CN118050327A - Coffee tree nutrient detection device and method based on hyperspectral reflectivity - Google Patents
Coffee tree nutrient detection device and method based on hyperspectral reflectivity Download PDFInfo
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- CN118050327A CN118050327A CN202410279932.8A CN202410279932A CN118050327A CN 118050327 A CN118050327 A CN 118050327A CN 202410279932 A CN202410279932 A CN 202410279932A CN 118050327 A CN118050327 A CN 118050327A
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- 240000007154 Coffea arabica Species 0.000 title claims abstract description 94
- 235000007460 Coffea arabica Nutrition 0.000 title claims abstract description 85
- 238000001514 detection method Methods 0.000 title claims abstract description 50
- 235000015097 nutrients Nutrition 0.000 title claims abstract description 33
- 238000002310 reflectometry Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 230000009471 action Effects 0.000 claims abstract description 3
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000003416 augmentation Effects 0.000 claims description 9
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- 239000000523 sample Substances 0.000 claims description 9
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- 230000008569 process Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000003595 spectral effect Effects 0.000 abstract description 4
- 241000196324 Embryophyta Species 0.000 description 4
- 235000021049 nutrient content Nutrition 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000018514 detection of nutrient Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 241000219146 Gossypium Species 0.000 description 1
- 240000007228 Mangifera indica Species 0.000 description 1
- 235000014826 Mangifera indica Nutrition 0.000 description 1
- 240000008790 Musa x paradisiaca Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 244000098338 Triticum aestivum Species 0.000 description 1
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 235000021015 bananas Nutrition 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
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Abstract
The application provides a coffee tree nutrient detection device and method based on high spectral reflectivity. The device comprises: the system comprises a mobile unit, an information acquisition unit, a control unit, a ground pile fixing unit and an auxiliary unit. The information acquisition unit comprises a first mechanical arm, and a visual information acquisition part is arranged on the first mechanical arm; the control unit is used for controlling the traveling of the mobile unit, controlling the action of the first mechanical arm and controlling the operation of the hyperspectral instrument and the depth camera; the ground pile fixing unit comprises a plurality of hollow sleeves, and each sleeve is internally provided with a ground pile rod which can slide up and down along the sleeve; the auxiliary unit comprises a second mechanical arm, and a clamping jaw is arranged at the tail end of the second mechanical arm; the clamping jaw is driven by the second servo motor to clamp and open, and is used for clamping and pushing away the interference branches of the coffee tree canopy to be detected. The application has simple structure and high degree of automation, and can effectively and rapidly and accurately detect the nutrient condition of the coffee tree in the shading coffee garden.
Description
Technical Field
The application relates to the technical field of coffee planting, in particular to a coffee tree nutrient detection device and method based on hyperspectral reflectivity.
Background
The unmanned aerial vehicle-mounted spectrometer is widely used for crop nutrient detection technologies of crops such as corn, wheat, rice and cotton, and the principle is that the spectral characteristics of plant leaves and canopy obtained by the spectrometer are utilized, and the nutrition condition of plants is known by detecting optical reflection of the canopy or leaves, so that if the crop canopy leaves are shielded, the detection result is inaccurate.
Because the coffee tree is not resistant to strong light and needs to be properly shaded, a plurality of kinds of bananas, mango trees and the like are planted in a common coffee garden to shade the coffee tree, and therefore, the nutrient detection of the coffee tree in the shaded coffee garden cannot be carried by an unmanned aerial vehicle for detection. The traditional chemical detection method is time-consuming and labor-consuming, so that a device is needed to be designed to solve the problem of rapid detection of the nutrients of the coffee tree in the shading coffee garden.
Disclosure of Invention
The embodiment of the application aims to provide a coffee tree nutrient detection device and method based on hyperspectral reflectivity, which can be used for rapidly detecting coffee tree nutrients and improving the detection precision and efficiency of the coffee tree nutrients.
