CN114062281B - Wide-view-angle multispectral imaging type crop growth sensing device - Google Patents
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- 238000012634 optical imaging Methods 0.000 claims abstract description 38
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- 238000004458 analytical method Methods 0.000 claims abstract description 13
- 238000013461 design Methods 0.000 claims abstract description 4
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- 238000004891 communication Methods 0.000 claims description 4
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- 230000005540 biological transmission Effects 0.000 description 1
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/18—Optical objectives specially designed for the purposes specified below with lenses having one or more non-spherical faces, e.g. for reducing geometrical aberration
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
Abstract
The invention discloses a wide-view multispectral imaging type crop growth sensing device, which adopts a 4-band 4-channel design, wherein each channel comprises an optical imaging module, a photoelectric conversion module and a control circuit module; the optical imaging module comprises a telescopic imaging module and a light splitting module, the telescopic imaging module comprises a first lens, an aperture, a second lens, a third lens and a fourth lens, the light splitting module is a narrow-band optical filter, and the narrow-band optical filter is arranged above the fourth lens; the photoelectric conversion module comprises an image sensor and a photoelectric conversion processor, the photoelectric conversion module sends collected and processed crop map information to the control circuit module, and the control circuit module outputs the information through the output interface. The invention solves the problem that the non-imaging type sensor device is difficult to eliminate complex soil and water background, and simultaneously the device realizes rapid nondestructive acquisition, intelligent analysis and visual interpretation of crop growth information.
Description
Technical Field
The invention relates to the field of intelligent agriculture, in particular to a wide-view angle multispectral imaging type crop growth sensing device.
Background
The accurate perception of crop growth information (leaf area index, nitrogen content, nitrogen accumulation and the like) is an important basis for realizing accurate management of crop production, and plays an important role in high yield and excellent yield of crops. Traditional crop growth information acquisition relies on indoor chemical analysis, and destructive sampling of field crops is combined with chemical experiments, so that time and labor are wasted, and testing errors exist. Because the changes of biochemical components, group structures and other factors in the crop body can cause the changes of reflection spectrums of certain wave bands, the crop growth information can be monitored by utilizing the spectrum information of the specific wave bands, so that the spectrum technology becomes a key technology for supporting the nondestructive sensing of the crop growth information.
The patent 200710019340.9, 201210214137.8 and 201210472211.6 respectively disclose a portable multichannel crop leaf nitrogen nutrition index nondestructive monitoring device, a field crop growth information nondestructive rapid detection device and a high-precision crop growth information monitor, wherein the devices or the instruments are non-imaging type crop growth monitoring equipment, and the direct acquisition of crop growth information is realized through the relationship between the spectral reflectance value of crops and agronomic parameters. However, the non-imaging type crop growth monitoring equipment can only acquire the whole spectrum in the field of view, and interference factors such as water, soil and the like in the field of view can cause great influence on the monitoring precision, especially in the early stage of crop growth. The imaging type crop spectrum sensor can acquire the reflection spectrum of each pixel point of the crop, has the advantage of 'map in one', and is more accurate in monitoring precision.
At present, the short-distance acquisition of crop growth information by field scale mainly comprises a hyperspectral imaging sensor, however, the grating light splitting combined with the scanning platform push-broom imaging leads to small field of view, multiple wave bands, heavy volume and complicated data processing of the sensor, and cannot be widely popularized and applied in fields. Meanwhile, the existing multispectral imaging sensor is directly integrated with an unmanned aerial vehicle, and serious deviation of a crop spectrum image is caused by a wind field when crop information is acquired in a short distance, so that the prediction accuracy of the crop growth information is greatly reduced.
Disclosure of Invention
The invention aims to overcome the defects in the background technology and provide a multispectral imaging type crop growth sensing device with wide visual angle and small aberration; the device adopts 4 wave band 4 passageway designs, can portable or carry on unmanned vehicles operation, and each passageway passes through the large visual field collection of optical imaging module realization crop reflection light information, realizes conversion, processing and the transmission of crop light information through photoelectric conversion module and control circuit module, and then realizes intelligent analysis and the visual interpretation of crop growth information short-range large visual field through the host computer.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a wide-view multispectral imaging crop growth sensing device comprises an optical imaging module, a photoelectric conversion module and a control circuit module; the optical imaging module comprises a telescopic imaging module and a light splitting module, the telescopic imaging module comprises a first lens, an aperture, a second lens, a third lens and a fourth lens, the light splitting module is a narrow-band optical filter, and the narrow-band optical filter is arranged above the fourth lens; the photoelectric conversion module comprises an image sensor and a photoelectric conversion processor, the photoelectric conversion module sends collected and processed crop map information to the control circuit module, and the control circuit module outputs the information through the output interface.
