CN104954746B - A kind of long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula and its method - Google Patents
A kind of long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula and its method Download PDFInfo
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Abstract
The invention discloses a kind of long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula and its methods, belong to intelligentize agricultural machine field.It is made of client, server and digital image acquisition and processing equipment.Under digital image acquisition processing equipment controller action, digital image acquisition processing equipment can be moved freely in horizontal, vertical direction to be rotated with 360 degrees omnidirection, it realizes accurate acquisition to crop target location image, and by 3G wireless modules are transferred to server and are stored on controller motherboard data processing module or directly carries out analyzing processing to obtaining image by controller after image decoding is compressed.Intelligence degree of the present invention is high, at low cost, equipment mobility is good, it can be achieved that the comprehensive of crop different parts image, multi-angle are accurately obtained and are wirelessly transferred, and basis is provided for information analyses such as plant growth information, pest and disease damages.
Description
Technical field
The present invention relates to a kind of long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula and its methods, belong to intelligence
Agricultural mechanical field can be changed.
Background technology
Crop growing state information is to obtain the information such as crop nutrition condition, moisture, disease pest and weed, physiology and according to plant growth
Situation carries out crop basis and the foundation of scientific management, and crop color, shape, line can be obtained using Digital image technology
The characteristic informations such as reason, spatial relationship can provide disease pest and weed, crop nutrition condition by further analyzing for crop management personnel
The decision of diagnosis and corresponding fertilising, dispenser and watering.Currently, the facilities horticulture cultivation gross area in China is in the first in the world,
But the science and technology of China's industrialized agriculture is low with overall development level, the agricultural such as facilities horticulture environment conditioning level and Holland developed country
It is larger compared to gap, seriously hinder the high-efficient development of industrialized agriculture.Distinct issues be current Main Basiss greenhouse because
Son carries out greenhouse flower, does not account for the situation of plant growth and the actual needs of plant growth, does not accomplish precisely to manage
Reason, causes crop yield not high, operation energy consumption is bigger than normal.According to the requirement of " high-quality, efficient, energy saving, low-carbon, safety ", need to solve
It really needs to carry out water-fertilizer-pesticide dynamic control and integrated management according to plant growth.Therefore, the digital picture letter of crop is obtained
Breath is very important link in the automatic management of farmland, is one of the key technology for realizing agricultural modernization.
In the prior art, crop image-taking system is mostly to pinpoint installation in crop field and greenhouse, and big Tanaka is fixed on more
It is in greenhouse to be fixed on wall on holder more, it cannot be translated, crop full spectrum information cannot be acquired substantially.Shen
It please number Chinese patent 1 for being 201110364639.4《A kind of long-range system for obtaining crop digital image in real time》Disclose one kind
Based on guide tracked long-range crop Real-time Image Collecting System, the crop digital image that is related to obtain equipment can with horizontal movement,
Vertical movement and 360 degree of rotations, obtain and are accurately controlled to image capture position, realize the remote transmission of digital picture,
The shortcoming of the system is：1) guide rail installation on the ground, occupies part planting space, is made to the management of crop management personnel
At obstruction, crop image information collecting needs crop being transported to guide rail in the following, time-consuming and laborious；2) guide rail is laid with the early period needed
It puts into larger；3) crop digital image obtains the RJ45 cable networks connection used between local computer, and data transmission is
Wire transmission, cable are easy to be wrapped on crop.Patent (application No. is 201420378312.1) discloses《Network-type parallel-moving type
Crop image video acquisition system》, but its imaging system can only be moved along guide rail in the horizontal direction, cannot be transported in vertical direction
It is dynamic, it cannot achieve the variation during entire plant growth with plant height and crop different height image information be acquired.Specially
Sharp (application No. is 201110107669.7)《A kind of crops fine-grained management manufacturing monitoring system》Disclose a kind of crops
Fine-grained management manufacturing monitoring system, belongs to agricultural product information monitoring technology field, including information collection sending device, wirelessly connects
Receiving apparatus, database server, video server and internet, it is characterised in that information collection sending device uses wireless network
Video camera；Radio receiver is connected with database server, video server with internet respectively by wireless router,
It is connected with networking client by internet, can agricultural product be implemented with fine-grained management from beginning of production to consumption market, it is right
Production, processing, circulation links carry out whole real-time tracking record.But the video camera of the system, can only using being fixedly mounted
Using fixed point as the center of circle, the shooting of different angle is carried out so that the acquisition range of image is limited, and the image information of acquisition is single,
Crop full spectrum information cannot be observed.Patent《A kind of network-type lift crop image video system》(application No. is
A kind of network-type lift crop image video system 201420378203.X) is disclosed, which includes video camera, control
Device, router and elevating mechanism can make video camera in column wherein by the elevating mechanism and mounting bracket that are arranged on column
On be vertically moved up or down, the different parts of crop can be shot from different height, facilitate the observation root of crop, stem, leaf, flower, kind
The positions such as son, fruit, but the system video cameras realizes that the crop image information of the shooting made is still in horizontal movement and rotary motion
It is not comprehensive enough.
