CN112836925A - Multi-source mobile sensing device for multilayer production structure and operation method - Google Patents
Multi-source mobile sensing device for multilayer production structure and operation method Download PDFInfo
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Abstract
The invention discloses a multi-source mobile sensing device and an operation method for a multilayer production structure. The mobile sensing device comprises a multi-source mobile sensing device body, a multi-source information acquisition system and an Internet of things module; the multi-source mobile sensing device body comprises a sliding device, a rotating device, a lifting device, a telescopic device, an image acquisition device and a main control module; the multi-source information acquisition system comprises an image acquisition device for acquiring multi-spectral image information of a target and an environment detection sensor module for acquiring environment information; comprising a data transmission module for transmitting data. The invention can realize multi-source perception of individual targets in an indoor agricultural multi-layer production structure, improve perception precision and meet application requirements; the method overcomes the hysteresis quality of the traditional monitoring, the unicity and the extensive quality of data acquisition and the serious dependence on agricultural knowledge and skills of managers, realizes the multisource automatic detection of indoor controllable agriculture, and has the advantages of high efficiency, high economic benefit, wide applicability and the like.
Description
Technical Field
The invention relates to intelligent agricultural equipment and a method for a multilayer three-dimensional structure, in particular to a multi-source mobile sensing device and an operation method for a multilayer production structure.
Background
Vertical agriculture is a high-efficiency agricultural system for realizing annual continuous production of crops through high-precision control, is a clean production mode by utilizing a soilless culture technology in a controllable environment, has the advantages of high yield, high efficiency, independence on climatic conditions, small occupied area, cleanness, health, energy conservation, environmental protection and the like compared with the traditional crop production mode, and provides a new idea for urban food supply. As a miniature of the integrated application of advanced technologies of modern agriculture, the research and development and operation of vertical agriculture require the fusion of multiple disciplines such as botany, nutriology, photobiology, optical information control, robotics and the like, and integrate lighting technology, soilless culture technology, plant regulation and control technology, photoelectric technology and artificial intelligence technology, and along with the rapid development of advanced technologies such as artificial intelligence, Internet of things, big data, robots and the like, practitioners are aware of automation, precision, intellectualization and even nobody, so that the unit production cost can be effectively reduced, the yield and quality of crops can be improved, and the stability of the crop production all the year round can be ensured, and the development trend of the vertical agriculture is a necessary trend.
The digital information such as key plant growth parameters, environmental factors and the like is an important reference basis in the automatic, precise and intelligent production process, and the information is efficiently collected and managed, so that the possibility is provided for unmanned vertical agricultural production. The vertical agricultural production in China mainly adopts manual inspection and fixed-point monitoring modes to acquire information. The labor intensity of manual inspection is high, the monitoring efficiency is low, uncontrollable malignant influence can be generated on the growth of crops, and meanwhile, the inspection range of an operator cannot cover part of space under a vertical agricultural three-dimensional planting structure, so that hysteresis exists in abnormal early warning in production; fixed-point monitoring is to install detection equipment at a fixed position, and has the advantages of high cost, small coverage area, few monitoring parameters, poor flexibility and great limitation. In recent years, related scholars continuously try to apply robotics, artificial intelligence technology, information processing technology and the like to laboratory research of vertical agriculture, because the interlayer spacing of the multilayer stereoscopic planting structure is small, more compact structural requirements are provided for an information acquisition system, most of information acquisition modes in the traditional laboratory environment are three-dimensional reconstruction, the reconstruction time is relatively long, the method is not suitable for industrial floor application, the obtained growth parameters cannot be directly utilized, and the method has no good guiding significance on actual production. In addition, most researches in the laboratory environment are carried out on a single parameter, multi-source information data including crop growth information and corresponding environments and the like are not effectively integrated, and the difference between the overall growth vigor and the individual growth of the crops in each plug on the vertical agricultural multi-layer three-dimensional planting frame cannot be accurately analyzed and judged in real time.
Disclosure of Invention
In order to overcome the defects of the prior art and solve the problems in the background art, effectively solve the limitation of crop monitoring range under a vertical agricultural multi-layer structure and aim at small space between planting frame layers, the invention provides a multi-source mobile sensing device and an operation method for a multi-layer production structure.
