CN112610828A - Wheat image acquisition equipment in field - Google Patents
Wheat image acquisition equipment in field Download PDFInfo
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- CN112610828A CN112610828A CN202011591299.4A CN202011591299A CN112610828A CN 112610828 A CN112610828 A CN 112610828A CN 202011591299 A CN202011591299 A CN 202011591299A CN 112610828 A CN112610828 A CN 112610828A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/045—Allowing translations adapted to left-right translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
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- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to field wheat image acquisition equipment. The field wheat image acquisition equipment comprises a support frame, a walking device, an image acquisition device, a background plate and a control system, wherein the walking device, the image acquisition device, the background plate and the control system are arranged on the support frame, the walking device can drive the support frame to move forwards, the image acquisition device comprises a camera, the control system comprises a walking control unit for controlling the start and stop of the driving motor and an image acquisition control unit for controlling the camera to acquire the images of the wheat plants, the background plate and the camera are oppositely arranged in the left and right directions so as to acquire the images of the side parts of the wheat plants through the camera, therefore, more wheat surface shape parameter information is acquired through the acquired image, in addition, the background plate is used for separating the background, the interference of other rows of wheat on the acquisition of the current row of wheat images is reduced, the field wheat image acquisition equipment can improve the acquisition working efficiency of the side images of the wheat under the action of the camera and the background plate, and is convenient for subsequent image processing and wheat phenotype parameter extraction.
Description
Technical Field
The invention relates to field wheat image acquisition equipment.
Background
The main phenotypic parameters of wheat include leaf number, leaf inclination angle, leaf area, plant height, tiller number, ear length, ear grain, etc. The phenotype of wheat is closely related to the growth condition and yield of crops, so that the phenotype of wheat is an important research content when a high-yield novel wheat variety is cultivated.
Currently, the acquisition devices for field wheat phenotypes can be roughly divided into three categories. Firstly, an unmanned aerial vehicle or a remote sensing technology is adopted to collect large field crops, although the efficiency is high, the information of the structure and the growth characteristics of wheat cannot be obtained; secondly, a track type acquisition device is adopted, a track is required to be arranged above an acquisition area, acquisition is carried out on one area, and the device is high in limitation and high in manufacturing cost; and thirdly, field self-propelled equipment is used, but the existing field-oriented self-propelled equipment is small in size and cannot collect high wheat, and large-scale equipment needs manpower and is low in automation degree.
A device for acquiring high-flux phenotype information of field wheat is disclosed in a utility model patent document with an authorization notice number of CN209656661U and an authorization notice date of 2019, 11 and 19. The device controls wheels to walk in the blank land between wheat rows through a motor, the plant height of each row of wheat is detected through a downward infrared distance measuring sensor, a digital camera and a height spectrometer are adopted to respectively obtain images and spectrum information of wheat plants, the wheat spike number and the wheat susceptibility degree are detected, the collection of higher wheat plant images can be realized, however, the digital camera for collecting the wheat plant images is arranged downwards, only overlook image information of the wheat plants can be collected, only limited phenotype parameters such as the tiller number of the wheat plants, the leaf area and the like can be obtained from overlook images, and the parameter information of the wheat leaf number, the leaf inclination angle, the spike length and the spike type cannot be obtained.
Disclosure of Invention
The invention aims to provide field wheat image acquisition equipment to solve the technical problem that wheat phenotype parameters which can be acquired by the wheat image acquisition equipment in the prior art are limited.
The field wheat image acquisition equipment adopts the following technical scheme:
field wheat image acquisition equipment includes:
the supporting frame is used for supporting on the ground;
the walking device can drive the support frame to move;
the image acquisition device is arranged on the support frame and comprises a camera, and the camera is used for acquiring the image information of the wheat plants;
the control system is fixed on the support frame and comprises a walking control unit and an image acquisition control unit, the walking control unit controls the starting and stopping of the walking device, and the image acquisition control unit controls the camera to acquire the wheat plant image;
the background plate is arranged on the support frame, extends in the front-back direction, is arranged opposite to the camera lens in the left-right direction, and is used for separating the background so as to reduce the interference of wheat in other rows on the current row when the wheat plant image information is acquired;
the invention has the beneficial effects that: according to the field wheat image acquisition equipment, the walking control unit controls the starting and stopping of the walking device, so that the support frame is controlled to walk in a wheat field, the wheat plant image is acquired through the camera in the image acquisition device, the camera lens and the background plate are oppositely arranged in the left and right directions in the process of acquiring the wheat plant image, the side image of the wheat plant can be acquired through the camera, and more wheat phenotype parameter information can be acquired through the acquired image; in addition, the background plate can reduce the interference of wheat in other lines on the wheat in the current line so as to facilitate the subsequent processing of the image and the extraction of the wheat phenotype parameters and improve the image acquisition working efficiency.