Invention content
In order to make up above-mentioned insufficient and meet the needs to plant growth information evaluation, the present invention proposes a kind of intelligence
The long-range crop digital image acquisition system of vehicle-carried mobile formula and its method.Crop digital image collecting device is arranged the system
It can be moved in moving trolley and along crop-planting line direction in field or greenhouse with trolley, by being arranged in moving trolley
Column and Pulley lift structure, crop digital image collecting device in the control of holder and the control of small truck position, can make
Video camera realizes horizontal, vertical, rotary motion, acquire the root of crop canopies information and different plant height positions crop, stem, leaf, flower,
Seed, fruit, etc. positions all directions image information, and using be integrated with 3G module dsp controller may be selected will acquisition
Image information directly transmit or be wirelessly transmitted to local computer after dsp controller compression processing, also can will acquisition figure
As being present on the high capacity U disc of dsp controller connection, to realize the comprehensive of crop image information, multi-angle, wireless biography
Defeated and storage Integrated service, has intelligence, multi-functional, easy to use feature.Specific technical solution is as follows：
A kind of long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula, including client, server, digitized map
As acquiring and processing device, the client is connected with server, and the server and digital image acquisition processing equipment are wireless
Connection；The client Connection Service device for storing and managing Crop Information, client by after authentication by long-range
Management software remotely accesses crop image data, and inquiry is downloaded, uploaded, editor's crop image information；The digital image acquisition
Processing equipment acquires crop canopies information and different plant height positions work for making camera realization level, vertical, rotary motion
The different parts of object, the image information of different directions；The digital image acquisition processing equipment is arranged in moving trolley, mobile
Cart base plate front end both sides are equipped with distance measuring sensor, and trolley is equipped with upright guide rail, installs sliding block on guide rail, sliding block passes through cloud
Platform connects camera, and guide rail top side is fixed with pulley bracket, and pulley bracket lower end is fixed with pulley, and pulley is equipped with rope,
One end of rope and the upper end of sliding block connect, and the rope other end is fixed on the roller of moving trolley, and roller is driven by motor
Device A is connect with the lifting motor on trolley；Under motor driver A drivings, roller belts running rope rope does forward and reverse rotation so that sliding
Block drives camera and the movement of holder vertical direction along guide rail movement in vertical direction；Control is further fixed in moving trolley
Unit, control unit are connected with distance measuring sensor, lifting motor, holder and camera respectively；On the one hand described control unit is used
It is analyzed in the image to acquisition, determines whether digital image acquisition processing equipment is directed at crop target location, on the other hand
For being adjusted to moving trolley position, holder position according to analysis result, then the image of acquisition is stored at data
Manage module or after decoding compression processing by radio communication module transfer to server.
As a further improvement on the present invention, in the moving trolley further include driving wheel, motor driver B, driving wheel
Motor, directive wheel, two driving wheels and a directive wheel are mounted on moving trolley bottom, and driving wheel passes through motor driver B machines
Tool connects driving wheel motor, the carriage walking under driving wheel motor driving, and directive wheel uses universal wheel, motor driver B and control
Unit electrical connection processed.
As a further improvement on the present invention, the server and client are the desk-top or notebook with wireless network card
Computer.
