CN104954746A - Intelligentized mobile vehicle-mounted remote crop digital image acquisition system and method thereof - Google Patents
Intelligentized mobile vehicle-mounted remote crop digital image acquisition system and method thereof Download PDFInfo
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Abstract
The invention discloses an intelligentized mobile vehicle-mounted remote crop digital image acquisition system and a method thereof, belonging to the field of intelligentized agricultural machinery. The system consists of a client, a server and digital image acquisition and processing equipment. Under the action of a controller of the digital image acquisition and processing equipment, the digital image acquisition and processing equipment can freely move in horizontal and vertical directions and perform 360-degree omnibearing rotation, and accurately acquires a position image of a crop object, the image is decoded and compressed, then is transmitted to the server by a 3G wireless module, and is stored in a data processing module on a mainboard of the controller; or the acquired image is directly analyzed and processed by the controller. The intelligentized mobile vehicle-mounted remote crop digital image acquisition system is high in intelligentization degree, low in cost, good in equipment mobility and capable of accurately acquiring and wirelessly transmitting images of different parts of the crop in an omnibearing and multi-angle way, and provides a basis for analyzing crop growth information, plant disease and insect pest information and other information.
Description
Technical field
The present invention relates to the long-range crop digital image acquisition system of a kind of Intelligentized mobile vehicle-mounted formula and method thereof, belong to intelligentize agricultural machine field.
Background technology
Crop growing state information is the basis and the foundation that obtain the information such as crop alimentary situation, moisture, disease pest and weed, physiology and according to crop growth conditions, crop is carried out to scientific management, utilize Digital image technology can obtain the characteristic informations such as crop color, shape, texture, spatial relationship, by analyzing the decision-making that can be crop management personnel and provide disease pest and weed, crop alimentary State Diagnosis and fertilising, dispenser accordingly and water further.At present, the facilities horticulture cultivation gross area of China is in the first in the world, but the science and technology of China's industrialized agriculture and overall development level low, it is comparatively large that the agriculture developed countries such as facilities horticulture environment conditioning level and Holland compare gap, seriously hinders the high-efficient development of industrialized agriculture.Distinct issues are that current Main Basis greenhouse environment factor carries out greenhouse flower, and do not consider the situation of plant growth and the actual needs of plant growth, do not accomplish Precision management, cause crop yield not high, operation energy consumption is bigger than normal.According to the requirement of " high-quality, efficient, energy-conservation, low-carbon (LC), safety ", need solve and truly need to carry out water-fertilizer-pesticide Dynamic controlling and integrated management according to plant growth.Therefore, the digital image information obtaining crop is very important link in the automatic management of farmland, is one of key technology realizing agricultural modernization.
In the prior art, in land for growing field crops and greenhouse, crop image-taking system mostly is fixed point and installs, and large Tanaka is fixed on support more, is fixed on wall in greenhouse more, substantially can not carry out translation, can not gather crop full spectrum information.Application number be 201110364639.4 Chinese patent 1 " a kind of system of long-range Real-time Obtaining crop digital image " disclose a kind of based on guide tracked long-range crop Real-time Image Collecting System, the crop digital image that relates to obtains equipment can horizontal movement, move both vertically and 360 degree of rotations, obtain the accurate control to image capture position, achieve the remote transmission of digital picture, the weak point of this system is: 1) guide rails assembling on the ground, take part plantation space, the management of crop management personnel is counteracted, crop image information collecting needs crop to be transported to below guide rail, waste time and energy, 2) early investment of guide rail laying needs is larger, 3) crop digital image obtains the RJ45 cable network connection adopted between local computer, and transfer of data is wire transmission, and netting twine is easy to be wrapped on crop.Patent (application number is 201420378312.1) discloses " network-type parallel-moving type crop map is as video acquisition system ", but its imaging system can only move along guide rail in the horizontal direction, can not move at vertical direction, cannot realize during whole plant growth along with the change of plant height gathers crop differing heights image information.Patent (application number is 201110107669.7) " a kind of crops fine-grained management manufacturing monitoring system " discloses a kind of crops fine-grained management manufacturing monitoring system, belong to agricultural product information monitoring technique field, comprise information gathering dispensing device, radio receiver, database server, video server and the Internet, it is characterized in that information gathering dispensing device adopts wireless network camera; Radio receiver is connected with the Internet with database server, video server respectively by wireless router, be connected with networking client by the Internet, fine-grained management can be implemented to agricultural product from beginning of production to consumption market, omnidistance real-time tracking record is carried out to production, processing, circulation links.But the video camera of this system adopts fixed installation, and can only take fixing point as the center of circle, carry out the shooting of different angles, make the acquisition range of image limited, the image information of acquisition be single, can not observe crop full spectrum information.Patent " a kind of network-type elevation type crop image video system " (application number is 201420378203.X) discloses a kind of network-type elevation type crop image video system, this system comprises video camera, controller, router and elevating mechanism, wherein by being arranged on elevating mechanism on column and installing rack, video camera can be made on column to carry out vertical lift, the different parts of crop can be taken from differing heights, the convenient root observing crop, stem, leaf, flower, seed, the positions such as fruit, but this system video cameras realizes in horizontal movement and rotary motion, the crop image information of the shooting made is still comprehensive not.