Furthermore, the sensing device adopts a multi-channel design structure, at least comprises two channels, and each channel comprises the optical imaging module, the photoelectric conversion module and the control circuit module.
Further, the optical imaging module is arranged in the optical imaging module mounting base, the optical imaging module mounting base is fixedly connected with the circuit board of the control circuit module, the image sensor is arranged on the lower surface of the control circuit module and is positioned right above the optical imaging module, the photoelectric conversion processor is arranged on the upper surface of the control circuit module, the image sensor is connected with the photoelectric conversion processor through the control circuit module, and the control circuit module sends collected crop map information to the processing analysis device in a wired mode.
Further, the telescopic imaging module sequentially comprises a first lens, an aperture, a second lens, a third lens and a fourth lens from the crop canopy to an imaging surface, wherein the first lens is a convex-concave lens with negative refractive index, the second lens is a convex-flat lens with positive refractive index, the third lens is a concave-convex lens with negative refractive index, and the fourth lens is a biconvex lens with positive refractive index; the first lens and the fourth lens are plastic aspheric lenses, and the second lens and the third lens are glass spherical lenses.
Further, the field angle of the telescopic imaging module is 68 degrees; an aperture in the telescopic imaging module is disposed between the first lens and the second lens, and an f=3.5.
Further, the focal lengths of the first lens, the second lens, the third lens, the fourth lens and the whole sensing device are f respectively 1 ，f 2 ，f 3 ，f 4 And f, where f 1 ，f 2 ，f 3 ，f 4 And f satisfies: -9mm<f 1 <-7mm，4mm<f 2 <6mm，-5mm<f 3 <-3mm，4mm<f 4 <6mm，f＝5mm。
Further, the surface shape of the aspherical lens of the telescopic imaging module satisfies the following formula:
wherein: z is a coordinate value along the optical axis direction, r is a radial coordinate perpendicular to the optical axis direction, c is the vertex curvature of the optical surface, and k is the conic coefficient of the surface; a is that 4 、A 6 、A 8 、A 10 、A 12 、A 14 、A 16 Aspheric coefficients of fourth order, sixth order, eighth order, tenth order, fourteen order and sixteen order are respectively adopted.
Further, the first lens and the fourth lens adopt APL5514ML, the refractive index and the Abbe number are respectively 1.545 and 55.912, the second lens adopts D-LAF50, the refractive index and the Abbe number are respectively 1.774 and 49.604, the third lens adopts H-ZF88, and the refractive index and the Abbe number are respectively 1.946 and 17.944; the center wave bands of the narrow-band filter are 560nm,650nm,730nm and 815nm respectively, the transmittance of the center wavelength is 65% -70%, the bandwidth is 9-10 nm, and the cut-off rate is less than 0.00001%.
Further, the intervals between the first lens and the second lens, between the second lens and the third lens, between the third lens and the fourth lens, between the fourth lens and the optical filter, and between the optical filter and the image sensor are G12, G23, G34, G45 and G56, respectively, wherein G12, G23, G34, G45 and G56 satisfy: 8mm < G12<10mm,1mm < G23<3mm,0.5mm < G34<2mm,3mm < G45<5mm,0.5mm < G56<2mm.
Further, the image sensor is an OV2710 image sensor chip of OmniVision, and is arranged right above the optical imaging module, and is used for amplifying and AD converting crop optical signals into executable standard digital signals; the photoelectric conversion processor is an SN9C5256AJG chip of SONIX and passes through a standard I 2 The C interface realizes control communication with the image sensor, and crop information is transmitted to the processing analysis device in a wired mode through the control circuit module, so that the short-distance rapid and nondestructive acquisition of the crop growth information is realized.
The beneficial effects of the invention are as follows: the multi-channel wide-angle telescopic imaging module is combined with the narrow-band interference filter spectroscopic module, so that the wide-angle acquisition of crop information is realized, the technical contradiction between close-range spectrum information acquisition and wide-angle imaging is broken through, the crop spectrum and image information are acquired through the imaging type crop multispectral sensor sensing device, the problem that the non-imaging type crop multispectral sensor sensing device is difficult to eliminate complex soil and water background is solved, and meanwhile, the device realizes the rapid nondestructive acquisition, intelligent analysis and visual interpretation of crop growth information.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic diagram of a wide field multispectral imaging crop growth sensing device;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a side view of FIG. 1;
FIG. 4 is a cross-sectional view of FIG. 1;
FIG. 5 is a schematic diagram of an optical imaging system configuration and optical path;
FIG. 5-1 is a graph of MTF for five fields of view for each center wavelength of an optical imaging system;
FIG. 5-2 is a graph of field curvature and distortion of an optical imaging system;
FIG. 5-3 is a dot column diagram of an optical imaging system;
fig. 5-4 are graphs of relative illuminance of an optical imaging system.