In a first aspect, there is provided a coffee tree nutrient detection device based on hyperspectral reflectance, comprising:
The moving unit comprises an upper frame plate and a lower frame bottom plate which are horizontally arranged, wherein the upper frame plate and the lower frame bottom plate are arranged up and down, and a storage space is formed between the upper frame plate and the lower frame bottom plate; crawler belt moving parts are symmetrically arranged along the two sides of the width direction of the moving unit;
The information acquisition unit comprises a first mechanical arm, one end of the first mechanical arm is fixedly connected with the upper surface of the upper frame plate, and the other end of the first mechanical arm is provided with a visual information acquisition part;
The control unit comprises an embedded control processor and is used for controlling the traveling of the mobile unit, controlling the action of the first mechanical arm and controlling the operation of the hyperspectral instrument and the depth camera; the control processor is arranged in the storage space; the control processor controls the mobile unit to reach a preset position and then controls the hyperspectral instrument and the depth camera to acquire and store information;
The pile fixing unit comprises a plurality of hollow sleeves, and each sleeve is internally provided with a pile rod which can slide up and down along the sleeve; a layer of bearing plate is arranged on the inner side of the upper part of each sleeve, and a first servo motor and a gear rack mechanism are arranged on the bearing plate; the gear rack mechanism comprises a gear and a rack, the gear is in transmission connection with an output shaft of the first servo motor, the extending end of the rack is connected with the top of the pile rod through a spherical hinge, a guide rail in a spiral key groove shape is arranged on the outer wall of the pile rod, a pin shaft is arranged on the inner wall of the sleeve at a position corresponding to the guide rail, and the pile rod moves up and down under the cooperation of the pin shaft and the guide rail;
The auxiliary unit is further provided with a second mechanical arm arranged on the upper surface of the upper frame plate, and a clamping jaw is arranged at the tail end of the second mechanical arm; the clamping jaw is driven by a second servo motor to clamp and open, and is used for grasping and pushing away the interference branches beside to be detected.
In one embodiment, each of the track moving parts includes at least a track, a driving wheel, a bearing wheel, a guide wheel, and a driving motor; the driving motor is arranged in the storage space and fixedly connected with the bottom plate of the lower frame, and the driving wheel is in transmission connection with the output shaft of the driving motor.
In one embodiment, the visual information acquisition unit includes at least a hyperspectral camera and a depth camera; the depth camera is used for identifying the central position of the trunk canopy and determining the coordinates of the central position; the hyperspectral instrument is used for collecting hyperspectral reflectivity of the coffee tree canopy;
The sensor probe of the hyperspectral meter is arranged in parallel with the depth camera.
In one embodiment, a stability augmentation cradle head is further disposed at the end of the first mechanical arm, and the stability augmentation cradle head is connected between the visual information acquisition unit and the first mechanical arm.
In one embodiment, a protective storage box is arranged on the upper surface of the upper frame plate, and after information acquisition is completed, the hyperspectral device and the depth camera are controlled by the first mechanical arm to be placed in the protective storage box.
In one implementation, the control unit further comprises a Beidou navigation mechanism, wherein the Beidou navigation mechanism is used for determining a preliminary walking route of the mobile unit according to the terrain; the control unit controls the mobile unit to walk according to the preliminary walking route.
In an implementation manner, the control unit further comprises a plurality of ultrasonic distance measuring devices, the ultrasonic distance measuring devices are uniformly distributed on the periphery of the upper surface of the upper frame plate, and in the process that the mobile unit walks according to the primary walking route, the ultrasonic distance measuring devices are used for acquiring the distance between the mobile unit and the coffee tree in real time and conveying the mobile unit to the control unit, and the primary walking route is further adjusted according to the real-time distance.
In one implementation mode, the bottom of the ground pile rod comprises a conical plug, and the ground pile rod is provided with a soil guiding strip which is spiral.
