CN106406178B - Real-time peer-to-peer monitoring device and monitoring method for greenhouse crop growth information - Google Patents
Real-time peer-to-peer monitoring device and monitoring method for greenhouse crop growth information Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to a real-time peer-to-peer monitoring device for greenhouse crop growth information, which carries a required sensor and/or a testing instrument through an electric control suspension rail, can perform peer-to-peer monitoring and/or testing on all crops to be tested at the same relative position, and ensures the consistency of monitoring and/or testing results; the invention also relates to a monitoring method based on the greenhouse crop growth information real-time peer-to-peer monitoring device, which can realize the accurate control of the electric control device, automatically complete the whole testing process, has high testing speed, can realize real-time and continuous monitoring, has the characteristics of high throughput and high return visit rate, and effectively improves the crop monitoring efficiency. In summary, on the one hand, the invention can scientifically guide the facility environment regulation, cultivation management and reasonable fertilization, improve the quality and yield of agricultural products and reduce the environmental risk; on the other hand, a powerful tool is provided for the breeding or phenotype research of facility crops, and the method is helpful for fully exploiting the production potential of the crops through research.
Description
Technical Field
The invention relates to a real-time peer-to-peer monitoring device and a monitoring method for greenhouse crop growth information, and belongs to the technical field of automatic monitoring of greenhouse crops.
Background
Greenhouse crop growth information refers to comprehensive information including the phenotypic characteristics of the crop, the levels of major nutrients, moisture and environmental factors.
The total area of greenhouse crop cultivation in China is the first in the world, and the area of large sunlight greenhouses representing the modernization level of facility gardening is also rapidly increasing. Most of greenhouse cultivated crops are vegetable or economic crops, and a large amount of fertilizers and pesticides are input in a traditional cultivation mode, so that on one hand, the large amount of fertilizers and pesticides bring great challenges to environmental protection and food safety, and on the other hand, the fertilizers are accumulated year by year, so that soil hardening and soil degradation are easy to cause, and sustainable development of agriculture is seriously affected. Therefore, there is a need for a device and a method for real-time peer-to-peer monitoring of greenhouse crop growth information, which can continuously, accurately and automatically monitor crops in a greenhouse, reduce the investment of fertilizers and pesticides in greenhouse crop cultivation to the maximum extent, and fully exploit the production potential of crops.
At present, there are some related researches on crop growth information monitoring, and the nutritional status of crops can be reflected by growth vigor, leaf color and spectral reflection characteristics of specific wave bands. Based on the principle, the invention patent application with the application number of 201210260259.0 discloses a method for identifying the water and fertilizer stress state of greenhouse crops by using crop visible light images. The invention patent application with the application number of 201210010896.2 discloses a method for monitoring the growth condition of crops, which is characterized in that a plurality of sensors are arranged in a greenhouse, and the acquired original information is processed to obtain the growth condition of the crops in the greenhouse, but the position of the sensor is fixed in the monitoring method, and when plants at different positions in the greenhouse are tested, extra errors are introduced due to the differences of visual angles and test distances. The invention patent application with the application number of 201110363764.3 discloses a nondestructive testing device and a nondestructive testing method for growth information of facility crops, and the information of nutrition, moisture, growth vigor and the like of the crops is quickly obtained through fusion of multi-sensor information, but the device still needs professional personnel to operate, has low testing speed and cannot automatically monitor all the crops in a greenhouse. The invention patent application with the application number of 201610006752.8 discloses a crop phenotype field high-throughput active measurement device and a method, the device is characterized in that a sensor is arranged at the top of a camera bellows, a truss is used for conveying the camera bellows to cover a tested plant, then the crop is tested, and the device realizes automatic operation through the truss, but the truss system is too huge and cannot be applied to a greenhouse.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the real-time peer-to-peer monitoring device for greenhouse crop growth information, which adopts a brand new intelligent structure architecture, can realize automatic continuous monitoring for greenhouse crops, improves the quality and yield of agricultural products, reduces environmental risks, and is beneficial to fully excavating the production potential of crops through research.