Summary of the invention
In order to the needs making up above-mentioned deficiency and meet plant growth information evaluation, the present invention proposes the long-range crop digital image acquisition system of a kind of Intelligentized mobile vehicle-mounted formula and method thereof.Crop digital image collecting device is arranged on travelling car and also can moves along crop-planting line direction in field or greenhouse with dolly by this system, by to the column be arranged on travelling car and Pulley lift structure, the control of The Cloud Terrace and the control of little truck position in crop digital image collecting device, video camera can be made to realize level, vertically, rotary motion, gather the root of crop canopies information and different plant height positions crop, stem, leaf, flower, seed, fruit, Deng the image information of position all directions, and utilize the dsp controller being integrated with 3G module can select the image information of collection directly to be sent or be wirelessly transmitted to local computer after dsp controller compression process, also can be present on the high capacity U disc of dsp controller connection by gathering image, thus realize the comprehensive of crop image information, multi-angle, the Integrated service of wireless transmission and storage, there is intellectuality, multi-functional, feature easy to use.Concrete technical scheme is as follows:
The long-range crop digital image acquisition system of a kind of Intelligentized mobile vehicle-mounted formula, comprise client, server, digital image acquisition treatment facility, described client is connected with server, described server and the wireless connections of digital image acquisition treatment facility; Described client's side link server is used for store and management Crop Information, and client, by accessing crop view data by telemanagement remote software after authentication, is inquired about, downloaded, uploads, edits crop image information; Described digital image acquisition treatment facility is used for making camera realize level, vertical, rotary motion, and then gathers crop canopies information and the different parts of different plant height positions crop, the image information of different directions; Described digital image acquisition treatment facility is arranged on travelling car, both sides, travelling car base plate front end are provided with distance measuring sensor, dolly is provided with upright guide rail, slide block installed by guide rail, slide block connects camera by The Cloud Terrace, side, guide rail top is fixed with pulley bracket, pulley bracket lower end is fixed with pulley, pulley is provided with rope, one end of rope is connected with the upper end of slide block, the rope other end is fixed on the roller of travelling car, and roller is connected with the lifting motor on dolly by motor driver A; Under motor driver A drives, roller belts running rope rope does forward and reverse rotation, makes slide block along guide rail movement in vertical direction, and then drives camera and the motion of The Cloud Terrace vertical direction; Travelling car is also fixed with control unit, and control unit is connected with camera with distance measuring sensor, lifting motor, The Cloud Terrace respectively; The described control unit on the one hand image be used for gathering is analyzed, determine whether digital image acquisition treatment facility aims at crop target location, be used on the other hand adjusting travelling car position, The Cloud Terrace position according to analysis result, then the image of acquisition be stored in data processing module or be transferred to server by wireless communication module after decoding compressed process.
As a further improvement on the present invention, described travelling car also comprises driving wheel, motor driver B, driving wheel motor, directive wheel, two driving wheels and a directive wheel are arranged on bottom travelling car, driving wheel is mechanically connected driving wheel motor by motor driver B, carriage walking under driving wheel motor drives, directive wheel adopts universal wheel, and motor driver B is electrically connected with control unit.
