CN206442464U - Lamp based on stereoscopic vision lures insect image identification harvester - Google Patents
Lamp based on stereoscopic vision lures insect image identification harvester Download PDFInfo
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- CN206442464U CN206442464U CN201621480477.5U CN201621480477U CN206442464U CN 206442464 U CN206442464 U CN 206442464U CN 201621480477 U CN201621480477 U CN 201621480477U CN 206442464 U CN206442464 U CN 206442464U
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Abstract
The utility model lures insect image identification harvester there is provided a kind of lamp based on stereoscopic vision, and the lamp based on stereoscopic vision lures insect image identification harvester to include：Insect trapping unit, insect are pricked and take unit and the image acquisition units based on stereoscopic vision；The insect trapping unit is pricked with the insect takes unit to be connected, and the image acquisition units based on stereoscopic vision, which are used to prick the insect, takes unit to prick the insect taken 360 ° of IMAQs of progress；The insect trapping unit, for being traped to insect；The insect is pricked and takes unit, and the insect progress bundle for trap to the insect trapping unit takes, rotates and come off operation；The image acquisition units based on stereoscopic vision, take unit to prick the insect taken 360 ° of IMAQs of progress for being pricked to the insect.The lamp based on stereoscopic vision that the utility model is provided lures insect image identification harvester, can obtain 360 ° of images of insect.
Description
Technical field
The utility model is related to agricultural technology field, and in particular to a kind of lamp based on stereoscopic vision lures insect image identification to gather
Device.
Background technology
When carrying out insect image identification acquisition at present, typically insect is placed on the objective table of plane formula, regarded based on single machine
Feel or positive and negative two machine vision carry out insect image identification acquisition of information.That based on the acquisition of single machine vision is the spy of insect one side
Reference cease, when insect the outside of belly upward when, acquired feature is difficult to the identification of caste；Based on positive and negative two machines
It is that insect is placed on transparent material when vision carries out insect characteristic information and obtained, such as glass, when obtaining image from glass reverse side
When, the characteristic information of insect can change because of the iris action of glass, especially color characteristic.
It is one side based on the insect image identification information acquired in plane formula objective table, or the figure for thering is transparency to obstruct
Picture, the integrality of insect image identification information is affected, and influences the recognition effect of insect.
Utility model content
For defect of the prior art, the utility model provides a kind of lamp based on stereoscopic vision and lures insect image identification to gather
Device, to obtain 360 ° of images of insect.
In order to solve the above technical problems, the utility model provides following technical scheme：
The utility model lures insect image identification harvester there is provided a kind of lamp based on stereoscopic vision, including：Insect trapping
Unit, insect are pricked and take unit and the image acquisition units based on stereoscopic vision；
The insect trapping unit is pricked with the insect takes unit to be connected, the image acquisition units based on stereoscopic vision
Unit is taken to prick the insect taken 360 ° of IMAQs of progress for being pricked to the insect；
The insect trapping unit, for being traped to insect；
The insect is pricked and takes unit, and the insect for being traped to the insect trapping unit carries out bundle and takes, rotates and come off
Operation；
The image acquisition units based on stereoscopic vision, take unit to prick the insect taken progress for being pricked to the insect
360 ° of IMAQs.
Further, described device also includes：The first taxon of insect；The first end of the first taxon of the insect and institute
The connection of insect trapping unit is stated, just the second end of taxon takes unit to be connected to the insect with insect bundle；
The first taxon of the insect, the insect for being traped to the insect trapping unit carries out large, medium and small three classes elder brother
The preliminary screening of worm.
Further, described device also includes：Insect recovery unit；
The insect recovery unit, the lower section for taking unit is pricked positioned at the insect, and unit is taken for receiving the insect bundle
The insect come off.
Further, the insect trapping unit includes：Rain-proof cover, crash panel, trap lamp, worm collecting bucket, worm collecting box, plus
Thermolamp and sliding door device；
The rain-proof cover is located at the top of the insect trapping unit, and the trap lamp is located at the insect trapping unit
Center, the crash panel is radial centered on the trap lamp to be put, the worm collecting bucket be located at the trap lamp under
Side, the worm collecting box is located at below the worm collecting bucket, and the heating lamp is located at the worm collecting box side, for killing the collection
Insect in worm box, the sliding door device is used for the bottom cover plate for opening or closing the worm collecting box.