The invention adopts the following technical scheme for solving the technical problems: the invention designs a real-time peer-to-peer monitoring device for greenhouse crop growth information, which comprises two fixed suspension rails, three displacement sensors, a movable suspension rail, a motor driver, a motor control board, a micro-control computer and a crop monitoring device; the two fixed hanging rails are positioned on the same horizontal plane and are mutually parallel and arranged above greenhouse crops, the connecting line of the central points of the two fixed hanging rails is perpendicular to the fixed hanging rails, and the projection area between the two fixed hanging rails in the vertical direction covers the whole greenhouse crop area; the movable suspension rail is movably connected below the two fixed suspension rails through the two electric control sliding blocks, the movable suspension rail horizontally moves under the synchronous work of the two electric control sliding blocks between the movable suspension rail and the fixed suspension rail, and the surface formed by the moving path of the movable suspension rail is horizontal; each displacement sensor is respectively arranged at one end of the sliding rail on the two fixed hanging rails and the one movable hanging rail, and the detection end of each displacement sensor points to the sliding rail; the crop monitoring device comprises an ambient illumination intensity sensor, a reflected illumination intensity sensor, a near infrared camera and at least one downward detection device, wherein each downward detection device comprises an electric control sliding block, an electric control telescopic rod, a displacement sensor, an electric control holder and an image acquisition device; in each downward detection device, an electric control sliding block is connected with the top end of an electric control telescopic rod, the side surface of the bottom end of the electric control telescopic rod is connected with a displacement sensor, the detection end of the displacement sensor is vertically downward, the bottom end of the electric control telescopic rod is connected with an electric control cradle head, and an image acquisition device is arranged on the movable end of the electric control cradle head; the near infrared camera is arranged on the side surface of the bottom end of the electric control telescopic rod in one downward detection device; each downward detection type device is movably connected below the movable suspension rail through an electric control sliding block, an illumination intensity sensor and a reflection illumination intensity sensor are arranged at the bottom end of an electric control telescopic rod in any one downward detection type device together, the detection end of the illumination intensity sensor is upward, and the detection end of the reflection illumination intensity sensor is downward; the motor control board is respectively connected with the micro-control computer and the motor driver; each electric control sliding block, each electric control telescopic rod and each electric control cradle head are respectively connected with a motor driver; each displacement sensor, the ambient illumination intensity sensor and the reflected illumination intensity sensor are respectively connected with the motor control board, and each image acquisition device is respectively connected with the micro-control computer; the external power supply is respectively connected with each electronic device to supply power.
As a preferred technical scheme of the invention: the sliding rails on the fixed hanging rail and the movable hanging rail are both positioned on the lower surface of the body, and the movable hanging rail is movably connected below the two fixed hanging rails through two electric control sliding blocks, wherein the two electric control sliding blocks are respectively and movably arranged in the sliding rails on the lower surfaces of the two fixed hanging rails, and the two electric control sliding blocks are respectively connected with the upper surfaces of the movable hanging rails; each downward-detection type device is movably connected below the movable suspension rail through an electric control sliding block therein, wherein the electric control sliding blocks in each downward-detection type device are movably arranged in a sliding rail on the lower surface of the movable suspension rail, and the top ends of the electric control telescopic rods in each downward-detection type device are connected with the corresponding electric control sliding blocks.
As a preferred technical scheme of the invention: the two fixed hanging rails are respectively arranged above greenhouse crops through fixed rail installation connectors.
As a preferred technical scheme of the invention: the electronic device further comprises a power supply conversion module, and the external power supply is connected with each electronic device for supplying power after passing through the power supply conversion module.
As a preferred technical scheme of the invention: the image acquisition device comprises equipment such as an industrial camera, a multispectral imager, a hyperspectral camera, a thermal infrared camera, a laser scanning radar, a fluorescence imager and a non-imaging test instrument, and each image acquisition device is connected with the movable end of the corresponding electric control holder respectively.
As a preferred technical scheme of the invention: the system also comprises a hub, wherein each image acquisition device is connected with the hub, and then the hub is connected with the micro-control computer.
As a preferred technical scheme of the invention: the remote computer is also included, and the micro-control computer and the remote computer perform signal interaction in a wireless communication mode.
As a preferred technical scheme of the invention: and also includes a high speed disk array coupled to the remote computer.
Compared with the prior art, the real-time peer-to-peer monitoring device for greenhouse crop growth information has the following technical effects: the greenhouse crop growth information real-time peer-to-peer monitoring device designed by the invention carries the needed sensors and/or test instruments through the electric control suspension rail, can perform peer-to-peer monitoring and/or testing on all crops to be tested at the same relative position, and ensures the consistency of monitoring and/or test results; the device provided by the invention can monitor crops at the canopy, single plant and single leaf level at the same time, and can obtain the phenotype, growth or nutrition index of the crops more accurately; in addition, the device provided by the invention does not need to move the crops to be tested in the monitoring and/or testing process, so that the natural growth state of the crops can be kept, the influence of the monitoring and/or testing process on the crops is reduced to the maximum extent, on one hand, the device can scientifically guide the environmental regulation and control of facilities, cultivation management and reasonable fertilization, improve the quality and yield of agricultural products and reduce the environmental risk; on the other hand, a powerful tool is provided for the breeding or phenotype research of facility crops, and the method is helpful for fully exploiting the production potential of the crops through research.
Correspondingly, the invention also provides a real-time peer-to-peer monitoring device for greenhouse crop growth information based on the greenhouse crop growth information, which can realize accurate control of the electronic control device and effectively improve the monitoring efficiency of crops.