As a further improvement on the present invention, described control unit includes controller motherboard, video acquisition module, data
Memory module A, power supply, motor drive module, CPLD devices, data memory module B, 3G radio receiving transmitting module, range unit, people
Machine dialog interface, human-computer dialogue device；The controller motherboard has been internally integrated video interface, EMIF interfaces, GPIO interface
With external expansion bus；The video acquisition module connects video interface；Data memory module A connection EMIF interfaces；Motor drives
Dynamic model block is connect with GPIO interface；Power supply is directly connected to controller motherboard；Data memory module B, 3G radio receiving transmitting module,
Range unit, man-machine dialogue interface connect external expansion bus by CPLD devices, in addition, human-computer dialogue device also connects people
Machine dialog interface.
As a further improvement on the present invention, the video acquisition module includes decoding compression module, the decoding compression
Module is connected with holder, and holder is connected with camera, and the decoding compression module decodes core using the TVP5150AM videos of TI companies
Piece and discrete cosine transform, the image that can be acquired to camera are decoded and compress.
As a further improvement on the present invention, the 3G radio receiving transmitting modules include 3G wireless modules, it is UART modules, asynchronous
Communications transceiver, the 3G wireless modules connect UART modules, and UART modules are connected with asynchronous communication transceiver, and asynchronous communication is received
Hair device is connected with CPLD devices；The 3G wireless modules use Huawei's EM770W modules, are used for server and digital image acquisition
Wireless communication between processing equipment, realize image, data, control command wireless transmission and pass through server or client
Remote control is carried out to digital image acquisition and processing equipment.
As a further improvement on the present invention, the data memory module B includes usb interface module, USB flash disk, using USB-
Host devices CH375 and common U disk are connect by CPLD devices with controller motherboard, the image for storing acquisition and phase
Data are closed, in order to data readback from now on, analysis；The data memory module A includes FLASH memory, SDRAM memory,
It is made of AM29LV033C types FLASH chip and HY57V283220T type SDRAM chips, passes through EMIF Interface and Controler hosts
Plate connects, and is used respectively as program storage and data storage.
As a further improvement on the present invention, the range unit includes A/D converter, signal conditioning circuit, A/D conversions
Device connection signal modulate circuit, signal conditioning circuit connect distance measuring sensor, and the distance measuring sensor is for obtaining trolley and work
The location information of object is P+F PEPPERL FUCHS ultrasonic sensors UC500-30GM-IUR2-V15.
As a further improvement on the present invention, the human-computer dialogue device includes LCD interfaces, keyboard and multi-position switch, institute
It includes level conversion B, level conversion A, line drive B to state man-machine dialogue interface；The LCD interfaces are connected by level conversion B
CPLD devices, the keyboard and multi-position switch pass through line drive B, level conversion A connection CPLD devices respectively.
The present invention method and technology scheme be：
A kind of long-range crop digital image acquisition method of Intelligentized mobile vehicle-mounted formula, including step：
Step 1, moving trolley is placed in field crops row, and the setting of the crop row edge of a field is vertically arranged flat immediately ahead of trolley
Plate powers on and carries out startup self-detection；
Step 2, after self-test is normal, the carriage walking of setting is received by client Connection Service device or human-computer dialogue device
Speed, image taking interval and the tentatively predetermined shooting height of crop image；
Step 3, under control unit control, using the real-time range of two distance measuring sensors acquisition as trolley driving wheel electricity
The control signal of machine, it is ensured that trolley is along crop row straight-line travelling or avoidance；
Step 4, the moving along crop row with moving trolley is made under control unit control by camera initial acquisition
Object image simultaneously carries out the operations such as background segment, feature extraction to image；
Step 5, camera is adjusted in the height of vertical direction by lifting motor, camera is adjusted in horizontal plane by holder
Rotation angle finally ensures digital image acquisition processing equipment alignment crop target location；
Step 6, after camera camera alignment target object and field angle it is suitable after, control unit control under, camera is according to step
The rapid preset image taking intervals 1-2 acquire image, and the image of acquisition are stored in data memory module A or data are deposited
Module B is stored up, may also pass through and server is transferred to by 3G radio receiving transmitting modules after decoding compression processing, client is tested by identity
Crop image data is accessed by remote management remote software after card, inquiry is downloaded, uploaded, editor's crop image information.
The present invention has the beneficial effect that the following：
(1) devise it is a set of can remote wireless control Intelligentized mobile vehicle-mounted formula long-range crop digital image acquisition system
System realizes that wireless communication between digital image acquisition processing equipment and server and traditional images obtain by 3G wireless modules
System is taken to compare, which avoids the winding of wiring cost and cable on crop, while the wireless moulds of 3G using wireless communication
The use of block makes communication efficiency and reliability greatly improve.