Further, the sliding door device includes the first motor, gear, track and disposable box door；The disposable box door
For the bottom cover plate of the worm collecting box；
Wherein, the first motor is connected with gear, and gear is connected with track, and track is connected with disposable box door；First electricity
Machine is used to control the working gear, and the track is used for the opening and closing for driving the disposable box door.
Further, the insect, which is pricked, takes unit to include：Base, swing arm motion module, horizontal movement module, rotary motion
Module and bundle erpoglyph block；
The swing arm motion module, is fixed on the base, including：3rd motor, planet-gear speed reducer, rotary shaft
And support, the support include screw mandrel and nut sleeve；The planet-gear speed reducer is connected with the rotary shaft, the 3rd electricity
Machine is used to drive the planet-gear speed reducer to rotate, and drives the bundle erpoglyph block to do swing arm motion by rotary shaft；
The horizontal movement module, including：The second motor for being sequentially connected, power transmission shaft, the first ball screw component and stretch
Contracting arm；The power transmission shaft is fixed on the support by nut sleeve, and second motor is used to drive the power transmission shaft, described
Power transmission shaft is used to drive the first ball screw component, and the first ball screw component is used to drive the telescopic arm to carry out
Move to realize the horizontal movement of the bundle erpoglyph block；
The rotary motion module, including：4th motor, timing belt, synchronizing wheel and ring flange；4th motor passes through
The timing belt drives the synchronizing wheel to rotate, and the ring flange is connected with the synchronizing wheel, the ring flange and the bundle worm
Module is connected, for driving the bundle erpoglyph block to be rotated；
The bundle erpoglyph block, including：Syringe, the 5th motor, the second ball screw component, push rod, spring, shank, pin are solid
Determine groove and prick worm pin；5th motor is connected with the second ball screw component, the second ball screw component and institute
Push rod connection is stated, the spring is located between the push rod and the shank, and the pin fixing groove is located at the shank end, uses
In the fixed bundle worm pin, the 5th motor is used to drive bundle worm pin to be moved up and down to realize the bundle without high insect
Take and come off.
Further, the image acquisition units based on stereoscopic vision include：Head, light source, semi-circular bracket and
The first CCD, the 2nd CCD, the 3rd CCD in the semi-circular bracket；Wherein, the first CCD is located at the semi-circular bracket
Oblique upper position, the 2nd CCD is located at the horizontal direction position of the semi-circular bracket, the 3rd CCD and is located at the semicircle
The obliquely downward position of shape support；The head is connected with the semi-circular bracket, for fix the first CCD, the 2nd CCD and
3rd CCD.
Further, the first taxon of the insect includes：Vibrating device, vibration filter screen, insect arrangement channel and load worm
Disk；Wherein, the vibration filter screen is connected with the insect trapping unit, the elder brother for receiving the insect trapping unit trapping
Worm；The vibrating device drives the vibration filter screen vibration；The filter screen that vibrates is by more than three kinds of different size of filter screen group
Into, the first classification of insect size is realized by the vibrating device, while drive insect to step into the insect arrangement channel,
Described to carry the end that worm disk is located at the arrangement channel, the load worm disk is mesh-type disk.
Further, described device also includes：Power subsystem；
The power subsystem, unit and image based on stereoscopic vision are taken for being pricked for the insect trapping unit, insect
Collecting unit is powered.
Further, described device also includes：Transmission unit；
The transmission unit, for by it is described based on stereoscopic vision image acquisition units collection insect image identification transmit to
Target terminal equipment.
As shown from the above technical solution, the lamp based on stereoscopic vision that the utility model is provided lures insect image identification collection dress
Put, insect is traped first with insect trapping unit, then pricked using insect and take unit to prick the insect of trapping
Extract operation, is finally pricked to the insect using the image acquisition units based on stereoscopic vision and takes unit to prick 360 ° of the insect taken progress
IMAQ.It can be seen that, the lamp based on stereoscopic vision that the utility model is provided lures insect image identification harvester, it is possible to achieve insect
The collection of 360 ° of images, so as to retain the complete information of insect, therefore is conducive to identification of the later stage to insect, such as later stage can
360 ° of images of insect are obtained with the image collecting device provided using the utility model to be handled to obtain insect panoramic picture,
The 3 d pose of insect can also be extracted using the insect image identification obtained and carry out the processing, Jin Erfang such as the three-dimensional reconstruction of insect
Just the identification of insect is carried out.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are these
Some embodiments of utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to these accompanying drawings.