According to a second aspect of the present application, there is also provided a method for detecting nutrients in a coffee tree based on hyperspectral reflectance, using the detection device provided in the first aspect, comprising the steps of:
S1, confirming a preliminary detection path based on a detection environment;
S2, determining the heights and positions of the coffee tree to be detected and the shading branches based on the depth camera when the detection device reaches the side of the coffee tree to be detected, and pushing away the shading branches through the auxiliary unit to realize that no shading tree is shading above the canopy of the coffee tree to be detected;
S3, controlling the movement of the hyperspectral meter to a preset position based on the height and the position of the coffee tree to be detected, adjusting a sensor probe of the hyperspectral meter to reach the center position of the canopy, shooting vertically downwards, obtaining the hyperspectral reflectivity of the current coffee tree, and outputting; determining the center position of the coffee tree canopy through the image information obtained by the depth camera and outputting the center position;
S4, the first mechanical arm and the second mechanical arm are retracted to the initial positions; and (3) moving to the next preset operation point through the mobile unit, repeating the steps S1 to S3, and continuing to acquire information until the detection of all coffee trees in the preset path is completed.
In one implementation manner, in step S3, the controlling the movement of the hyperspectral device to the predetermined position based on the height and the position of the coffee tree to be detected includes at least the following: when visual information acquisition is carried out, the height between the depth camera and the top point of the coffee tree canopy is 1m.
Compared with the prior art, the application has the beneficial effects that:
In the technical scheme of the application, the function of pushing away the shading branches above the coffee tree can be realized through the arrangement of the auxiliary unit. Through the setting of ground stake fixed unit, can guarantee the stability in the testing process. Through the arrangement of the information acquisition unit, nondestructive rapid detection of nutrient content of the shading coffee tree can be directly realized in the field. The application has simple structure and high degree of automation, and can effectively and rapidly and accurately detect the nutrient condition of the coffee tree in the shading coffee garden.
Drawings
Fig. 1 is a schematic perspective view of a coffee tree nutrient detection device based on hyperspectral reflectivity according to an embodiment of the present invention.
Fig. 2 is a top view of a hyperspectral reflectance based coffee tree nutrient detection device in accordance with an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a ground stake fixing unit in the coffee tree nutrient detection device based on high spectral reflectance according to the embodiment of the invention.
Fig. 4 is a schematic structural diagram of a second mechanical arm in the coffee tree nutrient detection device based on hyperspectral reflectivity according to the embodiment of the invention.
Fig. 5 is a schematic structural diagram of a first mechanical arm in the coffee tree nutrient detection device based on hyperspectral reflectivity according to the embodiment of the invention.
Wherein reference numerals are as follows:
1. a mobile unit; 101. a boarding frame plate; 102. a lower frame floor; 103. a track; 104. a driving wheel; 105. a bearing wheel; 106. a guide wheel; 107. a driving motor; 108. a control processor; 109. a battery pack; 2. a ground pile fixing unit; 201. a first servo motor; 202. a bearing plate; 203. a rack and pinion mechanism; 204. a sleeve; 205. a ground pile rod; 206. a guide rail; 207. a pin shaft; 301. an ultrasonic range finder; 4. the storage box is protected; 5. a first mechanical arm; 501. a first rotary joint; 502. a second revolute joint; 503. a third revolute joint; 504. a fourth revolute joint; 505. a fifth revolute joint; 506. a sixth revolute joint; 6. a second mechanical arm; 601. a clamping jaw; 602. a second servo motor; 7. a visual information acquisition unit; 701. stability augmentation cradle head; 702. a hyperspectral meter; 703. a depth camera.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and are not intended to be limiting.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
According to a first aspect of the present application, referring to fig. 1 to 5, there is provided a coffee tree nutrient detection device based on hyperspectral reflectance, comprising:
the mobile unit 1 comprises an upper frame plate 101 and a lower frame bottom plate 102 which are horizontally arranged, wherein the upper frame plate 101 and the lower frame bottom plate 102 are arranged up and down, and a storage space is formed between the upper frame plate 101 and the lower frame bottom plate 102. Track moving parts are symmetrically arranged along the two sides of the width direction of the moving unit.
In one embodiment, each of the track moving parts includes at least a track 103, a driving wheel 104, a bearing wheel 105, a guide wheel 106, and a driving motor 107; the driving motor 107 is arranged in the storage space and is fixedly connected with the lower frame bottom plate 102, and the driving wheel 104 is in transmission connection with an output shaft of the driving motor 107; through the setting of track moving part, can satisfy the specific environment walking demand that the coffee tree planted, the planting of many mountain areas of coffee tree mountain unevenness.