Furthermore, the position of the camera relative to the support frame is adjustable, the image acquisition device comprises a slide rail fixed on the support frame and a sliding table arranged on the slide rail, the sliding table is in guiding sliding fit with the slide rail, the camera is installed on the sliding table, and the position of the camera can be adjusted through the guiding sliding of the sliding table on the slide rail.
The beneficial effects are as follows: the structure of the image acquisition device can meet the requirement that the position of the camera relative to the support frame is adjustable, so that a suitable plant suitable for imaging can be selected in a certain imaging area range, and the wheat plants with different heights or different row distances can be adapted through the adjustment of the position of the camera on the support frame, so that the acquired wheat plants are located in the imaging range of the camera.
Further, the sliding rail comprises a horizontal sliding rail and a vertical sliding rail, the sliding table is in guiding fit with the vertical sliding rail, and the vertical sliding rail can move along the horizontal sliding rail in a guiding mode; or the sliding table is matched with the horizontal sliding rail in a guiding way, and the horizontal sliding rail can move along the vertical sliding rail in a guiding way.
The beneficial effects are as follows: the structure of the image acquisition device can facilitate the respective adjustment of the position of the camera in the vertical direction and the position of the camera in the horizontal direction.
Furthermore, a rotating motor is fixed on the sliding table, the camera is in transmission connection with an output shaft of the rotating motor, and the orientation angle of the camera lens can be adjusted through the control of the control system on the rotating motor.
The beneficial effects are as follows: the above-mentioned structure setting satisfies camera lens orientation in the ascending angle modulation of upper and lower side, adapts to not co-altitude's formation of image plant to the wheat plant that makes the collection all is located the imaging range of camera.
Furthermore, the support frame is provided with a guide groove with the length extending along the left-right direction, the background plate is in guide fit with the guide groove through the guide block, and the position of the guide block in the guide groove can be adjusted to adjust the position of the background plate in the left-right direction.
The beneficial effects are as follows: the position of the background plate can be adjusted according to the wheat row spacing by the aid of the structure, so that the field wheat image acquisition equipment can acquire the image information of wheat plants in the wheat fields with different row spacings.
Furthermore, the field wheat image acquisition equipment also comprises an illuminating device, wherein the illuminating device is positioned above the image acquisition device and fixed on the support frame to provide a light source for the image acquisition device.
The beneficial effects are as follows: the arrangement of the lighting device can enable the field wheat image acquisition equipment to be used in the environment with insufficient light or at night, so that the imaging definition is improved.
Further, running gear includes the wheel, and the wheel disposes driving motor, and the wheel drives the support frame under driving motor's effect and moves forward, and the support frame includes three piece at least spinal branch vaulting poles and fixes the supporting platform on the bracing piece, and the wheel passes through wheel carrier and rotates the assembly in the bracing piece below, and driving motor fixes on supporting platform, driving motor and wheel one-to-one, and driving motor passes through the sprocket and the chain is connected with corresponding wheel transmission.
The beneficial effects are as follows: in the structure, the driving motor is arranged on the supporting platform, the driving motor is controlled to start and stop through the control device, the driving motor transmits power to the wheels through the chain wheels and the chains, the stability of the running process of the wheels can be improved, the motor is prevented from being damaged due to uneven and bumpy ground, the driving motor corresponds to the wheels one to one, the quantity of the driving motor can be increased, the weight of the whole field wheat image acquisition equipment is increased, and the stability of the equipment in the field walking process is facilitated.
Furthermore, each wheel bracket is matched with the corresponding support rod in a plug-in manner, and a damping spring is arranged between each wheel bracket and the corresponding support rod.
The beneficial effects are as follows: the arrangement of the damping spring can effectively reduce the bumping degree of the field wheat image acquisition equipment caused by uneven ground, and is favorable for ensuring the stable and reliable work of the field wheat image acquisition equipment.
