CN109168724B - Seedling raising system and method - Google Patents
Seedling raising system and method Download PDFInfo
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- CN109168724B CN109168724B CN201811196005.0A CN201811196005A CN109168724B CN 109168724 B CN109168724 B CN 109168724B CN 201811196005 A CN201811196005 A CN 201811196005A CN 109168724 B CN109168724 B CN 109168724B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
Abstract
The embodiment of the invention provides a seedling system and a method, wherein the seedling system comprises: the system comprises an image acquisition unit, a light source detection unit and an information processing unit; the image acquisition unit is in communication connection with the information processing unit and is used for acquiring a target image of the target sapling and sending the acquired target image to the information processing unit; the light source detection unit is in communication connection with the information processing unit and is used for detecting the target light source direction of the target light source and sending the target light source direction to the information processing unit; and the information processing unit is used for receiving the target image sent by the image acquisition unit and the light source direction sent by the light source detection unit, and determining the branch to be corrected of the target tree seedling according to the target image and the target light source direction so as to correct the branch of the target tree seedling according to the determined branch to be corrected. When the scheme provided by the seedling raising system is used for raising seedlings, the problem that the seedlings grow in a bent mode due to phototropism can be solved, and the economic benefit of seedling raising is improved.
Description
Technical Field
The invention relates to the technical field of seedling raising and image processing, in particular to a seedling raising system and method.
Background
Generally, a plant exhibits phototropism during growth, which is a phenomenon that growing organs of the plant are bent due to unidirectional light irradiation. For potted plants, the phenomenon of growth curvature due to phototropism can be improved by rotating the flowerpot. However, for forestry seedling raising applications, the seedlings are usually planted directly on the ground, not in flowerpots, and thus the problem of bending of the seedlings due to phototropism cannot be solved by rotating the flowerpots. However, for the application of seedling growth in forestry, the economic value of bent seedlings will be greatly reduced, so a seedling growing scheme is urgently needed to solve the problem that the seedlings grow bent due to phototropism, so as to improve the economic benefit of seedling growth in forestry.
Disclosure of Invention
The embodiment of the invention aims to provide a seedling raising system and method, which aim to solve the problem that the growth of a seedling is bent due to phototropism so as to improve the economic benefit of seedling raising.
In order to achieve the above object, an embodiment of the present invention discloses a seedling raising system, including: the system comprises an image acquisition unit, a light source detection unit and an information processing unit; wherein the content of the first and second substances,
the image acquisition unit is in communication connection with the information processing unit and is used for acquiring a target image of a target sapling and sending the acquired target image to the information processing unit;
the light source detection unit is in communication connection with the information processing unit and is used for detecting the target light source direction of a target light source and sending the target light source direction to the information processing unit;
the information processing unit is used for receiving the target image sent by the image acquisition unit and the light source direction sent by the light source detection unit, and determining the branches to be corrected of the target tree seedling according to the target image and the target light source direction so as to correct the branches of the target tree seedling according to the determined branches to be corrected.
Preferably, the information processing unit is specifically configured to:
dividing the target image into an illuminated region and a non-illuminated region based on a contrast of the image;
extracting each branch image area in the non-illumination area by using an edge detection and extraction algorithm;
and determining the branches corresponding to the image areas of the branches in the non-illumination areas as the branches to be corrected.
Preferably, the information processing unit is specifically configured to:
preprocessing the target image to obtain a gray level image of the target image, performing image enhancement processing on the gray level image by using an image enhancement algorithm, and dividing the enhanced gray level image into an illumination area and a non-illumination area by using a threshold segmentation algorithm.
Preferably, the seedling raising system further comprises a plurality of mechanical arms, and each mechanical arm is used for clamping a preset branch of the target seedling;
the information processing unit is further configured to send a branch correction instruction to a target mechanical arm which holds the determined branch to be corrected, so that the mechanical arm moves the held branch after receiving the branch correction instruction.
Preferably, the information processing unit is specifically configured to:
calculating a correction included angle between the mutually-shielded branches and the direction of the target light source;
and sending a branch correcting instruction to a target mechanical arm with the smallest clamping correcting included angle, so that the mechanical arm can move according to the correcting included angle after receiving the branch correcting instruction.
