CN107192678A - A kind of self-propelled low-altitude remote sensing device based on multisensor imaging spectral - Google Patents
A kind of self-propelled low-altitude remote sensing device based on multisensor imaging spectral Download PDFInfo
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- CN107192678A CN107192678A CN201710420399.2A CN201710420399A CN107192678A CN 107192678 A CN107192678 A CN 107192678A CN 201710420399 A CN201710420399 A CN 201710420399A CN 107192678 A CN107192678 A CN 107192678A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/27—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection ; circuits for computing concentration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
- G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
- G01N21/64—Fluorescence; Phosphorescence
- G01N21/6402—Atomic fluorescence; Laser induced fluorescence
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
- G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
- G01N21/64—Fluorescence; Phosphorescence
- G01N21/6486—Measuring fluorescence of biological material, e.g. DNA, RNA, cells
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The present invention discloses a kind of self-propelled low-altitude remote sensing device based on multisensor imaging spectral, including walking vehicle body, the walking vehicle body is provided with the objective table supported by elevating mechanism, multi-degree-of-freedom flexible rotating mechanism is mounted with the objective table, the multi-degree-of-freedom flexible rotating mechanism is provided with remote sensing platform, and provided with the multiple spectrum image camera sensor installed in remote sensing platform bottom；Described multi-degree-of-freedom flexible rotating mechanism includes the rotating basis being movably arranged on objective table, is fixed on the vertical expansion link on rotating basis, and be connected to the horizontal extension bar at the top of vertical expansion link；Described remote sensing platform is fixed on the end of horizontal extension bar.The Full-automatic omnibearing that the present invention realizes agriculture feelings information is monitored in real time, with automaticity is high, monitoring range is wide, obtain data comprehensively, high safety the features such as.
Description
Technical field
It is more particularly to a kind of based on the self-propelled low of multisensor imaging spectral the present invention relates to crop spectral imaging technology
Empty sensoring.
Background technology
Remote sensing is by this kind of instrument to sensitive to electromagnetic waves of remote sensor, away from target and non-contact target object condition
Lower detection Target scalar, obtains electromagnetic wave information (such as electric field, magnetic field, electromagnetic wave, the seismic wave of its reflection, radiation or scattering
Information), and extracted, judged, working process, analysis with application a science and technology.Remote sensing technology is each with agronomy
Subject and its technology combine, as the comprehensive very strong technology of one serviced for agricultural development.Supervised using remote sensing technology
Survey crop acreage, Grain Growth Situation information, fast slowdown monitoring and the assessment disaster information such as agricultural arid and pest and disease damage, estimation
The crop yield of global range, the whole nation and regional extent, is that staple food supply quantitative analysis and prediction and warning provide information.
Multispectral, EO-1 hyperion and the imaging of leaf green fluorescence are three kinds of technologies that light spectrum image-forming is commonly used, and are obtained in recent years in agricultural
To increasing application.Application of the high-spectrum remote-sensing in agricultural, is mainly manifested in quickly and accurately progress plant growth letter
Extraction, crop condition monitoring, Plant stress monitoring, estimation vegetation (crop) primary productivity and biomass, the estimation luminous energy of breath
Utilization rate and evapotranspiration and the forecast of crop quality remote sensing monitoring.So as to which accordingly adjustment puts into the input amount of goods and materials, reduction is reached
Waste, increase yield, improving quality, the purpose of protecting agriculture resource and environmental quality.Chlorophyll fluorescence is ground as photosynthesis
The probe studied carefully, with specificity, high sensitivity the characteristics of, can quickly reflect plant physiological ecology situation, and nothing can be realized
Detection is damaged, suffers from being widely applied in various fields such as genetic breeding, mutant strain screening, pest and disease damage detections.
Recently as the development of unmanned air vehicle technique, have with the unmanned aerial vehicle remote sensing technology of UAV flight's spectrum camera
Significant development.The problems such as low latitude unmanned plane can make up small traditional monitoring equipment availability scope, real-time monitoring hardly possible, makes up simultaneously
The cost of satellite remote sensing is high, the problems such as by weather conditions influenceed big.Unmanned aerial vehicle remote sensing can obtain soil nutrient, crop length
The agricultural production information such as gesture, pest and disease monitoring, is parsed by data, carries out variable fertilization, science dispenser, prediction pest and disease damage, pre-
Survey crop yield etc..At this stage, the loading capacity of unmanned plane is limited, it is impossible to carry a variety of cameras, while flight stability is also needed
Improve, there is potential safety hazard.Battery power is supplied and efficiently using being also the urgently important step of scientific research in unmanned plane application process.