In the figure: the optical imaging module comprises a 1-optical imaging module mounting base, a 3-control circuit module, a 4-image sensor, a 5-photoelectric conversion processor, a 6-optical imaging and control circuit module fixing column, a 7-lower shell fixing column, an 8-upper shell fixing column, a 9-output interface, 11-first lenses, 12-diaphragms, 13-second lenses, 14-third lenses, 15-fourth lenses, 16-optical filters, 111-first lens object side surfaces, 112-first lens image side surfaces, 131-second lens object side surfaces, 132-second lens object side surfaces, 141-third lens object side surfaces, 142-third lens image side surfaces, 151-fourth lens object side surfaces, 152-fourth lens image side surfaces, 161-optical filter object side surfaces and 162-optical filter image side surfaces.
Detailed Description
So that the manner in which the features and advantages of the invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the appended drawings.
As shown in fig. 1 to 4, a wide-viewing angle multispectral imaging type crop growth sensing device comprises an optical imaging module 1, a photoelectric conversion module and a control circuit module. The optical imaging module 1 comprises a telescopic imaging module and a narrow-band interference filter, the photoelectric conversion module comprises an image sensor 4 and a photoelectric conversion processor 5, the photoelectric conversion module sends collected and processed crop map information to the control circuit module 3, and the control circuit module transmits the collected and processed crop map information to the processing analysis device in a wired mode through the output interface 9.
In the invention, an optical imaging module 1 is arranged in an optical imaging module mounting base 2, the optical imaging module mounting base 2 and a control circuit module 3 are fixed through screws, the control circuit module 3 and a fixing column 6 are fixed through screws, an image sensor 4 is arranged right above the optical imaging module, a photoelectric conversion processor 5 is arranged on the upper surface of the control circuit module, and an upper shell fixing column 8 and a lower shell fixing column 9 are fixed through screws.
In the invention, the image sensor 4 is connected with the photoelectric conversion processor 5 through the control circuit module, and transmits the crop map information to the processing analysis device in a wired communication mode through the control circuit module, and the processing analysis device can realize intelligent analysis and visual interpretation of crop growth agronomic parameters.
In the invention, the image sensor adopts an OV2710 chip of OmniVision, converts crop optical signals into executable standard digital signals through drive amplification and AD conversion, and the photoelectric conversion processor is an SN9C5256AJG chip of SONIX and passes through standard I 2 And C, the interface realizes control communication with the image sensor, and crop information is transmitted to the processing analysis device in a wired mode through the control circuit module.
According to the wide-view multispectral imaging type crop growth sensing device, the focal length f is 5mm, the aperture value is 3.5, the field angle is 68 degrees, and the acquisition of the short-distance large field of view of crop growth information can be realized.
As shown in fig. 5, the optical imaging module sequentially comprises a first lens 11, an aperture 12, a second lens 13, a third lens 14, a fourth lens 15 and a narrow-band interference filter 16 from the crop canopy to an imaging surface. The first lens element 11 has a negative refractive power, wherein an object-side surface 111 of the first lens element 11 is convex, an image-side surface 112 of the first lens element 11 is concave, and a paraxial region of the object-side surface is convex, so as to effectively enlarge a field of view. The second lens element 13 has a positive refractive power, wherein an object-side surface 131 of the second lens element 13 is convex, and an image-side surface 132 of the second lens element 13 is planar, which is beneficial to balancing the refractive power configuration of the lens assembly and reducing the sensitivity. The aperture 12 is located between the image side surface 112 of the first lens element 11 and the object side surface 131 of the second lens element, so as to control the light entering amount, and make enough light enter the photosensitive position of the image sensor. The third lens element 14 has a negative refractive power, wherein an object-side surface 141 of the third lens element 14 is concave, and an image-side surface 142 of the third lens element 14 is convex, so as to be beneficial to correcting aberrations generated by the first lens element 11 and the second lens element 13. The fourth lens element 15 has a positive refractive index, wherein an object-side surface 151 of the fourth lens element 15 is convex, and an image-side surface 152 of the fourth lens element 15 is convex, so as to be beneficial to correcting aberration generated by the third lens element 14 and enabling light rays with different wavebands to be focused on the image plane better.