In order to achieve the above object, an embodiment of the present invention discloses a seedling raising method applied to the above seedling raising system, where the seedling raising method includes:
the image acquisition unit acquires a target image of a target sapling and sends the acquired target image to the information processing unit;
the light source detection unit detects a target light source direction of a target light source and sends the target light source direction to the information processing unit;
and the information processing unit receives the target image sent by the image acquisition unit and the light source direction sent by the light source detection unit, and determines the branches to be corrected of the target tree seedling according to the target image and the target light source direction so as to correct the branches of the target tree seedling according to the determined branches to be corrected.
Preferably, the information processing unit determines the branch to be corrected of the target seedling according to the following modes:
dividing the target image into an illuminated region and a non-illuminated region based on a contrast of the image;
extracting each branch image area in the non-illumination area by using an edge detection and extraction algorithm;
and determining the branches corresponding to the image areas of the branches in the non-illumination areas as the branches to be corrected.
Preferably, the information processing unit divides the illuminated area and the non-illuminated area in the following manner:
preprocessing the target image to obtain a gray level image of the target image, performing image enhancement processing on the gray level image by using an image enhancement algorithm, and dividing the enhanced gray level image into an illumination area and a non-illumination area by using a threshold segmentation algorithm.
Preferably, the seedling raising system further includes a plurality of mechanical arms, each of the mechanical arms is configured to clamp a preset branch of the target seedling, and after the step of determining the branch to be corrected of the target seedling according to the target image and the target light source direction, the seedling raising method further includes:
and the information processing unit sends a branch correction instruction to the target mechanical arm for clamping the determined branch to be corrected, so that the mechanical arm moves the clamped branch after receiving the branch correction instruction.
Preferably, the step of sending the branch correction instruction to the target mechanical arm that holds the determined branch to be corrected by the information processing unit, so that the mechanical arm moves the held branch after receiving the branch correction instruction, includes:
the information processing unit calculates a correction included angle between the mutually-shielded branches and the target light source direction; and sending a branch correcting instruction to a target mechanical arm with the smallest clamping correcting included angle, so that the mechanical arm can move according to the correcting included angle after receiving the branch correcting instruction.
In the seedling raising system and method provided by the embodiment of the invention, in the seedling raising process, the image acquisition unit can be used for acquiring a target image of a target seedling, the light source detection unit is used for detecting the target light source direction of a target light source, and then the acquired target image and the target light source direction are sent to the information processing unit; and then, determining the branch to be corrected of the target tree seedling by the information processing unit according to the target image and the target light source direction so as to correct the branch of the target tree seedling according to the determined branch to be corrected. Therefore, in the process of growing the saplings, the problem of growth bending of the saplings caused by phototropism can be solved by continuously correcting the branches to be corrected of the saplings, and the economic benefit of seedling growth is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a seedling raising system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another seedling raising system according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a seedling raising method according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of another seedling raising method provided by the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to solve the problem that the growth of the seedlings is bent due to phototropism and improve the economic benefit of seedling growth, the embodiment of the invention provides the following seedling growth system and method.
As shown in fig. 1, which is a schematic structural diagram of a seedling raising system provided in an embodiment of the present invention, the seedling raising system includes: an image acquisition unit 10, a light source detection unit 20, and an information processing unit 30.
The image acquisition unit 10 is in communication connection with the information processing unit 30, and is configured to acquire a target image of a target seedling and send the acquired target image to the information processing unit 30.
Specifically, the image capturing unit mentioned here may be a camera, and it should be noted that the image capturing unit here may capture an image according to a preset frequency and send the captured target image to the information processing unit.
The light source detection unit 20 is in communication connection with the information processing unit 30, and is configured to detect a target light source direction of a target light source, and send the target light source direction to the information processing unit 30.
Specifically, the light source detection unit mentioned here may be a light source detection circuit built by using a photo resistor, and those skilled in the art can make reasonable settings according to the specific situation in practical application.
The information processing unit 30 is configured to receive the target image sent by the image acquisition unit 10 and the light source direction sent by the light source detection unit 20, and determine a branch to be corrected of the target seedling according to the target image and the target light source direction, so as to correct the branch of the target seedling according to the determined branch to be corrected.