, should the self-propelled low-altitude remote sensing device based on multisensor imaging spectral in order to make up the deficiency of original technology means
And method, unmanned plane stability difference is solved by the autonomous car body equipped with GPS navigation system and cruising time short asks
Topic, while carrying translatable multi-degree-of-freedom flexible rotating device, lifting, rotation, adapts to a variety of detection demands.Carried using camera
Platform carries multiple spectrum image camera and leaf green fluorescence imaging system, can obtain multifaceted information data.The device and
Detection method can be stablized, in real time, on a large scale and comprehensively monitor agriculture feelings information, have great meaning for guiding agricultural production
Justice.
The content of the invention
The invention discloses a kind of self-propelled low-altitude remote sensing device based on multisensor imaging spectral, agriculture feelings letter is realized
The Full-automatic omnibearing of breath is monitored in real time, is significant for guiding agricultural production.The present apparatus solves traditional monitoring and set
The problems such as standby job area is small, real-time monitoring is difficult, while compensate for that unmanned aerial vehicle remote sensing stability is poor, cruising time is short small with load-carrying
The problem of.The features such as with automaticity height, wide monitoring range, comprehensive acquisition data, high safety.Concrete technical scheme is such as
Under：
A kind of self-propelled low-altitude remote sensing device based on multisensor imaging spectral, including walking vehicle body, the moving trolley
Body is provided with the objective table supported by elevating mechanism, is mounted with multi-degree-of-freedom flexible rotating mechanism on the objective table, it is described it is many oneself
Remote sensing platform is provided with by degree Telescopic rotation mechanism, and sensed provided with the multiple spectrum image camera installed in remote sensing platform bottom
Device；
Described multi-degree-of-freedom flexible rotating mechanism includes the rotating basis being movably arranged on objective table, is fixed on rotation
Vertical expansion link on pedestal, and it is connected to the horizontal extension bar at the top of vertical expansion link；Described remote sensing platform is fixed on
The end of horizontal extension bar.
GPS navigation system is equipped with as preferred, described walking vehicle body, can be according to predetermined programme path or by distant
Real-time control is controlled in field autonomous, positioning precision is high, realizes that farmland is covered comprehensively.Using differential global positioning system, it can realize
Adjustment track route, improves positioning, the degree of accuracy of walking in time.
It is hydraulic jack as preferred, described elevating mechanism, by driving the objective table above its jack-up of manipulation
With all devices above it, play a part of lifting, support and adjustment height, light structure is firm, flexibility and reliability.
In the present invention, multi-degree-of-freedom flexible rotating device is by bottom rotating basis, vertical expansion link and horizontal extension bar structure
Into.Cylindrical seat can be realized along different directions counterclockwise, friction speed rotation.Vertical expansion link can telescopic moving up and down, height
Degree can be adjusted up to 20 meters according to the height of crop cycle, keep detecting system highly consistent from crop canopies.Level
Expansion link can left and right telescopic moving, distance because of its multiple degrees of freedom flexible operating, effectively realizes the agriculture of large area up to more than 10 meters
Field information monitoring.
As preferred, the multiple spectrum image camera sensor include being mounted in the RGB camera of remote sensing platform bottom,
25 wave band multispectral cameras, ADC cameras and EO-1 hyperion camera.
Remote sensing platform is connected with multi-degree-of-freedom flexible rotating device, and bottom increases steady head by four machineries and carries RGB
Camera (Sony NEX-7), 25 wave band multispectral cameras (XIMEA industrial cameras xiQ series, CMV2K), ADC cameras
(Tetracam companies) and EO-1 hyperion camera (Aisa KESTREL).Multifaceted Information Number can be obtained by carrying different sensors
According to can not only record geometric profile data, pictorial information, laser back scattering intensity, high-spectral data can also be gathered.Machinery
Three freedom of movement of camera can be met by increasing steady head：Rotated around X, Y, Z axis, be fitted with motor in each axle center, work as nothing
During man-machine inclination, it can equally coordinate gyroscope to strengthen the power of opposite direction to corresponding horizontal stage electric machine, prevent camera from following nobody
Machine " inclination ", so as to avoid camera shake, it is ensured that picture is steady and audible.Steady head is increased by the rotation and machinery of remote sensing platform
Comprehensive, multi-angle acquisition of information is realized in upset.
Remote sensing platform is also equipped with imaging-PAM system, including LEDs light source boards, CCD camera lenses (C8484-05,
Hamamatsu, Hamamatsu City, Japan), chlorophyll fluorescence analysis can be carried out to whole plant and plurality of plants, simultaneously
Equipped with imaging analysis module, measure and analyze for crop pattern.