Fig. 1 is that the lamp based on stereoscopic vision that the utility model one embodiment is provided lures the one of insect image identification harvester
Plant structural representation；
Fig. 2 is that the lamp based on stereoscopic vision that the utility model one embodiment is provided lures the another of insect image identification harvester
A kind of structural representation；
Fig. 3 is that the lamp based on stereoscopic vision that the utility model one embodiment is provided lures insect image identification harvester again
A kind of structural representation；
Fig. 4 is the structural representation of insect trapping unit 100；
Fig. 5 is that insect pricks the structural representation for taking unit 200；
Fig. 6 is the structural representation of the image acquisition units 300 based on stereoscopic vision；
Fig. 7 is the structural representation of the first taxon 400 of insect；
Fig. 8 is the work that the lamp based on stereoscopic vision that the utility model one embodiment is provided lures insect image identification harvester
Make principle schematic.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, clear, complete description is carried out to the technical scheme in the utility model embodiment, it is clear that retouched
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Based on the implementation in the utility model
Example, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made is belonged to
The scope of the utility model protection.
It was found from background section description, the existing insect image identification information based on acquired in plane formula objective table is single
Face, or have the image of transparency barrier, the integrality of insect image identification information is affected, the identification effect of influence insect
Really.Therefore, pole be necessary to build a kind of insect prick automatically take, 360 ° of information acquisition platforms, it is accurate to obtain 360 ° of images of insect.
Therefore, the utility model one embodiment lures insect image identification collection dress there is provided a kind of lamp based on stereoscopic vision
Put, referring to Fig. 1, the device includes：Insect trapping unit 100, insect are pricked and take unit 200 and the IMAQ based on stereoscopic vision
Unit 300, wherein：
The insect trapping unit 100 is pricked with the insect takes unit 200 to be connected, and the image based on stereoscopic vision is adopted
Collection unit 300, which is used to prick the insect, takes unit 200 to prick the insect taken 360 ° of IMAQs of progress；
The insect trapping unit 100, for being traped to insect；
The insect is pricked and takes unit 200, and the insect for being traped to the insect trapping unit 100 carries out bundle and takes, rotates
With the operation that comes off；
Take unit 200 to carry out bundle extract operation to insect it is understood that being pricked due to the insect, disengage it from carrying worm
Disk or glass plate, are further pricked using insect and take 200 pairs of unit to prick the corresponding rotation process of insect progress taken, in order to obtain
360 ° of image informations of insect.It is understood that after 360 ° of image informations of insect have been obtained, it is possible to use insect is pricked and taken
Unit 200 will prick the insect progress disengaging processing taken, be pricked in order to insect and take the bundle of unit 200 to take next insect.Here, obtain
360 ° of image informations of insect do not imply that acquisition one can include the image of 360 ° of information of insect, and refer to obtain multiple points
The insect image identification not shot from all angles.
The image acquisition units 300 based on stereoscopic vision, which are used to prick the insect, takes unit 200 to prick the insect taken
Carry out 360 ° of IMAQs.
The image acquisition units 300 based on stereoscopic vision described in the present embodiment can be by multiple images collecting device structure
Into the image acquisition units based on stereoscopic vision, or single image collecting device.
As shown from the above technical solution, the lamp based on stereoscopic vision that the utility model is provided lures insect image identification collection dress
Put, insect is traped first with insect trapping unit, then pricked using insect and take unit to prick the insect of trapping
Extract operation, is finally pricked to the insect using the image acquisition units based on stereoscopic vision and takes unit to prick 360 ° of the insect taken progress
IMAQ.It can be seen that, the lamp based on stereoscopic vision that the utility model is provided lures insect image identification harvester, it is possible to achieve insect
The collection of 360 ° of images, so as to retain the complete information of insect, therefore is conducive to identification of the later stage to insect, such as later stage can
360 ° of images of insect are obtained with the image collecting device provided using the utility model to be handled to obtain insect panoramic picture,
The 3 d pose of insect can also be extracted using the insect image identification obtained and carry out the processing, Jin Erfang such as the three-dimensional reconstruction of insect
Just insect identification is carried out.
