lotus
Weight information and reference scale image information collecting, determine reference information；Then cantilever shalving order rotation rest in detecting position, complete
Become the loading heat transfer agent of all crop samples in the range of stroke and the collection of Biomass image information and reset, afterwards according to
Set and repeat said process interval time, it is achieved the dynamic monitoring to process of crop growth crop biomass dynamic-change information.
Further, the wherein said extraction to protected crop Biomass characteristic parameter and quantificational description process be:
1. based on the reference scale image information demarcating sample obtained, the master of start bit is regarded and overlooks the reference of visual field
Scale carries out extracting and parameter calculating, obtains the conversion relation of actual size and target characteristic parameter；
2. based on the loading heat transfer agent demarcating sample obtained, the actual mass information without crop sample is obtained；
3. the crop sample image overlooking visual field is processed, extract hat width and canopy area features parameter；Regard main
The crop sample image of visual field processes, it is thus achieved that plant Diameter Distribution parameter vertically, and closes according to quadrature conversion
System obtains crop sample volume, according to bulk density model, the quality estimation information of the crop obtained；
4. according to the loading heat transfer agent of crop sample, calculus of differences is carried out with the loading heat transfer agent demarcating sample,
Fresh weight to crop biomass；
5. based on the crop quality estimation information obtained and dynamic changes of fresh weight information, by Multi-information acquisition, facility is made
The growth information of the Biomass of thing growth course carries out quantificational description output.
The effect of the present invention is: visual detection technology and mechanics detection method are combined by the present invention, utilize on spiral arm
Loading detection device on image detection device and monitor station is circulated detection to the Biomass information of protected crop, with existing
Detection method compare, it is possible to achieve the real-time monitoring to the Biomass information of protected crop production process.
Accompanying drawing explanation
Fig. 1 is the flow chart of a kind of rotary-arm type many sensing detection method of protected crop Biomass；
Fig. 2 is a kind of rotary-arm type protected crop Biomass many sensing detection devices structure diagram；
Fig. 3 is the position view of T-shaped Rotating boom, background board and bracing frame；
In figure, 1-the first digital camera 2-the second digital camera 3-background board 4-T type Rotating boom 5-sample
This bracket 6-load sensor 7-data collecting card 8-motion control card 9-computer 10-bracing frame.
Detailed description of the invention
With enforcement step, the present invention is described in detail below in conjunction with the accompanying drawings.
Referring to the drawings 2 and 3, the one rotary-arm type many sensing detection devices of protected crop Biomass of the present invention, this device comprises
Dibit imaging device, quality harvester, Rotating boom (4), monitor station and centralized control system.
Wherein said dibit imaging device includes the first digital camera 1 and the second digital camera 2, wherein the second numeral
Video camera 2 is fixed on the transverse arm end of T-shaped Rotating boom 4, and for obtaining the overhead view image of crop, the first digital camera 1 is fixed
On the column of T-shaped Rotating boom 4, for obtaining the front view picture of crop；First digital camera 1 and the second digital camera 2
For USB interface, gathered data are uploaded to centralized control system by usb bus and are analyzed and process.
Wherein said quality harvester includes load sensor 6 and data collecting card 7, and wherein load sensor 6 is installed
Between bracing frame 10 and sample bracket 5, for obtaining the gross mass i.e. fresh weight information of crop, owing to load sensor 6 obtains
Quality also include the quality of flowerpot, substrate and nutritional solution or other nutrient substance, therefore when actually detected, at monitor station
One detecting position placement without crop but comprises the vacant flowerpot demarcation for loading heat transfer agent of equivalent substrate and nutrient substance
And calculating, referred to as demarcate sample.After the information that load sensor 6 obtains carries out A/D conversion by data collecting card 7, pass through USB
Bus is uploaded centralized control system and is analyzed and processes.
Wherein said bracing frame 10 has 8 sets, is uniformly distributed on the circumference of diameter 3 meters.Place above sample bracket 5
Crop sample to be measured or demarcate sample, lower section installed load sensor 6,8 set load sensor 6 and data collecting card 7 without crop
Analog input end mouth be connected, the synchronous acquisition to 8 sample quality information can be realized.