In order to realize the purpose of the invention, the specific technical scheme of the invention is as follows:
a multi-source mobile sensing device facing a multilayer production structure comprises:
the multi-source mobile sensing device comprises a multi-source mobile sensing device body facing a multi-layer production structure, a multi-source information acquisition system and an Internet of things module;
the multisource mobile sensing device body comprises a multilayer stereoscopic planting frame, a sliding device, a rotating device, a lifting device, a telescopic device, an image acquisition device and a main control module for robot control, wherein the sliding device, the rotating device, the lifting device, the telescopic device, the image acquisition device and the main control module are arranged on the multilayer stereoscopic planting frame;
the multi-source information acquisition system comprises an image acquisition sensor module which is arranged on a multi-source mobile sensing device body and is used for acquiring target multi-spectral-band image information, and an environment detection sensor module which is arranged on a multilayer production structure and is used for acquiring environment information;
the Internet of things module comprises a data transmission module which is arranged on the side part of the multilayer three-dimensional middle support and is used for transmitting data;
the main control module is arranged on the side part of the multilayer three-dimensional planting frame, the bottom of the multilayer three-dimensional planting frame is provided with a sliding device, the sliding device is provided with a rotating device, the bottom of the lifting device is connected with the rotating device, the middle part of the lifting device is provided with a telescopic device, and the tail end of the telescopic device is provided with an image acquisition sensor module; the main control module is respectively connected with the sliding device, the rotating device, the lifting device, the telescopic device, the image sensor module, the environment monitoring sensor module and the data transmission module;
and placing the production object on the multilayer production structure. The multi-layer production structure is applied to a plurality of scenes, including but not limited to vertical agriculture, plant factories, stereoscopic livestock and poultry houses and the like.
The sliding device comprises a first rail base, a second rail base, a third rail base, a fourth rail base, a first sliding block, a second sliding block, a first lead screw, a sliding rail and a first servo motor; the first track base is arranged on one side of the bottom of the multilayer stereoscopic planting frame, the second track base is arranged on the other side of the bottom of the multilayer stereoscopic planting frame, the first lead screw is horizontally arranged, two horizontal ends of the first lead screw are supported and arranged between the first track base and the second track base, the first servo motor is fixedly arranged on the side of the first track base, the first servo motor is coaxially connected with the end part of the first lead screw at the first track base through a first coupler, and the first sliding block is sleeved on the first lead screw through threads; the third track base is arranged on one side of the top of the multilayer three-dimensional planting frame, the fourth track base is arranged on the other side of the top of the multilayer three-dimensional planting frame, the sliding rails are horizontally arranged, two horizontal ends of the sliding rails are supported and arranged between the third track base and the fourth track, and the second sliding block is slidably sleeved on the sliding rails; the rotating device and the lifting device are connected between the first sliding block and the second sliding block.
The rotating device comprises a second servo motor, a second coupler, a worm wheel and a worm; the second servo motor is fixed on the first sliding block, an output shaft of the second servo motor is connected with the end portion of the worm through a second coupler, the worm is horizontally arranged, the worm wheel is hinged to the first sliding block, and the worm wheel is connected with the worm in a matched mode to form a worm-gear-worm pair.
The lifting device comprises a fifth track base, a sixth track base, a second lead screw and a third servo motor; the fifth track base is fixed on the top surface of the worm wheel, the third servo motor is fixedly installed at the bottom of the fifth track base, the sixth track base is fixed on the bottom surface of the second sliding block, the second screw rod is arranged up and down, the upper end and the lower end of the second screw rod and the lifting shaft are both supported and installed between the fifth track base and the sixth track base, and the output shaft of the third servo motor is coaxially connected with the lower end of the second screw rod through a third coupler upwards.
The telescopic device is installed on the second lead screw, the telescopic device comprises a push rod motor and a multi-stage push rod, a push rod motor body is sleeved on the second lead screw through threads, meanwhile, the push rod motor body is sleeved on the lifting shaft in a sliding mode, the output end of the push rod motor is fixedly connected with one end of the multi-stage push rod, and the other end of the multi-stage push rod is connected with an image acquisition device.
The image acquisition device comprises a connecting piece, a fourth servo motor and a rotary platform, wherein the fourth servo motor is fixed at the tail end of the telescopic device through the connecting piece, the rotary platform is installed on an output shaft of the fourth servo motor, and an image acquisition sensor module is installed on the rotary platform.
The image acquisition sensor module comprises but is not limited to an RGB-D camera, a thermal imager, a portable near-infrared spectrometer and a portable high-speed spectrometer, and multi-dimensional accurate information perception is carried out on the target individual.
The rotary platform is provided with three stations, three image acquisition sensors contained in the image acquisition sensor module are respectively fixed on the three stations of the rotary platform, and the types and the number of the image sensors in the image acquisition sensor module are changed and adjusted according to use requirements.
The environment detection sensor module comprises but is not limited to a temperature sensor, a humidity sensor, an illumination intensity sensor and a carbon dioxide sensor.
The intelligent control system is characterized by further comprising a power management module, wherein the power management module is connected to the first servo motor, the second servo motor, the third servo motor, the push rod motor, the fourth servo motor, the image acquisition sensor module, the environment detection sensor module and the main control module.
Secondly, an intelligent operation method of the multi-source mobile sensing device facing to the multilayer production structure comprises the following steps:
step S1: the method comprises the following steps that a main control module of a mobile sensing device is controlled to start operation through a ROS platform of a robot operating system, the main control module controls the mobile sensing device to move to an initial position of a preset operation flow, and each joint is controlled to move to an initial pose;
the ROS platform is a source ROS for controlling the upper system of the robot.