The invention adopts the following technical scheme for solving the technical problems: the invention designs a monitoring method based on a greenhouse crop growth information real-time peer-to-peer monitoring device, wherein two-dimensional codes adopting H-level redundancy are arranged at positions where the crown horizontal plane of each plant of crop to be detected in a greenhouse crop area vertically intersects with the boundary of a crop planting area, and the monitoring method comprises the following steps:
step 001, the micro-control computer controls the crop monitoring device to move and work, receives a near infrared image shot by a near infrared camera in a vertical overlooking mode, performs noise reduction treatment by utilizing median filtering, and then performs resampling to obtain a resampled picture;
step 002, the micro-control computer searches and judges whether the resampled image contains a two-dimensional code, if yes, the step 003 is entered, and if not, the step 001 is returned;
step 003, segmenting the resampled image containing the two-dimensional code by adopting a threshold method, extracting a crop crown image to be detected, performing binarization processing on the crop crown image to be detected to obtain a crop crown binarized image to be detected, and then entering step 004;
step 004, morphological closing operation is carried out on the binarized image of the crop crown to be detected, a communication area with the smallest area of 10% in the image is deleted, the binarized image of the crop crown to be detected is updated, and then step 005 is carried out;
step 005, identifying single plants in the crop crown binarization image to be detected by using a preset trained neural network, calculating the gravity centers of the single plant areas in the crop crown binarization image to be detected, calculating the distances between the gravity centers of all the crops and the identified two-dimensional code, selecting the gravity center with the shortest distance, and then entering step 006;
step 006, drawing vectors by taking the center point of the crop crown binarization image to be detected as a starting point and the selected center of gravity as an end point, and then entering step 007;
step 007, decomposing the drawn vector into two vectors in the vertical direction, feeding back the length of the decomposed vector as the moving speed of the electric control slide block, feeding back the angle of the decomposed vector as the moving direction of the slide block, and then entering step 008;
step 008, judging whether the crop monitoring device is positioned right above the crop to be detected, if yes, entering step 009; otherwise, returning to the step 001;
step 009, after the object monitoring device moves to the position right above the crop to be tested, calculating the graph area of the crop to be tested, drawing a circle by taking the center of gravity as the center of a circle, enabling the intersection area of the round area and the graph of the crop to be tested to occupy 80% of the graph area of the crop to be tested, calculating the percentage of the drawn circle to occupy the whole image, feeding back and adjusting the length of the electric control telescopic rod according to the value, enabling the drawn round area to occupy 30% of the whole image area, at the moment, enabling the track position information obtained by each displacement sensor to be the space coordinates of the crop to be tested, and then entering step 010;
and 010. The micro-control computer controls the crop monitoring device to monitor the crops to be tested.
Compared with the prior art, the monitoring method of the real-time peer-to-peer monitoring device for greenhouse crop growth information has the following technical effects: the real-time peer-to-peer monitoring device for the greenhouse crop growth information designed by the invention can realize the accurate control of the electric control device, automatically complete the whole monitoring process, has high monitoring speed, can realize real-time and continuous monitoring, has the characteristics of high throughput and high return visit rate, effectively improves the crop monitoring efficiency, can scientifically guide the environmental regulation and control of facilities, the cultivation management and the reasonable fertilization, improves the quality and the yield of agricultural products and reduces the environmental risk on the one hand; on the other hand, a powerful tool is provided for the breeding or phenotype research of facility crops, and the method is helpful for fully exploiting the production potential of the crops through research.
Drawings
FIG. 1 is a schematic structural diagram of a real-time peer-to-peer monitoring device for greenhouse crop growth information designed by the invention;
fig. 2 is a schematic diagram of the working flow of the real-time peer-to-peer monitoring device for greenhouse crop growth information designed by the invention.
The system comprises a fixed suspension rail, a fixed rail mounting connecting piece, a displacement sensor, a movable suspension rail, an electric control slider, a power supply conversion module, a motor driver, a motor control board, an electric control telescopic rod, an electric control tripod head, an environment illumination intensity sensor, a reflected illumination intensity sensor, an industrial camera, a multispectral imager, a near infrared camera, a two-dimensional code, a micro-control computer, a hub, a remote computer, a high-speed disk array, a crop to be tested and a crop planting area.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
Based on the description of the prior art in the background technology, the invention provides a device and a monitoring method for automatically, peer-to-peer and continuously monitoring all crops in a greenhouse in real time according to the characteristics of limited space of a sunlight greenhouse and larger row spacing of crops in the greenhouse.