Specifically, as shown in fig. 1, each of the crawler belt moving parts includes at least a driving wheel 104, a bearing wheel 105, and a guide wheel 106 in this order in the front-to-rear direction. The crawler belt is sleeved on the driving wheel 104, the guide wheel 106 and the bearing wheel 105;
The two driving motors 107 are symmetrically arranged at the rear part of the lower frame bottom plate 102, the two driving wheels 104 are respectively connected with the output shafts of the driving motors 107 in a key connection mode, the driving motors 107 drive the driving wheels 104 to rotate, and the driving wheels 104 drive the crawler 103 to move so as to realize the linear running of the crawler chassis;
The differential steering of the crawler chassis is realized by controlling the rotation speeds of the driving wheels at the left and right sides of the driving motor 107 at the two sides respectively.
The information acquisition unit comprises a first mechanical arm 5, one end of the first mechanical arm 5 is fixedly connected with the upper surface of the upper frame plate 101, and a visual information acquisition part 7 is arranged at the other end of the first mechanical arm 5.
In one embodiment, the visual information acquisition unit 7 includes at least a hyperspectral camera 702 and a depth camera 703. The depth camera 703 is used for identifying the central position of the canopy of the trunk and determining the coordinates of the central position; the hyperspectral meter is used for collecting hyperspectral reflectivity of the coffee tree canopy. The sensor probe of the hyperspectral meter 702 is juxtaposed with the depth camera 703.
In one embodiment, a stability augmentation cradle head 701 is further disposed at the end of the first mechanical arm, and the stability augmentation cradle head is connected between the visual information acquisition unit 7 and the first mechanical arm. The stability enhancement cradle head 701 is used for improving the working stability of the hyperspectral apparatus and improving the quality of pictures shot by the hyperspectral apparatus; a third servo motor is respectively arranged at the head and the tail of the stability augmentation cradle head 701, and the third servo motor is used for controlling the rotation of the connecting joint. After the hyperspectral devices are controlled to reach the preset positions by the first mechanical arm 5, the third servo motors at the two ends of the stability augmentation cradle head 701 are controlled and adjusted, the sensor probes of the hyperspectral devices 702 are adjusted to be vertically downward, and hyperspectral reflectivity information of the coffee tree canopy is collected and sent out.
In one embodiment, the height between the depth camera 703 and the vertex of the canopy is 1m when visual information is acquired. Considering that the field angle of an optical sensor probe of a common hyperspectral instrument is 25 degrees, the distance between the depth camera 703 and the canopy is limited to ensure that the detection field of view of the hyperspectral instrument does not exceed the projection area of the canopy of the coffee tree, ensure that the detection field of view is smaller than or equal to the projection area of the canopy, avoid shooting background interference information of other crops, weeds, soil and the like in the shooting process, and improve the accuracy of information acquisition.
In one embodiment, the upper surface of the upper frame plate 101 is provided with a protection storage box 4, and after information collection is completed, the hyperspectral device 702 and the depth camera 703 are controlled by the first mechanical arm to be placed in the protection storage box 4, so that damage and other conditions are avoided.
The control unit comprises an embedded control processor 108 for controlling the walking of the mobile unit, the motion of the first mechanical arm 5 and the operation of the hyperspectral camera 702 and the depth camera 703. The control processor 108 is disposed in the storage space. After the mobile unit is controlled to reach a preset position by the control processor 108, the hyperspectral instrument 702 and the depth camera 703 are controlled to acquire and store information.
In one embodiment, the control unit further comprises a Beidou navigation mechanism for determining a preliminary walking route of the mobile unit according to the terrain. The control unit controls the mobile unit to walk according to the preliminary walking route.
In an embodiment, the control unit further includes a plurality of ultrasonic distance measuring devices 301, the plurality of ultrasonic distance measuring devices 301 are uniformly distributed on the periphery of the upper surface of the upper frame plate 101, and in the process that the mobile unit walks according to the primary walking route, the ultrasonic distance measuring devices 301 can acquire the distance between the mobile unit and the coffee tree in real time and convey the mobile unit to the control unit, and the primary walking route is further adjusted according to the real-time distance, so that the mobile unit is prevented from colliding with the coffee tree.