Step S2: the main control module issues three-dimensional coordinates (x, y, z) of the next main target position in a world coordinate system according to a preset operation process;
step S3: the main control module calculates and issues the three-dimensional coordinates of the next main target position in the world coordinate system according to the position of the main target;
step S4: the main control module analyzes the position of the secondary target through inverse kinematics, and parameters of the movable sensing device body and the multilayer stereoscopic planting frame select inverse kinematics solutions meeting conditions to obtain the amount of exercise of each joint driving part;
the main target refers to a production object needing operation, namely the absolute position of the production object;
the secondary target is the position of the same production object when image information of different visual angles is acquired.
Step S5: the main control module distributes the motion amount of each joint driving part to the driving part corresponding to each joint, and the driving part is a motor for example, so as to control each joint to move to the position of a secondary target;
step S6: after the secondary target position is reached, the image acquisition sensor module acquires and temporarily stores the image information of the main target at the position of the secondary target;
step S7: judging whether the scanning of all the angle of the visual angle is finished, if not, returning to the step S2 to collect the image of the next visual angle;
and if all the visual angles finish the image acquisition, the main control module screens and stores the position image information with the optimal visual angle.
Step S8: the environment detection sensor module collects and stores various environment parameters;
step S9: the main control module uploads the acquired data to the cloud server through the Internet of things module.
The step S4 specifically includes:
s401: establishing a coordinate system, particularly a D-H coordinate system, by taking the rotary joint rotary shaft as a z-axis, the robot pose shown in figure 3 as an initial pose and the translation joint z-axis as a motion direction according to the initial pose;
joint No. 0: establishing a world coordinate system for the first track base according to the first track base;
joint No. 1: for the slide means, the displacement is d1；
Joint No. 2: the rotating device rotates at any angle, and the degree of anticlockwise rotation is theta3；
Joint No. 3: for the lifting means, the displacement of up-and-down movement, is d3The initial distance between the lifting device and the rotating device is d2；
Joint No. 4: the initial distance between the telescopic device and the rotating device is d4The displacement of the extension or retraction of the telescopic device is d5；
Joint No. 5: is the image acquisition device.
S402: according to a geometric analysis method of inverse kinematics, establishing a geometric relation between a DH parameter of the multi-source mobile sensing device body and the position (x ', y ', z ') of a secondary target in the world coordinate system:
x′＝d1+(d4+d5)cos(θ3)
y′＝(d4+d5)sin(θ3)
z′＝d2+d3
wherein x ', y ', z ' respectively represent three-dimensional coordinates of the position of the sub-target, d1Indicating the displacement of the slide, d2Indicating the initial distance between the lifting means and the rotating means, d3Indicating the displacement of the lifting device, d4Indicating the initial distance between the telescopic means and the rotary means, d5Representing the displacement, theta, of the lifting device3Showing a rotating device;
s403: as shown in fig. 1, the width of the multilayer production structure is L, and since inverse kinematics does not have a unique solution, the solution of the geometric relational equation is performed according to different constraints and different situations.
If the y' coordinate of the position of the sub-target is less than d4And x' is less than L/2, L representing the width of the multilayer production structure, according to the following inverse kinematics solution:
d5＝0
θ＝180°+arctan(y′/(x′-d1))
d3＝z′-d2
if the y' coordinate of the position of the sub-target is less than d4And the x' coordinate is greater than L/2, according to the inverse kinematics solution:
d5＝0
θ＝arctan(y′/(x′-d1))
d3＝z′-d2
if the y' coordinate of the position of the sub-target is greater than d4The inverse kinematics solution was as follows:
θ＝90°
d5＝y′/sin(θ)-d4
d1＝x′+(d4+d5)cos(θ)
d3＝z′-d2
thereby obtaining d5、d1、θ、d3And (4) parameters.
The step S6 specifically includes: and for each secondary target position, rotating the three stations of the rotary platform to the optimal shooting position, and respectively controlling the corresponding image sensors to collect and temporarily store image information by the main control module.
The step S7 specifically includes: and according to the scanning angle theta and the latest completed scanning sub-target serial number n, obtaining that the current angle of the robot end effector is (n-1) theta, and if the angle is 360-theta, completing scanning.
According to the individual multi-source mobile sensing device with the multilayer three-dimensional structure and the operation method, by introducing the robot technology and the multi-source information sensing technology, data such as key growth information of each crop and corresponding environment multi-source information can be effectively collected, and then the difference between the overall growth vigor and the individual growth of the crops in each plug on the vertical agricultural multilayer three-dimensional planting frame is analyzed and judged. The sensor pose with higher accuracy is obtained through robot control, the positioning accuracy of the robot is further improved, the positioning effect of the multi-source mobile sensing device on the vertical agriculture multilayer planting frame structure is guaranteed, the matching of crop growth information and environment information is realized, and the application requirement of vertical agriculture is met.
According to the invention, by means of a multi-sensor fusion technology, effective acquisition of crop growth information and environmental information is realized by using a multi-source information acquisition system, various environmental information, crop key growth information and the like are transmitted in real time by using an Internet of things module, and the problems of low efficiency, high cost and serious dependence on practitioners in the conventional vertical agricultural production monitoring mode are solved.
