CN116097995A - Light intensity control method and system based on seedling growth height change - Google Patents

Light intensity control method and system based on seedling growth height change Download PDF

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CN116097995A
CN116097995A CN202211623001.2A CN202211623001A CN116097995A CN 116097995 A CN116097995 A CN 116097995A CN 202211623001 A CN202211623001 A CN 202211623001A CN 116097995 A CN116097995 A CN 116097995A
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light
module
light intensity
height
seedling
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陆华忠
陈夕
赵俊宏
李斌
魏鑫钰
罗毅智
周星星
骆浩文
姚兴智
易振峰
胡其骁
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South China Agricultural University
Institute of Facility Agriculture Guangdong Academy of Agricultural Science
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Institute of Facility Agriculture Guangdong Academy of Agricultural Science
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Abstract

The invention discloses an illumination intensity control method and system based on seedling growth height change, wherein the system comprises a lamp panel module, a heat dissipation module, a temperature sensor module, an illumination sensor module, a 3D structure light camera module, an HMI touch screen module and a culture tray module, wherein the heat dissipation module is arranged at the back of the lamp panel module, the temperature sensor modules are arranged at the central positions of the front and the back of the lamp panel module, the illumination sensor module, the 3D structure light camera module and the HMI touch screen module are respectively connected with the lamp panel module in a wireless manner, and the culture tray module is positioned under the illumination sensor module. By using the invention, the illumination intensity required by the height of the corresponding seedling can be further adjusted according to the real-time height information of the seedling. The method and the system for controlling the illumination intensity based on the change of the growth height of the seedlings can be widely applied to the technical field of seedling cultivation.

Description

基于幼苗生长高度变化的光照强度控制方法及系统Method and system for controlling light intensity based on variation of seedling growth height

技术领域technical field

本发明涉及幼苗培育技术领域,尤其涉及基于幼苗生长高度变化的光照强度控制方法及系统。The invention relates to the technical field of seedling cultivation, in particular to a method and system for controlling light intensity based on changes in seedling growth height.

背景技术Background technique

传统的蔬菜幼苗培育方式,以及所采用的装置,主要是以传统的床土、营养钵育苗为主,且对于幼苗的培育阶段深受外界诸多条件的影响,传统的基于自然条件环境下的对幼苗进行培养,容易出现幼苗成活率低,且幼苗的质量、外观等都难以达到预想结果,其中光照对于幼苗的生长影响因素最大,现有的方法直接补偿一定比例的光照条件,但随着幼苗的高度的生长,所需的光照强度也会随之变化,若是光照强度不满足幼苗的生长需求,将会极大程度的影响幼苗的生长速度。The traditional vegetable seedling cultivation methods and the devices used are mainly based on traditional bed soil and nutrient pot seedling cultivation, and the cultivation stage of seedlings is deeply affected by many external conditions. The traditional method based on natural conditions The seedlings are cultivated, and the survival rate of the seedlings is prone to be low, and the quality and appearance of the seedlings are difficult to achieve the expected results. Among them, the light has the greatest influence on the growth of the seedlings. The existing methods directly compensate for a certain proportion of light conditions, but as the seedlings The height of the growth, the required light intensity will also change accordingly, if the light intensity does not meet the growth needs of the seedlings, it will greatly affect the growth speed of the seedlings.

发明内容Contents of the invention

为了解决上述技术问题,本发明的目的是提供基于幼苗生长高度变化的光照强度控制方法及系统,能够根据幼苗的实时高度信息进而调节对应幼苗高度所需的光照强度。In order to solve the above technical problems, the object of the present invention is to provide a method and system for controlling light intensity based on the change of seedling growth height, which can adjust the light intensity required for the corresponding seedling height according to the real-time height information of the seedlings.

本发明所采用的第一技术方案是:基于幼苗生长高度变化的光照强度控制系统,包括灯板模块、散热模块、温度传感器模块、光照传感器模块、3D结构光相机模块、HMI触摸屏模块和培养托盘模块,所述散热模块安装于灯板模块的背部,所述灯板模块的正面与背面的中心位置均设置有温度传感器模块,所述光照传感器模块、3D结构光相机模块、HMI触摸屏模块分别与灯板模块通过无线连接,所述培养托盘模块位于光照传感器模块的正下方,其中:The first technical solution adopted in the present invention is: a light intensity control system based on the change of seedling growth height, including a light board module, a heat dissipation module, a temperature sensor module, a light sensor module, a 3D structured light camera module, an HMI touch screen module and a cultivation tray module, the heat dissipation module is installed on the back of the lamp panel module, and the center position of the front and back of the lamp panel module is provided with a temperature sensor module, the illumination sensor module, the 3D structured light camera module, and the HMI touch screen module are respectively connected to the The light board module is connected wirelessly, and the culture tray module is located directly below the light sensor module, wherein:

所述灯板模块用于提供光照;The light panel module is used to provide illumination;

所述散热模块用于降低灯板模块在启动强光补光时产生的热能;The heat dissipation module is used to reduce the heat energy generated by the light board module when the strong light supplementary light is activated;

所述光照传感器模块用于收集幼苗表面的实际光照;The light sensor module is used to collect the actual light on the surface of the seedling;

所述3D结构光相机模块用于采集最高幼苗的高度值;The 3D structured light camera module is used to collect the height value of the highest seedling;

所述HMI触摸屏模块用于选择不同的控制模式;The HMI touch screen module is used to select different control modes;

所述培养托盘模块用于放置待培育幼苗。The cultivation tray module is used for placing seedlings to be cultivated.