In one implementation, the information processing unit 30 is specifically configured to:
dividing the target image into an illuminated region and a non-illuminated region based on a contrast of the image;
extracting each branch image area in the non-illumination area by using an edge detection and extraction algorithm;
and determining the branches corresponding to the image areas of the branches in the non-illumination areas as the branches to be corrected.
It can be understood that, for the target image of the target seedling, due to the unilateral illumination, two regions with different light and shade are easy to appear on the image, and the branches in the non-illuminated region are easy to grow slowly due to insufficient sunlight irradiation, thereby affecting the cultivation quality of the target seedling. In view of this, through the above image processing method, the target image may be divided into an illumination region and a non-illumination region, and then each branch image region is extracted by using an edge detection algorithm, so that the branch to be corrected may be obtained, so as to perform corresponding branch correction processing according to the determined branch to be corrected in the following step.
In one implementation, edge detection and extraction may be performed using a Roberts operator, a Prewitt operator, a Sobel operator, a log (laplacian of gaussian) operator, and the like. It should be noted that, the above-mentioned calculation formula related to edge detection and extraction has been disclosed in the prior art, and details are not repeated here, and the calculation formula disclosed in the prior art may be referred to obtain the edge of each branch image area in the non-illumination area.
In one implementation, the information processing unit 30 is specifically configured to:
preprocessing the target image to obtain a gray level image of the target image, performing image enhancement processing on the gray level image by using an image enhancement algorithm, and dividing the enhanced gray level image into an illumination area and a non-illumination area by using a threshold segmentation algorithm.
It should be noted that the preprocessing performed on the target image may include rotation, rectification, and graying of the image, and the embodiment of the present invention does not need to limit a specific algorithm of the preprocessing.
According to the seedling growing system provided by the embodiment of the invention, in the seedling growing process of forestry, the image acquisition unit can be used for acquiring the target image of the target seedling, the light source detection unit is used for detecting the target light source direction of the target light source, and then the acquired target image and the target light source direction are sent to the information processing unit; and then, determining the branch to be corrected of the target tree seedling by the information processing unit according to the target image and the target light source direction so as to correct the branch of the target tree seedling according to the determined branch to be corrected. Therefore, in the process of growing the saplings, the problem of growth bending of the saplings caused by phototropism can be solved by continuously correcting the branches to be corrected of the saplings, and the economic benefit of seedling growth is improved.
Further, as shown in fig. 2, which is a schematic structural diagram of another seedling raising system according to an embodiment of the present invention, based on the embodiment of the system shown in fig. 1, the seedling raising system may further include a plurality of robotic arms 40, where each robotic arm 40 is configured to hold a predetermined branch of the target seedling.
Accordingly, the information processing unit 30 is further configured to send a branch straightening instruction to the target robot arm 40 that clamps the determined branch to be straightened, so that the robot arm 40 moves the clamped branch after receiving the branch straightening instruction.
It should be noted that the number of the mechanical arms may be determined according to the plant size of the target seedling, for example, 3 to 5 mechanical arms may be provided for plants below 1 meter, and 5 to 8 mechanical arms may be provided for plants above 1 meter, which are, of course, only exemplified here, and the listed specific numbers should not be understood as limitations to the embodiments of the present invention, and those skilled in the art need to make reasonable settings according to specific situations in practical applications.
In one implementation, the information processing unit 30 is specifically configured to:
(1) calculating a correction included angle between the mutually-shielded branches and the direction of the target light source;
(2) and sending a branch correcting instruction to the target mechanical arm 40 with the smallest clamping correcting included angle, so that the mechanical arm 40 moves according to the correcting included angle after receiving the branch correcting instruction.
It should be noted that, the system embodiment shown in fig. 2 can further determine the correction included angle between the mutually-shielded branches and the direction of the target light source, and enable the target mechanical arm with the minimum clamping correction included angle to move the corresponding branch of the target seedling according to the correction included angle, thereby implementing the automatic correction of the branch to be corrected of the target seedling, ensuring that each branch of the target seedling can fully absorb the light source, ensuring the seedling quality of seedling raising, and improving the economic benefit of seedling raising.
The seedling raising method provided by the embodiment of the invention is described below.