Meanwhile, the invention combines the robot technology, designs a compact mobile robot system based on the existing multilayer structure of vertical agriculture, realizes the full coverage of monitoring the target object, and breaks through the limitation of the system information acquisition capacity due to the smaller interlayer spacing. By combining a multi-source information perception technology, the overall growth vigor and the individual growth difference of the crops in each plug on the vertical agricultural multi-layer three-dimensional planting frame are efficiently obtained, and a better guiding effect is achieved for actual production.
Compared with the prior art, the invention has the following remarkable advantages:
1) the invention provides a multi-source mobile sensing device and an operation method for a multilayer production structure by combining a robot and a multi-source information sensing technology, breaks through the limitation of fixed monitoring on a sensing range and an operation space, replaces managers to carry out daily inspection work, and realizes the automatic detection of environmental information and the automatic acquisition of crop key growth information of an unmanned autonomous vertical agricultural environment.
2) The robot technology is introduced, so that the high-precision growth key information acquisition, comparison and screening of the individual target objects under the multilayer production structure are realized, and the normalization and precision of the information acquisition process and the effectiveness of the acquired information are ensured.
3) Combine multisensor to merge the technique, designed an image acquisition sensor module, for the guide actual production of being convenient for, the kind number of the image sensor in the image acquisition sensor module can change the adjustment according to the task demand, and robot system has high elasticity and integration.
4) ROS (robot Operation System) is applied to vertical agricultural production as a robot Operation system for the first time, and the robot and multi-sensor fusion technology is taken as a core, so that intelligent Operation planning of the robot is realized, and secondary development of products is facilitated in the follow-up process.
The invention overcomes the serious dependence of the existing technology and application on practitioners, aims to replace the practitioner to carry out daily inspection work by using a multi-source perception robot system under the condition of not changing the structure of the vertical agricultural production environment, combines the robot and the multi-source information perception technology, realizes the automatic detection of the multi-source environment information and the crop key growth information under the vertical agricultural multi-layer crop growth environment, prevents operators from entering the crop growth environment to cause adverse effects on the crop growth, effectively reduces the unit production cost, improves the yield and the quality of crops, ensures the stability of the crop production all the year round through the realization of automation, precision, intellectualization and no humanization, and has extremely high industrial value and application value.
Drawings
FIG. 1 is a view of the overall structure of the multi-source mobile sensing device according to the present invention;
in fig. 1: the system comprises a main control module 1, a power management module 2, a data transmission module 3, a sliding device 4, a rotating device 5, a lifting device 6, a telescopic device 7, an image acquisition sensor module 8, an image acquisition device 9 and an environment detection sensor module 10.
FIG. 2 is a detailed view of the overall structure of the multi-source mobile sensing device provided by the present invention;
in fig. 2: the track comprises a first servo motor 11, a first coupler 12, a first track base 13, a first lead screw 14, a first slide block 15, a third track base 16, a second slide block 17, a second track base 18, a fourth track base 19, a slide rail 20, a second servo motor 21, a second coupler 22, a worm 23, a worm wheel 24, a fifth track base 25, a third servo motor 26, a third coupler 27, a second lead screw 28, a sixth track base 29, a push rod motor 30, a multi-stage push rod 31, a connecting piece 32, a fourth servo motor 33 and a rotating platform 34.
FIG. 3 is a DH coordinate system diagram of the multi-source mobile sensing device of the present invention;
FIG. 4 is a schematic xy-plane diagram of a multi-source mobile sensing device body according to the present invention;
FIG. 5 is a schematic view of the xz plane of the multi-source mobile sensing device body according to the present invention;
in fig. 3, 4, 5: joint No. 0, joint No. 1, joint No. 36, joint No. 3, joint No. 2, joint No. 5, and joint No. 4, 40.
FIG. 6 is a flow chart of the operation of the multi-source mobile sensing device of the present invention;
FIG. 7 is a flow chart of the sub-target screening operation of the multi-source mobile sensing device of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1, the device includes a multi-source mobile sensing device body facing a multi-layer production structure, a multi-source information acquisition system, and an internet of things module.
The multi-source mobile sensing device body comprises a multilayer stereoscopic planting frame, a sliding device 4, a rotating device 5, a lifting device 6, a telescopic device 7, an image acquisition device 9 and a main control module 1 for robot control, wherein the sliding device 4, the rotating device 5, the lifting device 6, the telescopic device 7 and the image acquisition device 9 are installed on the multilayer stereoscopic planting frame.
The multi-source information acquisition system comprises an image acquisition sensor module 8 which is arranged on the multi-source mobile sensing device body and is used for acquiring multi-spectral-band image information of a target, and an environment detection sensor module 10 which is arranged on the multilayer production structure and is used for acquiring environment information; when the multilayer production structure is a vertical agricultural multilayer structure, the arrangement environment detection sensor module 10 is installed.
The Internet of things module comprises a data transmission module 3 for transmitting data; the data transmission module 3 is positioned at the side part of the multilayer stereoscopic planting frame.