(2) it realizes comprehensive, multi-angle crop Image Acquisition and camera moves freely, digital image acquisition processing is set
Standby to be controlled in the horizontal direction by trolley forward-reverse, vertical direction is real by lifting motor, sliding block, pulley, roller, guide rail
It is existing, 360 degree rotation is realized using holder plus digital camera, to accurately control the images acquisition locations and angle of crop.
(3) crop digital image acquisition system used by is vehicular, and the fixed guide tracked image-taking system of tradition
It compares, which can be moved near Different Crop at any time, have the spy that mobility is strong, early investment is small, occupies little space
Point.
(4) carriage walking speed, image taking interval and the crop of setting are received by server or man-machine dialogue interface
The predetermined shooting height of image.Used data memory module B can store the image and related data of acquisition, in order to from now on
Data readback and analysis.
(5) control unit used by can analyze the image of acquisition, determine digital image acquisition processing equipment
Whether crop target location is directed at, additionally it is possible to is adjusted to moving trolley position, holder position according to analysis result, then will
The image of acquisition be stored in data processing module or after decoding compression processing by radio communication module transfer to server.
Description of the drawings
Fig. 1 is the long-range crop digital image acquisition system structural schematic diagram of Intelligentized mobile vehicle-mounted formula；
Fig. 2 is intelligent subsoiling land preparation operation quality monitoring system digital image acquisition processing equipment structural schematic diagram；Its
Middle Fig. 2 (a) is its front view, and Fig. 2 (b) is its vertical view；
Fig. 3 is the control unit structure of intelligent subsoiling land preparation operation quality monitoring system digital image acquisition processing equipment
Schematic diagram；
Fig. 4 be intelligent subsoiling land preparation operation quality monitoring system digital image acquisition processing equipment control unit be
Bulk cargo sets connection block diagram.
In figure：1- clients；2- servers；3- digital image acquisition processing equipments；4- distance measuring sensors；5- cameras；6-
Holder；7- sliding blocks；8- guide rails；9- pulley brackets；10- pulleys；11- ropes；12- rollers；13- control units；14- trolleies；15-
Trolley driving wheel；16- motor drivers B；17- driving wheel motors；18- motor drivers A；19- lifting motors；20- directive wheels；
21- video acquisition modules；22- data memory modules A；23- video interfaces；24-EMIF interfaces；25- controller motherboards；26-
GPIO interface；Expansion bus outside 27-；28- power supplys；29- motor drive modules；30-CPLD devices；31- data memory modules
B；32-3G radio receiving transmitting modules；33- range units；34- man-machine dialogue interfaces；35- human-computer dialogue devices；36- decoding compression moulds
Block；37-SDRAM memories；38-FLASH memories；39- level conversions B；40-LCD interfaces；41- level conversions A；42- lines drive
Dynamic device B；43- keyboards and multi-position switch；44- asynchronous communication transceivers；45-UART modules；46-3G wireless modules；47-A/D turns
Parallel operation；48- signal conditioning circuits；49-USB interface modules；50-U disks.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair
The limitation of the present invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance or the quantity for implicitly indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be bright
Show or implicitly include one or more this feature.In the description of the present invention, ", multiple " contains unless otherwise indicated
Justice is two or more.
As shown in Figure 1, a kind of long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula, by client 1, service
Device 2 and digital image acquisition and processing equipment 3 form.
Wherein, the local computer 2 and client 1 are the desk-top or laptop with wireless network card, are used for
Storage and management Crop Information and other relevant informations, client is by that can pass through remote management remote software after authentication
Crop image data is accessed, inquiry is downloaded, uploaded, editing crop image information and other relevant informations.