As shown in fig. 3, which is a schematic flow chart of a seedling raising method provided in an embodiment of the present invention, it should be noted that the seedling raising method provided in the embodiment of the present invention may be applied to each seedling raising system described above, and the seedling raising method may include the following steps:
s101: the image acquisition unit acquires a target image of the target sapling and sends the acquired target image to the information processing unit.
Specifically, the image capturing unit mentioned here may be a camera, and it should be noted that the image capturing unit here may capture an image according to a preset frequency and send the captured target image to the information processing unit.
S102: the light source detection unit detects a target light source direction of a target light source and sends the target light source direction to the information processing unit.
Specifically, the light source detection unit mentioned here may be a light source detection circuit built by using a photo resistor, and those skilled in the art can make reasonable settings according to the specific situation in practical application.
S103: and the information processing unit receives the target image sent by the image acquisition unit and the light source direction sent by the light source detection unit, and determines the branches to be corrected of the target tree seedling according to the target image and the target light source direction so as to correct the branches of the target tree seedling according to the determined branches to be corrected.
In one implementation, the information processing unit determines the branch to be corrected of the target seedling according to the following modes:
a. dividing the target image into an illuminated region and a non-illuminated region based on a contrast of the image;
b. extracting each branch image area in the non-illumination area by using an edge detection and extraction algorithm;
c. and determining the branches corresponding to the image areas of the branches in the non-illumination areas as the branches to be corrected.
It can be understood that, for the target image of the target seedling, due to the unilateral illumination, two regions with different light and shade are easy to appear on the image, and the branches in the non-illuminated region are easy to grow slowly due to insufficient sunlight irradiation, thereby affecting the cultivation quality of the target seedling. In view of this, through the above image processing method, the target image may be divided into an illumination region and a non-illumination region, and then each branch image region is extracted by using an edge detection algorithm, so that the branch to be corrected may be obtained, so as to perform corresponding branch correction processing according to the determined branch to be corrected in the following step.
In one implementation, edge detection and extraction may be performed using a Roberts operator, a Prewitt operator, a Sobel operator, a log (laplacian of gaussian) operator, and the like. It should be noted that, the above-mentioned calculation formula related to edge detection and extraction has been disclosed in the prior art, and details are not repeated here, and the calculation formula disclosed in the prior art may be referred to obtain the edge of each branch image area in the non-illumination area.
In one implementation, the information processing unit divides the illuminated area and the non-illuminated area in the following manner:
preprocessing the target image to obtain a gray level image of the target image, performing image enhancement processing on the gray level image by using an image enhancement algorithm, and dividing the enhanced gray level image into an illumination area and a non-illumination area by using a threshold segmentation algorithm.
It should be noted that the preprocessing performed on the target image may include rotation, rectification, and graying of the image, and the embodiment of the present invention does not need to limit a specific algorithm of the preprocessing.
In the seedling raising method provided by the embodiment of the invention, in the seedling raising process, the image acquisition unit can be used for acquiring the target image of the target seedling, the light source detection unit is used for detecting the target light source direction of the target light source, and then the acquired target image and the target light source direction are sent to the information processing unit; and then, determining the branch to be corrected of the target tree seedling by the information processing unit according to the target image and the target light source direction so as to correct the branch of the target tree seedling according to the determined branch to be corrected. Therefore, in the process of growing the saplings, the problem of growth bending of the saplings caused by phototropism can be solved by continuously correcting the branches to be corrected of the saplings, and the economic benefit of seedling growth is improved.
As shown in fig. 4, which is a schematic flow chart of another seedling raising method according to an embodiment of the present invention, the seedling raising system further includes a plurality of mechanical arms, each of the mechanical arms is configured to clamp a preset branch of the target seedling, and after the step of determining the branch to be corrected of the target seedling according to the target image and the target light source direction, the seedling raising method further includes:
s104: and the information processing unit sends a branch correction instruction to the target mechanical arm for clamping the determined branch to be corrected, so that the mechanical arm moves the clamped branch after receiving the branch correction instruction.
In one implementation, the step of sending a branch correction instruction to a target robot arm that holds the determined branch to be corrected by the information processing unit, so that the robot arm moves the held branch after receiving the branch correction instruction includes:
(1) the information processing unit calculates a correction included angle between the mutually-shielded branches and the target light source direction;
(2) and sending a branch correcting instruction to a target mechanical arm with the smallest clamping correcting included angle, so that the mechanical arm can move according to the correcting included angle after receiving the branch correcting instruction.