The main control module 1 is installed on the side portion of the multilayer stereoscopic planting frame, the sliding device 4 is installed at the bottom of the multilayer stereoscopic planting frame, the rotating device 5 is installed on the sliding device 4, the bottom of the lifting device 6 is connected to the rotating device 5, the telescopic device 7 is installed in the middle of the lifting device 6, and the image acquisition sensor module 8 is installed at the tail end of the telescopic device 7; the main control module 1 is respectively connected with the sliding device 4, the rotating device 5, the lifting device 6, the telescopic device 7, the image sensor module 8, the environment monitoring sensor module 10 and the data transmission module 3.
The sliding device 4 comprises a first track base 13, a second track base 18, a third track base 16, a fourth track base 19, a first sliding block 15, a second sliding block 17, a first lead screw 14, a sliding rail 20 and a first servo motor 11; the first track base 13 is installed on one side of the bottom of the multilayer stereoscopic planting frame, the second track base 18 is installed on the other side of the bottom of the multilayer stereoscopic planting frame, the first lead screw 14 is horizontally arranged, the two horizontal ends of the first lead screw 14 are supported and installed between the first track base 13 and the second track base 18, the first servo motor 11 is fixedly installed on the side portion of the first track base 13, the first servo motor 11 is coaxially connected with the end portion of the first lead screw 14 at the first track base 13 through the first coupler 12, and the first sliding block 15 is sleeved on the first lead screw 14 through threads; the third track base 16 is arranged on one side of the top of the multilayer stereoscopic planting frame, the fourth track base 19 is arranged on the other side of the top of the multilayer stereoscopic planting frame, the slide rail 20 is horizontally arranged, the horizontal two ends of the slide rail 20 are supported and arranged between the third track base 16 and the fourth track 19, and the second slide block 17 is slidably sleeved on the slide rail 20; the rotating means 5 and the lifting means 6 are connected between the first slider 15 and the second slider 17.
The rotating device 5 comprises a second servo motor 21, a second coupling 22, a worm wheel 24 and a worm 23; the second servo motor 21 is fixed on the first sliding block 15, an output shaft of the second servo motor 21 is connected with the end part of a worm 23 through a second coupling 22, the worm 23 is horizontally arranged, a worm wheel 24 is hinged on the first sliding block 15, and the worm wheel 24 is matched and connected with the worm 23 to form a worm-gear pair.
The lifting device 6 comprises a fifth track base 25, a sixth track base 29, a second lead screw 28 and a third servo motor 26; the fifth track base 25 is fixed on the top surface of the worm wheel 24, the third servo motor 26 is fixedly installed at the bottom of the fifth track base 25, the sixth track base 29 is fixed on the bottom surface of the second sliding block 17, the second lead screw 28 is vertically arranged, the upper end and the lower end of the second lead screw 28 and the upper end and the lower end of the lifting shaft 41 are both supported and installed between the fifth track base 25 and the sixth track base 29, and the output shaft of the third servo motor 26 faces upwards and is coaxially connected with the lower end of the second lead screw 28 through the third coupler 27.
First servo motor 11, second servo motor 21, third servo motor 26, push rod motor 30, fourth servo motor 33, image acquisition sensor module 8 and environment detection sensor module 10 all are connected to host system 1, issue the operation instruction by host system 1 and then control first servo motor 11, second servo motor 21, third servo motor 26, push rod motor 30 and fourth servo motor 33 operation, and then control slider 4, rotary device 5, elevating gear 6, telescoping device 7 and the motion of image acquisition device 9, and control image acquisition sensor module 8 and environment monitoring sensor module 10 and carry out image information and environmental information collection, handle, the storage, and upload image information and environmental information through data transmission module 3.
The first servo motor 11 operates to drive the first lead screw 14 to rotate, and further drives the whole body formed by the first slide block 15, the second slide block 17, the rotating device 5 connected with the first slide block and the lifting device 6 to horizontally move along the slide rail 20; the second servo motor 21 operates to drive the worm 23 to rotate, the lifting device 6 is driven to rotate integrally by the worm-gear pair, the third servo motor 26 in the lifting device 6 operates to drive the second lead screw 28 to rotate, and further drives the telescopic device 7 to move up and down, and the push rod motor 30 in the telescopic device 7 operates to drive the image acquisition device 9 and the image acquisition sensor module 8 thereon to move horizontally.
When the first sliding block 15 moves horizontally, the rotating device 5, the lifting device 6, the telescopic device 7 and the image acquisition device 9 are driven to move horizontally, and the second sliding block 17 moves along with the movement of the lifting device 6.
Image acquisition device 9 includes connecting piece 32, fourth servo motor 33 and rotary platform 34, and fourth servo motor 33 passes through connecting piece 32 to be fixed at the end of telescoping device 7, and rotary platform 34 is installed on fourth servo motor 33's output shaft, installs image acquisition sensor module 8 on the rotary platform 34, drives rotary platform 34 full angle rotation under fourth servo motor 33 operation.