As a further improvement on the present invention, described server and client are with the desk-top of wireless network card or notebook computer.
As a further improvement on the present invention, described control unit comprises controller motherboard, video acquisition module, data memory module A, power supply, motor drive module, CPLD device, data memory module B, 3G radio receiving transmitting module, range unit, man-machine dialogue interface, human-computer dialogue device; Described controller motherboard inside is integrated with video interface, EMIF interface, GPIO interface and outside expansion bus; Described video acquisition module connects video interface; Data memory module A connects EMIF interface; Motor drive module is connected with GPIO interface; Power supply is directly connected with controller motherboard; Data memory module B, 3G radio receiving transmitting module, range unit, man-machine dialogue interface all connect outside expansion bus by CPLD device, and in addition, human-computer dialogue device also connects man-machine dialogue interface.
As a further improvement on the present invention, described video acquisition module comprises decoding compressed module, described decoding compressed module is connected with The Cloud Terrace, The Cloud Terrace is connected with camera, described decoding compressed module adopts TVP5150AM video decoding chip and the discrete cosine transform of TI company, can decode to the image of collected by camera and compress.
As a further improvement on the present invention, described 3G radio receiving transmitting module comprises 3G wireless module, UART module, asynchronous communication transceiver, described 3G wireless module connects UART module, and UART module is connected with asynchronous communication transceiver, and asynchronous communication transceiver is connected with CPLD device; Described 3G wireless module adopts Huawei EM770W module, for the radio communication between server and digital image acquisition treatment facility, realize image, data, control command wireless transmission and by server or client, Long-distance Control is carried out to digital image acquisition and processing equipment.
As a further improvement on the present invention, described data memory module B comprises usb interface module, USB flash disk, adopts USB-Host device CH375 and common U disk, is connected by CPLD device with controller motherboard, for image and the related data of storage of collected so that data readback from now on, analysis; Described data memory module A comprises FLASH memory, SDRAM memory, be made up of AM29LV033C type FLASH chip and HY57V283220T type SDRAM chip, connected by EMIF Interface and Controler motherboard, use respectively as program storage and data storage.
As a further improvement on the present invention, described range unit comprises A/D converter, signal conditioning circuit, A/D converter connection signal modulate circuit, signal conditioning circuit connects distance measuring sensor, described distance measuring sensor, for obtaining the positional information of dolly and crop, is P+F PEPPERL FUCHS ultrasonic sensor UC500-30GM-IUR2-V15.
As a further improvement on the present invention, described human-computer dialogue device comprises LCD interface, keyboard and multi-position switch, and described man-machine dialogue interface comprises level conversion B, level conversion A, line drive B; Described LCD interface connects CPLD device by level conversion B, and described keyboard and multi-position switch connect CPLD device respectively by line drive B, level conversion A.
Method and technology scheme of the present invention is:
The long-range crop digital image acquisition method of a kind of Intelligentized mobile vehicle-mounted formula, comprises step:
Step 1, travelling car be placed in field crops capable in, the crop row edge of a field, dolly dead ahead arranges vertically arranged flat board, switches on power and carries out startup self-detection;
Step 2, after self-inspection is normal, the carriage walking speed set by client's side link server or the reception of human-computer dialogue device, image taking interval and the preliminary predetermined shooting height of crop map picture;
Step 3, under control unit controls, the real-time distance two distance measuring sensors gathered, as the control signal of dolly driving wheel motor, guarantees that dolly is along crop row straight-line travelling or keep away barrier;
Step 4, along with travelling car is along the movement of crop row, under control unit controls, carries out the operation such as background segment, feature extraction to image by camera initial acquisition crop map picture;
Step 5, regulates camera at the height of vertical direction by lifting motor, regulates camera in the anglec of rotation of horizontal plane by The Cloud Terrace, finally guarantees that digital image acquisition treatment facility aims at crop target location;
Step 6, until camera camera aim at the mark thing and the angle of visual field suitable after, under control unit controls, the image taking interval that camera presets according to step 1-2 gathers image, and the image of acquisition is stored in data memory module A or data memory module B, also be transferred to server by 3G radio receiving transmitting module after caning be passed through decoding compressed process, client, by accessing crop view data by telemanagement remote software after authentication, is inquired about, is downloaded, uploads, edits crop image information.