进一步,所述灯板模块包括12块灯板,所述灯板的排列方式为3*4分布排列,灯板尺寸规格为20*30mm,灯板的照射角度均为120°,其中:Further, the light board module includes 12 light boards, the arrangement of the light boards is 3*4, the size of the light boards is 20*30mm, and the illumination angle of the light boards is 120°, wherein:

所述灯板包括红色LED灯组、蓝色LED灯组和白色LED灯组,每个LED灯组均包括6个相同型号颜色灯珠,每个灯株的连接方式为串联连接,每个灯株的排列方式为一字等间距排列;The light board includes a red LED light group, a blue LED light group and a white LED light group, each LED light group includes 6 lamp beads of the same model and color, each lamp line is connected in series, and each lamp The arrangement of the strains is a word with equal spacing;

所述红色灯珠与蓝色灯珠的最大光照强度在距离培养托盘模块30cm高度处为200μmol·m-2·s-1,所述白色灯珠的最大光照强度在距离培养托盘模块30cm高度处为300μmol·m-2·s-1The maximum light intensity of the red and blue light beads is 200 μmol m -2 s -1 at a height of 30 cm from the culture tray module, and the maximum light intensity of the white light beads is at a height of 30 cm from the culture tray module is 300 μmol·m -2 ·s -1 .

同时,本发明还提供一种基于幼苗生长高度变化的光照强度控制系统的方法,包括以下步骤:Simultaneously, the present invention also provides a kind of method based on the light intensity control system of seedling growth height change, comprises the following steps:

S1、将待培育的幼苗放置于培养托盘上,并栽种于培育室灯板下的预定区域位置;S1. Place the seedlings to be cultivated on the cultivation tray, and plant them in the predetermined area under the light panel of the cultivation room;

S2、通过3D结构光相机获取幼苗的实际生长高度;S2. Obtain the actual growth height of the seedlings through the 3D structured light camera;

S3、根据幼苗的实际生长高度,调节幼苗表面接收到的光照强度达到适合幼苗生长高度的光照补给量;S3, according to the actual growth height of the seedlings, adjust the light intensity received by the surface of the seedlings to reach the light supply amount suitable for the growth height of the seedlings;

S4、通过光照传感器获取幼苗的实际光照强度;S4, obtaining the actual light intensity of the seedlings through the light sensor;

S5、根据幼苗的实际光照强度,进一步调节灯板的光照强度及高度;S5, according to the actual light intensity of the seedlings, further adjust the light intensity and height of the lamp panel;

S6、当幼苗的生长高度达到预设高度阈值时,转出培育室。S6. When the growth height of the seedling reaches the preset height threshold, transfer out of the cultivation room.

进一步,还包括通过散热模块降低灯板启动强光补光时产生的热能,其具体包括:Further, it also includes reducing the heat energy generated when the lamp board starts strong light supplementary light through the heat dissipation module, which specifically includes:

所述灯板背部设置有第一温度传感器,灯板表面中心处设置有第二温度传感器;The back of the lamp board is provided with a first temperature sensor, and the center of the surface of the lamp board is provided with a second temperature sensor;

所述灯板背部设置有第一温度传感器,灯板表面中心处设置有第二温度传感器;The back of the lamp board is provided with a first temperature sensor, and the center of the surface of the lamp board is provided with a second temperature sensor;

温度传感器实时采集灯板温度数据并将温度数据通过485反馈至上位机进行差值计算,得到计算结果;The temperature sensor collects the temperature data of the lamp panel in real time and feeds the temperature data back to the host computer through 485 for difference calculation to obtain the calculation result;

通过内部温度场算法将计算结果反馈至控制中心;The calculation results are fed back to the control center through the internal temperature field algorithm;

控制中心根据计算结果决定是否启动散热装置;The control center decides whether to activate the cooling device according to the calculation result;

判断到启动散热装置,通过上位机算法计算PWM脉冲值;It is judged that the cooling device is started, and the PWM pulse value is calculated by the upper computer algorithm;

控制中心根据PWM脉冲值控制散热装置散热速率。The control center controls the cooling rate of the cooling device according to the PWM pulse value.

进一步,还包括通过HMI触摸屏选择对应的灯板工作模式,所述灯板的工作模式包括手动模式与自动模式,其中:Further, it also includes selecting the corresponding lamp panel working mode through the HMI touch screen, and the working mode of the lamp panel includes manual mode and automatic mode, wherein:

所述手动模式,通过按键阻断自动模式下的调控干扰,可在HMI触摸屏上选择不同灯株单元一一进行光强数值设定,也可通过设置所需总光强,通过所需光强与平台所处高度导入控制器内部提前设定的二元一次函数中,得出所需PWM数值进行光强输出;In the manual mode, the control interference in the automatic mode is blocked by pressing the button, and different lamp plant units can be selected on the HMI touch screen to set the light intensity value one by one, or the required total light intensity can be set, and the required light intensity can be set. Import the height of the platform into the binary linear function set in advance in the controller, and obtain the required PWM value for light intensity output;

所述自动模式,根据设定总灯板工作时段与所需光强模式(梯度变光或恒定光源),屏幕将通过变成状态显示模式,首先设备通过采集当前种苗点云图像上传至上位机进行点云数据分析处理,得出当前种苗高度信息,通过目标光强值函数式带入PWM数值/灯板发射光强的功率损耗和散热片功率,得出在最低功率损耗情况下,所得到的较适宜温度、高度和PWM值,再通过上位机下达指令至下位机中执行当前灯板距离种苗高度和PWM占空比数值的调控操作。In the automatic mode, according to the set working period of the total lamp board and the required light intensity mode (gradient variable light or constant light source), the screen will change to the status display mode. First, the device uploads the current seedling point cloud image to the host The computer analyzes and processes the point cloud data to obtain the current seedling height information, which is brought into the PWM value/power loss of the emitted light intensity of the light board and the power of the heat sink through the target light intensity value function formula, and it is obtained that in the case of the lowest power loss, The obtained more suitable temperature, height and PWM value are then issued by the host computer to the lower computer to perform the regulation and control operation of the current light board distance from the seedling height and the PWM duty cycle value.

