CN108801942B - Linear array laser imaging method for rice tillering counting - Google Patents

Linear array laser imaging method for rice tillering counting Download PDF

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Publication number
CN108801942B
CN108801942B CN201810172796.7A CN201810172796A CN108801942B CN 108801942 B CN108801942 B CN 108801942B CN 201810172796 A CN201810172796 A CN 201810172796A CN 108801942 B CN108801942 B CN 108801942B
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sample
array laser
linear array
driving
camera
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CN108801942A (en
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刘成良
张康
贡亮
朱凯
吴伟
林可
张经纬
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/27Colour; 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

Abstract

The invention provides an adjustable linear array laser detection electromechanical device for rice tillering counting, which comprises a driving mechanism, a detection mechanism and a screw rod mechanism, wherein the driving mechanism is used for driving a rice tillering counting mechanism to rotate; the driving mechanism drives the screw rod mechanism to move, so that the position of the screw rod mechanism is changed; the detection mechanism is connected with the driving mechanism through a screw rod mechanism; when the position of the screw rod mechanism changes, the detection mechanism is driven to move along the same direction. The adjustable linear array laser detection electromechanical device for rice tillering counting, provided by the invention, has the advantages of simple structure and controllable cost, and can reliably detect the tillering number of a rice plant sample, greatly reduce the labor cost and realize high efficiency. The adjustable linear array laser detection electromechanical device for rice tillering counting provided by the invention adopts the linear array laser to perform tillering counting on projection images of different positions of the rice near-ground end, so that the reliability of tillering counting and the no damage to plants are ensured.