Furthermore, a limiting plate is fixed on the supporting rod, the damping springs are assembled between the limiting plate and the wheel support in a guiding mode, at least two damping springs corresponding to the supporting rods are arranged, and the damping springs are arranged at intervals in the circumferential direction corresponding to the supporting rods.
The beneficial effects are as follows: the structure can reduce the inclination degree of the field wheat image acquisition equipment in the bumping process, and ensure the integral consistency of the equipment in the walking process.
Drawings
FIG. 1 is a front view of a field wheat image pickup device according to the present invention in the embodiment 1;
FIG. 2 is a perspective view of a field wheat image pickup device of the present invention in embodiment 1;
FIG. 3 is a schematic structural diagram of an image acquisition device and a background plate in the embodiment 1 of the field wheat image acquisition equipment of the present invention;
FIG. 4 is a front view of an assembly structure of a support rod, a damping spring and a wheel bracket in the embodiment 1 of the field wheat image acquisition device of the present invention;
FIG. 5 is a perspective view showing an assembled structure of a support bar, a damping spring and a wheel bracket in embodiment 1 of the field wheat image capturing apparatus of the present invention;
description of reference numerals:
1. a shadowless lamp; 2. a lead screw motor; 3. a camera mount; 4. a camera fixture; 5. a camera; 6. a background plate; 7. a sprocket; 8. a damping spring; 9. a chain; 10. a support bar; 11. a computer; 12. an L-shaped lamp holder; 13. a wheel; 14. a power supply box; 15. a drive motor; 16. a pulley motor; 17. a left belt pulley; 18. a T-shaped fixed block; 19. fixing the rod; 20. a rotating electric machine; 21. a sliding table; 22. a vertical slide rail; 23. a right belt pulley; 24. a slider; 25. a horizontal guide rail; 26. a belt; 27. a wheel support; 28. a wheel carrier support plate; 29. a sleeve; 30. a limiting plate; 31. a support platform; 32. a T-piece; 33. a limit nut; 34. a horizontal slide rail.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that 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.
The features and properties of the present invention are described in further detail below with reference to examples.
The specific embodiment of the field wheat image acquisition equipment of the invention 1:
the field wheat image acquisition equipment comprises a support frame, a walking device and an image acquisition device, wherein the walking device and the image acquisition device are fixed on the support frame. As shown in fig. 1 and 2, the supporting frame includes four supporting rods 10 extending in the up-down direction, the four supporting rods 10 enclose a rectangle, the four supporting rods 10 are located at four vertices of the rectangle, a supporting platform 31 is disposed above the supporting rods 10,
in this embodiment, the walking device includes a wheel 13 disposed below the supporting frame, the wheel 13 is configured with a driving motor 15, and the wheel 13 can drive the supporting frame to move back and forth under the action of the driving motor 15. Referring to fig. 1, 2, 4 and 5, the wheel 13 is rotatably mounted below the supporting rod 10 through a wheel bracket 27, specifically, the wheel bracket 27 includes a wheel bracket supporting plate 28 and two supporting side plates located at two sides of the wheel bracket supporting plate 28 and extending downward, through holes are provided on both supporting side plates, and the wheel 13 is rotatably mounted in the through holes of the two supporting side plates through bearings, so as to realize the rotating and rotating mounting of the wheel 13 and the supporting frame.
In this embodiment, as shown in fig. 1, 2 and 4, a sleeve 29 is further disposed above the wheel carrier support plate 28, the sleeve 29 and the wheel carrier support plate 28 are welded into an integral structure, the support rod 10 is a round rod, the lower end of the support rod 10 is inserted into and fitted with the sleeve 29, a position of the support rod 10 near the lower end thereof is provided with a limit plate 30, the limit plate 30 is parallel to and spaced from the wheel carrier support plate 28, and the damping spring 8 is guided and assembled between the limit plate 30 and the wheel carrier support plate 28. Specifically, two through holes are arranged on the limiting plate 30, the two through holes are respectively positioned at two sides of the supporting rod 10 and are symmetrically arranged about the axis of the supporting rod, a T-shaped part 32 is assembled on the wheel carrier supporting plate 28, the horizontal part of the T-shaped part 32 is connected with the wheel carrier supporting plate 28 through a screw, the vertical part of the T-shaped part 32 and the through holes on the wheel carrier supporting plate 28 are coaxially arranged, the tail part of the vertical part of the T-shaped part 32 is an external thread section, the external thread section passes through the through holes and is in locking fit with a limiting nut 33, a damping spring 8 is sleeved on the vertical part of the T-shaped part 32 and is pressed between the wheel carrier supporting plate 28 and the limiting plate 30, when the wheel 13 passes through uneven ground, the damping spring 8 can play a role in buffering to reduce the jolt and vibration of the field wheat image acquisition equipment caused by the uneven ground, and the arrangement form of the two damping springs 8 positioned at two sides of the, the integral consistency of the field wheat image acquisition equipment in the bumping process is ensured.