In a kind of optional embodiment, referring to Fig. 2, described device also includes：The first taxon 400 of insect；The elder brother
The first end of the first taxon 400 of worm is connected with the insect trapping unit 100, and the second of the first taxon 400 of the insect
End is pricked with the insect takes unit 200 to be connected；
Wherein, the first taxon 400 of the insect, for insect trap to the insect trapping unit 100 carry out greatly,
The preliminary screening of middle or small three classes insect.
In a kind of optional embodiment, referring to Fig. 3, described device also includes：Insect recovery unit 500；
The insect recovery unit 500, the lower section for taking unit 200 is pricked positioned at the insect, is pricked for receiving the insect
The insect for taking unit 200 to come off.Preferably, the insect recovery unit 500 can be realized using insect recycling box.
In a kind of optional embodiment, referring to Fig. 4, the insect trapping unit 100 includes：Rain-proof cover 1, crash panel 2,
Trap lamp 3, worm collecting bucket 4, worm collecting box 5, heating lamp 6 and sliding door device 7；
The rain-proof cover 1 is located at the top of the insect trapping unit 100, and the trap lamp 3 is located at the luring insect
The center of unit 100 is caught, the crash panel 2 is radial centered on the trap lamp 3 to be put, and the worm collecting bucket 4 is located at
The lower section of trap lamp 3, the worm collecting box 5 is located at the lower section of worm collecting bucket 4, and the heating lamp 6 is located at the worm collecting box 5 one
Side, for killing the insect in the worm collecting box 5, the sliding door device 7 is used for the bottom for opening or closing the worm collecting box 5
Cover plate.
Preferably, the sliding door device 7 includes the first motor, gear, track and disposable box door；Disposable box door is
The bottom cover plate of the worm collecting box 5；
Wherein, the first motor is connected with gear, and gear is connected with track, and track is connected with disposable box door；First electricity
Machine is used to control the working gear, and the track is used for the opening and closing for driving the disposable box door.
In a kind of optional embodiment, referring to Fig. 5, the insect, which is pricked, takes unit 200 to include：Base, swing arm motion mould
Block, horizontal movement module, rotary motion module and bundle erpoglyph block；
The swing arm motion module, is fixed on the base z1, including：3rd motor z2, planet-gear speed reducer z3,
Rotary shaft z4 and support, the support include screw mandrel z5 and nut sleeve z6；The planet-gear speed reducer z3 and the rotary shaft
Z4 connections, the 3rd motor z2 is used to drive the planet-gear speed reducer z3 to rotate, and the bundle worm is driven by rotary shaft z4
Module does swing arm motion；
The horizontal movement module, including：The second motor z7, power transmission shaft z8, the first ball screw component being sequentially connected
(z9 and z10) and telescopic arm z11；The power transmission shaft z8 is fixed on the support by nut sleeve z6, the second motor z7
For driving the power transmission shaft z8, the power transmission shaft z8 is used to driving the first ball screw component (z9 and z10), and described the
One ball screw component (z9 and z10) is used to drive the telescopic arm z11 to be moved to realize the level of the bundle erpoglyph block
Motion；
The rotary motion module, including：4th motor z12, timing belt z13, synchronizing wheel z14 and ring flange z15；It is described
4th motor z12 drives the synchronizing wheel z14 to rotate by the timing belt z13, the ring flange z15 and the synchronizing wheel
Z14 connections, the ring flange z15 is connected with the bundle erpoglyph block, for driving the bundle erpoglyph block to be rotated；
The bundle erpoglyph block, including：Syringe, the 5th motor z16, the second ball screw component z17, push rod z18, spring
Z19, shank z20, pin fixing groove and bundle worm pin z21；The 5th motor z16 is connected with the second ball screw component z17,
The second ball screw component z17 is connected with the push rod z18, and the spring z19 is located at the push rod z18 and the shank
Between z20, the pin fixing groove is located at the shank z20 ends, for fixing bundle worm the pin z21, the 5th motor z16
Prick the bundle that worm pin z21 moved up and down to realize without high insect for driving and take and come off.