In the present invention, the object side 111, the object side 151, the image side 112 and the image side 152 are defined according to the following aspherical curve formula:
wherein:
z is a coordinate value in the optical axis direction.
r is the radial coordinate perpendicular to the optical axis direction.
c is the apex curvature of the optical surface.
k is the conic coefficient of the surface.
A 4 、A 6 、A 8 、A 10 、A 12 、A 14 、A 16 Aspheric coefficients of fourth order, sixth order, eighth order, tenth order, fourteen order and sixteen order are respectively adopted.
The term "a lens having a positive refractive index (or negative refractive index)" means that the paraxial refractive index of the lens calculated by Gaussian optics theory is positive (or negative). The term "object side (or image side) of a lens" is defined as the specific range of imaging light rays passing through the lens surface.
The first, second, third and fourth lensesFocal lengths f respectively 1 ，f 2 ，f 3 ，f 4 And f, where f 1 ，f 2 ，f 3 ，f 4 The method meets the following conditions: -9mm<f 1 <-7mm，4mm<f 2 <6mm，-5mm<f 3 <-3mm，4mm<f 4 <6mm. Specifically, the first lens and the fourth lens adopt APL5514ML, the refractive index and the Abbe number are respectively 1.545 and 55.912, the second lens adopts D-LAF50, the refractive index and the Abbe number are respectively 1.774 and 49.604, the third lens adopts H-ZF88, and the refractive index and the Abbe number are respectively 1.946 and 17.944. The center wave bands of the narrow-band filter are 560nm,650nm,730nm and 815nm respectively, the transmittance of the center wavelength is 65% -70%, the bandwidth is 9-10 nm, and the cut-off rate is less than 0.00001%.
In the above, the intervals between the first lens and the second lens, between the second lens and the third lens, between the third lens and the fourth lens, between the fourth lens and the optical filter, and between the optical filter and the image sensor are G12, G23, G34, G45, and G56, respectively, wherein G12, G23, G34, G45, and G56 satisfy: 8mm < G12<10mm,1mm < G23<3mm,0.5mm < G34<2mm,3mm < G45<5mm,0.5mm < G56<2mm.
In the present invention, as shown in fig. 5, according to the case where light is converged on the image sensor 4, light of 0 field, 0.3 field, 0.5 field, 0.7 field and 1 field are sequentially from right to left. The light rays of all fields of view are well converged on the imaging image plane, and the incident light rays have smaller angles, so that the light rays can be well coupled with the image sensor 4.
In the invention, as shown in fig. 5-1, the MTF curve graphs of each view field of four channels (560 nm,650nm,730nm and 815 nm) of the wide-view angle multispectral imaging type crop growth sensor device can reflect the imaging quality of a lens structure, and the MTF values of 0.7 view fields are all larger than 0.3 at the space frequency 167lp/mm, so that the high-quality imaging of crop map information can be ensured.
In the present invention, as shown in fig. 5-2, the field curvature (left graph) and distortion (right graph) of the optical imaging system of the wide-view multispectral imaging crop growth sensor optical imaging system can cause the optimal imaging of the center and the edge not to be in a plane, and as can be seen from the left graph field curvature, the maximum grid value of the field curvature is optimized to be less than 0.25mm. The distortion affects the distortion of the image, and as can be seen from the distortion curve of the right image, the distortion at the maximum field of view is less than 3%, indicating that the sensor sensing device is optimized to a good degree.
In the invention, as shown in fig. 5-3, the wide-view multispectral imaging type crop growth sensor device has a point array chart of an optical imaging system, after a plurality of light rays emitted by one point pass through the optical system, scattered spots scattered in a certain range are formed due to aberration, and the point array chart is very good in correction when the RMS (root mean square error) of the whole view field is smaller than 3 mu m.
In the invention, as shown in fig. 5-4, the relative illuminance map of the optical imaging system of the wide-view multispectral imaging type crop growth sensor sensing device can obtain images with better quality when the relative care of the wide-angle lens reaches more than 30%, and the relative illuminance of the whole view field of the system is more than 60%, so that the requirements of acquiring crop growth map information are completely met.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It should be understood by those skilled in the art that the above embodiments do not limit the scope of the present invention in any way, and all technical solutions obtained by equivalent substitution and the like fall within the scope of the present invention.
The invention is not related in part to the same as or can be practiced with the prior art.