In this embodiment, as shown in fig. 1 and 2, the driving motors 15 are disposed on the supporting platform 31, four driving motors 15 are disposed, and are disposed on the supporting rods 10 in the up-down direction, the output shafts of the driving motors 15 are connected with the upper chain wheels 7, the outer sides of the corresponding wheels 13 in the left-right direction are connected with the lower chain wheels 7, the upper chain wheels 7 and the lower chain wheels 7 corresponding to each other in the up-down direction are connected through the chains 9, so that power transmission between the corresponding driving motors 15 and the corresponding wheels 13 is realized through chain transmission, the weight of the field wheat image collecting device can be increased due to the four driving motors 15, and the stability of the field wheat image collecting device in the field walking process can be improved.
In this embodiment, as shown in fig. 1 to 3, the field wheat image collecting device further includes an image collecting device, the image collecting device is located at the front side of the support frame, the image collecting device includes a camera 5, the camera 5 is installed on the support frame through a camera fixing frame 3, the camera is located at the side of the collected wheat plant and is used for collecting the side image information of the wheat plant, the lens of the camera 5 faces the horizontal direction, and the facing angle of the camera lens is adjustable. Specifically, the camera fixing frame 3 is located on the front side of the supporting platform 31, the camera fixing frame 3 is an L-shaped support, the horizontal portion of the L-shaped support is fixed on the supporting platform 31, the vertical portion of the L-shaped support is located on the front side of the horizontal portion of the L-shaped support, and a reinforcing rib which is obliquely arranged is arranged between the vertical portion of the L-shaped support and the supporting platform 31 so as to increase the strength of the camera fixing frame 3.
In this embodiment, as shown in fig. 1 and fig. 3, the image capturing device includes a slide rail fixed on the camera fixing frame 3 and a sliding table 21 disposed on the slide rail, the slide rail includes a horizontal slide rail 34 and a vertical slide rail 22, the horizontal slide rail 34 is fixed on the upper portion of the front side of the camera fixing frame 3, a slider 24 is fixed on the rear side of the vertical slide rail 22, a left belt pulley 17 and a right belt pulley 23 are disposed on the horizontal slide rail 34, the two belt pulleys are connected by a belt 26, a horizontal guide rail 25 is further disposed on the horizontal slide rail 34 at the lower side of the belt 26, the slider 24 is fixed on the belt 26 near the horizontal guide rail, a belt pulley motor 16 is fixed on the rear portion of the horizontal slide rail 34, the slider 24 can be driven by the belt pulley motor 16 to move left and right under the guiding effect of the horizontal.
In other embodiments, the vertical slide rail can be fixed on the front side surface of the camera fixing frame, the sliding block is fixed on the rear side of the horizontal slide rail, the horizontal slide rail can move up and down in the vertical slide rail through the sliding block, the sliding table is arranged on the horizontal slide rail, and the camera can move in the horizontal slide rail in a guiding manner through the sliding table.
In this embodiment, as shown in fig. 3, a sliding table 21 is arranged on the vertical slide rail 22, the sliding table 21 is guided to move in the vertical slide rail 22 through a lead screw nut mechanism, a lead screw motor 2 is fixed at the upper end of the vertical slide rail 22, and the sliding table 21 can be driven by the lead screw motor 2 to move up and down in the vertical slide rail 22 along a lead screw. The camera 5 is mounted on a slide table 21, and the movement of the position of the camera 5 in the up-down direction is achieved by the up-down movement of the slide table 21 in a vertical slide rail 22. The arrangement of the horizontal sliding rail 34 and the vertical sliding rail 22 can realize the adjustment of the position of the camera 5 in the left-right direction and the up-down direction, thereby satisfying the position adjustment of the camera 5 relative to the supporting frame, being convenient for selecting suitable plants suitable for imaging in a certain imaging area range, and also realizing the collection of the camera on wheat plant images with different heights and different distances, so that the field wheat image collection equipment has higher adaptability to wheat with different row spacing and different growth periods.