进一步,所述目标光强值函数的表达式具体如下所示:Further, the expression of the target light intensity value function is specifically as follows:

f1(x)=ax1+bx2+cx3+df 1 (x)=ax 1 +bx 2 +cx 3 +d

上式中,f1(x)表示目标高度所需光强值,x1表示当前灯板距离种苗高度,x2表示PWM占空比数值,x3表示x1高度下的温度值,a、b、c和d分别表示x1、x2、x3和f1x的系数。In the above formula, f 1 (x) represents the light intensity value required for the target height, x 1 represents the height of the current light board from the seedling, x 2 represents the PWM duty cycle value, x 3 represents the temperature value at the height of x 1 , a , b, c and d denote the coefficients of x 1 , x 2 , x 3 and f 1 x respectively.

进一步,所述通过3D结构光相机获取幼苗的实际生长高度这一步骤,其具体包括:Further, the step of obtaining the actual growth height of the seedlings through the 3D structured light camera specifically includes:

将3D结构光相机设置于距离培养托盘16cm的右端;Set the 3D structured light camera at the right end 16cm away from the culture tray;

通过3D结构光相机间隔预设时间比例采集幼苗生长点云信息;Collect seedling growth point cloud information through the 3D structured light camera interval preset time ratio;

基于python对幼苗生长点云信息进行分析计算,得到幼苗的实际生长高度信息;Based on python, the seedling growth point cloud information is analyzed and calculated to obtain the actual growth height information of the seedlings;

将幼苗的实际生长高度信息上传至HMI触摸屏进行显示,获取幼苗的实际生长高度。Upload the actual growth height information of the seedlings to the HMI touch screen for display, and obtain the actual growth height of the seedlings.

进一步,所述通过光照传感器获取幼苗的实际光照强度这一步骤,其具体包括:Further, the step of obtaining the actual light intensity of the seedlings through the light sensor specifically includes:

在培养托盘底面16cm处设置第一光照传感器,同等高度左端设置第一光照传感器;Set the first light sensor at 16cm from the bottom surface of the culture tray, and set the first light sensor at the left end of the same height;

通过第一光照传感器获取幼苗的中心光照强度,通过第二光照传感器获取幼苗的边缘光照强度;Obtain the central light intensity of the seedlings by the first light sensor, and obtain the edge light intensity of the seedlings by the second light sensor;

对幼苗的中心光照强度与幼苗的边缘光照强度进行极差计算处理,得到极差值;Perform range calculation processing on the center light intensity of the seedling and the edge light intensity of the seedling to obtain the range value;

对极差值进行判断,判断到所述极差值大于预设极差阈值,通过灯板的光照强度进行差值弥补;Judging the range value, judging that the range value is greater than the preset range threshold, and making up for the difference through the light intensity of the lamp panel;

判断到所述极差值小于预设极差阈值,对幼苗的中心光照强度与幼苗的边缘光照强度进行求平均处理,得到幼苗的实际光照强度。If it is determined that the extreme difference value is less than the preset extreme difference threshold, the central light intensity of the seedlings and the edge light intensity of the seedlings are averaged to obtain the actual light intensity of the seedlings.

本发明方法及系统的有益效果是:本发明通过3D结构光相机模块获取幼苗的点云图像上传至上位机进行点云数据分析处理,能够准确的计算出当前幼苗的高度信息,进而通过目标光强函数计算当前幼苗高度所需要的光照强度,适当的光照强度能够缩短幼苗的生长时间,间隔一定时间再次获取幼苗的高度信息,能够根据幼苗的高度信息实时变化对应的所需光照强度,即避免了传统的通过施加化肥等情况下进而实现促进幼苗的生长。The beneficial effects of the method and system of the present invention are: the present invention obtains the point cloud image of the seedling through the 3D structured light camera module and uploads it to the host computer for point cloud data analysis and processing, and can accurately calculate the height information of the current seedling, and then pass the target light The strong function calculates the light intensity required for the current seedling height. Appropriate light intensity can shorten the growth time of the seedlings, obtain the height information of the seedlings again at a certain interval, and change the corresponding required light intensity in real time according to the height information of the seedlings, that is, to avoid The traditional way of promoting the growth of seedlings is achieved by applying chemical fertilizers and the like.

附图说明Description of drawings

图1是本发明基于幼苗生长高度变化的光照强度控制系统的结构示意图;Fig. 1 is the structural representation of the light intensity control system based on seedling growth height variation of the present invention;

图2是本发明基于幼苗生长高度变化的光照强度控制方法的步骤流程示意图;Fig. 2 is a schematic flow chart of the steps of the light intensity control method based on the variation of seedling growth height in the present invention;

图3是本发明具体实施例灯光手动调控界面的示意图;Fig. 3 is a schematic diagram of a light manual control interface according to a specific embodiment of the present invention;

图4是本发明具体实施例灯光自动调控界面的示意图;Fig. 4 is a schematic diagram of an automatic control interface for lights according to a specific embodiment of the present invention;

图5是本发明具体实施例平台高度调控界面的示意图;Fig. 5 is a schematic diagram of a platform height control interface according to a specific embodiment of the present invention;

图6是本发明具体实施例散热板调控界面的示意图;Fig. 6 is a schematic diagram of a control interface of a cooling plate according to a specific embodiment of the present invention;

图7是本发明灯板模块的正面结构示意图;Fig. 7 is a schematic diagram of the front structure of the lamp panel module of the present invention;

图8是本发明培养托盘模块的结构示意图;Fig. 8 is a schematic structural view of the cultivation tray module of the present invention;

图9是本发明灯板模块的背面结构示意图;Fig. 9 is a schematic diagram of the back structure of the lamp panel module of the present invention;

附图说明:1、温度传感器;2、灯板;3、蓝色灯组;4、红色灯组;5、白光灯组;6、光照传感器;7、内置EC传感器培养液进水口;8、散热片;9、滚动滑轮;10、水位上限;11、水位下限;12、步进推杆。Description of drawings: 1. Temperature sensor; 2. Light board; 3. Blue light group; 4. Red light group; 5. White light group; 6. Light sensor; 7. Built-in EC sensor culture solution inlet; 8. Heat sink; 9, rolling pulley; 10, upper limit of water level; 11, lower limit of water level; 12, stepping push rod.