The present invention have beneficial effect be following some:
(1) devise a set of can the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula of remote wireless control, the radio communication between digital image acquisition treatment facility and server is realized by 3G wireless module, obtain system with traditional images to compare, this system adopts radio communication, avoid wiring cost and the winding of cable on crop, the employing of 3G wireless module simultaneously makes communication efficiency and reliability greatly improve.
(2) the crop IMAQ and the camera that achieve comprehensive, multi-angle move freely, digital image acquisition treatment facility is controlled by dolly forward-reverse in the horizontal direction, vertical direction is realized by lifting motor, slide block, pulley, roller, guide rail, adopt The Cloud Terrace to add digital camera and realize 360 degree of rotations, thus accurately can control images acquisition locations and the angle of crop.
(3) the crop digital image acquisition system adopted is vehicular, and compare with traditional fixed guide formula image-taking system, this system can move near Different Crop at any time, has that mobility is strong, early investment is little, take up room little feature.
(4) the carriage walking speed of setting, image taking interval and the predetermined shooting height of crop map picture is received by server or man-machine dialogue interface.The data memory module B adopted can the image of storage of collected and related data, so that data readback from now on and analysis.
(5) control unit adopted can be analyzed the image gathered, determine whether digital image acquisition treatment facility aims at crop target location, can also adjust travelling car position, The Cloud Terrace position according to analysis result, then the image of acquisition is stored in data processing module or is transferred to server by wireless communication module after decoding compressed process.
Accompanying drawing explanation
Fig. 1 is Intelligentized mobile vehicle-mounted formula long-range crop digital image acquisition system structural representation;
Fig. 2 is intelligent subsoiling land preparation operation quality supervisory control system digital image acquisition treatment facility structural representation; Wherein Fig. 2 (a) is its front view, and Fig. 2 (b) is its vertical view;
Fig. 3 is the control unit structural representation of intelligent subsoiling land preparation operation quality supervisory control system digital image acquisition treatment facility;
Fig. 4 is that the control unit of intelligent subsoiling land preparation operation quality supervisory control system digital image acquisition treatment facility is connected block diagram with system and device.
In figure: 1-client; 2-server; 3-digital image acquisition treatment facility; 4-distance measuring sensor; 5-camera; 6-The Cloud Terrace; 7-slide block; 8-guide rail; 9-pulley bracket; 10-pulley; 11-rope; 12-roller; 13-control unit; 14-dolly; 15-dolly driving wheel; 16-motor driver B; 17-driving wheel motor; 18-motor driver A; 19-lifting motor; 20-directive wheel; 21-video acquisition module; 22-data memory module A; 23-video interface; 24-EMIF interface; 25-controller motherboard; 26-GPIO interface; The outside expansion bus of 27-; 28-power supply; 29-motor drive module; 30-CPLD device; 31-data memory module B; 32-3G radio receiving transmitting module; 33-range unit; 34-man-machine dialogue interface; 35-human-computer dialogue device; The decoding compressed module of 36-; 37-SDRAM memory; 38-FLASH memory; 39-level conversion B; 40-LCD interface; 41-level conversion A; 42-line drive B; 43-keyboard and multi-position switch; 44-asynchronous communication transceiver; 45-UART module; 46-3G wireless module; 47-A/D transducer; 48-signal conditioning circuit; 49-USB interface module; 50-U dish.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of ", multiple " is two or more except as otherwise noted.
As shown in Figure 1, the long-range crop digital image acquisition system of a kind of Intelligentized mobile vehicle-mounted formula, is made up of client 1, server 2 and digital image acquisition treatment facility 3.
Wherein, described local computer 2 and client 1 are with the desk-top of wireless network card or notebook computer, for store and management Crop Information and other relevant informations, client is by by telemanagement remote software access crop view data, can inquiring about, downloading, upload, edit crop image information and other relevant informations after authentication.