It can be seen that, present embodiment constructs a kind of insect bundle of various dimensions action and takes unit, realizes swing arm motion, level fortune
Move and prick worm partial rotational motion and insect bundle takes, come off motion, the automatic bundle for realizing diverse location insect takes.This
Outside, by swing arm motion module, horizontal movement module, rotary motion module and the cooperation cooperation for pricking erpoglyph block, and it is basic herein
Image acquisition units 300 of the upper combination based on stereoscopic vision can obtain 360 ° of images of insect.
Preferably, the insect, which is pricked, takes unit 200 also to include：Binocular vision module z22, the binocular vision module z22
For obtaining insect image identification, motion is taken to provide for the rotation of the bundle erpoglyph block, level, bundle by camera calibration, Stereo matching
Basis, realizes that the accurate bundle of insect takes.
In a kind of optional embodiment, referring to Fig. 6, the image acquisition units 300 based on stereoscopic vision include：Cloud
Platform (not marked in figure), light source 17, semi-circular bracket 13 and the first CCD 14, second in the semi-circular bracket 13
CCD 15, the 3rd CCD 16；Wherein, the first CCD 14 be located at the oblique upper position of the semi-circular bracket 13, the 2nd CCD15
It is located at the obliquely downward position of the semi-circular bracket 13 in the horizontal direction position of the semi-circular bracket 13, the 3rd CCD 16
Put；The head is connected with the semi-circular bracket 13, for fixing the first CCD 14, the 2nd CCD 15 and the 3rd CCD
16。
Because insect body is small, there is the characteristics of focusing is difficult in multiple machine vision.In order to solve the problem, the present embodiment should
With semicircular stent deployment machine vision, (the first CCD is located at oblique upper, the 2nd CCD and is located at horizontal direction, the 3rd CCD and is located at
Obliquely downward, fixed CCD head is connected with semi-circular bracket), be conducive to quickly realizing multiple multimachines using semicircular support
Device vision rapid focus.Coordinate insect to prick and take unit, the acquisition of 360 ° of image informations of insect can be achieved, improve the acquisition effect of image
Rate.
In a kind of optional embodiment, referring to Fig. 7, just taxon 400 includes the insect：Vibrating device 8, vibration
Filter screen 9, insect arrangement channel 10 and load worm disk 11；Wherein, the vibration filter screen 9 is connected with the insect trapping unit, is used for
Receive the insect of the insect trapping unit trapping；The vibrating device drives the vibration filter screen vibration；The vibration filter screen
It is made up of more than three kinds of different size of filter screen, the first classification (time of vibration of insect size is realized by the vibrating device
Fallen into for polypide in worm collecting box after vibration filter screen), while driving insect to step into the insect arrangement channel, the load worm
Disk is located at the end of the arrangement channel, and the load worm disk is mesh-type disk, and the bundle for being convenient for insect takes.
Preferably, the vibrating device includes vibrating motor, cam mechanism (cam, driven member, frame), vibrating motor control
Cam mechanism motion processed, drives the vibration filter screen to be vibrated.
In a kind of optional embodiment, described device also includes：Power subsystem；
The power subsystem, unit and image based on stereoscopic vision are taken for being pricked for the insect trapping unit, insect
Collecting unit is powered.The power subsystem that the present embodiment is provided can be active electrical source, can be passive power source.When in described device
During comprising controller, the power subsystem is additionally operable to power for the controller.
In a kind of optional embodiment, described device also includes：Transmission unit；
The transmission unit, for by it is described based on stereoscopic vision image acquisition units collection insect image identification transmit to
Target terminal equipment.The target terminal equipment can also be able to be RTU for terminal device closely.It is described
Target terminal equipment can be server, mobile phone or other smart machines, be adopted for receiving the image based on stereoscopic vision
Collect the insect image identification of unit collection.
Preferably, the transmission unit includes 4G modules, router, and the insect image identification acquired in described device can pass through 4G
SIM card in module will send information to router, and router passes through wired or wirelessly enter with target terminal equipment
Row data interaction.
It is understood that the lamp based on stereoscopic vision provided for the present embodiment lures insect image identification harvester can be with
By manually being operated, it would however also be possible to employ be controlled by master controller (such as computer or industrial computer).