Description

Linear array laser imaging method for rice tillering counting
Technical Field
The invention relates to an electromechanical device, in particular to an adjustable linear array laser detection electromechanical device, method and system for rice tillering counting.
Background
The tillering number is an important character and breeding index of rice. In the research process of rice yield, the tillering of rice directly determines the heading number of the rice, thereby influencing the rice yield. In order to deeply research the relationship between the tiller number and the rice yield, the tiller number of each variety of rice plants in different growth periods needs to be counted in a large quantity, but the method depends on manual counting in the field at present, and for a large batch of seed selection and breeding test fields, a large quantity of manpower resources are needed, and the efficiency is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an adjustable linear array laser detection electromechanical device, method and system for rice tillering counting.
The invention provides an adjustable linear array laser detection electromechanical device for rice tillering counting, which comprises a driving mechanism, a detection mechanism and a screw rod mechanism;
the driving mechanism drives the screw rod mechanism to move, so that the position of the screw rod mechanism is changed;
the detection mechanism is connected with the driving mechanism through a screw rod mechanism;
when the position of the screw rod mechanism changes, the detection mechanism is driven to move along the same direction.
Preferably, the device further comprises a sample containing mechanism and an operation table;
the sample accommodating mechanism is arranged on one side of the operating platform;
the driving mechanism is arranged on the other side of the operating platform;
the screw rod mechanism and the detection mechanism are sequentially arranged in the direction pointing to the sample accommodating mechanism from the driving mechanism.
Preferably, the driving mechanism comprises a stepping motor, a coupler, a motor support and a guide groove mechanism;
the stepping motor is connected with one end of the motor support through the coupler;
the other end of the motor support is connected with the guide groove mechanism;
the driving mechanism also comprises a lead screw and a limit switch;
the lead screw is arranged in the guide groove mechanism;
the limit switch is arranged on the guide groove mechanism;
the driving mechanism further comprises a controller;
when the controller drives the stepping motor to rotate, the rotating stepping motor drives the screw rod to rotate.
Preferably, the screw mechanism comprises a linear bearing and a mounting block;
the detection mechanism is connected with the linear bearing through the mounting block;
the sample containing mechanism comprises a sample container and an angle adjusting device;
the sample container is arranged on one side of the angle adjusting device;
the other side of the angle adjusting device is arranged on the operating table;
a lead screw of the driving mechanism is connected with the linear bearing;
when the screw rod rotates, the rotating screw rod drives the linear bearing to move up and down along the guide groove of the guide groove mechanism;
the limit switch of the driving mechanism forms a limit position of the linear bearing.
Preferably, the system also comprises a camera and a line laser;
the camera is connected with one side of the mounting block of the screw mechanism through a camera bracket;
the linear array laser is connected with the other side of the mounting block through a laser support;
a distance adjusting groove is formed in one side, facing the mounting block, of the camera support;
the distance adjusting groove can adjust the distance between the camera and the linear array laser;
the linear array laser and the camera face the direction of the sample container of the sample containing mechanism.
Preferably, the system further comprises a linear array laser imaging system, wherein the linear array laser imaging system comprises the following modules:
a driving module: acquiring an instruction from an upper computer, acquiring the instruction by a controller, and controlling the stepping motor to rotate;
a control module: the stepping motor drives the screw rod mechanism to rotate; the lead screw mechanism controls the linear array laser and the camera to move to preset positions;
the first image acquisition module: carrying out laser scanning on a sample by a linear array laser; a camera collects a sample image;
a second image acquisition module: turning off the linear array laser; a camera collects a sample image;
an image analysis module: and (4) segmenting the collected sample image to obtain the tillering number of the sample.
The invention also provides a linear array laser imaging method realized by the adjustable linear array laser detection electromechanical device for rice tillering counting, which comprises the following steps:
step 1: placing the sample in a sample container, and judging whether the height of the sample is the same as the preset height; if yes, entering step 4; if not, performing the step 2;
step 2: acquiring an instruction from an upper computer, acquiring the instruction by a controller, and controlling the stepping motor to rotate;
and step 3: the stepping motor drives the screw rod mechanism to rotate; the lead screw mechanism controls the linear array laser and the camera to move to preset positions;
and 4, step 4: carrying out laser scanning on a sample by a linear array laser; a camera collects a sample image;
and 5: turning off the linear array laser; a camera collects a sample image;
step 6: adjusting the angle adjusting device, and entering the step 4;
and 7: and (4) segmenting the collected sample image to obtain the tillering number of the sample.
Compared with the prior art, the invention has the following beneficial effects:
1. the adjustable linear array laser detection electromechanical device for rice tillering counting, provided by the invention, has the advantages of simple structure and controllable cost, and can reliably detect the tillering number of a rice plant sample, greatly reduce the labor cost and realize high efficiency.
2. The adjustable linear array laser detection electromechanical device for rice tillering counting provided by the invention adopts the linear array laser to perform tillering counting on projection images of different positions of the rice near-ground end, so that the reliability of tillering counting and the no damage to plants are ensured.
3. The arrangement scheme of the laser, the camera and the rotary table can enable the laser to be completely projected onto all tillers of the rice, so that the tillering number of the rice can be accurately counted according to the collected images.
4. In order to meet the requirements of rice plants with different heights, the position of the laser is completely adjustable by the screw mechanism, and the distance between the laser and the camera is also designed to be adjustable.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of the overall structure of the adjustable linear array laser detection electromechanical device for rice tillering counting provided by the invention.
Fig. 2 is an electromechanical control flow chart of the adjustable linear array laser detection electromechanical device for rice tillering counting provided by the invention.
FIG. 3 is a front view of the adjustable linear array laser detection electromechanical device for rice tillering counting provided by the invention.
FIG. 4 is a left side view of the adjustable linear array laser detection electromechanical device for rice tillering counting provided by the invention.
Fig. 5 is a working schematic diagram of the linear array laser imaging method provided by the invention.
FIG. 6 is an adjustable linear array laser detection electromechanical device for rice tillering counting provided by the invention.
Fig. 7 is a schematic diagram of linear array laser projection provided by the present invention.
Fig. 8 is a schematic diagram of linear array light spots of the linear array laser imaging method provided by the invention.
Fig. 9 is a schematic diagram of a re-projected discrete light spot provided by the present invention.
FIG. 10 is a picture of the same specimen taken from multiple angles according to the present invention.
Fig. 11 is a schematic diagram of light spot extraction corresponding to fig. 10 according to the present invention.
Shown in the figure:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides an adjustable linear array laser detection electromechanical device for rice tillering counting, which comprises a driving mechanism, a detection mechanism and a screw rod mechanism, wherein the driving mechanism is used for driving a rice tillering counting mechanism to rotate; the driving mechanism drives the screw rod mechanism to move, so that the position of the screw rod mechanism is changed; the detection mechanism is connected with the driving mechanism through a screw rod mechanism; when the position of the screw rod mechanism changes, the detection mechanism is driven to move along the same direction.
The invention provides an adjustable linear array laser detection electromechanical device for rice tillering counting, which also comprises a sample accommodating mechanism and an operating platform 14; the sample holding mechanism is arranged on one side of the operation table 14; the driving mechanism is arranged on the other side of the operating platform 14; the screw rod mechanism and the detection mechanism are sequentially arranged in the direction pointing to the sample accommodating mechanism from the driving mechanism.