As shown in Figure 2, the digital image acquisition treatment facility 3 of the long-range crop digital image acquisition system of a kind of Intelligentized mobile vehicle-mounted formula is made up of distance measuring sensor 4, camera 5, The Cloud Terrace 6, slide block 7, guide rail 8, pulley bracket 9, pulley 10, rope 11, roller 12, control unit 13, travelling car 14.Two distance measuring sensors 4 are arranged on both sides, cart base plate front end; Camera 5 is connected to slide block 7 by The Cloud Terrace 6; Slide block 7 is arranged on guide rail 8; Rope 11 one end is fixed on roller 12, and the other end is connected with the upper end of slide block 7 by pulley 10, and along with the forward and reverse rotation of roller 12, slide block 7 along guide rail 8 movement in vertical direction, thus drives camera 5 and the motion of The Cloud Terrace 6 vertical direction; Pulley 10 is arranged on pulley bracket 9, and pulley bracket 9 is connected with guide rail; Roller 12 is connected on cart base plate by support; Control unit 13 is fixed on cart base plate, is connected respectively with distance measuring sensor 4, lifting motor 19, driving wheel motor 17, The Cloud Terrace 6 and camera 5; Be provided with two driving wheels 15 and a directive wheel 15 bottom travelling car 14, driving wheel 15 is connected to driving wheel motor 17 by motor driver B 16, and carriage walking under driving wheel motor 17 drives, directive wheel 15 adopts universal wheel.Lifting motor 19 is connected with roller 12 by motor driver 18, and under motor driver 18 drives, roller 12 rotates, thus band movable slider 7 moves.
As shown in Figure 3, the long-range crop digital image acquisition system of a kind of Intelligentized mobile vehicle-mounted formula comprise video acquisition module 21, data memory module A 22, power supply 28, motor drive module 29, CPLD device 30, data memory module B 31,3G radio receiving transmitting module 32, range unit 33, man-machine dialogue interface 34, human-computer dialogue device 35 and controller motherboard 25.Controller motherboard 25 inside is integrated with video interface 23, EMIF interface 24, GPIO interface 26 and outside expansion bus 27.Wherein, video acquisition module 21 connects video interface 23; Data memory module A 22 connects EMIF interface 24; Motor drive module 29 is connected with GPIO interface 26; Power supply 28 is directly connected with controller motherboard 25.Data memory module B 31,3G radio receiving transmitting module 32, range unit 33, man-machine dialogue interface 34 connect outside expansion bus 27 respectively by CPLD device 30, and in addition, human-computer dialogue device 35 also connects man-machine dialogue interface 27.Described motor drive module 29 comprises motor driver A18 and motor driver B16, and motor driver A18 is for driving lifting motor 19, and motor driver B16 is for controlling driving wheel motor 17.
As shown in Figure 4, controller TMS320DM642AGDK 25 integrated chip video interface 23, EMIF interface 24, GPIO interface 26 and outside expansion bus 27.Camera 5 is connected to video interface 23 by The Cloud Terrace 6 and decoding compression module 36 successively.Outside expansion bus 27 is divided into 5 parallel tunnels after CPLD device, and the 1st tunnel connects USB flash disk 50 through usb interface module 49; 2nd tunnel connects A/D converter 47, signal conditioning circuit 48 and distance measuring sensor 4 successively; 3rd tunnel connects 3G wireless module 46 by asynchronous communication transceiver 44, UART module 45 successively; 4th tunnel is connected with keyboard and multi-position switch 43 by level conversion A 41, line drive B 42 successively; 5th tunnel is connected to LCD interface 40 by level conversion B 39.SDRAM memory 37 and FLASH memory 38 utilize together with bus-sharing technology and are connected to EMIF interface 24.Lifting motor 19 is connected to GPIO interface 26 respectively through motor driver A18 with drive motors 17 together with after motor driver B 16.