When by being manually controlled, can in due course between the insect trapping unit is started working, to trap elder brother
Worm., can be by operating the sliding door in the insect trapping unit after success trapping insects in the insect trapping unit
The mode of device opens the bottom cover plate of the worm collecting box so that insect falls into insect bundle and takes unit, is then manually operated
The insect, which is pricked, to be taken unit to realize that accurately bundle takes to falling into the insect progress carried on worm disk, then operates based on stereoscopic vision
Image acquisition units carry out 360 ° of IMAQs to the insect that bundle takes.
Certainly, said process can also be realized by master controller, the master controller can be computer or industrial computer, for example
Control principle drawing shown in Figure 8, carries out Cooperation controlling, to complete 360 ° of insect by master controller to unit, module
The collection of image.
For example, after insect can be taken pricking erpoglyph block bundle and picture-taking position is returned to, by control module triggering of taking pictures based on vertical
The image acquisition units of body vision are taken pictures.
And for example, it is possible to use motor control module realizes that the opening and closing, the vibration for vibrating filter screen, insect of worm collecting box are pricked and takes unit
Swing arm motion, move horizontally, prick and take motion, rotary motion etc..
For example, coming the rule under lamp according to insect, the motor of control worm collecting box can be set to timing controlled worm collecting box
Opening and closing.After the insect in worm collecting box kills, worm collecting box is opened；After insect has fallen, worm collecting box is closed.
And for example, the control section of vibration filter screen is to be timed vibration control according to the opening time of worm collecting box.When collection worm
Insect in box falls into vibration filter screen, and vibration filter screen is started working, and when insect, which is pricked, takes end-of-job, stops vibration.
And for example, control insect, which is pricked, takes the telescopic arm of unit to go on the direction residing for insect, the number of turns rotated by motor
The angle that erpoglyph block is rotated is pricked in control.Controlled level motion module is moved to the surface of insect by erpoglyph block is pricked, and passes through motor
The distance of the number of turns control telescopic arm movement of rotation.Control acupuncture treatment part carries out insect bundle and taken, and insect is carried out after taking pictures and is come off, is led to
The vertical movement distance of worm pin is pricked in the number of turns control for crossing motor rotation.Control rotary motion module needs to be revolved according to taking pictures
Turn, the number of turns rotated by motor controls the angle that insect rotates.
And for example, the rule come according to insect under lamp, heating lamp module can be set to the Push And Release of timing controlled heating lamp,
Carry out the kill of insect.According to sensing feature of the insect to lamp, at night the time trap lamp is opened, daytime closes trap lamp
Close.
In addition, display module can also be set on master controller, for showing trap lamp on off state, heating lamp switch shape
State, worm collecting box open and-shut mode, vibration filter screen cut-in time, the insect anglec of rotation, every time collection amount of images, GPS are set
Geographical location information that module is obtained etc..
As seen from the above description, the utility model embodiment obtains insect image identification for plane formula objective table and existed not
Foot, constructs a kind of lamp based on stereoscopic vision and lures insect image identification harvester, and the device is based on insect trapping unit and carries out elder brother
Worm is traped, and the initial screening of large, medium and small three classes insect is carried out based on taxon at the beginning of insect, and is built insect and pricked automatically and take unit,
Realize that the automatic bundle of insect takes and come off, insect, which is pricked, takes unit also to be rotated according to the demand of taking pictures, to obtain different angles
Insect image identification；In addition, the utility model embodiment also builds the machine vision support of semicircular structure, three CCD are disposed, are matched somebody with somebody
Close the insect bundle and take unit, realize the acquisition of 360 ° of image informations of insect, important protect is provided to improve insect recognition accuracy
Barrier.