具体实施方式Detailed ways

下面结合附图和具体实施例对本发明做进一步的详细说明。对于以下实施例中的步骤编号,其仅为了便于阐述说明而设置,对步骤之间的顺序不做任何限定,实施例中的各步骤的执行顺序均可根据本领域技术人员的理解来进行适应性调整。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. For the step numbers in the following embodiments, it is only set for the convenience of illustration and description, and the order between the steps is not limited in any way. The execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art sexual adjustment.

参照图1,本发明提供了基于幼苗生长高度变化的光照强度控制系统,包括灯板模块、散热模块、温度传感器模块、光照传感器模块、3D结构光相机模块、HMI触摸屏模块和培养托盘模块,所述散热模块安装于灯板模块的背部,所述灯板模块的正面与背面的中心位置均设置有温度传感器模块,所述光照传感器模块、3D结构光相机模块、HMI触摸屏模块分别与灯板模块通过无线连接,所述培养托盘模块位于光照传感器模块的正下方,其中:Referring to Fig. 1, the present invention provides a light intensity control system based on the change of seedling growth height, including a light panel module, a heat dissipation module, a temperature sensor module, a light sensor module, a 3D structured light camera module, an HMI touch screen module and a cultivation tray module. The heat dissipation module is installed on the back of the light board module, and the center of the front and back of the light board module is provided with a temperature sensor module. The light sensor module, 3D structured light camera module, and HMI touch screen module are respectively connected to the Connected wirelessly, the culture tray module is positioned directly below the light sensor module, wherein:

所述灯板模块用于提供光照,灯板模块包括12块灯板,所述灯板的排列方式为3*4分布排列,灯板尺寸规格为20*30mm,灯板的照射角度均为120°,每块灯板上装置有红、蓝、白三种颜色LED灯株,灯珠照射角度均为120°,基于该角度下可基本满足在最低高度时灯珠照射范围覆盖整个培养托盘,增加照射的均匀性,降低边缘补光时的灯源损耗,连接24VDC电源,每块板中每种颜色灯珠串联6个相同型号颜色灯珠,并一字等间距排开,蓝色与红色光谱最大光强可在距离培养托盘30cm处达200μmol·m-2·s-1左右,该距离和光强是指该灯珠所达该高度时可达的最大光量子通量密度值,30cm为普遍植物工厂人工光培育的固定高度,白色光谱段内,降低绿光含量比例,从传统的红:蓝:绿=3:1:6转化为4:1:1,白光在距离培养托盘30cm处达300μmol·m-2·s-1左右,可见光光谱段为360-830NM,在该光谱段中,对植物影响最大的是红蓝光,影响最小的是绿光,三种颜色光的配比可将其视为传统意义上的白光,通过降低灯板中白光中的绿光配比可降低灯板损耗功率,同时间接加大幼苗吸收可用光的效率,达到“节能的效果”,具体如图7所示;The light board module is used to provide light. The light board module includes 12 light boards. The arrangement of the light boards is 3*4. The size of the light boards is 20*30mm. °, each lamp board is equipped with red, blue and white LED lamp plants, and the lamp bead irradiation angle is 120°. Based on this angle, the lamp bead irradiation range can basically cover the entire culture tray at the lowest height. Increase the uniformity of illumination, reduce the loss of light source when filling the edge, connect 24VDC power supply, connect 6 lamp beads of the same model and color in series in each board, and arrange them at equal intervals, blue and red The maximum light intensity of the spectrum can reach about 200μmol·m -2 ·s -1 at a distance of 30cm from the culture tray. The fixed height of artificial light cultivation in general plant factories, within the white spectrum segment, reduces the proportion of green light content, from the traditional red: blue: green = 3:1:6 to 4:1:1, and the white light is 30cm away from the cultivation tray up to 300μmol·m -2 ·s -1 , and the visible light spectrum ranges from 360-830NM. In this spectral range, red and blue light have the greatest impact on plants, and green light has the least impact. The ratio of the three colors of light can be adjusted Treat it as white light in the traditional sense. By reducing the ratio of green light in the white light in the light board, the power loss of the light board can be reduced, and at the same time, the efficiency of the seedlings to absorb available light can be indirectly increased to achieve the "energy-saving effect", as shown in the figure 7 shown;

所述散热模块用于降低灯板模块在启动强光补光时产生的热能,灯板背面装有2*3,共六块散热装置,解决当启动强光补光时产生过大热能的问题,背部装有第一温度传感器,灯板表面中心处装有第二温度传感器,温度传感器实时采集灯板温度数据,将数据通过485反馈至上位机进行差值计算,通过内部温度场算法反馈至控制中心,决定是否启动散热装置,以及通过上位机算法计算PWM脉冲值,通过控制中心最终控制散热装置散热速率,节省能源损耗,具体如图6和图9所示;The heat dissipation module is used to reduce the heat energy generated by the lamp panel module when the strong light supplement is activated. There are 2*3 heat dissipation devices on the back of the lamp panel, which solve the problem of excessive heat generation when the strong light supplement is activated. , the first temperature sensor is installed on the back, and the second temperature sensor is installed at the center of the surface of the lamp panel. The temperature sensor collects the temperature data of the lamp panel in real time, and feeds the data back to the host computer through 485 for difference calculation. The control center decides whether to start the cooling device, and calculates the PWM pulse value through the upper computer algorithm, and finally controls the heat dissipation rate of the cooling device through the control center to save energy loss, as shown in Figure 6 and Figure 9;