The ground pile fixing unit 2 comprises a plurality of hollow sleeves 204, and each sleeve is internally provided with a ground pile rod capable of moving up and down; a layer of bearing plate 202 is provided on the upper inner side of each sleeve 204, and a first servo motor 201 and a rack-and-pinion mechanism 203 including a gear and a rack are provided on the bearing plate 202.
The extending end of the rack is connected with the top of the ground pile rod 205 through a spherical hinge, a guide rail 206 in a spiral key groove shape is arranged on the outer wall of the ground pile rod, a pin shaft 207 is arranged on the inner wall of the sleeve 204 at a position corresponding to the guide rail 206, and the ground pile column can move up and down while rotating under the cooperation of the pin shaft 207 and the guide rail 206; the function of rotationally inserting the ground piles into the ground of the coffee garden is realized, and the functions of stabilizing a working platform and reducing errors are achieved.
The gear in the gear-rack mechanism 203 is in transmission connection with the output shaft of the first servo motor 201, the rack in the gear-rack mechanism 203 extends downward, the ground pile rod 205 is disposed at the extending end, and the first servo motor 201 drives the gear and rack structure to drive the ground pile rod 205 to realize up-and-down reciprocating motion.
In one embodiment, the bottom of the pile rod 205 includes a tapered plug, and the pile rod 205 is inserted into the harder soil by the tapered plug.
In one embodiment, a soil guiding strip is disposed on the outer surface of the insertion end of the pile rod 205, and the soil guiding strip is spiral, so that the soil is discharged when the pile rod 205 is rotatably inserted into the soil.
The upper end of the sleeve 204 is fixedly connected to the upper frame plate 101, and the lower end of the sleeve 204 is fixedly connected to the lower frame plate 102. And the lower frame bottom plate 102 is provided with holes for the passage of the ground stake, and the inner diameter of the sleeve 204 is consistent with the maximum outer diameter of the ground stake.
In an implementation manner, the pile fixing unit comprises 4 sleeves 204,4 and 204 which are arranged at the edge of the storage space in a rectangular distribution manner, and when the moving unit moves to a preset position, the function of rotationally inserting the pile into the ground of the coffee garden is realized through the first servo motor 201, so that the stability of the device operation is ensured, the device measurement error is reduced, and the accuracy of the device measurement result is improved. After the operation is completed, the first servomotor 201 is reversed to pull out the pile.
The auxiliary unit further comprises a second mechanical arm 6 arranged on the upper surface of the upper frame plate 101, and a clamping jaw 601 arranged at the tail end of the second mechanical arm 6; the clamping jaw 601 is driven to clamp and open through the second servo motor 602, and is used for grasping and pushing away interference branches beside to be detected, so that accuracy of detection data is prevented from being affected.
After the ground stake fixing unit completes the fixation, the position coordinates of the shading branches above the coffee tree canopy are recognized based on the depth camera, the second mechanical arm 6 drives the clamping jaw 601 to reach the position and clamp the branches, and then the shading branches are pushed away from the coffee tree canopy; after the spectral information of the canopy of the coffee tree is collected, the shade branches are loosened and the auxiliary unit 6 is contracted to an initial state.
In one embodiment, the first mechanical arm 5 and the second mechanical arm 6 are both designed to be foldable, so that folding with six degrees of freedom can be realized, any point in the working space can be reached, and flexibility of the mechanical arms can be ensured.
Specifically, as shown in fig. 5, the first mechanical arm 5 includes at least a first rotational joint 501, a second rotational joint 502, a third rotational joint 503, a fourth rotational joint 504, a fifth rotational joint 505, and a sixth rotational joint 506. A fourth servo motor is arranged at each rotary joint to respectively control the rotation of each rotary joint,
In one embodiment, a battery pack 109 is disposed in the storage space, and the battery pack 109 is configured to provide power to a plurality of electrical devices.