The image acquisition sensor module 8 includes but is not limited to an RGB-D camera, a thermal imager, a portable near-infrared spectrometer, and a portable high-resolution spectrometer, and performs multi-dimensional accurate information perception on the target individual.
The rotary platform 34 has three stations, and three image capturing sensors included in the image capturing sensor module 8 are respectively fixed on the three stations of the rotary platform 34.
Still include power management module 2, power management module 2 is connected to first servo motor 11, second servo motor 21, third servo motor 26, push rod motor 30, fourth servo motor 33, image acquisition sensor module 8, environmental detection sensor module 10, host system 1 to supply power.
As shown in fig. 6 and 7, the method implementation includes the following steps:
step S1: the method comprises the following steps that a main control module of a mobile sensing device is controlled to start operation through a ROS platform of a robot operating system, the main control module controls the mobile sensing device to move to an initial position of a preset operation flow, and each joint is controlled to move to an initial pose;
step S2: the main control module issues three-dimensional coordinates (x, y, z) of the next main target position in a world coordinate system according to a preset operation process;
step S3: the main control module calculates and issues the three-dimensional coordinates of the next main target position in the world coordinate system according to the position of the main target;
step S4: the main control module analyzes the position of the secondary target through inverse kinematics, and parameters of the movable sensing device body and the multilayer stereoscopic planting frame select inverse kinematics solutions meeting conditions to obtain the amount of exercise of each joint driving part;
the driving component specifically includes a first servo motor 11, a second servo motor 21, a third servo motor 26, a push rod motor 30, and a fourth servo motor 33.
Step S4 specifically includes:
s401: establishing a coordinate system, particularly a D-H coordinate system, by taking the rotary joint rotary shaft as a z-axis, the robot pose shown in figure 3 as an initial pose and the translation joint z-axis as a motion direction according to the initial pose;
joint No. 0 35: establishing a world coordinate system for the first track base 13 according to the first track base 13;
joint No. 1 36: is a slide 4 with a displacement d1；
Joint No. 2 38: the rotating device 5 rotates by any angle, and the degree of anticlockwise rotation is theta3；
Joint No. 3 37: for the lifting device 6, the displacement of up and down movement is d3The initial distance between the lifting device 6 and the rotating device 5 is d2；
Joint No. 4 40: the initial distance between the telescopic device 7 and the rotating device 5 is d for the telescopic device 74The extension or retraction movement of the telescopic device 7 is d5；
Joint No. 5 39: is an image acquisition device 9.
S402: according to a geometric analysis method of inverse kinematics, calculating a geometric relation between a DH parameter of the multisource mobile sensing device body and the position x ', y ', z ' of the secondary target in a world coordinate system: as shown in fig. 4 and 5, below the xy and xz planes of the world coordinate system.
x′＝d1+(d4+d5)cos(θ3)
y′＝(d4+d5)sin(θ3)
z′＝d2+d3
Wherein x ', y ', z ' respectively represent three-dimensional coordinates of the position of the sub-target, d1Indicating the displacement of the slide 4, d2Denotes the initial distance between the lifting device 6 and the rotating device 5, d3Indicating the displacement of the lifting device 6, d4Denotes the initial distance between the telescopic means 7 and the rotating means 5, d5Indicating the displacement, theta, of the lifting device 63Showing the rotating means 5;
s403: as shown in fig. 1, the width of the multilayer production structure is L, and since inverse kinematics does not have a unique solution, the solution of the geometric relationship equation is performed according to different constraints and different situations.
If the y' coordinate of the position of the sub-target is less than d4And x' is less than L/2, L representing the width of the multilayer production structure, according to the following inverse kinematics solution:
d5＝0
θ＝180°+arctan(y′/(x′-d1))
d3＝z′-d2
if the y' coordinate of the position of the sub-target is less than d4And the x' coordinate is greater than L/2, according to the inverse kinematics solution:
d5＝0
θ＝arctan(y′/(x′-d1))
d3＝z′-d2
if the y' coordinate of the position of the sub-target is greater than d4The inverse kinematics solution was as follows:
θ＝90°
d5＝y′/sin(θ)-d4
d1＝x′+(d4+d5)cos(θ)
d3＝z′-d2
thereby obtaining d5、d1、θ、d3And (4) parameters.
Step S5: the main control module distributes the motion amount of each joint driving part to the driving part corresponding to each joint, and the driving part is a motor for example, so as to control each joint to move to the position of a secondary target;
step S6: after the secondary target position is reached, the image acquisition sensor module acquires and temporarily stores the image information of the main target at the position of the secondary target;
step S6 specifically includes: and for each secondary target position, rotating the three stations of the rotary platform 34 to the optimal shooting position, and respectively controlling the corresponding image sensors to collect and temporarily store image information by the main control module.
Step S7: judging whether the scanning of all the angle of the visual angle is finished, if not, returning to the step S2 to collect the image of the next visual angle;
step S7 specifically includes: and according to the scanning angle theta and the latest completed scanning sub-target serial number n, obtaining that the current angle of the robot end effector is (n-1) theta, and if the angle is 360-theta, completing scanning.