所述光照传感器模块用于收集幼苗表面的实际光照,距离培养托盘底面16cm处安装有嵌入式第一光照传感器,同等高度左端(安装在铝型材上)安装有第二光照传感器,每次采集的光强值为两光照传感器的平均值,为减少照射强度差异造成的误差,根据极差计算计算出中心光强与边缘光强差异,当差异≥10μmol·m-2·s-1时,设备将通过调整高度与边缘灯板单元的光强数值来拟补差值,从而减小极差,具体如图8所示;The light sensor module is used to collect the actual light on the surface of the seedlings. An embedded first light sensor is installed at a distance of 16 cm from the bottom surface of the cultivation tray, and a second light sensor is installed on the left end of the same height (installed on the aluminum profile). The light intensity value is the average value of the two light sensors. In order to reduce the error caused by the difference in illumination intensity, the difference between the center light intensity and the edge light intensity is calculated according to the range calculation. When the difference is ≥ 10μmol·m -2 ·s -1 , the device The difference will be compensated by adjusting the height and the light intensity value of the edge light panel unit, so as to reduce the extreme difference, as shown in Figure 8;

所述3D结构光相机模块用于采集最高幼苗的高度值,距离培养托盘底面16cm处右端(安装在铝型材上)安装有3D结构光相机,用以获取种苗生长点云信息(最主要获取平面内最高种苗的高度,灯板高度≥最高种苗高度),采集时间是30min/次,采集高度值分别上传至上位机端与HMI界面显示;The 3D structured light camera module is used to collect the height value of the highest seedling, and a 3D structured light camera is installed at the right end (installed on the aluminum profile) at 16 cm from the bottom surface of the cultivation tray to obtain seedling growth point cloud information (mostly obtained The height of the highest seedling in the plane, the height of the light board ≥ the height of the highest seedling), the collection time is 30min/time, and the collected height values are uploaded to the host computer and displayed on the HMI interface;

点云数据分析时,通过触发右侧3D结构相机采集当前种苗的点云图信息,利用温度传感器、光照传感器等拓展模块进行环境数据采集,并上传至上位机中,上位机接受到端口触发信号,读取点云图信息并利用python计算点云中的叶面积、株高等表型信息,得出数据信息后带入函数算法中求得所需的高度x1、PWM数值x2、当前温度x3、当前功率损耗f2(x)及散热片运转功率f3(x);During point cloud data analysis, the point cloud information of the current seedlings is collected by triggering the 3D structure camera on the right, and environmental data is collected using expansion modules such as temperature sensors and light sensors, and uploaded to the host computer, which receives the port trigger signal , read the point cloud image information and use python to calculate the phenotype information such as leaf area and plant height in the point cloud, get the data information and bring it into the function algorithm to obtain the required height x 1 , PWM value x 2 , current temperature x 3. Current power loss f 2 (x) and heat sink operating power f 3 (x);

所述HMI触摸屏模块用于选择不同的控制模式,12块灯板都是独立可单独控制模块单元,控制模式有手动选择模块单元及对应PWM数值输入控制,和上位机算法模型自动控制模式,选择方式在HMI触摸屏中操作实现,具体地:The HMI touch screen module is used to select different control modes. The 12 light boards are all independent module units that can be controlled individually. The method is implemented on the HMI touch screen, specifically:

选择手动模式时,通过按键阻断自动模式下的调控干扰,可在屏幕上选择不同单元一一进行光强数值设定,也可通过设置所需总光强,通过所需光强与平台所处高度导入控制器内部提前设定的二元一次函数中,得出所需PWM数值进行光强输出(若高度无限制,会根据内部函数模型通过改变高度来降低PWM输出,从而达到节省能源目的),具体如图3所示。When the manual mode is selected, the control interference in the automatic mode can be blocked by pressing the button, and different units can be selected on the screen to set the light intensity value one by one. The height is imported into the binary linear function set in advance in the controller, and the required PWM value is obtained for light intensity output (if the height is unlimited, the PWM output will be reduced by changing the height according to the internal function model, so as to achieve the purpose of saving energy ), as shown in Figure 3.

选择自动模式后,根据设定总灯板工作时段与所需光强模式(梯度变光或恒定光源),屏幕将通过变成状态显示模式,首先设备通过采集当前种苗点云图像上传至上位机进行点云数据分析处理,得出当前种苗高度信息,通过目标光强值函数式f1(x)带入(其中f(x)为目标高度所需光强值、x1为当前灯板距离种苗高度(cm)、x2为PWM数值/灯板发射光强、x3为x1高度下幼苗探头测得的温度值(℃)),x2光强值下的功率损耗f3(x),和散热片功率f4(x),得出在最低功率损耗情况下,所得到的较适宜温度、高度和PWM值,再通过上位机下达指令至下位机中执行x1和x2的调控操作,具体如图4所示;After selecting the automatic mode, according to the set working period of the total light board and the required light intensity mode (gradient variable light or constant light source), the screen will change to the status display mode. First, the device uploads the current seedling point cloud image to the host The computer analyzes and processes the point cloud data to obtain the current seedling height information, which is brought into the target light intensity value function f 1 (x) (where f(x) is the light intensity value required for the target height, and x 1 is the current light intensity value The distance between the board and the seedling height (cm), x2 is the PWM value/light intensity emitted by the lamp board, x3 is the temperature value measured by the seedling probe at the height of x1 (℃)), and the power loss f3 at the light intensity value of x2 (x), and heat sink power f 4 (x), get the most suitable temperature, height and PWM value under the condition of the lowest power loss, and then issue instructions to the lower computer through the host computer to execute x 1 and x 2 , specifically as shown in Figure 4;