As seen from the above description, the present embodiment constructs a kind of insect bundle of various dimensions action and takes unit, realizes that swing arm is transported
Dynamic, horizontal movement and prick worm partial rotational motion and insect prick take, come off motion, realizes the automatic of diverse location insect
Bundle takes.Further, the need for being taken pictures according to machine vision, will prick the insect that takes rotate to corresponding picture-taking position carry out it is different
The acquisition of angle insect image identification.In addition, design feature of the present embodiment according to polypide, constructs a kind of semicircular IMAQ
Device, is conducive to three CCD quickly to realize focusing, obtains clearly insect image identification.Insect is pricked and takes unit, is based on by the present embodiment
The image acquisition units of stereoscopic vision are positioned in insect trapping unit, are insect by obtaining 360 ° of images of field insect
The three dimensional analysis such as acquisition, the three-dimensional reconstruction of 3 d pose information lay the foundation, and are conducive to improving the recognition accuracy of field insect.
Above example is merely to illustrate the technical solution of the utility model, rather than its limitations；Although with reference to foregoing reality
Example is applied the utility model is described in detail, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these
Modifications or substitutions, do not make the essence of appropriate technical solution depart from the spirit and model of each embodiment technical scheme of the utility model
Enclose.
Claims (10)
1. a kind of lamp based on stereoscopic vision lures insect image identification harvester, it is characterised in that including：Insect trapping unit, elder brother
Worm is pricked and takes unit and the image acquisition units based on stereoscopic vision；
The insect trapping unit is pricked with the insect takes unit to be connected, and the image acquisition units based on stereoscopic vision are used for
The insect is pricked and takes unit to prick the insect taken 360 ° of IMAQs of progress；
The insect trapping unit, for being traped to insect；
The insect is pricked and takes unit, and the insect progress bundle for trap to the insect trapping unit takes, rotates and come off operation；
The image acquisition units based on stereoscopic vision, take unit to prick 360 ° of figures of the insect taken progress for being pricked to the insect
As collection.
2. the lamp according to claim 1 based on stereoscopic vision lures insect image identification harvester, it is characterised in that the dress
Putting also includes：The first taxon of insect；The first end of the first taxon of the insect is connected with the insect trapping unit, described
Just the second end of taxon takes unit to be connected to insect with insect bundle；
The first taxon of the insect, the insect for being traped to the insect trapping unit carries out large, medium and small three classes insect
Preliminary screening.
3. the lamp according to claim 1 based on stereoscopic vision lures insect image identification harvester, it is characterised in that the dress
Putting also includes：Insect recovery unit；
The insect recovery unit, the lower section for taking unit is pricked positioned at the insect, takes unit to come off for receiving the insect bundle
Insect.
4. the lamp based on stereoscopic vision according to any one of claims 1 to 3 lures insect image identification harvester, its feature exists
In the insect trapping unit includes：Rain-proof cover, crash panel, trap lamp, worm collecting bucket, worm collecting box, heating lamp and sliding door dress
Put；
The rain-proof cover is located at the top of the insect trapping unit, and the trap lamp is located in the insect trapping unit
Centre, the crash panel is radial centered on the trap lamp to be put, and the worm collecting bucket is located at below the trap lamp, institute
Worm collecting box is stated below the worm collecting bucket, the heating lamp is located at the worm collecting box side, for killing the worm collecting box
Interior insect, the sliding door device is used for the bottom cover plate for opening or closing the worm collecting box.
5. the lamp according to claim 4 based on stereoscopic vision lures insect image identification harvester, it is characterised in that described to push away
Sliding door apparatus includes the first motor, gear, track and disposable box door；The disposable box door is the bottom cover plate of the worm collecting box；
Wherein, the first motor is connected with gear, and gear is connected with track, and track is connected with disposable box door；First motor is used
In controlling the working gear, the track is used for the opening and closing for driving the disposable box door.