As shown in fig. 1, the invention designs a real-time peer-to-peer monitoring device for greenhouse crop growth information, which specifically comprises two fixed suspension rails 1, three displacement sensors 3, one movable suspension rail 4, a power conversion module 6, a motor driver 7, a motor control board 8, a micro-control computer 17, a hub 18, a remote computer 19, a high-speed disk array 20 and a crop monitoring device; the sliding rails on the fixed suspension rails 1 and the movable suspension rails 4 are positioned on the lower surface of the body, the two fixed suspension rails 1 are positioned on the same horizontal plane and are mutually parallel, the two fixed suspension rails are respectively arranged above greenhouse crops through the fixed rail mounting connecting pieces 2, the connecting line of the central points of the two fixed suspension rails 1 is perpendicular to the fixed suspension rails 1, and the projection area between the two fixed suspension rails 1 in the vertical direction covers the whole greenhouse crop area; the movable suspension rail 4 is movably connected below the two fixed suspension rails 1 through two electric control sliding blocks 5, wherein the two electric control sliding blocks 5 are respectively and movably arranged in sliding rails on the lower surfaces of the two fixed suspension rails 1, the two electric control sliding blocks 5 are respectively connected with the upper surfaces of the movable suspension rail 4, the movable suspension rail 4 horizontally moves under the synchronous operation of the two electric control sliding blocks 5 between the movable suspension rail 4 and the fixed suspension rail 1, and the surface formed by the moving path of the movable suspension rail 4 is horizontal; each displacement sensor 3 is respectively arranged at one end of the sliding rail on the two fixed hanging rails 1 and the one movable hanging rail 4, and the detection end of the displacement sensor 3 points to the sliding rail; the crop monitoring device comprises an ambient illumination intensity sensor 11, a reflected illumination intensity sensor 12, a near infrared camera 15 and at least one downward detection device, wherein each downward detection device comprises an electric control sliding block 5, an electric control telescopic rod 9, a displacement sensor 3, an electric control holder 10 and an image acquisition device; in each downward detection device, an electric control sliding block 5 is connected with the top end of an electric control telescopic rod 9, the side surface of the bottom end of the electric control telescopic rod 9 is connected with a displacement sensor 3, the detection end of the displacement sensor 3 is vertically downward, the bottom end of the electric control telescopic rod 9 is connected with an electric control cradle head 10, and an image acquisition device is arranged on the movable end of the electric control cradle head 10; the near infrared camera 15 is arranged on the side surface of the bottom end of the electric control telescopic rod 9 in one downward detection device; the image acquisition devices comprise equipment such as an industrial camera 13, a multispectral imager 14, a hyperspectral camera, a thermal infrared camera, a laser scanning radar, a fluorescence imager and the like, and a non-imaging test instrument, and each image acquisition device is respectively connected with the movable end of the corresponding electric control holder 10; each lower detection type device is movably connected below the movable suspension rail 4 through an electric control sliding block 5 therein, wherein the electric control sliding block 5 in each lower detection type device is movably arranged in a sliding rail on the lower surface of the movable suspension rail 4, and the top end of an electric control telescopic rod 9 in each lower detection type device is connected with the corresponding electric control sliding block 5; the illumination intensity sensor 11 and the reflection illumination intensity sensor 12 are arranged at the bottom end of the electric control telescopic rod 9 in any downward detection device, the detection end of the illumination intensity sensor 11 is upward, and the detection end of the reflection illumination intensity sensor 12 is downward; the motor control board 8 is respectively connected with the micro-control computer 17 and the motor driver 7; each electric control sliding block 5, each electric control telescopic rod 9 and each electric control cradle head 10 are respectively connected with the motor driver 7; each displacement sensor 3, the ambient illumination intensity sensor 11 and the reflected illumination intensity sensor 12 are respectively connected with the motor control board 8, and each image acquisition device is respectively connected with the hub 18, and then the hub 18 is connected with the micro-control computer 17; the motor control board 8 comprises a filter circuit, a digital signal processor, a PWM control chip and a remote control receiver which are integrally arranged on a motor control circuit board, wherein each displacement sensor 3, an ambient illumination intensity sensor 11 and a reflected illumination intensity sensor 12 are respectively connected with the input end of the filter circuit, the input end of the digital signal processor is respectively connected with the output end of the filter circuit and the output end of the remote control receiver, the output end of the digital signal processor is connected with the input end of the PWM control chip, the output end of the PWM control chip is connected with the input end of the motor driver 7, and the micro control computer 17 is connected with the input end of the remote control receiver; the external power supply is connected with each electronic device for power supply after passing through the power supply conversion module 6; the high-speed disk array 20 is connected with the remote computer 19, and the micro-control computer 17 and the remote computer 19 perform signal interaction in a wireless communication mode, wherein the remote computer 19 receives sensor and/or test instrument data sent by the micro-control computer 17 through a wireless network and stores the data in the high-speed disk array 20; the remote computer 19 may preprocess and analyze the collected sensor and/or test instrument data in real time by supporting software.
The greenhouse crop growth information real-time peer-to-peer monitoring device designed by the technical scheme can carry the needed sensors and/or testing instruments through the electric control hanging rail, and can perform peer-to-peer monitoring and/or testing on all crops to be tested at the same relative position, so that the consistency of monitoring and/or testing results is ensured; the device provided by the invention can monitor crops at the canopy, single plant and single leaf level at the same time, and can obtain the phenotype, growth or nutrition index of the crops more accurately; in addition, the device provided by the invention does not need to move the crops to be tested in the monitoring and/or testing process, so that the natural growth state of the crops can be kept, the influence of the monitoring and/or testing process on the crops is reduced to the maximum extent, on one hand, the device can scientifically guide the environmental regulation and control of facilities, cultivation management and reasonable fertilization, improve the quality and yield of agricultural products and reduce the environmental risk; on the other hand, a powerful tool is provided for the breeding or phenotype research of facility crops, and the method is helpful for fully exploiting the production potential of the crops through research.
In practical application, the displacement sensor 3 may be an induction synchronizer, a magnetostrictive displacement sensor, a grating displacement sensor or a laser displacement sensor; the bottom ends of the electric control telescopic rods 9 in the downward detection devices are fixedly connected with the electric control tripod head 10 through 3/8 screws, and the electric control telescopic rods 9 are driven by brushless motors and screw nuts; the electric control cradle head 10 can freely adjust the direction in three phases; the displacement sensor 3 can measure the vertical distance from the cradle head to the ground; after each image acquisition device is respectively connected with the hub 18 through a USB, IEEE1394 or GPIO interface, the hub 18 is connected with the micro-control computer 17 through a USB3.0 interface, and the power conversion module 6 converts 220V alternating current of an external power supply into 24V direct current and then is respectively connected with each electronic device for power supply.