The course of work of a kind of Intelligentized mobile vehicle-mounted of the present invention formula long-range crop digital image acquisition system: digital image acquisition treatment facility 3 to be placed in crop row and vertically arranged flat board is set at the crop row edge of a field, dolly dead ahead, the carriage walking speed of setting is received by server 2 or human-computer dialogue device 35, image taking interval and the predetermined shooting height of crop map picture, the real-time distance gathered according to two distance measuring sensors 4 is as the control signal of dolly driving wheel motor, sent to the outside expansion bus 27 of controller motherboard 25 by CPLD device 30, guarantee that dolly is along crop row straight-line travelling or keep away barrier, simultaneously by camera 5 initial acquisition crop map picture, according to controller to gather the analysis of image determine digital image acquisition treatment facility whether aim at crop target location and according to analysis result to little truck position, The Cloud Terrace 6 position adjusts, finally guarantee that digital image acquisition treatment facility carries out image acquisition after aiming at crop target location, then the image of acquisition is stored in data processing module or is transferred to server by wireless communication module after decoding compressed process, client 1 is by accessing crop view data by telemanagement remote software after authentication, inquiry, download, upload, editor crop image information.
Described video acquisition module 21 comprises camera 5, The Cloud Terrace 6 and decoding compression module 36 and forms, wherein decoding compressed module 36 adopts TVP5150AM video decoding chip and the discrete cosine transform of TI company, can decode and compress the image that camera 5 gathers;
Described 3G radio receiving transmitting module 32 is made up of 3G wireless module 46, UART module 45 and asynchronous communication transceiver 44, wherein 3G wireless module 46 adopts Huawei EM770W module, for the radio communication between server 2 and digital image acquisition treatment facility 3, realize image, data, control command wireless transmission and by server 2 or client 1, Long-distance Control is carried out to digital image acquisition and processing equipment 3.
The USB-Host device CH375 that described data memory module B 31 adopts Nanjing Qin Heng Electronics Co., Ltd. to release and common U disk, be connected with controller motherboard 25 by EMIF interface 24, for image and the related data of storage of collected so that data readback from now on, analysis.
Described data memory module A 22 is made up of the AM29LV033C type FLASH chip of AMD and the HY57V283220T type SDRAM chip of Hynix Semiconductor company, uses respectively as program storage and data storage.
Described CPLD device 30 adopts EPM7128AETC cake core.
Described asynchronous communication transceiver 44 adopts the TL16C752B asynchronous communication transceiver of TI company.
Described distance measuring sensor 4 is P+F PEPPERL FUCHS ultrasonic sensor UC500-30GM-IUR2-V15.
The rotatable The Cloud Terrace of MV-3999S that described The Cloud Terrace 6 controls for all-around intelligent, inside is provided with professional intellectual ability cradle head control/decoder.
Described camera 5 is the supporting high resolution camera having electric expansion camera lens.
Embodiment 2: the The Cloud Terrace that the present invention is made up of pulley 10, rope 11 and roller 12 and camera vertical direction driving mechanism also can adopt nut-screw mechanism or ball screw framework to substitute.
Embodiment 3: distance measuring sensor 4 of the present invention also can adopt laser sensor to substitute.
Embodiment 4: CPLD device 30 of the present invention can substitute with the EPM240 of altera corp.
Embodiment 5: HY57V641620E (L/S) T (P) and S29GL064A or S29GL032A of SDRAM memory 37 of the present invention and the available Hynix company of FLASH memory 38 difference replace.
A kind of Intelligentized mobile vehicle-mounted formula of the present invention long-range crop digital image acquisition method comprises following step:
Step 1, travelling car 14 be placed in field crops capable in, the crop row edge of a field, dolly dead ahead arranges vertically arranged flat board, switches on power and carries out startup self-detection;
Step 2, after self-inspection is normal, the carriage walking speed set by client 1 connection server 2 or human-computer dialogue device 35 reception, image taking interval and the preliminary predetermined shooting height of crop map picture;
Step 3, under control unit 13 controls, the real-time distance gathered by two distance measuring sensors 4, as the control signal of dolly driving wheel motor, sends the outside expansion bus 27 of controller motherboard 25 to by CPLD device 30, guarantee that dolly is along crop row straight-line travelling or keep away barrier;
Step 4, along with travelling car 14 is along the movement of crop row, under control unit 13 controls, carries out the operation such as background segment, feature extraction to image by camera 5 initial acquisition crop map picture;
Step 5, regulates camera 5 at the height of vertical direction by lifting motor 19, regulates camera 5 in the anglec of rotation of horizontal plane by The Cloud Terrace 6, finally guarantees that digital image acquisition treatment facility 3 aims at crop target location;
Step 6, until camera 5 camera aim at the mark thing and the angle of visual field suitable after, under control unit 13 controls, the image taking interval that camera 5 presets according to step 1-2 gathers image, and the image of acquisition is stored in data memory module A22 or data memory module B31, also server 2 is transferred to by 3G radio receiving transmitting module 32 after caning be passed through decoding compressed process, client 1, by accessing crop view data by telemanagement remote software after authentication, is inquired about, is downloaded, uploads, edits crop image information.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, concrete condition above-mentioned term concrete meaning in the present invention can be understood.