The LEDs light source boards that remote sensing platform bottom is furnished with can excite different combination of light sources according to demand, and according to different
Crop choice measures light, actinic light, saturated light equal strength.
Remote sensing platform is equipped with differential GPS and inertial navigation components by main control computer control, remote sensing platform, can accurately obtain phase
Seat in the plane is put and attitude information, is easy to control camera head to be modified camera posture.A variety of camera sensors gather figure in real time
Passed back as spectral information, then by the view data integration of attitude parameter and shooting in computer, deposit storage facilities, for the later stage pair
In remotely-sensed data correcting process.Pass through the agricultures such as different cameral sensor Overall Acquisition soil nutrient, crop growing state, pest and disease monitoring
Industry production information, is then parsed by data, carries out variable fertilization, science dispenser, prediction pest and disease damage, prediction crop yield etc..
As preferred, the bottom of the remote sensing platform is provided with installing plate, and bradyseism is provided between the installing plate and remote sensing platform
Ball, described multiple spectrum image camera sensor is arranged on the bottom of installing plate.Specially rubber bradyseism ball, slows down due to car
Body jolts and caused the vibrations of multiple spectrum image camera sensor.
Brief description of the drawings
Fig. 1 is the self-propelled on-line measuring device based on spectral imaging technology；
Fig. 2 is camera carrying platform；
Fig. 3 is leaf green fluorescence imaging system；
Fig. 4 is remote sensing platform designed holder composition.
Embodiment
Describe the present invention in detail with reference to embodiment and accompanying drawing, but the present invention is not limited to this.
As Figure 1-3, the self-propelled on-line measuring device based on spectral imaging technology and method in the present invention include：
Autonomous car body 1, GPS navigation system 2, objective table 3, rotating basis 4, vertical expansion link 5, horizontal extension bar 6, remote sensing platform
7, rubber bradyseism ball 8, machinery increases steady head 9, multiple spectrum image camera 10, CCD camera lenses 11, LEDs light source boards 12.
Walking vehicle body 1 carries GPS navigation system 2, can be according to predetermined programme path or by remote control real-time control in field
Autonomous, positioning precision is high, realizes that farmland is covered comprehensively.Using differential global positioning system, the road of adjustment walking in time can be realized
Line, improves positioning, the degree of accuracy of walking.
Hydraulic jack crane gear under objective table 3 and platform, by drive manipulate its jack-up above objective table and its
All devices of top, play a part of lifting, support and adjustment height, light structure is firm, flexibility and reliability.
Multi-degree-of-freedom flexible rotating device is made up of bottom rotating basis 4, vertical expansion link and horizontal extension bar.Cylinder bottom
Seat can be realized along different directions counterclockwise, friction speed rotation.Vertical expansion link 5 can telescopic moving up and down, highly up to 20
Rice, can be adjusted according to the height of crop cycle, keep detecting system highly consistent from crop canopies.Horizontal extension bar 6
Can left and right telescopic moving, distance because of its multiple degrees of freedom flexible operating, effectively realizes the agricultural land information of large area up to more than 10 meters
Monitoring.
Remote sensing platform 7 is connected with multi-degree-of-freedom flexible rotating device, and bottom increases steady head by four machineries and carries RGB
Camera (Sony NEX-7), 25 wave band multispectral cameras (XIMEA industrial cameras xiQ series, CMV2K), ADC cameras
(Tetracam companies) and EO-1 hyperion camera (Aisa KESTREL) 10.Multifaceted information can be obtained by carrying different sensors
Data, can not only record geometric profile data, can also gather pictorial information, laser back scattering intensity, high-spectral data.Machine
Tool, which increases steady head 9, can meet three freedom of movement of camera：Rotated around X, Y, Z axis, motor is fitted with each axle center, when
Unmanned plane tilt when, can equally coordinate gyroscope to corresponding horizontal stage electric machine strengthen opposite direction power, prevent camera and then without
Man-machine " inclination ", so as to avoid camera shake, it is ensured that picture is steady and audible.Steady head is increased by the rotation and machinery of remote sensing platform
Upset realize comprehensive, multi-angle acquisition of information.
Remote sensing platform is also equipped with imaging-PAM system, including LEDs light source boards, CCD camera lenses 11 (C8484-05,
Hamamatsu, Hamamatsu City, Japan), chlorophyll fluorescence analysis can be carried out to whole plant and plurality of plants, simultaneously
Equipped with imaging analysis module, measure and analyze for crop pattern.The LEDs light source boards 12 that remote sensing platform bottom is furnished with can be according to need
Ask and excite different combination of light sources, and light, actinic light, saturated light equal strength are measured according to different crop choices.