所述目标光强模型函数的表达式为:The expression of the target light intensity model function is:

f1(x)=ax1+bx2+cx3+df 1 (x)=ax 1 +bx 2 +cx 3 +d

上式中,f1(x)表示目标高度所需光强值,x1表示当前灯板距离种苗高度,x2表示PWM占空比数值,x3表示x1高度下的温度值,a、b、c和d分别表示通过带入4组所得的x1、x2、x3及f1(x)求得;In the above formula, f 1 (x) represents the light intensity value required for the target height, x 1 represents the height of the current light board from the seedling, x 2 represents the PWM duty cycle value, x 3 represents the temperature value at the height of x 1 , a , b, c and d respectively represent x 1 , x 2 , x 3 and f 1 (x) obtained by bringing in 4 groups;

所述培育高度与植物光量子通量密度需求模型的表达式为:The expression of the cultivation height and plant light quantum flux density demand model is:

f2(x)=a1x1+b1x2+c1 f 2 (x)=a 1 x 1 +b 1 x 2 +c 1

上式中,f2(x)为光量子通量密度数值(μmol·m-2·s-1),a1、b1和c1通过带入测量数值求得,即a1、b1和c1均为常数系数;In the above formula, f 2 (x) is the value of light quantum flux density (μmol·m -2 ·s -1 ), a 1 , b 1 and c 1 are obtained by bringing in the measured values, that is, a 1 , b 1 and c 1 are constant coefficients;

所述功率损耗模型的表达式为:The expression of the power loss model is:

f3(x)=k1x2+Mf 3 (x)=k 1 x 2 +M

利用功率插座测量不同占空x2比下灯板损耗的功率f3(x),联合式子求得k1和M,即k1和M均为常数系数;Use the power socket to measure the power f 3 (x) lost by the lamp board under different duty x 2 ratios, and combine the formula to obtain k 1 and M, that is, k 1 and M are both constant coefficients;

所述散热片运转功率损耗模型的表达式为:The expression of the heat sink operating power loss model is:

f4(x)=k2x3+b2x4+c2 f 4 (x)=k 2 x 3 +b 2 x 4 +c 2

上利用温度传感器测得当前幼苗高度下的温度x3、所需维持温度x4和功率插座所求得运转功率f4(x),带入式中求得k2、b2和c2,即k2、b2和c2均为常数系数。Using the temperature sensor to measure the temperature x 3 at the current seedling height, the required maintenance temperature x 4 and the operating power f 4 (x) obtained from the power socket, put them into the formula to obtain k 2 , b 2 and c 2 , That is, k 2 , b 2 and c 2 are all constant coefficients.

所述培养托盘模块用于放置待培育幼苗。The cultivation tray module is used for placing seedlings to be cultivated.

参照图2,基于幼苗生长高度变化的光照强度控制方法,包括:With reference to Fig. 2, the light intensity control method based on seedling growth height variation, comprises:

S1、将待培育的幼苗放置于培养托盘上,并栽种于培育室灯板下的预定区域位置;S1. Place the seedlings to be cultivated on the cultivation tray, and plant them in the predetermined area under the light panel of the cultivation room;

S2、通过3D结构光相机获取幼苗的实际生长高度;S2. Obtain the actual growth height of the seedlings through the 3D structured light camera;

S3、根据幼苗的实际生长高度,调节幼苗表面接收到的光照强度达到适合幼苗生长高度的光照补给量;S3, according to the actual growth height of the seedlings, adjust the light intensity received by the surface of the seedlings to reach the light supply amount suitable for the growth height of the seedlings;

S4、通过光照传感器获取幼苗的实际光照强度;S4, obtaining the actual light intensity of the seedlings through the light sensor;

S5、根据幼苗的实际光照强度,进一步调节灯板的光照强度及高度;S5, according to the actual light intensity of the seedlings, further adjust the light intensity and height of the lamp panel;

S6、当幼苗的生长高度达到预设高度阈值时,转出培育室。S6. When the growth height of the seedling reaches the preset height threshold, transfer out of the cultivation room.

具体地,上述灯板的高度调节是通过步进电机对接受到的上位机或HMI触摸屏的脉冲量和方向的调控信号对灯板进行推杆式高度上升与下降,从而改变光源对培养托盘照射的高度,主要利用PLC的高速脉冲输出口和方向输出口控制。Specifically, the height adjustment of the above-mentioned light board is to use the stepper motor to control the pulse amount and direction of the received host computer or HMI touch screen to push the height of the light board to rise and fall, thereby changing the light source to the culture tray. The height is mainly controlled by the high-speed pulse output port and direction output port of PLC.

上述方法实施例中的内容均适用于本系统实施例中,本系统实施例所具体实现的功能与上述方法实施例相同,并且达到的有益效果与上述方法实施例所达到的有益效果也相同。The content in the above-mentioned method embodiments is applicable to this system embodiment. The functions realized by this system embodiment are the same as those of the above-mentioned method embodiments, and the beneficial effects achieved are also the same as those achieved by the above-mentioned method embodiments.

以上是对本发明的较佳实施进行了具体说明,但本发明创造并不限于所述实施例,熟悉本领域的技术人员在不违背本发明精神的前提下还可做作出种种的等同变形或替换,这些等同的变形或替换均包含在本申请权利要求所限定的范围内。The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the described embodiments, and those skilled in the art can also make various equivalent deformations or replacements without violating the spirit of the present invention. , these equivalent modifications or replacements are all within the scope defined by the claims of the present application.