It should be noted that the number of the mechanical arms may be determined according to the plant size of the target seedling, for example, 3 to 5 mechanical arms may be provided for plants below 1 meter, and 5 to 8 mechanical arms may be provided for plants above 1 meter, which are, of course, only exemplified here, and the listed specific numbers should not be understood as limitations to the embodiments of the present invention, and those skilled in the art need to make reasonable settings according to specific situations in practical applications.
It should be noted that, the method embodiment shown in fig. 4 may further determine a correction included angle between mutually-shielded branches and a target light source direction, and enable the target mechanical arm with the smallest clamping correction included angle to move the corresponding branch of the target seedling according to the correction included angle, so as to implement automatic correction of the branch to be corrected of the target seedling, ensure that each branch of the target seedling can fully absorb a light source, ensure the seedling quality of seedling raising, and improve the economic benefit of seedling raising.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that all or part of the steps in the above method embodiments may be implemented by a program to instruct relevant hardware to perform the steps, and the program may be stored in a computer-readable storage medium, referred to herein as a storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (2)
1. A seedling raising system, characterized by comprising: the system comprises an image acquisition unit, a light source detection unit and an information processing unit; wherein the content of the first and second substances,
the image acquisition unit is in communication connection with the information processing unit and is used for acquiring a target image of a target sapling and sending the acquired target image to the information processing unit;
the light source detection unit is in communication connection with the information processing unit and is used for detecting the target light source direction of a target light source and sending the target light source direction to the information processing unit;
the information processing unit is used for receiving the target image sent by the image acquisition unit and the light source direction sent by the light source detection unit, and determining the branches to be corrected of the target tree seedling according to the target image and the target light source direction so as to correct the branches of the target tree seedling according to the determined branches to be corrected;
the information processing unit is specifically configured to:
dividing the target image into an illuminated region and a non-illuminated region based on a contrast of the image;
extracting each branch image area in the non-illumination area by using an edge detection and extraction algorithm;
determining the branches corresponding to the branch image areas in the non-illumination areas as branches to be corrected;
the seedling raising system further comprises a plurality of mechanical arms, and each mechanical arm is used for clamping a preset branch of the target seedling;
the information processing unit is further configured to send a branch correction instruction to a target mechanical arm which holds the determined branch to be corrected, so that the mechanical arm moves the held branch after receiving the branch correction instruction.
2. The seedling growing system according to claim 1, wherein the information processing unit is specifically configured to:
preprocessing the target image to obtain a gray level image of the target image, performing image enhancement processing on the gray level image by using an image enhancement algorithm, and dividing the enhanced gray level image into an illumination area and a non-illumination area by using a threshold segmentation algorithm.
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| CN1075923C (en) * | 1997-10-29 | 2001-12-12 | 谢永发 | Method for topiary work of fruit tree |
| JP3728511B2 (en) * | 2003-07-07 | 2005-12-21 | 国立大学法人名古屋大学 | Mobile three-dimensional structure measuring device |
| US8537337B2 (en) * | 2009-12-22 | 2013-09-17 | Weyerhaeuser Nr Company | Method and apparatus for analyzing tree canopies with LiDAR data |
| CN102564593B (en) * | 2011-12-30 | 2013-10-02 | 河海大学常州校区 | Plant growth condition monitoring system based on compute vision and internet of things |
| CN103512494B (en) * | 2013-07-16 | 2017-02-08 | 宁波职业技术学院 | Visual inspection system and method for scale micro changes of plant fruits |
| KR101564626B1 (en) * | 2014-03-14 | 2015-11-02 | 한국과학기술연구원 | Plant Status Automatic Analysis Device and Analysis method using thereof |
| CN107507207B (en) * | 2017-07-07 | 2020-09-08 | 中国农业大学 | Pruning evaluation method based on fruit tree canopy illumination distribution calculation |
| CN107908198B (en) * | 2017-11-17 | 2020-11-03 | 福建农林大学 | Illumination shaping guide system and method for plant bonsai |
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