In practical application, as shown in fig. 2, two-dimensional codes 16 adopting H-level redundancy are arranged at positions where the horizontal planes of crowns of crops to be detected in greenhouse crop areas vertically intersect with boundaries of crop planting areas, and the specific monitoring method comprises the following steps:
s1, determining the types and the quantity of required sensors and/or test instruments according to monitored indexes of crops 21 to be tested, wherein in order to monitor the growth condition of the crops under stress conditions, the indexes required to be obtained through the sensors and the test instruments are as follows: plant height, stem thickness, number of leaves, leaf inclination angle, leaf area size, leaf shape, leaf color, leaf texture, leaf moisture content, leaf temperature, leaf dry matter mass, leaf nitrogen, phosphorus, potassium content, leaf chlorophyll content, group leaf area index, group dry matter mass and group canopy coverage. Because of mutual shielding among the crop blades, in order to obtain more accurate monitoring/testing results, two sets of sensors with different visual angles are required to be adopted for synchronous testing. Specifically, the sensor adopts an industrial camera 13 and a multispectral imager 14 to monitor the growth condition of crops at two angles of vertical overlook and horizontal direct view respectively; meanwhile, the ambient light intensity sensor 11 and the reflected light intensity sensor 12 measure intensities of the reflected light above the crop canopy and crop/ground, respectively, for correcting images acquired by industrial cameras and multispectral imagers.
S2, inputting a preset operation scheme of the electric control suspension rail into a motor control board 8, judging the next running direction by the motor control board 8 according to the space coordinates of crops to be tested, which are sent by a micro-control computer 17, and the real-time space coordinates of a sensor and/or a testing instrument and the preset operation scheme, and sending out instructions to precisely control the operation of each electric control sliding block 5 and each electric control telescopic rod 9, so that the sensor carrying platform carries the sensor and/or the testing instrument to periodically test all crops to be tested 21 in a greenhouse, and specifically, the preset operation scheme of the electric control suspension rail is obtained by the following steps: determining a preset travelling path of each electric control slide block 5 according to a crop planting area 22 of a crop 21 to be detected, and taking the coordinates of the crop to be detected corresponding to the two-dimensional code 16 as target coordinates; because the crops to be detected need to be photographed at multiple angles, the running mode of the electric control suspension rail is set to be variable speed intermittent running; to obtain more detailed crop growth information, the number of tests per day was set to 6, each at 4 hour intervals.
S3, the collected sensor and/or testing instrument original data are sent to a remote computer 19, specifically, the micro control computer 17 sends the collected sensor and/or testing instrument original data to the remote computer 19 through a wireless network and stores the data in the high-speed disk array 20.
S4, the remote computer 19 performs preprocessing and real-time analysis on the collected sensor and/or testing instrument original data according to a preset algorithm to obtain information such as phenotypic characteristics, growth indexes, nutritional status and the like of crops, specifically, the preprocessing is performed on the original information of the sensor and/or testing instrument received by the remote computer 19, wherein the preprocessing includes: matching a test image with a target crop, performing geometric transformation, filtering, detecting edges, segmenting the image and extracting the image; for the illumination intensity test values, the preprocessing includes: the test value is matched with the target crop, and singular value elimination is carried out; after the original information is preprocessed, real-time analysis is carried out according to a preset algorithm, and image characteristic parameters are converted into crop phenotype, growth or nutrition indexes; the preset algorithm is obtained by the following steps: collecting the same original information from the previous research and/or the reference group in the current research, preprocessing the original information, extracting color, texture, graph, gray average value and fusion characteristics from image information, performing characteristic compensation by utilizing synchronously acquired illumination intensity information, performing regression analysis between the image characteristic parameters and manually measured indexes such as plant height, stem thickness, leaf number, leaf area size, leaf shape, leaf color, leaf texture, leaf water content, leaf temperature, leaf dry matter quality, leaf nitrogen, phosphorus and potassium content, leaf chlorophyll content, group leaf area index, group dry matter quality, group canopy coverage and the like, and establishing a conversion relation between the image characteristic parameters and crop indexes; or converting the image characteristic parameters into crop indexes by taking the established physical model as a preset algorithm; the reference group is a group of plants which are independent of the crops to be tested, have growth conditions close to the actual growth conditions, are known in crop and soil nutrient conditions and are subjected to manual tests on phenotype, growth and nutrition indexes; the established physical model refers to a model conforming to a specific physical theory used in converting sensor test values into crop phenotype, growth or nutrition indexes, and includes, but is not limited to: beer-lambertian law (Beer-lambertian), campbell elliptic foliar angle distribution equation (Campbell's Ellipsoidal LAD equations), bi-directional reflectance distribution function (Bidirectional Reflectance Distribution Function), SAIL model, pro spect model, pro SAIL model; for two sets of sensor monitoring results at different visual angles, if a certain crop index can only be obtained by one set of results, if the plant height of the crop can only be obtained by a sensor at a side view angle, taking the sensor monitoring result as the result of the crop index; if a crop index can be obtained through two sets of sensors, taking the average value of the monitoring results of the two sets of sensors as the monitoring result of the crop index.