As shown in Fig. 2, a kind of digital image acquisition of the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula
Processing equipment 3 is by distance measuring sensor 4, camera 5, holder 6, sliding block 7, guide rail 8, pulley bracket 9, pulley 10, rope 11, roller
12, control unit 13, moving trolley 14 form.Two distance measuring sensors 4 are mounted on cart base plate front end both sides；Camera 5 passes through
Holder 6 is connected to sliding block 7；Sliding block 7 is mounted on guide rail 8；11 one end of rope is fixed on roller 12, and the other end passes through pulley 10
It is connect with the upper end of sliding block 7, with 12 forward and reverse rotation of roller, sliding block 7 is along 8 movement in vertical direction of guide rail, to drive phase
Machine 5 and the movement of 6 vertical direction of holder；Pulley 10 is mounted on pulley bracket 9, and pulley bracket 9 is connect with guide rail；Roller 12 passes through
Holder is connected on cart base plate；Control unit 13 be fixed to cart base plate on, respectively with distance measuring sensor 4, lifting motor 19,
Driving wheel motor 17, holder 6 and camera 5 connect；14 bottom of moving trolley is installed there are two driving wheel 15 and a directive wheel 15,
Driving wheel 15 is connected to driving wheel motor 17 by motor driver B 16, and the carriage walking under the driving of driving wheel motor 17 is led
Universal wheel is used to wheel 15.Lifting motor 19 is connect by motor driver 18 with roller 12, under the driving of motor driver 18,
Roller 12 rotates, to be moved with movable slider 7.
As shown in figure 3, a kind of long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula includes video acquisition
Module 21, data memory module A 22, power supply 28, motor drive module 29, CPLD devices 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.Control
Device motherboard 25 has been internally integrated video interface 23, EMIF interfaces 24, GPIO interface 26 and external expansion bus 27.Wherein, depending on
Frequency acquisition module 21 connects video interface 23；The connection EMIF of data memory module A 22 interfaces 24；Motor drive module 29 with
GPIO interface 26 connects；Power supply 28 is directly connected to controller motherboard 25.Data memory module B 31,3G radio receiving transmitting modules
32, range unit 33, man-machine dialogue interface 34 connect external expansion bus 27 by CPLD devices 30 respectively, in addition, man-machine right
Words device 35 also connects man-machine dialogue interface 27.The motor drive module 29 includes motor driver A18 and motor driver
B16, motor driver A18 are for driving lifting motor 19, and motor driver B16 is for controlling driving wheel motor 17.
As shown in figure 4,25 integrated chip video interfaces 23 of controller TMS320DM642AGDK, EMIF interfaces 24, GPIO
Interface 26 and external expansion bus 27.Camera 5 passes sequentially through holder 6 and decoding compression module 36 is connected to video interface 23.Outside
Portion's expansion bus 27 is divided into 5 parallel tunnels after CPLD devices, and the 1st tunnel connects USB flash disk 50 through usb interface module 49；2nd tunnel according to
Secondary connection A/D converter 47, signal conditioning circuit 48 and distance measuring sensor 4；3rd tunnel pass sequentially through asynchronous communication transceiver 44,
UART modules 45 connect 3G wireless modules 46；4th tunnel passes sequentially through level conversion A 41, line drive B 42 and keyboard and multidigit
Switch 43 connects；5th tunnel is connected to LCD interfaces 40 by level conversion B 39.SDRAM memory 37 and FLASH memory 38
It is connected to EMIF interfaces 24 together using bus-sharing technology.Lifting motor 19 and driving motor 17 pass through motor driver respectively
It is connected to GPIO interface 26 together after A18 and motor driver B 16.
A kind of course of work of the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula of the present invention：By digitized map
It is placed in crop row as acquiring and processing device 3 and vertically arranged tablet is arranged in the crop row edge of a field immediately ahead of trolley, passed through
Server 2 or human-computer dialogue device 35 receive the predetermined shooting of carriage walking speed, image taking interval and crop image of setting
Highly, the control signal according to the real-time range of two distance measuring sensors 4 acquisition as trolley driving wheel motor, passes through CPLD devices
Part 30 sends the external expansion bus 27 of controller motherboard 25 to, it is ensured that trolley is along crop row straight-line travelling or avoidance；Together
When by 5 initial acquisition crop image of camera, digital image acquisition processing, which is set, to be determined to the analysis for acquiring image according to controller
It is standby whether to be directed at crop target location and small truck position, 6 position of holder are adjusted according to analysis result, finally ensure to count
Word image acquisition and processing equipment carries out image acquisition after being directed at crop target location, and then the image of acquisition is stored at data
It manages module or module transfer is to server by radio communication after decoding compression processing, after client 1 is by authentication
Crop image data is accessed by remote management remote software, inquiry is downloaded, uploaded, editor's crop image information.