According to a second aspect of the present application, there is also provided a method for detecting nutrients in a coffee tree based on hyperspectral reflectance, using the detection device provided in the first aspect, comprising the steps of:
S1, confirming a preliminary detection path based on a detection environment;
in the step S1, the Beidou navigation mechanism and the ultrasonic distance meter start detection operation according to a route planned in advance, in the process, the distance between the real-time measuring device of the ultrasonic distance meter and the coffee tree is concurrent to the control unit, and the control unit adjusts the preliminary detection path according to the distance, so that the coffee tree and the shading fruit tree are prevented from being damaged when the device walks;
S2, determining the heights and positions of the coffee tree to be detected and the shading branches based on the depth camera when the detection device reaches the side of the coffee tree to be detected, and pushing away the shading branches through the auxiliary unit to realize that no shading tree is shading above the canopy of the coffee tree to be detected;
S3, controlling the movement of the hyperspectral meter to a preset position based on the height and the position of the coffee tree to be detected, adjusting a sensor probe of the hyperspectral meter to reach the center position of the canopy, shooting vertically downwards, obtaining the hyperspectral reflectivity of the current coffee tree, and outputting; determining the center position of the coffee tree canopy through the image information obtained by the depth camera and outputting the center position;
S4, the first mechanical arm and the second mechanical arm are retracted to the initial positions; and (3) moving to the next preset operation point through the mobile unit, repeating the steps S1 to S3, and continuing to acquire information until the detection of all coffee trees in the preset path is completed.
After receiving the information of the information acquisition unit, the control unit imports the information into a pre-established coffee tree nutrient content inversion model based on hyperspectral reflectivity to obtain the nutrient contents of all coffee trees.
In one embodiment, in step S3, controlling the movement of the hyperspectral to a predetermined position based on the height and position of the coffee tree to be detected comprises at least the following: when visual information acquisition is carried out, the height between the depth camera and the top point of the coffee tree canopy is 1m. Considering that the angle of view of a sensor probe of a common hyperspectral instrument is 25 degrees, the distance between the depth camera 703 and the canopy is limited to ensure that the detection view field of the hyperspectral instrument does not exceed the projection area of the canopy of the coffee tree, ensure that the detection view field is smaller than or equal to the projection area of the canopy, avoid shooting background interference information of other crops, weeds, soil and the like in the shooting process, and improve the accuracy of information acquisition.
In conclusion, the application has simple structure and high automation degree, and can effectively and rapidly and accurately detect the nutrient condition of the coffee tree in the shading coffee garden. By arranging the auxiliary unit, the function of pushing away the shading branches above the coffee tree can be realized. Through the setting of ground stake fixed unit, can guarantee the stability in the testing process. Through the arrangement of the information acquisition unit, nondestructive rapid detection of nutrient content of the shading coffee tree can be directly realized in the field.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (10)
1. A coffee tree nutrient detection device based on hyperspectral reflectivity, characterized by comprising:
The moving unit comprises an upper frame plate and a lower frame bottom plate which are horizontally arranged, wherein the upper frame plate and the lower frame bottom plate are arranged up and down, and a storage space is formed between the upper frame plate and the lower frame bottom plate; crawler belt moving parts are symmetrically arranged along the two sides of the width direction of the moving unit;
The information acquisition unit comprises a first mechanical arm, one end of the first mechanical arm is fixedly connected with the upper surface of the upper frame plate, and the other end of the first mechanical arm is provided with a visual information acquisition part;
The control unit comprises an embedded control processor and is used for controlling the traveling of the mobile unit, controlling the action of the first mechanical arm and controlling the operation of the hyperspectral instrument and the depth camera; the control processor is arranged in the storage space; the control processor controls the mobile unit to reach a preset position and then controls the hyperspectral instrument and the depth camera to acquire and store information;
The pile fixing unit comprises a plurality of hollow sleeves, and each sleeve is internally provided with a pile rod which can slide up and down along the sleeve; a layer of bearing plate is arranged on the inner side of the upper part of each sleeve, and a first servo motor and a gear rack mechanism are arranged on the bearing plate; the gear rack mechanism comprises a gear and a rack, the gear is in transmission connection with an output shaft of the first servo motor, the extending end of the rack is connected with the top of the pile rod through a spherical hinge, a guide rail in a spiral key groove shape is arranged on the outer wall of the pile rod, a pin shaft is arranged on the inner wall of the sleeve at a position corresponding to the guide rail, and the pile rod moves up and down under the cooperation of the pin shaft and the guide rail;
The auxiliary unit is further provided with a second mechanical arm arranged on the upper surface of the upper frame plate, and a clamping jaw is arranged at the tail end of the second mechanical arm; the clamping jaw is driven by a second servo motor to clamp and open, and is used for grasping and pushing away the interference branches beside to be detected.