The driving mechanism comprises a stepping motor 1, a coupler 2, a motor support 3 and a guide groove mechanism 23; the stepping motor 1 is connected with one end of a motor support 3 through a coupler 2; the other end of the motor support 3 is connected with a guide groove mechanism 23; the driving mechanism further comprises a lead screw 4 and a limit switch 5; the lead screw 4 is arranged in the guide groove mechanism 23; the limit switch 5 is arranged on the guide groove mechanism 23; the driving mechanism further comprises a controller; when the controller drives the stepping motor 1 to rotate, the rotating stepping motor 1 drives the screw rod 4 to rotate.
The screw rod mechanism comprises a linear bearing 6 and a mounting block 7; the detection mechanism is connected with the linear bearing 6 through a mounting block 7; the sample containing mechanism comprises a sample container 12 and an angle adjusting device 13; the sample holder 12 is disposed on one side of the angle adjusting means 13; the other side of the angle adjusting device 13 is arranged on an operation table 14; a screw rod 4 of the driving mechanism is connected with a linear bearing 6; when the screw rod 4 rotates, the rotating screw rod 4 drives the linear bearing 6 to move up and down along the guide groove of the guide groove mechanism 23; the limit switch 5 of the drive mechanism forms a limit position of the linear bearing 6.
The invention provides an adjustable linear array laser detection electromechanical device for rice tillering counting, which also comprises a camera 11 and a linear array laser 9; the camera 11 is connected with one side of the mounting block 7 of the screw mechanism through a camera bracket 10; the linear array laser 9 is connected with the other side of the mounting block 7 through a laser support 8; a distance adjusting groove 15 is formed in one side, facing the mounting block 7, of the camera support 10; the distance adjusting groove 15 can adjust the distance between the camera 11 and the linear array laser 9; the line laser 9 and the camera 11 are both directed towards the sample holder 12 of the sample holding mechanism.
The invention provides an adjustable linear array laser detection electromechanical device for rice tillering counting, which also comprises a linear array laser imaging system, wherein the linear array laser imaging system comprises the following modules: a driving module: acquiring an instruction from an upper computer, acquiring the instruction by a controller, and controlling the stepping motor 1 to rotate; a control module: the stepping motor 1 drives the screw rod mechanism to rotate; the lead screw mechanism controls the linear array laser 9 and the camera 11 to move to preset positions; the first image acquisition module: the linear array laser 9 performs laser scanning on the sample; the camera 11 acquires an image of the sample; a second image acquisition module: turning off the linear array laser 9; the camera 11 acquires an image of the sample; an image analysis module: and (4) segmenting the collected sample image to obtain the tillering number of the sample.
As shown in fig. 2, the present invention further provides a linear array laser imaging method implemented by the above-mentioned adjustable linear array laser detection electromechanical device for rice tillering counting, comprising the following steps: step 1: placing the sample in the sample holder 12, and judging whether the height of the sample is the same as the preset height; if yes, entering step 4; if not, performing the step 2; step 2: acquiring an instruction from an upper computer, acquiring the instruction by a controller, and controlling the stepping motor 1 to rotate; and step 3: the stepping motor 1 drives the screw rod mechanism to rotate; the lead screw mechanism controls the linear array laser 9 and the camera 11 to move to preset positions; and 4, step 4: the linear array laser 9 performs laser scanning on the sample; the camera 11 acquires an image of the sample; and 5: turning off the linear array laser 9; the camera 11 acquires an image of the sample; step 6: adjusting an angle adjusting device 13, and entering the step 4; and 7: and (4) segmenting the collected sample image to obtain the tillering number of the sample.
The invention also provides an operating system of the adjustable linear array laser detection electromechanical device for rice tillering counting, and controls the control system of the adjustable linear array laser detection electromechanical device for rice tillering counting.
The invention provides an adjustable linear array laser detection electromechanical device for rice tillering counting, which also comprises a control platform; the control platform comprises a control system of the adjustable linear array laser detection electromechanical device for rice tillering counting.
The invention is further illustrated below by taking the sample as rice, and taking the sample as rice and the sample container 12 as a rice plant pot culture as an example:
as shown in fig. 1, the height of a rice plant potted plant is controlled by an operator through an upper computer to send an instruction, and a controller P L C controls a stepping motor 1 to rotate after receiving the instruction, so as to drive a linear bearing 6 in a lead screw mechanism to ascend or descend, because the linear bearing 6 is connected with a mounting block 7 fixed to the linear bearing, a laser support 8 and a camera support 10 are connected, so that the mounting block 7, the laser support 8 and the camera support 10 all generate movement corresponding to the linear bearing 6, so that a linear array laser 9 and a camera 11 ascend or descend, when the linear array laser 9 and the camera 11 are adjusted to proper positions, images are collected, the positional relationship between the camera 11 and the linear array laser 9 can be adjusted through an adjustable structural groove shown in fig. 1, namely a guide groove mechanism 23, when the linear array laser 9 is controlled by the upper computer to be opened, the linear array laser 9 generates laser light and projects the light spot on a rice plant, the light spot is generated on the corresponding tillering point, the camera 11 on the tillering point can collect projected images, then the linear array laser can be adjusted through an adjustable structural groove mechanism, when the linear array laser 9 is opened, the linear array laser 9 is adjusted, the linear array laser can be adjusted again, the linear array laser can be adjusted, the linear array laser can be collected on the linear array laser device can be adjusted to ensure that the linear array laser is adjusted to correct linear array laser collecting position, the linear array laser can be collected, the linear array laser is collected on the linear.
The sample analysis collected by the linear array laser imaging method realized by the adjustable linear array laser detection electromechanical device for rice tillering counting and the adjustable linear array laser detection electromechanical device for rice tillering counting provided by the invention is further explained as follows:
the operating system of the adjustable linear array laser detection electromechanical device for rice tillering counting, which is provided by the invention, is called a device imaging system for short, as shown in fig. 5, a projection image of a line laser projected by a linear array laser 9 at a rice tillering part is shown in fig. 7, and three different relative position relations exist among rice tillers can be clearly seen:
(1) the horizontal distance between tillers is relatively large and the laser can reach, such as a first tillering position 19 and a second tillering position 20;
(2) the horizontal distance between tillers is relatively small, but the tillers are positioned at the front and back space staggered positions and can be reached by laser, such as a second tillering position 20 and a third tillering position 21, and a third tillering position 21 and a fourth tillering position 22;
(3) the horizontal distance between tillers is small, and the front space and the rear space are shielded at the same time, and one laser cannot reach the tillers, as shown in fig. 7, the tillers are all positioned at the rear end;
in the case (1), each tillering can be easily extracted by segmentation from the image collected by the camera 11, in the case (3), the tillering with the blocked rear end can also be extracted by segmentation by projecting laser from the back surface by rotating the turntable, and in the case (2), because the distance between the tillering is too small, the tillering is difficult to be directly segmented, therefore, the optical axis of the camera 11 is inclined by the spacing adjusting groove 15, and at the moment, a certain included angle exists between the imaging plane of the camera 11 and the laser emission optical axis of the line laser 9, so that as shown in fig. 8, a light spot at the same horizontal position is re-projected on the plane of the camera 11 once, as shown in fig. 9, and thus, a certain displacement between the tillering light spots in the longitudinal direction is ensured, which is beneficial to subsequent segmentation.
The algorithm after the analysis of the samples collected by the linear array laser imaging method realized by the adjustable linear array laser detection electromechanical device for rice tillering counting and the adjustable linear array laser detection electromechanical device for rice tillering counting provided by the invention is further explained as follows:
as shown in fig. 10, different sample data of the same rice plant at multiple angles collected by the device are divided by imaging, as shown in fig. 11, light spots on rice tillers are extracted, and the tillering number is obtained by statistical analysis of the light spots.
It should be noted that the use of the ordinal adjectives "first", "second", and "third", etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (6)