S4 is followed by S5, analyzing the physiological response of the crop under stress conditions, the possible response mechanism, or the performance of the new crop variety under specific environmental conditions and/or cultivation measures, or for screening crops of specific phenotype, for example, based on the peer-to-peer, continuous phenotype, growth or nutritional index of the monitored crop in the greenhouse obtained in S4: if the crop index obtained in S4 shows that a certain crop grows better under the stress condition than other crops under the same condition, the plant is the target crop to be screened.
And meanwhile, S6 is executed after S4, the maturity time and the yield of the monitored crops are predicted according to the equivalent, continuous phenotype, growth or nutrition indexes of the monitored crops in the greenhouse obtained in S4, and reasonable suggestions for improving the growth vigor and/or optimizing the planting of the monitored crops are given. Among them, reasonable advice includes, but is not limited to, the following information: optimizing planting structure, optimizing planting time, optimizing planting environment, weeding, fertilizing, irrigating and other operations on specified monitoring crops, for example: if the crop index obtained in the step S4 shows that the nitrogen concentration of crops in a certain area is low, a suggestion that fertilization is needed can be given.
In summary, by using the real-time peer-to-peer monitoring device and method for greenhouse crop growth information provided by the invention, the required sensors and/or testing instruments are carried by the electric control suspension rail, so that all crops to be tested can be monitored and/or tested in a peer-to-peer manner at the same relative position, the consistency of monitoring and/or testing results is ensured, and the crops can be monitored at the canopy, single plant and single leaf level at the same time, so that the phenotype, growth or nutrition index of the crops can be more accurately obtained; the device provided by the invention does not move the crops to be tested in the monitoring and/or testing process, can keep the natural growth state of the crops, and furthest reduces the influence of the monitoring and/or testing process on the crops; the device provided by the invention can be accurately controlled by a computer and automatically complete the whole test process, has high test speed, can realize real-time and continuous monitoring, and has the characteristics of high flux and high return visit rate. Thus, in one aspect, the present invention provides a real-time, peer-to-peer monitoring device and method for high throughput crops to researchers; on the other hand, the method can guide people to optimize the planting and management of crops.
Based on the above-mentioned realization is to the in-process of monitoring to the crop to be tested, on the one hand the micro-control computer 17 controls each automatically controlled slider 5 work through motor control panel 8, control and remove each inferior detection device in hanging track 4 and the crop monitoring devices and remove, realize to the accurate removal of crop to be tested position, on the other hand, micro-control computer 17 and motor control panel 8 receive the feedback result of image acquisition device and each displacement sensor 3 respectively, and carry out accurate displacement adjustment again to each automatically controlled slider 5 according to the feedback result, realize to the more accurate monitoring to the crop to be tested, so based on the accurate adjustment of feedback, the invention has also made the concrete design, wherein the position setting that each plant to be tested crop crown horizontal plane and crop planting area border vertically intersect in the greenhouse crop area adopts H level redundant two-dimensional code 16, concrete feedback adjustment monitoring method includes the following steps:
step 001, the micro-control computer 17 controls the crop monitoring device to move, receives a near infrared image shot by the near infrared camera 15 in a vertical overlooking mode, performs noise reduction processing by using median filtering, and performs resampling to obtain a resampled picture.
Step 002, the microcomputer 17 searches and judges whether the resampled image contains the two-dimensional code 16 by adopting a hybrid binary algorithm, if yes, the step 003 is entered, and if not, the step 001 is returned.
Step 003, segmenting the resampled image containing the two-dimensional code 16 by a threshold method, extracting a crop crown image to be detected, performing binarization processing on the crop crown image to be detected to obtain a crop crown binarized image to be detected, and then entering step 004.
Step 004, morphological closing operation is carried out on the binarized image of the crop crown to be detected, a communication area with the smallest area of 10% in the image is deleted, the binarized image of the crop crown to be detected is updated, and then step 005 is carried out.
Step 005, identifying single plants in the crop crown binarization image to be detected by using a preset trained neural network, calculating the gravity centers of the single plant areas in the crop crown binarization image to be detected, calculating the distances between the gravity centers of all the crops and the identified two-dimensional code 16, selecting the gravity center with the shortest distance, and then entering step 006; the neural network adopts a 3-layer BP network model, training is carried out by using 100 near infrared images of crop canopy of the same variety shot randomly, and the extraction of the feature descriptors is based on the preprocessed binary image.
Step 006, drawing vectors by taking the center point of the crop crown binarized image to be detected as a starting point and the selected center of gravity as an end point, and then entering step 007.
And 007, decomposing the drawn vector into two vectors in the vertical direction, feeding back the length of the decomposed vector as the moving speed of the electric control slide block, feeding back the angle of the decomposed vector as the moving direction of the slide block, and then entering the step 008.
Step 008, judging whether the crop monitoring device is positioned right above the crops to be tested, if yes, the micro-control computer 17 can send and store the space coordinates of each crop to be tested to the motor control board 8 to replace the preset space coordinates, and then, the step 009 is performed; otherwise, returning to the step 001.