Wherein said T-shaped Rotating boom 4 column is fixed on the center of circle being vertically installed at support frame as described above 10 composition, column
Transverse arm is fixed on top, transverse arm is installed transverse arm end and is provided with the second digital camera 2, and the column of T-shaped Rotating boom 4 is provided with first
Digital camera 1, by the column circular-rotation successively of the T-shaped Rotating boom of the programme-control on motion control card 84, it is achieved para-position
The circulation imaging of the protected crop on each monitor station of annular circumferential.
Wherein said centralized control system includes computer 9, data collecting card 7 and motion control card 8.Control computer
9 are connected by usb bus with data collecting card 7, for obtaining the analog quantity information of 8 load sensors 6 collections and passing through A/D
It is converted into digital signal to be analyzed processing；Computer 9 is digital with the first digital camera 1 and second respectively by usb bus
Video camera 2 is connected, computer 9 send instruction and obtain the image information of crop, and be analyzed and process；Computer 9 leads to
Crossing motion control card 8 to be connected with T-shaped Rotating boom 4, computer 9 send instruction, the column controlling T-shaped Rotating boom 4 is stopped successively
At the detecting position of each monitor station, crop biomass is timed cycle detection.
Referring to the drawings 1, the one rotary-arm type many sensing detection method of protected crop Biomass of the present invention, enter as steps described below
OK:
1) the many sensing detection devices of rotary-arm type protected crop Biomass is preset
1. various kinds is originally respectively placed on sample bracket 5, wherein places on first sample bracket and demarcate sample, and will be each
The locating groove locking of bracket；
2. adjust the column of T-shaped Rotating boom 4, make the second digital camera 2 of vertical view visual field be positioned at directly over sample bracket,
Crop canopies image is acquired, makes main the first digital camera 1 regarding visual field axially vertical with sample bracket 5, at height
In crop half plant height position, adjust viewing field of camera and enable camera that canopy and the whole strain of plant of crop are carried out imaging；
3. at the main annular reference scale depending on placing known dimensions on the background board 3 in direction, visual field, at the sample overlooking visual field
Place the annular reference scale of known dimensions on this bracket 5, adjust with reference to position of rule, it is ensured that be not blocked and blur-free imaging；
4. demarcate sample according to without crop, load sensor 6 is demarcated；
5. detection start bit and the sampling interval stroke distances of the Rotating boom 4 of many sensing detection devices are set, and according to inspection
Survey it needs to be determined that automatic cruising interval time of system and the time of startup；
2) start the rotary-arm type many sensing detection devices of protected crop Biomass, carry out many sensing detection of crop biomass
First detection device carries out loading information and with reference to scale image information collecting to the demarcation sample being in first place, really
Determine reference information；Detection device sequence arrives and rests in detecting position afterwards, completes all crop samples in stroke range
Loading heat transfer agent and the collection of Biomass image information also reset.Repeat said process interval time according to setting afterwards, real
The now dynamic monitoring to process of crop growth crop biomass dynamic-change information.
3) extraction and the quantificational description to protected crop Biomass characteristic parameter
1. based on the reference scale image information demarcating sample obtained, the master of start bit is regarded and overlooks the reference of visual field
Scale carries out extracting and parameter calculating, obtains the conversion relation of actual size and target characteristic parameter；
2. based on the loading heat transfer agent demarcating sample obtained, the actual mass information without crop sample is obtained；
3. the crop sample image overlooking visual field is processed, extract the hat characteristic parameter such as width and canopy area；To master
Process depending on the crop sample image of visual field, it is thus achieved that the characteristic parameters such as plant diameter Distribution vertically, and change according to integration
Calculation relation obtains crop sample volume, according to bulk density model, the quality estimation information of the crop obtained；
4. according to the loading heat transfer agent of crop sample, calculus of differences is carried out with the loading heat transfer agent demarcating sample,
Fresh weight to crop biomass.