The video acquisition module 21 includes that camera 5, holder 6 and decoding compression module 36 form, wherein decoding compression
Module 36 is using the TVP5150AM video decoding chips and discrete cosine transform of TI companies, the image that can be acquired to camera 5
It is decoded and compresses；
The 3G radio receiving transmitting modules 32 are by 44 groups of 3G wireless modules 46, UART modules 45 and asynchronous communication transceiver
At wherein 3G wireless modules 46 are using Huawei's EM770W modules, between server 2 and digital image acquisition and processing equipment 3
Wireless communication, realize image, data, the wireless transmission of control command and by server 2 or client 1 to digital picture
Acquiring and processing device 3 carries out remote control.
The USB-Host devices CH375 that the data memory module B 31 is released using Nanjing Qin Heng Electronics Co., Ltd.s
And common U disk, it is connect with controller motherboard 25 by EMIF interfaces 24, the image for storing acquisition and related data, with
Convenient for data readback from now on, analysis.
The data memory module A 22 by Advanced Micro Devices AM29LV033C types FLASH chip and Hynix
The HY57V283220T type SDRAM chips of Semiconductor companies form, respectively as program storage and data storage
It uses.
The CPLD devices 30 use EPM7128AETC cake cores.
The asynchronous communication transceiver 44 uses the TL16C752B asynchronous communication transceivers of TI companies.
The distance measuring sensor 4 is P+F PEPPERL FUCHS ultrasonic sensors UC500-30GM-IUR2-V15.
The holder 6 is the rotatable holders of MV-3999S of all-around intelligent control, is internally provided with professional intellectual ability cloud
Platform control/decoder.
The camera 5 is the high resolution camera for being configured with electric expansion camera lens.
Embodiment 2：The holder and camera vertical direction driving mechanism that the present invention is made of pulley 10, rope 11 and roller 12
Nut-screw mechanism can also be used or ball screw framework substitutes.
Embodiment 3：Laser sensor replacement can also be used in distance measuring sensor 4 of the present invention.
Embodiment 4：CPLD devices 30 of the present invention can use the EPM240 of altera corp to substitute.
Embodiment 5：The 38 separately available Hynix companies of SDRAM memory 37 and FLASH memory of the present invention
HY57V641620E (L/S) T (P) and S29GL064A or S29GL032A is replaced.
A kind of long-range crop digital image acquisition method of Intelligentized mobile vehicle-mounted formula of the present invention includes following steps：
Step 1, moving trolley 14 is placed in field crops row, and the setting of the crop row edge of a field is vertically arranged flat immediately ahead of trolley
Plate powers on and carries out startup self-detection；
Step 2, after self-test is normal, the trolley of setting is received by 1 Connection Service device 2 of client or human-computer dialogue device 35
The speed of travel, image taking interval and the tentatively predetermined shooting height of crop image；
Step 3, under the control of control unit 13, the real-time range that two distance measuring sensors 4 are acquired drives as trolley
The control signal of turbin generator sends the external expansion bus 27 of controller motherboard 25 to by CPLD devices 30, it is ensured that trolley
Along crop row straight-line travelling or avoidance；
Step 4, the moving along crop row with moving trolley 14 is tentatively adopted under control unit 13 controls by camera 5
Collect crop image and the operations such as background segment, feature extraction are carried out to image；
Step 5, camera 5 is adjusted in the height of vertical direction by lifting motor 19, camera 5 is adjusted in water by holder 6
The rotation angle of plane finally ensures that digital image acquisition processing equipment 3 is directed at crop target location；
Step 6, after 5 camera alignment target object of camera and field angle it is suitable after, control unit 13 control under, camera 5 is pressed
Acquire image according to the preset image taking intervals step 1-2, and by the image of acquisition be stored in data memory module A22 or
Data memory module B31 may also pass through and be transferred to server 2, client by 3G radio receiving transmitting modules 32 after decoding compression processing
By accessing crop image data by remote management remote software after authentication, inquiry is downloaded, is uploaded, editor crop at end 1
Image information.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Finally, it should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, with reference to compared with
Good embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention
Art scheme is modified and equivalent replacement, without departing from the spirit of the technical scheme of the invention and range, should all cover in this hair
In bright right.