In this embodiment, as shown in fig. 1 and 3, a rotating motor 20 is fixed on the sliding table 21, an output shaft of the rotating motor 20 extends forward, a camera clamp 4 for clamping a camera 5 is fixed on the output shaft of the rotating motor 20, the rotating motor 20 is driven, the angle of the lens orientation of the camera in the up-down direction can be adjusted to adapt to the imaging plants with different heights, the condition that the acquired wheat plant images are all located in the imaging range of the camera is met, and the condition that field wheat image acquisition equipment acquires the images of the wheat plants with different heights in the same growing period is met.
In this embodiment, as shown in fig. 1 and 3, the field wheat image collecting device further includes a background plate 6 mounted on the camera fixing frame 3, the background plate 6 extends in the front-rear direction and is arranged opposite to the camera lens in the left-right direction, so as to separate the background when the camera 5 collects wheat plant images, thereby reducing interference of wheat in other rows on the wheat in the current row. Specifically, a fixing rod 19 is arranged on the lower portion of the front side of the camera fixing frame 3, a T-shaped groove is formed in the fixing rod 19, a notch of the T-shaped groove faces upwards, the T-shaped groove forms a guide groove extending in the left-right direction, a T-shaped fixing block 18 is arranged in the T-shaped groove, the vertical portion of the T-shaped fixing block 18 extends out of the T-shaped groove and is fixedly connected with the background plate 6, the T-shaped fixing block 18 forms a guide block matched with the guide groove in a guiding mode, the position of the background plate 6 in the left-right direction can be adjusted by adjusting the position of the T-shaped fixing block 18 in the T-shaped groove, and therefore the requirement for collecting image information of wheat plants in wheat fields.
In this embodiment, as shown in fig. 1 and 2, the field wheat image collecting device further includes a control system, the control system is fixed on the support frame, an upper table is connected above the support platform through two vertical side plates, a storage space for placing the driving motor 15 is formed between the upper table and the support platform 31, and a power box 14 is further placed in the storage space to supply power to the control system and the motor in the field wheat image collecting device through the power box 14. The control system comprises a walking control unit and an image acquisition control unit, the walking control unit controls the start and stop of the driving motor 15 so as to control the wheat image acquisition equipment in the field to walk in the field, the image acquisition control unit controls the camera 5 to acquire images of wheat plants in the interval of the stop of the walking device and upload the acquired image information to the computer 11 arranged on the upper table top so as to facilitate the subsequent processing of the images. In this embodiment, the control system further includes a camera position adjusting unit, and the camera position adjusting unit can control the start and stop of the belt wheel motor 16, the lead screw motor 2 and the rotating motor 20 at the idle interval of the running gear, so as to change the position of the camera 5 in the left-right direction, the up-down direction and adjust the angle of the camera lens in the up-down direction, thereby capturing the wheat plants suitable for imaging through the camera lens, and enabling the wheat plants suitable for imaging to be all located within the imaging range of the camera 5.
The camera 5 in the embodiment comprises an infrared emitter and two CMOS cameras, the infrared emitter is matched with the camera position adjusting unit when the walking device of the field wheat image acquisition equipment stops intermittence, so that a proper plant suitable for imaging is selected in a certain imaging area range, and the acquisition work of the side image of the plant is completed through the CMOS cameras.
As shown in fig. 1 and 2, a lighting device is arranged above the camera 5 and the background plate 6, the lighting device is located between the camera 5 and the background plate 6 in the horizontal direction, the lighting device is a shadowless lamp 1, the shadowless lamp 1 is fixed on the upper table top through an L-shaped lamp holder 12, the horizontal part of the L-shaped lamp holder 12 extends forwards, so that the shadowless lamp 1, the camera 5 and the background plate 6 are correspondingly arranged in the front-back direction, the lighting device can provide a light source when the camera 5 collects wheat plant images, and adjust the intensity and the frequency of the light according to the external environment conditions, so that the wheat plant image collection work of field wheat image collection equipment at night or in a dim environment is met, and the imaging definition is improved.