1. A linear array laser imaging method realized by an adjustable linear array laser detection electromechanical device for rice tillering counting is characterized by comprising the following steps:
step 1: placing the sample in a sample container (12), and judging whether the height of the sample is the same as the preset height; if yes, entering step 4; if not, performing the step 2;
step 2: the method comprises the steps that an instruction is obtained from an upper computer, and a controller obtains the instruction and controls a stepping motor (1) to rotate;
and step 3: the stepping motor (1) drives the screw rod mechanism to rotate; the lead screw mechanism controls the linear array laser (9) and the camera (11) to move to preset positions;
and 4, step 4: a linear array laser (9) performs laser scanning on the sample; a camera (11) collects an image of the sample;
and 5: turning off the linear array laser (9); a camera (11) collects an image of the sample;
step 6: adjusting an angle adjusting device (13), and entering the step 4;
and 7: segmenting the collected sample image to obtain the tillering number of the sample;
the device comprises a driving mechanism, a detection mechanism and a screw rod mechanism;
the driving mechanism drives the screw rod mechanism to move, so that the position of the screw rod mechanism is changed;
the detection mechanism is connected with the driving mechanism through a screw rod mechanism;
when the position of the screw rod mechanism changes, the detection mechanism is driven to move along the same direction.
2. The line array laser imaging method according to claim 1, wherein the apparatus further comprises a sample receiving mechanism, an operation table (14);
the sample containing mechanism is arranged on one side of the operation table (14);
the driving mechanism is arranged on the other side of the operating platform (14);
the screw rod mechanism and the detection mechanism are sequentially arranged in the direction pointing to the sample accommodating mechanism from the driving mechanism.
3. The line array laser imaging method according to claim 1, wherein the driving mechanism comprises a stepping motor (1), a coupler (2), a motor support (3) and a guide groove mechanism (23);
the stepping motor (1) is connected with one end of the motor support (3) through the coupler (2);
the other end of the motor support (3) is connected with a guide groove mechanism (23);
the driving mechanism also comprises a lead screw (4) and a limit switch (5);
the lead screw (4) is arranged in the guide groove mechanism (23);
the limit switch (5) is arranged on the guide groove mechanism (23);
the driving mechanism further comprises a controller;
when the controller drives the stepping motor (1) to rotate, the rotating stepping motor (1) drives the screw rod (4) to rotate.
4. The linear array laser imaging method according to claim 2, wherein the screw mechanism comprises a linear bearing (6), a mounting block (7);
the detection mechanism is connected with the linear bearing (6) through a mounting block (7);
the sample containing mechanism comprises a sample container (12) and an angle adjusting device (13);
the sample holder (12) is arranged on one side of the angle adjusting device (13);
the other side of the angle adjusting device (13) is arranged on an operation table (14);
a lead screw (4) of the driving mechanism is connected with a linear bearing (6);
when the screw rod (4) rotates, the rotating screw rod (4) drives the linear bearing (6) to move up and down along the guide groove of the guide groove mechanism (23);
the limit switch (5) of the driving mechanism forms a limit position of the linear bearing (6).
5. The line laser imaging method according to claim 1, further comprising a camera (11), a line laser (9);
the camera (11) is connected with one side of the mounting block (7) of the screw mechanism through a camera bracket (10);
the linear array laser (9) is connected with the other side of the mounting block (7) through a laser support (8);
a distance adjusting groove (15) is formed in one side, facing the mounting block (7), of the camera support (10);
the distance adjusting groove (15) can adjust the distance between the camera (11) and the linear array laser (9);
the linear array laser (9) and the camera (11) face the direction of a sample container (12) of the sample container mechanism.
6. The line array laser imaging method of claim 5, further comprising a line array laser imaging system, the line array laser imaging system comprising the following modules:
a driving module: the method comprises the steps that an instruction is obtained from an upper computer, and a controller obtains the instruction and controls a stepping motor (1) to rotate;
a control module: the stepping motor (1) drives the screw rod mechanism to rotate; the lead screw mechanism controls the linear array laser (9) and the camera (11) to move to preset positions;
the first image acquisition module: a linear array laser (9) performs laser scanning on the sample; a camera (11) collects an image of the sample;
a second image acquisition module: turning off the linear array laser (9); a camera (11) collects an image of the sample;
an image analysis module: and (4) segmenting the collected sample image to obtain the tillering number of the sample.
CN201810172796.7A 2018-03-01 2018-03-01 Linear array laser imaging method for rice tillering counting Active CN108801942B (en)