Claims (9)
1. a kind of long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula, which is characterized in that including client (1),
Server (2), digital image acquisition processing equipment (3), the client (1) are connected with server (2), the server
(2) it is wirelessly connected with digital image acquisition processing equipment (3)；
Client (1) the Connection Service device (2) is for storing and managing Crop Information, after client (1) is by authentication
Crop image data is accessed by remote management remote software, inquiry is downloaded, uploaded, editor's crop image information；
The digital image acquisition processing equipment (3) acquires and makees for making camera (5) realize horizontal, vertical, rotary motion
The image information of the different parts of object canopy information and different plant height positions crop, different directions；
The digital image acquisition processing equipment (3) is arranged in moving trolley (14), moving trolley (14) bottom plate front end both sides
Distance measuring sensor (4) is installed, trolley is equipped with upright guide rail (8), installs sliding block (7) on guide rail (8), sliding block (7) passes through cloud
Platform (6) connects camera (5), and guide rail (8) top side is fixed with pulley bracket (9), and pulley bracket (9) lower end is fixed with pulley
(10), pulley (10) is equipped with rope (11), and one end of rope (11) is connect with the upper end of sliding block (7), rope (11) other end
It is fixed on the roller (12) of moving trolley (14), roller (12) passes through the lifting motor on motor driver A (18) and trolley
(19) it connects；Under motor driver A (18) drivings, roller (12) drives rope (11) to do forward and reverse rotation so that sliding block (7)
Along guide rail (8) movement in vertical direction, and then drive the movement of camera (5) and holder (6) vertical direction；In moving trolley (14) also
Be fixed with control unit (13), control unit (13) respectively with distance measuring sensor (4), lifting motor (19), holder (6) and camera
(5) it is connected；
Described control unit (13) is on the one hand used to analyze the image of acquisition, determines digital image acquisition processing equipment
(3) it whether is directed at crop target location, is on the other hand used for according to analysis result to moving trolley (14) position, holder (6) position
Set and be adjusted, then by the image of acquisition be stored in data processing module or after decoding compression processing by radio communication
Module transfer gives server (2)；
Described control unit (13) include controller motherboard (25), video acquisition module (21), data memory module A (22),
Power supply (28), motor drive module (29), CPLD devices (30), data memory module B (31), 3G radio receiving transmitting modules (32),
Range unit (33), man-machine dialogue interface (34), human-computer dialogue device (35)；
The controller motherboard (25) has been internally integrated video interface (23), EMIF interfaces (24), GPIO interface (26) and outer
Portion's expansion bus (27)；Video acquisition module (21) the connection video interface (23)；Data memory module A (22) connections EMIF
Interface (24)；Motor drive module (29) is connect with GPIO interface (26)；Power supply (28) directly connects with controller motherboard (25)
It connects；Data memory module B (31), 3G radio receiving transmitting modules (32), range unit (33), man-machine dialogue interface (34) pass through
The external expansion bus (27) of CPLD devices (30) connection, in addition, human-computer dialogue device (35) also connects man-machine dialogue interface (34).
2. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 1, which is characterized in that
Further include driving wheel (15), motor driver B (16), driving wheel motor (17), directive wheel (20) on the moving trolley (14),
Two driving wheels (15) and a directive wheel (20) are mounted on moving trolley (14) bottom, and driving wheel (15) passes through motor driver
B (16) is mechanically connected driving wheel motor (17), the carriage walking under driving wheel motor (17) driving；Directive wheel (15) is using universal
Wheel, motor driver B (16) are 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, which is characterized in that
The server (2) and client (1) are the desk-top or laptop with wireless network card.
4. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 1, which is characterized in that
The video acquisition module (21) includes decoding compression module (36), the decoding compression module (36) and holder (6) connection, cloud
Platform (6) and camera (5) connection, it is described decoding compression module (36) using TI companies TVP5150AM video decoding chips and from
Cosine transform DCT is dissipated, the image that can be acquired to camera (5) is decoded and compresses.
5. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 1, which is characterized in that
The 3G radio receiving transmitting modules (32) include 3G wireless modules (46), UART modules (45), asynchronous communication transceiver (44), described
3G wireless modules (46) connect UART modules (45), and UART modules (45) are connected with asynchronous communication transceiver (44), asynchronous communication
Transceiver (44) is connected with CPLD devices (30)；The 3G wireless modules (46) use Huawei's EM770W modules, are used for server
(2) wireless communication between digital image acquisition and processing equipment (3), realize image, data, control command wireless transmission with
And remote control is carried out to digital image acquisition and processing equipment (3) by server (2) or client (1).
6. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 1, which is characterized in that
The data memory module B (31) includes usb interface module (49), USB flash disk (50), using USB-Host devices CH375 and
Common U disk is connect by CPLD devices (30) with controller motherboard (25), the image for storing acquisition and related data,
In order to data readback from now on, analysis；
The data memory module A (22) includes FLASH memory (38), SDRAM memory (37), by AM29LV033C types
FLASH chip and HY57V283220T type SDRAM chips composition, are connected by EMIF interfaces (24) and controller motherboard (25)
It connects, is used respectively as program storage and data storage.
7. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 1, which is characterized in that
The range unit (33) includes A/D converter (47), signal conditioning circuit (48), the conditioning of A/D converter (47) connection signal
Circuit (48), signal conditioning circuit (48) connect distance measuring sensor (4), and the distance measuring sensor (4) is for obtaining trolley and work
The location information of object is P+F PEPPERL FUCHS ultrasonic sensors UC500-30GM-IUR2-V15.
8. the long-range crop digital image acquisition system of Intelligentized mobile vehicle-mounted formula according to claim 1, which is characterized in that
The human-computer dialogue device (35) includes LCD interfaces (40), keyboard and multi-position switch (43), man-machine dialogue interface (34) packet
Include level conversion B (39), level conversion A (41), line drive B (42)；
The LCD interfaces (40) pass through level conversion B (39) connection CPLD devices (30), the keyboard and multi-position switch (43) point
Do not pass through line drive B (42), level conversion A (41) connection CPLD devices (30).
9. a kind of long-range crop digital image acquisition method of Intelligentized mobile vehicle-mounted formula, which is characterized in that including step：
Step 1, moving trolley (14) is placed in field crops row, and the setting of the crop row edge of a field is vertically arranged flat immediately ahead of trolley
Plate powers on and carries out startup self-detection；
Step 2, after self-test is normal, the small of setting is received by client (1) Connection Service device (2) or human-computer dialogue device (35)
The vehicle speed of travel, image taking interval and the tentatively predetermined shooting height of crop image；
Step 3, under control unit (13) control, the real-time range of two distance measuring sensors (4) acquisition is driven as trolley
The control signal of turbin generator sends the external expansion bus of controller motherboard to by CPLD devices, it is ensured that trolley is along work
Object row straight-line travelling or avoidance；
Step 4, preliminary by camera (5) under control unit (13) control with moving trolley (14) moving along crop row
It acquires crop image and the operations such as background segment, feature extraction is carried out to image；
Step 5, camera (5) is adjusted in the height of vertical direction by lifting motor (19), camera (5) is adjusted by holder (6)
In the rotation angle of horizontal plane, digital image acquisition processing equipment (3) alignment crop target location is finally ensured；
Step 6, after camera (5) camera alignment target object and field angle it is suitable after, control unit (13) control under, camera (5)
Image is acquired according to the preset image taking intervals step 1-2, and the image of acquisition is stored in data memory module A
(22) or data memory module B (31) it, may also pass through and clothes be transferred to by 3G radio receiving transmitting modules (32) after decoding compression processing
Be engaged in device (2), client (1) by after authentication by remote management remote software access crop image data, inquiry, under
It carries, upload, editor's crop image information；
Described control unit (13) include controller motherboard (25), video acquisition module (21), data memory module A (22),
Power supply (28), motor drive module (29), CPLD devices (30), data memory module B (31), 3G radio receiving transmitting modules (32),
Range unit (33), man-machine dialogue interface (34), human-computer dialogue device (35)；
The controller motherboard (25) has been internally integrated video interface (23), EMIF interfaces (24), GPIO interface (26) and outer
Portion's expansion bus (27)；Video acquisition module (21) the connection video interface (23)；Data memory module A (22) connections EMIF
Interface (24)；Motor drive module (29) is connect with GPIO interface (26)；Power supply (28) directly connects with controller motherboard (25)
It connects；Data memory module B (31), 3G radio receiving transmitting modules (32), range unit (33), man-machine dialogue interface (34) pass through
The external expansion bus (27) of CPLD devices (30) connection, in addition, human-computer dialogue device (35) also connects man-machine dialogue interface (34).
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