Claims (8)

1.基于幼苗生长高度变化的光照强度控制系统,其特征在于,包括灯板模块、散热模块、温度传感器模块、光照传感器模块、3D结构光相机模块、HMI触摸屏模块和培养托盘模块,所述散热模块安装于灯板模块的背部,所述灯板模块的正面与背面的中心位置均设置有温度传感器模块,所述光照传感器模块、3D结构光相机模块、HMI触摸屏模块分别与灯板模块通过无线连接,所述培养托盘模块位于光照传感器模块的正下方,其中:1. The light intensity control system based on the change of seedling growth height is characterized in that it includes a lamp panel module, a heat dissipation module, a temperature sensor module, a light sensor module, a 3D structured light camera module, an HMI touch screen module and a cultivation tray module, and the heat dissipation The module is installed on the back of the light board module, and the center of the front and back of the light board module is equipped with a temperature sensor module. The light sensor module, 3D structured light camera module, and HMI touch screen module are respectively connected to the light board module connected, the culture tray module is located directly below the light sensor module, wherein: 所述灯板模块用于提供光照;The light panel module is used to provide illumination; 所述散热模块用于降低灯板模块在启动强光补光时产生的热能;The heat dissipation module is used to reduce the heat energy generated by the light board module when the strong light supplementary light is activated; 所述光照传感器模块用于收集幼苗表面的实际光照;The light sensor module is used to collect the actual light on the surface of the seedling; 所述3D结构光相机模块用于采集最高幼苗的高度值;The 3D structured light camera module is used to collect the height value of the highest seedling; 所述HMI触摸屏模块用于选择不同的控制模式;The HMI touch screen module is used to select different control modes; 所述培养托盘模块用于放置待培育幼苗。The cultivation tray module is used for placing seedlings to be cultivated. 2.根据权利要求1所述基于幼苗生长高度变化的光照强度控制系统,其特征在于,所述灯板模块包括12块灯板,所述灯板的排列方式为3*4分布排列,灯板尺寸规格为20*30mm,灯板的照射角度均为120°,其中:2. The light intensity control system based on the change of seedling growth height according to claim 1, wherein the light board module includes 12 light boards, and the arrangement of the light boards is 3*4 distribution arrangement, and the light boards The size specification is 20*30mm, and the irradiation angle of the light board is 120°, among which: 所述灯板包括红色LED灯组、蓝色LED灯组和白色LED灯组,每个LED灯组均包括6个相同型号颜色灯珠,每个灯株的连接方式为串联连接,每个灯株的排列方式为一字等间距排列;The light board includes a red LED light group, a blue LED light group and a white LED light group, each LED light group includes 6 lamp beads of the same model and color, each lamp line is connected in series, and each lamp The arrangement of the strains is a word with equal spacing; 所述红色灯珠与蓝色灯珠的最大光照强度在距离培养托盘模块30cm高度处为200μmol·m-2·s-1,所述白色灯珠的最大光照强度在距离培养托盘模块30cm高度处为300μmol·m-2·s-1The maximum light intensity of the red and blue light beads is 200 μmol m -2 s -1 at a height of 30 cm from the culture tray module, and the maximum light intensity of the white light beads is at a height of 30 cm from the culture tray module is 300 μmol·m -2 ·s -1 . 3.一种如权利要求1-2中任一项所述的基于幼苗生长高度变化的光照强度控制系统的方法,其特征在于,包括以下步骤:3. a method for the light intensity control system based on seedling growth height variation according to any one of claims 1-2, is characterized in that, comprises the following steps: S1、将待培育的幼苗放置于培养托盘上,并栽种于培育室灯板下的预定区域位置;S1. Place the seedlings to be cultivated on the cultivation tray, and plant them in the predetermined area under the light panel of the cultivation room; S2、通过3D结构光相机获取幼苗的实际生长高度;S2. Obtain the actual growth height of the seedlings through the 3D structured light camera; S3、根据幼苗的实际生长高度,调节幼苗表面接收到的光照强度达到适合幼苗生长高度的光照补给量;S3, according to the actual growth height of the seedlings, adjust the light intensity received by the surface of the seedlings to reach the light supply amount suitable for the growth height of the seedlings; S4、通过光照传感器获取幼苗的实际光照强度;S4, obtaining the actual light intensity of the seedlings through the light sensor; S5、根据幼苗的实际光照强度,进一步调节灯板的光照强度及高度;S5, according to the actual light intensity of the seedlings, further adjust the light intensity and height of the lamp panel; S6、当幼苗的生长高度达到预设高度阈值时,转出培育室。S6. When the growth height of the seedling reaches the preset height threshold, transfer out of the cultivation room. 4.根据权利要求3所述基于幼苗生长高度变化的光照强度控制方法,其特征在于,还包括通过散热模块降低灯板启动强光补光时产生的热能,其具体包括:4. The light intensity control method based on the change of seedling growth height according to claim 3 is characterized in that, it also includes reducing the heat energy generated when the lamp board starts strong light supplementary light through the heat dissipation module, which specifically includes: 所述灯板背部设置有第一温度传感器,灯板表面中心处设置有第二温度传感器;The back of the lamp board is provided with a first temperature sensor, and the center of the surface of the lamp board is provided with a second temperature sensor; 温度传感器实时采集灯板温度数据并将温度数据通过485反馈至上位机进行差值计算,得到计算结果;The temperature sensor collects the temperature data of the lamp panel in real time and feeds the temperature data back to the host computer through 485 for difference calculation to obtain the calculation result; 通过内部温度场算法将计算结果反馈至控制中心;The calculation results are fed back to the control center through the internal temperature field algorithm; 控制中心根据计算结果决定是否启动散热装置;The control center decides whether to activate the cooling device according to the calculation result; 判断到启动散热装置,通过上位机算法计算PWM脉冲值;It is judged that the cooling device is started, and the PWM pulse value is calculated by the upper computer algorithm; 控制中心根据PWM脉冲值控制散热装置散热速率。The control center controls the cooling rate of the cooling device according to the PWM pulse value. 5.