6. the lamp based on stereoscopic vision according to any one of claims 1 to 3 lures insect image identification harvester, its feature exists
In the insect, which is pricked, takes unit to include：Base, swing arm motion module, horizontal movement module, rotary motion module and bundle erpoglyph
Block；
The swing arm motion module, is fixed on the base, including：3rd motor, planet-gear speed reducer, rotary shaft and branch
Frame, the support includes screw mandrel and nut sleeve；The planet-gear speed reducer is connected with the rotary shaft, and the 3rd motor is used
In driving the planet-gear speed reducer to rotate, the bundle erpoglyph block is driven to do swing arm motion by rotary shaft；
The horizontal movement module, including：The second motor, power transmission shaft, the first ball screw component and the telescopic arm being sequentially connected；
The power transmission shaft is fixed on the support by nut sleeve, and second motor is used to drive the power transmission shaft, the transmission
Axle is used to drive the first ball screw component, and the first ball screw component is used to drive the telescopic arm to be moved
To realize the horizontal movement of the bundle erpoglyph block；
The rotary motion module, including：4th motor, timing belt, synchronizing wheel and ring flange；4th motor passes through described
Timing belt drives the synchronizing wheel to rotate, and the ring flange is connected with the synchronizing wheel, the ring flange and the bundle erpoglyph block
Connection, for driving the bundle erpoglyph block to be rotated；
The bundle erpoglyph block, including：Syringe, the 5th motor, the second ball screw component, push rod, spring, shank, pin fixing groove
With bundle worm pin；5th motor is connected with the second ball screw component, and the second ball screw component is pushed away with described
Bar is connected, and the spring is located between the push rod and the shank, and the pin fixing groove is located at the shank end, for solid
The fixed bundle worm pin, the 5th motor be used to driving prick the bundle that worm pin moved up and down to realize without high insect take with
Come off.
7. the lamp based on stereoscopic vision according to any one of claims 1 to 3 lures insect image identification harvester, its feature exists
In the image acquisition units based on stereoscopic vision include：Head, light source, semi-circular bracket and positioned at the semicircle
The first CCD, the 2nd CCD, the 3rd CCD on support；Wherein, the first CCD is located at the oblique upper position of the semi-circular bracket, the
Two CCD are located at the obliquely downward position that the horizontal direction position of the semi-circular bracket, the 3rd CCD are located at the semi-circular bracket
Put；The head is connected with the semi-circular bracket, for fixing the first CCD, the 2nd CCD and the 3rd CCD.
8. the lamp according to claim 2 based on stereoscopic vision lures insect image identification harvester, it is characterised in that the elder brother
Just taxon includes worm：Vibrating device, vibration filter screen, insect arrangement channel and load worm disk；Wherein, the vibration filter screen and institute
The connection of insect trapping unit is stated, the insect for receiving the insect trapping unit trapping；The vibrating device shakes described in driving
Electric filter vibrates；The vibration filter screen is made up of more than three kinds of different size of filter screen, and elder brother is realized by the vibrating device
The first classification of worm size, while driving insect to step into the insect arrangement channel, it is logical that the load worm disk is located at the arrangement
The end in road, the load worm disk is mesh-type disk.
9. the lamp according to claim 1 based on stereoscopic vision lures insect image identification harvester, it is characterised in that the dress
Putting also includes：Power subsystem；
The power subsystem, unit and IMAQ based on stereoscopic vision are taken for being pricked for the insect trapping unit, insect
Unit is powered.
10. the lamp according to claim 1 based on stereoscopic vision lures insect image identification harvester, it is characterised in that described
Device also includes：Transmission unit；
The transmission unit, for the insect image identification of the image acquisition units collection based on stereoscopic vision to be transmitted to target
Terminal device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621480477.5U CN206442464U (en) | 2016-12-30 | 2016-12-30 | Lamp based on stereoscopic vision lures insect image identification harvester |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621480477.5U CN206442464U (en) | 2016-12-30 | 2016-12-30 | Lamp based on stereoscopic vision lures insect image identification harvester |
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| CN206442464U true CN206442464U (en) | 2017-08-25 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106603993A (en) * | 2016-12-30 | 2017-04-26 | 北京农业信息技术研究中心 | Device and method for collecting image of lamp trapped insect based on stereo vision |
| CN108732175A (en) * | 2018-05-24 | 2018-11-02 | 河海大学常州校区 | Long-range insect identification based on machine vision and counting device |
-
2016
- 2016-12-30 CN CN201621480477.5U patent/CN206442464U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106603993A (en) * | 2016-12-30 | 2017-04-26 | 北京农业信息技术研究中心 | Device and method for collecting image of lamp trapped insect based on stereo vision |
| CN106603993B (en) * | 2016-12-30 | 2023-05-12 | 北京农业信息技术研究中心 | Lamp insect attracting image acquisition device and method based on stereoscopic vision |
| CN108732175A (en) * | 2018-05-24 | 2018-11-02 | 河海大学常州校区 | Long-range insect identification based on machine vision and counting device |
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