And if all the visual angles finish the image acquisition, the main control module screens and stores the position image information with the optimal visual angle.
Step S8: the environment detection sensor module collects and stores various environment parameters;
step S9: the main control module uploads the acquired data to the cloud server through the Internet of things module.
Therefore, the invention can realize multi-source perception of individual targets in an indoor agricultural multi-layer production structure, improve perception precision and meet application requirements; the method overcomes the hysteresis quality of the traditional monitoring, the unicity and the extensive quality of data acquisition and the serious dependence on agricultural knowledge and skills of managers, realizes the multisource automatic detection of indoor controllable agriculture, and has the advantages of high efficiency, high economic benefit, wide applicability and the like.
Claims (10)
1. The utility model provides a multisource removes perception device towards multilayer production structure which characterized in that:
the multi-source mobile sensing device comprises a multi-source mobile sensing device body facing a multi-layer production structure, a multi-source information acquisition system and an Internet of things module;
the multi-source information acquisition system comprises an image acquisition sensor module (8) which is arranged on a multi-source mobile sensing device body and is used for acquiring target multi-spectral-band image information, and an environment detection sensor module (10) which is arranged on a multilayer production structure and is used for acquiring environment information;
the Internet of things module comprises a data transmission module (3) which is arranged on the side part of the multilayer stereoscopic planting frame and used for transmitting data;
the multisource mobile sensing device body comprises a multilayer stereoscopic planting frame, a sliding device (4), a rotating device (5), a lifting device (6), a telescopic device (7), an image acquisition device (9) and a main control module (1) for robot control, wherein the sliding device, the rotating device, the lifting device and the telescopic device are mounted on the multilayer stereoscopic planting frame; the main control module (1) is installed on the side portion of the multilayer stereoscopic planting frame, the sliding device (4) is installed at the bottom of the multilayer stereoscopic planting frame, the rotating device (5) is installed on the sliding device (4), the bottom of the lifting device (6) is connected to the rotating device (5), the middle of the lifting device (6) is provided with the telescopic device (7), and the tail end of the telescopic device (7) is provided with the image acquisition sensor module (8); the main control module (1) is respectively connected with the sliding device (4), the rotating device (5), the lifting device (6), the telescopic device (7), the image sensor module (8), the environment monitoring sensor module (10) and the data transmission module (3).
2. The multi-source mobile sensing device for the multilayer production structure according to claim 1, wherein: the sliding device (4) comprises a first track base (13), a second track base (18), a third track base (16), a fourth track base (19), a first sliding block (15), a second sliding block (17), a first lead screw (14), a sliding rail (20) and a first servo motor (11); the first track base (13) is installed on one side of the bottom of the multilayer stereoscopic planting frame, the second track base (18) is installed on the other side of the bottom of the multilayer stereoscopic planting frame, the first lead screw (14) is horizontally arranged, the two horizontal ends of the first lead screw (14) are supported and installed between the first track base (13) and the second track base (18), the first servo motor (11) is fixedly installed on the side portion of the first track base (13), the first servo motor (11) is coaxially connected with the end portion of the first lead screw (14) at the first track base (13) through the first coupler (12), and the first sliding block (15) is sleeved on the first lead screw (14) through threads; a third rail base (16) is arranged on one side of the top of the multilayer stereoscopic planting frame, a fourth rail base (19) is arranged on the other side of the top of the multilayer stereoscopic planting frame, a sliding rail (20) is horizontally arranged, the two horizontal ends of the sliding rail (20) are supported and arranged between the third rail base (16) and the fourth rail (19), and a second sliding block (17) is slidably sleeved on the sliding rail (20); the rotating device (5) and the lifting device (6) are connected between the first sliding block (15) and the second sliding block (17);
the rotating device (5) comprises a second servo motor (21), a second coupling (22), a worm wheel (24) and a worm (23); the second servo motor (21) is fixed on the first sliding block (15), an output shaft of the second servo motor (21) is connected with the end part of the worm (23) through a second coupling (22), the worm (23) is horizontally arranged, the worm wheel (24) is hinged on the first sliding block (15), and the worm wheel (24) is matched and connected with the worm (23) to form a worm-gear pair;
the lifting device (6) comprises a fifth track base (25), a sixth track base (29), a second lead screw (28) and a third servo motor (26); a fifth track base (25) is fixed on the top surface of a worm wheel (24), a third servo motor (26) is fixedly installed at the bottom of the fifth track base (25), a sixth track base (29) is fixed on the bottom surface of a second sliding block (17), a second lead screw (28) is arranged up and down, the upper end and the lower end of the second lead screw (28) and the upper end and the lower end of a lifting shaft (41) are respectively supported and installed between the fifth track base (25) and the sixth track base (29), and the output shaft of the third servo motor (26) faces upwards and is coaxially connected with the lower end of the second lead screw (28) through a third coupler (27);
telescoping device (7) install on second lead screw (28), telescoping device (7) include push rod motor (30) and multistage push rod (31), push rod motor (30) body passes through the screw suit on second lead screw (28), the slip suit is on lift axle (41) simultaneously, the output of push rod motor (30) and the one end rigid coupling of multistage push rod (31), image acquisition device (9) are equipped with in the connection of multistage push rod (31) other end.