And 009, after the object monitoring device moves to the position right above the crop to be tested, calculating the area of the graph of the crop to be tested, drawing a circle by taking the center of gravity as the center of a circle, enabling the intersecting area of the circular area and the graph of the crop to be tested to occupy 80% of the area of the graph of the crop to be tested, calculating the percentage of the drawn circle to occupy the whole image, feeding back and adjusting the length of the electric control telescopic rod according to the value, enabling the drawn circular area to occupy 30% of the whole image area, wherein at the moment, the track position information obtained by each displacement sensor is the space coordinates of the crop to be tested, and then entering step 010.
And 010. The micro-control computer 17 controls the crop monitoring device to monitor the crops to be tested.
Therefore, by the method for monitoring the greenhouse crop growth information by the real-time peer-to-peer monitoring device specifically designed, based on the real-time peer-to-peer monitoring device for the greenhouse crop growth information specifically designed, the accurate control of the electric control device can be realized, the whole monitoring process is automatically completed, the monitoring speed is high, real-time and continuous monitoring can be realized, the characteristics of high flux and high return visit rate are realized, the crop monitoring efficiency is effectively improved, on one hand, the environmental regulation and control of facilities, cultivation management and reasonable fertilization can be scientifically guided, the quality and yield of agricultural products are improved, and the environmental risk is reduced; on the other hand, a powerful tool is provided for the breeding or phenotype research of facility crops, and the method is helpful for fully exploiting the production potential of the crops through research.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (9)
1. A monitoring method based on a greenhouse crop growth information real-time peer-to-peer monitoring device is characterized by comprising the following steps of: the monitoring device comprises two fixed suspension rails (1), three displacement sensors (3), one movable suspension rail (4), a motor driver (7), a motor control board (8), a micro-control computer (17) and a crop monitoring device; the two fixed suspension rails (1) are positioned on the same horizontal plane and are mutually parallel and arranged above greenhouse crops, the connecting line of the central points of the two fixed suspension rails (1) is perpendicular to the fixed suspension rails (1), and the projection area between the two fixed suspension rails (1) in the vertical direction covers the whole greenhouse crop area; the movable suspension rail (4) is movably connected below the two fixed suspension rails (1) through two electric control sliding blocks (5), the movable suspension rail (4) horizontally moves under the synchronous work of the two electric control sliding blocks (5) between the movable suspension rail and the fixed suspension rails (1), and the plane formed by the moving path of the movable suspension rail (4) is horizontal; each displacement sensor (3) is respectively arranged at one end of the sliding rail on the two fixed hanging rails (1) and the one movable hanging rail (4), and the detection end of the displacement sensor (3) points to the sliding rail; the crop monitoring device comprises an ambient illumination intensity sensor (11), a reflected illumination intensity sensor (12), a near infrared camera (15) and at least one downward detection device, wherein each downward detection device comprises an electric control sliding block (5), an electric control telescopic rod (9), a displacement sensor (3), an electric control cradle head (10) and an image acquisition device; in each downward detection device, an electric control sliding block (5) is connected with the top end of an electric control telescopic rod (9), the side surface of the bottom end of the electric control telescopic rod (9) is connected with a displacement sensor (3), the detection end of the displacement sensor (3) is vertically downward, the bottom end of the electric control telescopic rod (9) is connected with an electric control tripod head (10), and an image acquisition device is arranged on the movable end of the electric control tripod head (10); the near infrared camera (15) is arranged on the side surface of the bottom end of the electric control telescopic rod (9) in one downward detection device; each downward detection type device is movably connected below the movable suspension rail (4) through an electric control sliding block (5) therein, an ambient illumination intensity sensor (11) and a reflected illumination intensity sensor (12) are jointly arranged at the bottom end of an electric control telescopic rod (9) in any downward detection type device, the detection end of the ambient illumination intensity sensor (11) is upward, and the detection end of the reflected illumination intensity sensor (12) is downward; the motor control board (8) is respectively connected with the micro-control computer (17) and the motor driver (7); each electric control sliding block (5), each electric control telescopic rod (9) and each electric control cradle head (10) are respectively connected with a motor driver (7); each displacement sensor (3), an ambient illumination intensity sensor (11) and a reflected illumination intensity sensor (12) are respectively connected with the motor control board (8), and each image acquisition device is respectively connected with the micro-control computer (17); the external power supply is respectively connected with each electronic device to supply power;
the method for monitoring the greenhouse crop area comprises the following steps that two-dimensional codes (16) adopting H-level redundancy are arranged at positions, where the horizontal plane of the crown of each plant to be tested and the boundary of the crop planting area vertically intersect, of each plant to be tested in the greenhouse crop area, and the monitoring method comprises the following steps:
step 001, the micro-control computer (17) controls the crop monitoring device to move and work, receives a near infrared image shot by a near infrared camera (15) in a vertical overlook mode, performs noise reduction processing by utilizing median filtering, and then performs resampling to obtain a resampled picture;
step 002, the micro control computer (17) searches and judges whether the resampled image contains the two-dimensional code (16), if yes, the step 003 is entered, otherwise, the step 001 is returned;
step 003, segmenting the resampled image containing the two-dimensional code (16) by adopting a threshold method, extracting a crop crown image to be detected, performing binarization processing on the crop crown image to be detected to obtain a crop crown binarized image to be detected, and then entering step 004;