根据权利要求4所述基于幼苗生长高度变化的光照强度控制方法,其特征在于,还包括通过HMI触摸屏选择对应的灯板工作模式,所述灯板的工作模式包括手动模式与自动模式,其中:5. The light intensity control method based on the change of seedling growth height according to claim 4, further comprising selecting the corresponding lamp board working mode through the HMI touch screen, the working mode of the lamp board includes manual mode and automatic mode, in: 所述手动模式,通过按键阻断自动模式下的调控干扰,可在HMI触摸屏上选择不同灯株单元一一进行光强数值设定,也可通过设置所需总光强,通过所需光强与平台所处高度导入控制器内部提前设定的二元一次函数中,得出所需PWM数值进行光强输出;In the manual mode, the control interference in the automatic mode is blocked by pressing the button, and different lamp plant units can be selected on the HMI touch screen to set the light intensity value one by one, or the required total light intensity can be set, and the required light intensity can be set. Import the height of the platform into the binary linear function set in advance in the controller, and obtain the required PWM value for light intensity output; 所述自动模式,根据设定总灯板工作时段与所需光强模式(梯度变光或恒定光源),屏幕将通过变成状态显示模式,首先设备通过采集当前种苗点云图像上传至上位机进行点云数据分析处理,得出当前种苗高度信息,通过目标光强值函数式带入PWM数值/灯板发射光强的功率损耗和散热片功率,得出在最低功率损耗情况下,所得到的较适宜温度、高度和PWM值,再通过上位机下达指令至下位机中执行当前灯板距离种苗高度和PWM占空比数值的调控操作。In the automatic mode, according to the set working period of the total lamp board and the required light intensity mode (gradient variable light or constant light source), the screen will change to the status display mode. First, the device uploads the current seedling point cloud image to the host The computer analyzes and processes the point cloud data to obtain the current seedling height information, which is brought into the PWM value/power loss of the emitted light intensity of the light board and the power of the heat sink through the target light intensity value function formula, and it is obtained that in the case of the lowest power loss, The obtained more suitable temperature, height and PWM value are then issued by the host computer to the lower computer to perform the regulation and control operation of the current light board distance from the seedling height and the PWM duty cycle value. 6.根据权利要求5所述基于幼苗生长高度变化的光照强度控制方法,其特征在于,所述目标光强值函数的表达式具体如下所示:6. according to the described light intensity control method based on seedling growth height change according to claim 5, it is characterized in that, the expression of described target light intensity value function is specifically as follows: f1(x)=ax1+bx2+cx3+df 1 (x)=ax 1 +bx 2 +cx 3 +d 上式中,f1(x)表示目标高度所需光强值,x1表示当前灯板距离种苗高度,x2表示PWM占空比数值,x3表示x1高度下的温度值,a、b、c和d分别表示x1、x2、x3和f1(x)的系数。In the above formula, f 1 (x) represents the light intensity value required for the target height, x 1 represents the height of the current light board from the seedling, x 2 represents the PWM duty cycle value, x 3 represents the temperature value at the height of x 1 , a , b, c and d denote the coefficients of x 1 , x 2 , x 3 and f 1 (x), respectively. 7.根据权利要求6所述基于幼苗生长高度变化的光照强度控制方法,其特征在于,所述通过3D结构光相机获取幼苗的实际生长高度这一步骤,其具体包括:7. according to the described light intensity control method based on seedling growth height change according to claim 6, it is characterized in that, described this step of obtaining the actual growth height of seedling by 3D structured light camera, it specifically comprises: 将3D结构光相机设置于距离培养托盘16cm的右端;Set the 3D structured light camera at the right end 16cm away from the culture tray; 通过3D结构光相机间隔预设时间比例采集幼苗生长点云信息;Collect seedling growth point cloud information through the 3D structured light camera interval preset time ratio; 基于python对幼苗生长点云信息进行分析计算,得到幼苗的实际生长高度信息;Based on python, the seedling growth point cloud information is analyzed and calculated to obtain the actual growth height information of the seedlings; 将幼苗的实际生长高度信息上传至HMI触摸屏进行显示,获取幼苗的实际生长高度。Upload the actual growth height information of the seedlings to the HMI touch screen for display, and obtain the actual growth height of the seedlings. 8.根据权利要求7所述基于幼苗生长高度变化的光照强度控制方法,其特征在于,所述通过光照传感器获取幼苗的实际光照强度这一步骤,其具体包括:8. according to the described light intensity control method based on seedling growth height change according to claim 7, it is characterized in that, described this step of obtaining the actual light intensity of seedling by light sensor, it specifically comprises: 在培养托盘底面16cm处设置第一光照传感器,同等高度左端设置第一光照传感器;Set the first light sensor at 16cm from the bottom surface of the culture tray, and set the first light sensor at the left end of the same height; 通过第一光照传感器获取幼苗的中心光照强度,通过第二光照传感器获取幼苗的边缘光照强度;Obtain the central light intensity of the seedlings by the first light sensor, and obtain the edge light intensity of the seedlings by the second light sensor; 对幼苗的中心光照强度与幼苗的边缘光照强度进行极差计算处理,得到极差值;Perform range calculation processing on the center light intensity of the seedling and the edge light intensity of the seedling to obtain the range value; 对极差值进行判断,判断到所述极差值大于预设极差阈值,通过灯板的光照强度进行差值弥补;Judging the range value, judging that the range value is greater than the preset range threshold, and making up for the difference through the light intensity of the lamp panel; 判断到所述极差值小于预设极差阈值,对幼苗的中心光照强度与幼苗的边缘光照强度进行求平均处理,得到幼苗的实际光照强度。If it is determined that the extreme difference value is less than the preset extreme difference threshold, the central light intensity of the seedlings and the edge light intensity of the seedlings are averaged to obtain the actual light intensity of the seedlings.
CN202211623001.2A 2022-12-16 2022-12-16 Light intensity control method and system based on seedling growth height change Pending CN116097995A (en)

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CN117193437A (en) * 2023-09-12 2023-12-08 蒙阴县祥瑞苗木种植专业合作社 Forestry seedling cultivation system and method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117193437A (en) * 2023-09-12 2023-12-08 蒙阴县祥瑞苗木种植专业合作社 Forestry seedling cultivation system and method
CN117193437B (en) * 2023-09-12 2024-03-08 蒙阴县祥瑞苗木种植专业合作社 Forestry seedling cultivation system and method

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