In the using process of the field wheat image acquisition equipment in the embodiment, the wheels 13 are positioned on the open ground among the wheat rows, the direction of the wheels 13 is the same as that of each row of wheat, the position of the background plate 6 in the horizontal direction is adjusted according to the row spacing of the wheat, and the position of the camera 5 in the vertical direction, the position in the left-right direction and the angle of a camera lens in the vertical direction are roughly adjusted through the camera position adjusting unit according to the growth period of the wheat and the average height of the wheat. Inputting time parameters of equipment walking and intermittence in a computer 11, starting a driving motor 15 through a walking control unit to enable the equipment to start working, when the equipment stops a gap, precisely adjusting the position of a camera through the matching of a camera position adjusting unit and an infrared emitter by a control system to enable the camera lens to automatically select plants suitable for imaging in a certain area range of a wheat plant and enable the plants to be all located in the imaging range of the camera 5, automatically acquiring side images of the wheat plant through the camera 5 controlled by an image acquisition control unit, uploading the acquired images to the computer 11, and during the process, a worker can check the imaged wheat plant images on the computer 11 in real time, if the imaging effect of the plants is not ideal, the worker can operate the computer 11 to manually enable the camera 5 to aim at the plants suitable for imaging in the range again, and the image suitable for the imaging plant is collected again, and the collected image is stored in the computer 11 in real time so as to obtain the wheat phenotype parameter through the image information of the wheat plant.
It should be noted that, in this embodiment, the height of the supporting platform 31 is higher than the height of the wheat plant, so that the supporting platform is located above the imaged wheat plant, the supporting platform 31 is prevented from rolling the wheat plant during the walking process of the apparatus, and the height of the camera 5 is higher than the height of the wheat plant, so that the camera 5 collects the side image of the imaged wheat plant laterally above the imaged wheat plant.
In the field wheat image acquisition equipment of the embodiment, the camera and the background plate are correspondingly arranged in the left and right directions, so that the camera can acquire the side images of the wheat plants, more wheat phenotype parameter information can be acquired through the acquired image information, the image acquisition work efficiency is improved, and the all-weather field wheat image acquisition equipment can acquire the field wheat plant images and provide a large number of high-quality original images for extracting the wheat phenotype parameters.
The specific embodiment 2 of the field wheat image acquisition device of the invention:
it differs from the specific example 1 in that: for the acquisition of the field wheat plant images in the same growth period, the same height and the same row spacing, a camera position adjusting unit is not arranged in a control system of the field wheat image acquisition equipment, the position of a corresponding camera relative to a camera fixing frame is not adjustable, and the camera is directly fixed on the camera fixing frame.
In other embodiments, a camera position adjusting device is arranged in a control system of the field wheat image acquisition equipment, only a vertical slide rail is arranged in the image acquisition device, a horizontal slide rail is not arranged, the vertical slide rail is directly fixed on a camera fixing frame, and only the position of a camera in the vertical direction can be adjusted; or in other embodiments, only the horizontal slide rail is arranged, the vertical slide rail is not arranged, and the camera is assembled in the horizontal slide rail through the guide of the slide block, so that the position of the camera in the horizontal direction can be adjusted; or in other embodiments, the camera is fixed on the camera fixing frame only through the rotating motor, and the angle of the camera lens is adjusted only through the matching of the infrared emitter and the camera position adjusting unit, so that the plants suitable for imaging are all located in the imaging range of the camera.
The specific embodiment of the field wheat image acquisition equipment of the invention 3:
it differs from the specific example 1 in that: the field wheat image acquisition equipment is not provided with a lighting device, and the equipment only works under the condition of sufficient light in the daytime.
The specific embodiment of the field wheat image acquisition equipment of the invention 4:
it differs from the specific example 1 in that: in this embodiment, the background board is directly fixed on the camera mount, and the position of background board on left and right sides orientation is unadjustable to satisfy the collection of equipment to different row spacing wheat plant images through the position of adjusting equipment wheel.
The specific embodiment 5 of the field wheat image acquisition device of the invention:
it differs from the specific example 1 in that: the quantity of bracing piece sets up three in the support frame, and corresponding wheel and the driving motor that sets up with the bracing piece one-to-one also set up three respectively, and the support frame in-process that gos forward, wherein two spinal branch vaulting poles align in the back and forth orientation, and are located the front side of back collateral branch vaulting pole.
The specific embodiment 6 of the field wheat image acquisition device of the invention:
it differs from the specific example 1 in that: the damping springs corresponding to the support rods are only arranged one by one, the damping springs are arranged in the sleeves of the wheel supports, one ends of the damping springs are in abutting fit with the wheel carrier support plate, and the other ends of the damping springs are in abutting fit with the lower end faces of the support rods, so that the effect of buffering and damping is achieved through the damping springs.