5. based on the crop quality estimation information obtained and dynamic changes of fresh weight information, by Multi-information acquisition, facility is made
The growth information of the Biomass of thing growth course carries out quantificational description output.
Claims (7)
1. the rotary-arm type many sensing detection devices of protected crop Biomass, it is characterised in that: include T-shaped Rotating boom (4) and prop up
Support (10), the transverse arm end of described T-shaped Rotating boom (4) is provided with the second digital camera (2), standing of described T-shaped Rotating boom (4)
Post is provided with the first digital camera (1), described first digital camera (1) and described second digital camera (2) by number
It is connected with computer (9) according to capture card (7)；The column of described T-shaped Rotating boom (4) can be under the effect of motion control card (8)
Rotate about the axis thereof；Sample bracket (5), described sample bracket (5) and support frame as described above it is placed with on support frame as described above (10)
(10) being provided with load sensor (6) between, the outside of support frame as described above (10) is provided with background board (3), on described background board (3)
Equipped with reference to scale, the camera lens of described first digital camera (1) is just to the reference scale on background board (3)；Described sample torr
Equipped with annular reference scale on the outward flange of frame (5), described second digital camera (2) is just on described sample bracket (5)
Annular reference scale.
A kind of rotary-arm type many sensing detection devices of protected crop Biomass the most according to claim 1, it is characterised in that: institute
Stating bracing frame (10) and have eight sets, described each bracing frame (10) is uniformly distributed on the circumference of diameter 3 meters.
A kind of rotary-arm type many sensing detection devices of protected crop Biomass the most according to claim 2, it is characterised in that: institute
The column stating T-shaped Rotating boom (4) is vertically installed on the center of circle that support frame as described above (10) forms.
A kind of rotary-arm type many sensing detection devices of protected crop Biomass the most according to claim 3, it is characterised in that: institute
State sample bracket (5) and be provided with the locating groove for locking sample.
5. the many sensing detection method of rotary-arm type protected crop Biomass, are carried out as steps described below:
(1) the many sensing detection devices of rotary-arm type protected crop Biomass is preset；
(2) start the rotary-arm type many sensing detection devices of protected crop Biomass, carry out many sensing detection of crop biomass；
(3) extraction and the quantificational description to protected crop Biomass characteristic parameter；Protected crop Biomass characteristic parameter is carried
Take and with quantificational description process be:
1. based on the reference scale image information demarcating sample obtained, the master of start bit is regarded and overlooks the reference scale of visual field
Carry out extracting and parameter calculating, obtain the conversion relation of actual size and target characteristic parameter；
2. based on the loading heat transfer agent demarcating sample obtained, the actual mass information without crop sample is obtained；
3. the crop sample image overlooking visual field is processed, extract hat width and canopy area features parameter；Visual field is regarded to main
Crop sample image process, it is thus achieved that plant Diameter Distribution parameter vertically, and obtaining according to quadrature conversion relation
To crop sample volume, according to bulk density model, the quality estimation information of the crop obtained；
4. according to the loading heat transfer agent of crop sample, carry out calculus of differences with the loading heat transfer agent demarcating sample, made
The fresh weight of thing Biomass；
5. based on the crop quality estimation information obtained and dynamic changes of fresh weight information, raw to protected crop by Multi-information acquisition
The growth information of the Biomass of growth process carries out quantificational description output.
A kind of rotary-arm type many sensing detection method of protected crop Biomass the most according to claim 5, it is characterised in that: institute
State the preset of the rotary-arm type many sensing detection devices of protected crop Biomass, specifically include following steps:
1. sample is respectively placed on sample bracket (5), wherein places on first sample bracket and demarcate sample, and by remaining sample
The locating groove locking of this bracket；
2. adjust cantilever shalving (4) by motion control card (8), make second digital camera (2) of vertical view visual field be positioned at sample torr
Directly over frame, crop canopies image is acquired, makes main the first digital camera (1) regarding visual field and sample bracket (5) axle
To vertically, highly it is in crop half plant height position, adjusts viewing field of camera and enable camera that canopy and the whole strain of plant of crop to be carried out
Imaging；
3. the reference position of rule on background board (3) and sample bracket (5) is adjusted, it is ensured that be not blocked and blur-free imaging；
4. according to without crop reference sample, load sensor (6) is demarcated；
5. detection start bit and the sampling interval stroke distances of the Rotating boom (4) of many sensing detection devices are set, and according to detection
It needs to be determined that the automatic cruising interval time of system and the time of startup.