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Publication number Priority date Publication date Assignee Title
CN110068277A (en) * 2019-04-30 2019-07-30 中国农业科学院农业环境与可持续发展研究所 A kind of system and method for automatic Observation crops plant height data

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CN101349655A (en) * 2008-07-18 2009-01-21 华中科技大学 Automatic measuring device and method of plant tillering number
CN104897671A (en) * 2015-05-07 2015-09-09 北京农业智能装备技术研究中心 Identification system for fruit stem and calyx of fruit
CN205138484U (en) * 2015-11-06 2016-04-06 杭州道盈信息科技有限公司 Observation detection device that rice tillers
CN206627071U (en) * 2017-04-10 2017-11-10 淮阴工学院 A kind of full-automatic crops plant height measurement apparatus

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6574425B1 (en) * 1997-10-31 2003-06-03 Jack L. Aronowitz Reflectometer
CN101349655A (en) * 2008-07-18 2009-01-21 华中科技大学 Automatic measuring device and method of plant tillering number
CN104897671A (en) * 2015-05-07 2015-09-09 北京农业智能装备技术研究中心 Identification system for fruit stem and calyx of fruit
CN205138484U (en) * 2015-11-06 2016-04-06 杭州道盈信息科技有限公司 Observation detection device that rice tillers
CN206627071U (en) * 2017-04-10 2017-11-10 淮阴工学院 A kind of full-automatic crops plant height measurement apparatus

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