In other embodiments, four damping springs may be provided, and four damping springs may be uniformly arranged around the axis of the support rod, or in other embodiments, three, five, or more than six damping springs may be provided, and all damping springs may be uniformly arranged around the axis of the support rod.
In other embodiments, the walking device may not be provided with a damping spring, and a rubber sleeve is arranged between the limiting plate and the wheel carrier supporting plate to buffer vibration during bumping by using elasticity of rubber.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all structural changes that can be made by using the contents of the description and the drawings of the present invention are intended to be embraced therein.
Claims (9)
1. A field wheat image capture device comprising:
the supporting frame is used for supporting on the ground;
the walking device can drive the support frame to move;
the image acquisition device is arranged on the support frame and comprises a camera (5), and the camera (5) is used for acquiring the image information of the wheat plants;
the control system is fixed on the support frame and comprises a walking control unit and an image acquisition control unit, the walking control unit controls the starting and stopping of the walking device, and the image acquisition control unit controls the camera to acquire the wheat plant image;
it is characterized in that the field wheat image acquisition equipment further comprises:
the background plate (6) is arranged on the support frame, extends in the front-back direction, is arranged opposite to the camera lens in the left-right direction, and is used for separating the background so as to reduce the interference of other rows of wheat on the current row of wheat when the wheat plant image information is acquired.
2. The field wheat image acquisition equipment of claim 1, characterized in that the position of camera (5) relative to the support frame is adjustable, the image acquisition device comprises a slide rail fixed on the support frame and a sliding table (21) arranged on the slide rail, the sliding table (21) is in guiding sliding fit with the slide rail, the camera (5) is arranged on the sliding table (21), and the position of camera (5) can be adjusted through the guiding sliding of sliding table (21) on the slide rail.
3. The field wheat image acquisition equipment as claimed in claim 2, wherein the slide rail comprises a horizontal slide rail (34) and a vertical slide rail (22), the sliding table (21) is in guide fit with the vertical slide rail (22), and the vertical slide rail (22) can move along the horizontal slide rail (34); or the sliding table (21) is in guide fit with the horizontal sliding rail (34), and the horizontal sliding rail (34) can move along the vertical sliding rail (22) in a guide way.
4. The field wheat image acquisition equipment of claim 2, characterized in that a rotating motor (20) is fixed on the sliding table (21), the camera (5) is in transmission connection with an output shaft of the rotating motor (20), and the orientation angle of a camera lens can be adjusted by controlling the rotating motor (20) through a control system.
5. The field wheat image acquisition device of any one of claims 1 to 4, characterized in that the support frame is provided with a guide groove with a length extending along the left-right direction, the background plate (6) is in guide fit with the guide groove through a guide block, and the position of the background plate (6) in the left-right direction can be adjusted by adjusting the position of the guide block in the guide groove.
6. The field wheat image acquisition device of any one of claims 1 to 4, further comprising a lighting device positioned above the image acquisition device and fixed to the support frame to provide a light source for the image acquisition device.
7. The field wheat image acquisition device of any one of claims 1 to 4, characterized in that the running gear includes wheels (13), the wheels (13) are equipped with driving motors (15), the wheels drive the support frame to move forward under the action of the driving motors (15), the support frame includes at least three support rods (10) and a support platform (31) fixed on the support rods (10), the wheels (13) are rotatably assembled under the support rods (10) through wheel brackets (27), the driving motors (15) are fixed on the support platform (31), the driving motors (15) correspond to the wheels (13) one by one, and the driving motors (15) are in transmission connection with the corresponding wheels (13) through chain wheels (7) and chains (9).
8. The field wheat image acquisition equipment of claim 7, characterized in that each wheel bracket (27) is in plug-in fit with a corresponding support rod (10), and a damping spring (8) is arranged between the wheel bracket (27) and the support rod (10).
9. The field wheat image acquisition equipment of claim 8, characterized in that, a limiting plate is fixed on the support rod (10), the damping springs (8) are assembled between the limiting plate and the wheel bracket (27) in a guiding way, at least two damping springs (8) are arranged corresponding to each support rod (10), and each damping spring (8) is arranged at intervals along the circumferential direction of the corresponding support rod (10).
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| CN202011591299.4A CN112610828A (en) | 2020-12-29 | 2020-12-29 | Wheat image acquisition equipment in field |
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Application publication date: 20210406 |