A kind of rotary-arm type many sensing detection method of protected crop Biomass the most according to claim 5, it is characterised in that: make
Many sensing detection process of thing Biomass is: first the demarcation sample being in first place carries out loading information and with reference to scale map picture
Information gathering, determines reference information；Then cantilever shalving (4) order rotation rest in detecting position, completes the institute in stroke range
There are the loading heat transfer agent of crop sample and the collection of Biomass image information and reset, repeating according to setting interval time afterwards
Said process, it is achieved the dynamic monitoring to process of crop growth crop biomass dynamic-change information.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410626908.3A CN104458743B (en) | 2014-11-10 | 2014-11-10 | Swing-arm-type facility crop biomass multi-sensing detection device and swing-arm-type facility crop biomass multi-sensing detection method |
| PCT/CN2015/086701 WO2016074513A1 (en) | 2014-11-10 | 2015-08-12 | Swing-arm-type facility crop biomass multi-sensing detection device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410626908.3A CN104458743B (en) | 2014-11-10 | 2014-11-10 | Swing-arm-type facility crop biomass multi-sensing detection device and swing-arm-type facility crop biomass multi-sensing detection method |
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| CN104458743A CN104458743A (en) | 2015-03-25 |
| CN104458743B true CN104458743B (en) | 2017-01-11 |
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| CN104458743B (en) * | 2014-11-10 | 2017-01-11 | 江苏大学 | Swing-arm-type facility crop biomass multi-sensing detection device and swing-arm-type facility crop biomass multi-sensing detection method |
| CN105842164A (en) * | 2016-05-06 | 2016-08-10 | 北京农业信息技术研究中心 | Wheat spike number measuring device and use method thereof |
| CN106706846B (en) * | 2016-12-09 | 2023-06-02 | 北京农业智能装备技术研究中心 | Rotary biomass measurement device and measurement method |
| CN107796816A (en) * | 2017-11-22 | 2018-03-13 | 中国农业大学 | A kind of device for detecting safety of foods and method based on image recognition principle |
| CN110991269B (en) * | 2019-11-14 | 2023-04-07 | 安徽科技学院 | Detection system based on hyperspectral imaging and visual identification |
| CN111652935B (en) * | 2020-06-30 | 2023-04-28 | 上海振华重工(集团)股份有限公司 | Positioning system and method for railway train bracket |
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| US6567537B1 (en) * | 2000-01-13 | 2003-05-20 | Virginia Commonwealth University | Method to assess plant stress using two narrow red spectral bands |
| CN101650297B (en) * | 2009-09-23 | 2011-06-08 | 合肥工业大学 | Atmospheric polarization type multidimensional detection device and detection method thereof |
| CN102169008B (en) * | 2010-12-07 | 2012-07-25 | 北京农业智能装备技术研究中心 | Device and method for measuring crop biomass |
| CN102384767B (en) * | 2011-11-17 | 2014-03-12 | 江苏大学 | Nondestructive detection device and method for facility crop growth information |
| CN102565061B (en) * | 2012-01-16 | 2014-03-12 | 沈阳农业大学 | Crop biomass nondestructive testing image acquisition and processing device and testing method |
| CN104457936B (en) * | 2014-11-10 | 2017-02-22 | 江苏大学 | Potted plant growing trend dynamic detection device and detection method thereof |
| CN104458743B (en) * | 2014-11-10 | 2017-01-11 | 江苏大学 | Swing-arm-type facility crop biomass multi-sensing detection device and swing-arm-type facility crop biomass multi-sensing detection method |
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