Claims (7)
1. The wide-view multispectral imaging type crop growth sensing device is characterized by comprising an optical imaging module, a photoelectric conversion module and a control circuit module; the optical imaging module comprises a telescopic imaging module and a light splitting module, the telescopic imaging module comprises a first lens, an aperture, a second lens, a third lens and a fourth lens, the light splitting module is a narrow-band optical filter, and the narrow-band optical filter is arranged above the fourth lens; the photoelectric conversion module comprises an image sensor and a photoelectric conversion processor, the photoelectric conversion module sends collected and processed crop map information to the control circuit module, and the control circuit module outputs the information through the output interface;
the telescopic imaging module sequentially comprises a first lens, an aperture, a second lens, a third lens and a fourth lens from a crop canopy to an imaging surface, wherein the first lens is a convex-concave lens with negative refractive index, the second lens is a convex-flat lens with positive refractive index, the third lens is a concave-convex lens with negative refractive index, and the fourth lens is a biconvex lens with positive refractive index; the first lens and the fourth lens are plastic aspheric lenses, and the second lens and the third lens are glass spherical lenses;
the focal lengths of the first lens, the second lens, the third lens, the fourth lens and the whole sensing device are respectively f 1 ，f 2 ，f 3 ，f 4 And f, where f 1 ，f 2 ，f 3 ，f 4 And f satisfies: -9mm<f 1 <-7mm，4mm<f 2 <6mm，-5mm<f 3 <-3mm，4mm<f 4 <6mm，f＝5mm；
The first lens and the second lens, the second lens and the third lens, the third lens and the fourth lens, the fourth lens and the optical filter and the image sensor are respectively provided with intervals of G12, G23, G34, G45 and G56, wherein G12, G23, G34, G45 and G56 satisfy the following conditions: 8mm < G12<10mm,1mm < G23<3mm,0.5mm < G34<2mm,3mm < G45<5mm,0.5mm < G56<2mm.
2. The wide-viewing angle multispectral imaging crop growth sensing device of claim 1, wherein the sensing device adopts a multichannel design structure, which comprises at least two channels, and each channel comprises the optical imaging module, the photoelectric conversion module and the control circuit module.
3. The wide-angle multispectral imaging type crop growth sensing device according to claim 1, wherein the optical imaging module is installed in an optical imaging module installation base, the optical imaging module installation base is fixedly connected with a circuit board of the control circuit module, the image sensor is installed on the lower surface of the control circuit module and is located right above the optical imaging module, the photoelectric conversion processor is installed on the upper surface of the control circuit module, the image sensor is connected with the photoelectric conversion processor through the control circuit module, and the control circuit module sends collected crop map information to the processing analysis device in a wired mode.
4. The wide-angle multispectral imaging crop growth sensing device of claim 1, wherein the field angle of view of the telescopic imaging module is 68 °; an aperture in the telescopic imaging module is disposed between the first lens and the second lens, and an f=3.5.
5. The wide-viewing angle multispectral imaging crop growth sensing device of claim 1, wherein the aspherical lens of the telescopic imaging module has a surface profile that satisfies the following formula:
wherein: z is a coordinate value along the optical axis direction, r is a radial coordinate perpendicular to the optical axis direction, c is the vertex curvature of the optical surface, and k is the conic coefficient of the surface; a is that 4 、A 6 、A 8 、A 10 、A 12 、A 14 、A 16 Aspheric coefficients of fourth order, sixth order, eighth order, tenth order, fourteen order and sixteen order are respectively adopted.
6. The wide-angle multispectral imaging crop growth sensor of claim 1, wherein the first lens and the fourth lens adopt APL5514ML, the refractive index and the abbe number are respectively 1.545 and 55.912, the second lens adopts D-LAF50, the refractive index and the abbe number are respectively 1.774 and 49.604, the third lens adopts H-ZF88, and the refractive index and the abbe number are respectively 1.946 and 17.944; the center wave bands of the narrow-band filter are 560nm,650nm,730nm and 815nm respectively, the transmittance of the center wavelength is 65% -70%, the bandwidth is 9-10 nm, and the cut-off rate is less than 0.00001%.
7. The wide-angle multispectral imaging type crop growth sensing device according to claim 1, wherein the image sensor is an OmniVision OV2710 image sensor chip which is arranged right above the optical imaging module and is used for amplifying and AD-converting crop optical signals into executable standard digital signals; the photoelectric conversion processor is an SN9C5256AJG chip of SONIX and passes through a standard I 2 The C interface realizes control communication with the image sensor, and crop information is transmitted to the processing analysis device in a wired mode through the control circuit module, so that the short-distance rapid and nondestructive acquisition of the crop growth information is realized.
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