2. The hyperspectral reflectance based coffee tree nutrient detection device of claim 1, wherein each track movement section comprises at least a track, a drive wheel, a load bearing wheel, a guide wheel, and a drive motor; the driving motor is arranged in the storage space and fixedly connected with the bottom plate of the lower frame, and the driving wheel is in transmission connection with the output shaft of the driving motor.
3. The hyperspectral reflectance based coffee tree nutrient detection device as recited in claim 1, wherein the visual information acquisition section includes at least a hyperspectral meter and a depth camera; the depth camera is used for identifying the central position of the trunk canopy and determining the coordinates of the central position; the hyperspectral instrument is used for collecting hyperspectral reflectivity of the coffee tree canopy;
The sensor probe of the hyperspectral meter is arranged in parallel with the depth camera.
4. The hyperspectral reflectance-based coffee tree nutrient detection device according to claim 3, wherein a stability augmentation cradle head is further arranged at the tail end of the first mechanical arm, and the stability augmentation cradle head is connected between the visual information acquisition part and the first mechanical arm.
5. The hyperspectral reflectance-based coffee tree nutrient detection device as recited in claim 3, wherein a protection storage box is arranged on the upper surface of the upper frame plate, and the hyperspectral instrument and the depth camera are controlled by the first mechanical arm to be placed in the protection storage box after information collection is completed.
6. The hyperspectral reflectance based coffee tree nutrient detection device of claim 1, wherein the control unit further comprises a Beidou navigation mechanism for determining a preliminary walking route of the mobile unit according to terrain; the control unit controls the mobile unit to walk according to the preliminary walking route.
7. The hyperspectral reflectance based coffee tree nutrient detection device as recited in claim 6, wherein the control unit further comprises a plurality of ultrasonic rangefinders uniformly distributed on the circumference of the upper surface of the upper frame plate, and the ultrasonic rangefinder is used for acquiring the distance from the coffee tree in real time and transmitting the distance to the control unit in the process that the mobile unit walks according to the preliminary walking route, and further adjusting the preliminary walking route according to the real-time distance.
8. The hyperspectral reflectance-based coffee tree nutrient detection device of claim 1, wherein the bottom of the ground stake pole comprises a conical plug, and a soil guiding strip is arranged on the ground stake pole and is spiral.
9. A hyperspectral reflectance-based coffee tree nutrient detection method characterized by using the hyperspectral reflectance-based coffee tree nutrient detection device as claimed in any one of claims 1 to 8, comprising the steps of:
S1, confirming a preliminary detection path based on a detection environment;
S2, determining the heights and positions of the coffee tree to be detected and the shading branches based on the depth camera when the detection device reaches the side of the coffee tree to be detected, and pushing away the shading branches through the auxiliary unit to realize that no shading tree is shading above the canopy of the coffee tree to be detected;
S3, controlling the movement of the hyperspectral meter to a preset position based on the height and the position of the coffee tree to be detected, adjusting a sensor probe of the hyperspectral meter to reach the center position of the canopy, shooting vertically downwards, obtaining the hyperspectral reflectivity of the current coffee tree, and outputting; determining the center position of the coffee tree canopy through the image information obtained by the depth camera and outputting the center position;
S4, the first mechanical arm and the second mechanical arm are retracted to the initial positions; and (3) moving to the next preset operation point through the mobile unit, repeating the steps S1 to S3, and continuing to acquire information until the detection of all coffee trees in the preset path is completed.
10. The method for detecting nutrients in a coffee tree based on hyperspectral reflectance as recited in claim 9, wherein in step S3, the controlling the movement of the hyperspectral meter to a predetermined position based on the height and position of the coffee tree to be detected includes at least the following: when visual information acquisition is carried out, the height between the depth camera and the top point of the coffee tree canopy is 1m.
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