As shown in figure 4, remote sensing platform is by main control computer control, remote sensing platform is equipped with differential GPS and inertial navigation components, can
It is accurate to obtain camera position and attitude information, it is easy to control camera head to be modified camera posture.A variety of camera sensors
Real-time image acquisition spectral information, then pass attitude parameter and the view data integration of shooting back computer, it is stored in storage facilities
In, for the later stage for remotely-sensed data correcting process.Pass through different cameral sensor Overall Acquisition soil nutrient, crop growing state, disease
The agricultural production information such as insect pest monitoring, are then parsed by data, carry out variable fertilization, science dispenser, prediction pest and disease damage, prediction
Crop yield etc..
The foregoing is only the preferable implementation example of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (6)
1. a kind of self-propelled low-altitude remote sensing device based on multisensor imaging spectral, it is characterised in that including walking vehicle body, institute
State walking vehicle body and be provided with objective table by elevating mechanism support, be mounted with multi-degree-of-freedom flexible rotating mechanism on the objective table,
The multi-degree-of-freedom flexible rotating mechanism is provided with remote sensing platform, and is imaged provided with the multiple spectrum installed in remote sensing platform bottom
Camera sensor；
Described multi-degree-of-freedom flexible rotating mechanism includes the rotating basis being movably arranged on objective table, is fixed on rotating basis
On vertical expansion link, and be connected to the horizontal extension bar at the top of vertical expansion link；Described remote sensing platform is fixed on level
The end of expansion link.
2. self-propelled low-altitude remote sensing device as claimed in claim 1, it is characterised in that described walking vehicle body is equipped with GPS
Navigation system.
3. self-propelled low-altitude remote sensing device as claimed in claim 1, it is characterised in that described elevating mechanism is hydraulic jack
Top.
4. self-propelled low-altitude remote sensing device as claimed in claim 1, it is characterised in that the multiple spectrum image camera sensing
Device includes RGB camera, 25 wave band multispectral cameras, ADC cameras and the EO-1 hyperion camera for being mounted in remote sensing platform bottom.
5. self-propelled low-altitude remote sensing device as claimed in claim 1, it is characterised in that the remote sensing platform is also equipped with chlorophyll
Fluoroscopic imaging systems, including LEDs light source boards and CCD camera lenses.
6. self-propelled low-altitude remote sensing device as claimed in claim 1, it is characterised in that the bottom of the remote sensing platform is provided with peace
Plate is filled, bradyseism ball is provided between the installing plate and remote sensing platform, described multiple spectrum image camera sensor is arranged on installing plate
Bottom.
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| CN107505279A (en) * | 2017-10-09 | 2017-12-22 | 苏州市光生环境科技有限公司 | A kind of base device for air infrared detection |
| CN108414454A (en) * | 2018-01-25 | 2018-08-17 | 北京农业信息技术研究中心 | The synchronized measurement system and measurement method of a kind of plant three-dimensional structure and spectral information |
| CN108871399A (en) * | 2018-05-08 | 2018-11-23 | 安徽科技学院 | The fixation device of remote sensing observations |
| CN109187478A (en) * | 2018-10-09 | 2019-01-11 | 魏泽林 | A kind of automatic experimental provision of biological sample multimode |
| CN110132930A (en) * | 2019-06-12 | 2019-08-16 | 东北师范大学 | The multi-angle excitation detection gear and its analysis method of induced with laser chlorophyll fluorescence |
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| CN112179414A (en) * | 2020-10-08 | 2021-01-05 | 广东后海控股股份有限公司 | Crop growth thing networking monitoring system |
| CN113092669A (en) * | 2021-03-15 | 2021-07-09 | 商丘师范学院 | Agricultural drought remote sensing observation device |
| CN113310949A (en) * | 2021-05-24 | 2021-08-27 | 山东大学 | Hyperspectral imaging-based TBM tunnel-mounted rock slag mineral identification system and method |
| CN114563524A (en) * | 2022-02-15 | 2022-05-31 | 济南市工程质量与安全中心 | Automatic testing device for flame retardance of escape respirator |
| CN116124709A (en) * | 2022-09-20 | 2023-05-16 | 中国水利水电科学研究院 | Winter wheat drought unmanned aerial vehicle rapid monitoring and distinguishing method based on chlorophyll relative content |
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