step 004, morphological closing operation is carried out on the binarized image of the crop crown to be detected, a communication area with the smallest area of 10% in the image is deleted, the binarized image of the crop crown to be detected is updated, and then step 005 is carried out;
step 005, identifying single plants in the crop crown binarization image to be detected by using a preset trained neural network, calculating the gravity centers of the single plant areas in the crop crown binarization image to be detected, calculating the distances between the gravity centers of all the crops and the identified two-dimensional code (16), selecting the gravity center with the shortest distance, and then entering step 006;
step 006, drawing vectors by taking the center point of the crop crown binarization image to be detected as a starting point and the selected center of gravity as an end point, and then entering step 007;
step 007, decomposing the drawn vector into two vectors in the vertical direction, feeding back the length of the decomposed vector as the moving speed of the electric control slide block, feeding back the angle of the decomposed vector as the moving direction of the slide block, and then entering step 008;
step 008, judging whether the crop monitoring device is positioned right above the crop to be detected, if yes, entering step 009; otherwise, returning to the step 001;
step 009, after the object monitoring device moves to the position right above the crop to be tested, calculating the graph area of the crop to be tested, drawing a circle by taking the center of gravity as the center of a circle, enabling the intersection area of the round area and the graph of the crop to be tested to occupy 80% of the graph area of the crop to be tested, calculating the percentage of the drawn circle to occupy the whole image, feeding back and adjusting the length of the electric control telescopic rod according to the value, enabling the drawn round area to occupy 30% of the whole image area, at the moment, enabling the track position information obtained by each displacement sensor to be the space coordinates of the crop to be tested, and then entering step 010;
and 010. Controlling the crop monitoring device by the micro-control computer (17) to monitor the crops to be tested.
2. The monitoring method based on the greenhouse crop growth information real-time peer-to-peer monitoring device according to claim 1, wherein the monitoring method comprises the following steps: the sliding rails on the fixed hanging rail (1) and the movable hanging rail (4) are positioned on the lower surface of the body, the movable hanging rail (4) is movably connected below the two fixed hanging rails (1) through two electric control sliding blocks (5), wherein the two electric control sliding blocks (5) are respectively and movably arranged in the sliding rails on the lower surfaces of the two fixed hanging rails (1), and the two electric control sliding blocks (5) are respectively connected with the upper surface of the movable hanging rail (4); each lower detection type device is movably connected below the movable suspension rail (4) through an electric control sliding block (5) therein, wherein the electric control sliding blocks (5) in each lower detection type device are movably arranged in sliding rails on the lower surface of the movable suspension rail (4), and the top ends of the electric control telescopic rods (9) in each lower detection type device are connected with the corresponding electric control sliding blocks (5).
3. The monitoring method based on the greenhouse crop growth information real-time peer-to-peer monitoring device according to claim 1, wherein the monitoring method comprises the following steps: the two fixed hanging rails (1) are respectively arranged above greenhouse crops through fixed rail mounting connectors (2).
4. The monitoring method based on the greenhouse crop growth information real-time peer-to-peer monitoring device according to claim 1, wherein the monitoring method comprises the following steps: the electronic device further comprises a power supply conversion module (6), and the external power supply is connected with each electronic device for power supply after passing through the power supply conversion module (6).
5. The monitoring method based on the greenhouse crop growth information real-time peer-to-peer monitoring device according to claim 1, wherein the monitoring method comprises the following steps: the image acquisition devices comprise equipment such as an industrial camera (13), a multispectral imager (14), a hyperspectral camera, a thermal infrared camera, a laser scanning radar, a fluorescence imager and a non-imaging test instrument, and each image acquisition device is connected with the movable end of the corresponding electric control holder (10) respectively.
6. The monitoring method based on the greenhouse crop growth information real-time peer-to-peer monitoring device according to claim 1, wherein the monitoring method comprises the following steps: the system also comprises a concentrator (18), wherein after each image acquisition device is connected with the concentrator (18), the concentrator (18) is connected with the micro-control computer (17).
7. The monitoring method based on the greenhouse crop growth information real-time peer-to-peer monitoring device according to claim 1, wherein the monitoring method comprises the following steps: the remote computer (19) is also included, and the micro-control computer (17) and the remote computer (19) perform signal interaction in a wireless communication mode.
8. The monitoring method based on the greenhouse crop growth information real-time peer-to-peer monitoring device according to claim 7, wherein the monitoring method comprises the following steps: also included is a high speed disk array (20) coupled to the remote computer (19).
9. The monitoring method based on the greenhouse crop growth information real-time peer-to-peer monitoring device according to claim 1, wherein the monitoring method comprises the following steps: the motor control board (8) comprises a filter circuit, a digital signal processor, a PWM control chip and a remote control receiver which are integrally arranged on a motor control circuit board, wherein each displacement sensor (3), an ambient illumination intensity sensor (11) and a reflection illumination intensity sensor (12) are respectively connected with the input end of the filter circuit, the input end of the digital signal processor is respectively connected with the output end of the filter circuit and the output end of the remote control receiver, the output end of the digital signal processor is connected with the input end of the PWM control chip, the output end of the PWM control chip is connected with the input end of the motor driver (7), and the micro control computer (17) is connected with the input end of the remote control receiver.
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