3. The multi-source mobile sensing device for the multilayer production structure according to claim 2, wherein: image acquisition device (9) include connecting piece (32), fourth servo motor (33) and rotary platform (34), fourth servo motor (33) pass through connecting piece (32) are fixed at the end of telescoping device (7), rotary platform (34) are installed on the output shaft of fourth servo motor (33), install image acquisition sensor module (8) on rotary platform (34).
4. The multi-source mobile sensing device for the multilayer production structure according to claim 2, wherein: the image acquisition sensor module (8) comprises but is not limited to an RGB-D camera, a thermal imager, a portable near infrared spectrometer and a portable high-speed spectrometer.
5. The multi-source mobile sensing device for the multilayer production structure according to claim 2, wherein: the rotary platform (34) is provided with three stations, and three image acquisition sensors contained in the image acquisition sensor module (8) are respectively fixed on the three stations of the rotary platform (34).
6. The multi-source mobile sensing device for the multilayer production structure according to claim 2, wherein: the environment detection sensor module (10) comprises but is not limited to a temperature sensor, a humidity sensor, an illumination intensity sensor and a carbon dioxide sensor.
7. The multi-source mobile sensing device for the multilayer production structure according to claim 2, wherein: still include power management module (2), power management module (2) are connected to first servo motor (11), second servo motor (21), third servo motor (26), push rod motor (30), fourth servo motor (33), image acquisition sensor module (8), environment detection sensor module (10), host system (1).
8. An intelligent operation method applied to the multi-source mobile sensing device facing the multilayer production structure and disclosed in any one of claims 1 to 7, is characterized in that: the method comprises the following steps:
step S1: the method comprises the following steps that a main control module of a mobile sensing device is controlled to start operation through a ROS platform of a robot operating system, the main control module controls the mobile sensing device to move to an initial position of a preset operation flow, and each joint is controlled to move to an initial pose;
step S2: the main control module issues three-dimensional coordinates (x, y, z) of the next main target position in a world coordinate system according to a preset operation process;
step S3: the main control module calculates and issues the three-dimensional coordinates of the next main target position in the world coordinate system according to the position of the main target;
step S4: the main control module analyzes the position of the secondary target through inverse kinematics to obtain the amount of exercise of each joint driving part;
step S5: the main control module issues the motion amount of each joint driving part to the driving part corresponding to each joint, and then controls each joint to move to the position of a secondary target;
step S6: after the secondary target position is reached, the image acquisition sensor module acquires and temporarily stores the image information of the main target at the position of the secondary target;
step S7: judging whether the scanning of all the angle of the visual angle is finished, if not, returning to the step S2 to collect the image of the next visual angle;
step S8: the environment detection sensor module collects and stores various environment parameters;
step S9: the main control module uploads the acquired data to the cloud server through the Internet of things module.
9. The operation method of the multi-source mobile sensing device for the multi-layer production structure according to claim 8, wherein: the step S4 specifically includes:
s401: establishing a coordinate system by taking a rotary joint rotating shaft as a z-axis according to the initial pose;
s402: establishing a geometrical relationship between the DH parameters of the multi-source mobile sensing device body and the position (x ', y ', z ') of a secondary target in the world coordinate system:
x′＝d1+(d4+d5)cos(θ3)
y′＝(d4+d5)sin(θ3)
z′＝d2+d3
wherein x ', y ', z ' respectively represent three-dimensional coordinates of the position of the sub-target, d1Showing the displacement of the slide (4), d2Represents the initial distance between the lifting device (6) and the rotating device (5), d3Showing the displacement of the lifting device (6), d4Represents the initial distance between the telescopic device (7) and the rotating device (5), d5Represents the displacement of the lifting device (6), theta3A rotary device (5);
s403: if the y' coordinate of the position of the sub-target is less than d4And x' is less than L/2, L representing the width of the multilayer production structure, according to the following inverse kinematics solution:
d5＝0
θ＝180°+arctan(y'/(x'-d1))
d3＝z'-d2
if the y' coordinate of the position of the sub-target is less than d4And the x' coordinate is greater than L/2, according to the inverse kinematics solution:
d5＝0
θ＝arctan(y′/(x′-d1))
d3＝z′-d2
if the y' coordinate of the position of the sub-target is greater than d4The inverse kinematics solution was as follows:
θ＝90°
d5＝y′/sin(θ)-d4
d1＝x′+(d4+d5)cos(θ)
d3＝z′-d2
thereby obtaining d5、d1、θ、d3And (4) parameters.
10. The operation method of the multi-source mobile sensing device for the multi-layer production structure according to claim 8, wherein: the step S6 specifically includes: and for each secondary target position, rotating the three stations of the rotating platform (34) to a shooting position, and respectively controlling the corresponding image sensors to collect and temporarily store image information by the main control module (1).
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Application publication date: 20210525 |