Finally it should be noted that, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention and be equal to replacement, and not departing from the spirit and scope of technical solution of the present invention, it all should be encompassed in right of the present invention.
Claims (10)
1. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula, it is characterized in that, comprise client (1), server (2), digital image acquisition treatment facility (3), described client (1) is connected with server (2), described server (2) and digital image acquisition treatment facility (3) wireless connections;
Described client (1) connection server (2) is for store and management Crop Information, client (1), by accessing crop view data by telemanagement remote software after authentication, is inquired about, is downloaded, uploads, edits crop image information;
Described digital image acquisition treatment facility (3) realizes level, vertical, rotary motion for making camera (5), and then gathers crop canopies information and the different parts of different plant height positions crop, the image information of different directions;
Described digital image acquisition treatment facility (3) is arranged on travelling car (14), both sides, travelling car (14) base plate front end are provided with distance measuring sensor (4), dolly is provided with upright guide rail (8), guide rail (8) is installed slide block (7), slide block (7) connects camera (5) by The Cloud Terrace (6), guide rail (8) side, top is fixed with pulley bracket (9), pulley bracket (9) lower end is fixed with pulley (10), pulley (10) is provided with rope (11), one end of rope (11) is connected with the upper end of slide block (7), rope (11) other end is fixed on the roller (12) of travelling car (14), roller (12) is connected with the lifting motor (19) on dolly by motor driver A (18), under motor driver A (18) drives, roller (12) drives rope (11) to do forward and reverse rotation, make slide block (7) along guide rail (8) movement in vertical direction, and then drive camera (5) and the motion of The Cloud Terrace (6) vertical direction, travelling car (14) is also fixed with control unit (13), control unit (13) is connected with camera (5) with distance measuring sensor (4), lifting motor (19), The Cloud Terrace (6) respectively,
Described control unit (13) the on the one hand image be used for gathering is analyzed, determine whether digital image acquisition treatment facility (3) aims at crop target location, be used on the other hand adjusting travelling car (14) position, The Cloud Terrace (6) position according to analysis result, then the image of acquisition be stored in data processing module or be transferred to server (2) by wireless communication module after decoding compressed process.
2. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 1, it is characterized in that, described travelling car (14) also comprises driving wheel (15), motor driver B (16), driving wheel motor (17), directive wheel (20), two driving wheels (15) and a directive wheel (20) are arranged on travelling car (14) bottom, driving wheel (15) is mechanically connected driving wheel motor (17) by motor driver B (16), carriage walking under driving wheel motor (17) drives; Directive wheel (15) adopts universal wheel, and motor driver B (16) is electrically connected with control unit (13).
3. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 1, is characterized in that, described server (2) and client (1) are with the desk-top of wireless network card or notebook computer.
4. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 1, it is characterized in that, described control unit (13) comprises controller motherboard (25), video acquisition module (21), data memory module A (22), power supply (28), motor drive module (29), CPLD device (30), data memory module B (31), 3G radio receiving transmitting module (32), range unit (33), man-machine dialogue interface (34), human-computer dialogue device (35);
Described controller motherboard (25) inside is integrated with video interface (23), EMIF interface (24), GPIO interface (26) and outside expansion bus (27); Described video acquisition module (21) connects video interface (23); Data memory module A (22) connects EMIF interface (24); Motor drive module (29) is connected with GPIO interface (26); Power supply (28) is directly connected with controller motherboard (25); Data memory module B (31), 3G radio receiving transmitting module (32), range unit (33), man-machine dialogue interface (34) all connect outside expansion bus (27) by CPLD device (30), in addition, human-computer dialogue device (35) also connects man-machine dialogue interface (34).
5. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 4, it is characterized in that, described video acquisition module (21) comprises decoding compressed module (36), described decoding compressed module (36) is connected with The Cloud Terrace (6), The Cloud Terrace (6) is connected with camera (5), described decoding compressed module (36) adopts TVP5150AM video decoding chip and the discrete cosine transform of TI company, can decode and compress the image that camera (5) gather.
6. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 4, it is characterized in that, described 3G radio receiving transmitting module (32) comprises 3G wireless module (46), UART module (45), asynchronous communication transceiver (44), described 3G wireless module (46) connects UART module (45), UART module (45) is connected with asynchronous communication transceiver (44), and asynchronous communication transceiver (44) is connected with CPLD device (30); Described 3G wireless module (46) adopts Huawei EM770W module, for the radio communication between server (2) and digital image acquisition treatment facility (3), realize image, data, control command wireless transmission and by server (2) or client (1), Long-distance Control is carried out to digital image acquisition and processing equipment (3).
7. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 4, is characterized in that,
Described data memory module B (31) comprises usb interface module (49), USB flash disk (50), adopt USB-Host device CH375 and common U disk, be connected with controller motherboard (25) by CPLD device (30), for image and the related data of storage of collected so that data readback from now on, analysis;
Described data memory module A (22) comprises FLASH memory (38), SDRAM memory (37), be made up of AM29LV033C type FLASH chip and HY57V283220T type SDRAM chip, be connected with controller motherboard (25) by EMIF interface (24), use respectively as program storage and data storage.
8. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 4, it is characterized in that, described range unit (33) comprises A/D converter (47), signal conditioning circuit (48), A/D converter (47) connection signal modulate circuit (48), signal conditioning circuit (48) connects distance measuring sensor (4), described distance measuring sensor (4), for obtaining the positional information of dolly and crop, is P+F PEPPERL FUCHS ultrasonic sensor UC500-30GM-IUR2-V15.
9. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 4, it is characterized in that, described human-computer dialogue device (35) comprises LCD interface (40), keyboard and multi-position switch (43), and described man-machine dialogue interface (34) comprises level conversion B (39), level conversion A (41), line drive B (42);
Described LCD interface (40) connects CPLD device (30) by level conversion B (39), and described keyboard and multi-position switch (43) connect CPLD device (30) respectively by line drive B (42), level conversion A (41).
10. the long-range crop digital image acquisition method of Intelligentized mobile vehicle-mounted formula, is characterized in that, comprise step:
Step 1, travelling car (14) be placed in field crops capable in, the crop row edge of a field, dolly dead ahead arranges vertically arranged flat board, switches on power and carries out startup self-detection;
Step 2, after self-inspection is normal, the carriage walking speed set by client (1) connection server (2) or human-computer dialogue device (35) reception, image taking interval and the preliminary predetermined shooting height of crop map picture;
Step 3, under control unit (13) controls, the real-time distance two distance measuring sensors (4) gathered is as the control signal of dolly driving wheel motor, sent to the outside expansion bus 27 of controller motherboard 25 by CPLD device 30, guarantee that dolly is along crop row straight-line travelling or keep away barrier;
Step 4, along with travelling car (14) is along the movement of crop row, under control unit (13) controls, carries out the operation such as background segment, feature extraction by camera (5) initial acquisition crop map picture to image;
Step 5, regulate camera (5) at the height of vertical direction by lifting motor (19), regulate camera (5) in the anglec of rotation of horizontal plane by The Cloud Terrace (6), finally guarantee that digital image acquisition treatment facility (3) aims at crop target location;
Step 6, until camera (5) camera aim at the mark thing and the angle of visual field suitable after, under control unit (13) controls, the image taking interval that camera (5) presets according to step 1-2 gathers image, and the image of acquisition is stored in data memory module A (22) or data memory module B (31), also server (2) is transferred to by 3G radio receiving transmitting module (32) after caning be passed through decoding compressed process, client (1) is by accessing crop view data by telemanagement remote software after authentication, inquiry, download, upload, editor crop image information.
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