CN206627071U - A kind of full-automatic crops plant height measurement apparatus - Google Patents
A kind of full-automatic crops plant height measurement apparatus Download PDFInfo
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- CN206627071U CN206627071U CN201720367685.2U CN201720367685U CN206627071U CN 206627071 U CN206627071 U CN 206627071U CN 201720367685 U CN201720367685 U CN 201720367685U CN 206627071 U CN206627071 U CN 206627071U
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Abstract
The utility model discloses a kind of full-automatic crops plant height measurement apparatus, including video camera, laser line generator, control processor, housing, singletree and perpendicular strut, the perpendicular strut installation perpendicular to the ground, the singletree is arranged on perpendicular strut upper end and is mutually perpendicular to perpendicular strut, the housing is the cuboid that lower surface uses transparent material encapsulation, the upper surface of the housing is fixed on singletree, and video camera is arranged in the housing with laser line generator, and the shooting of the video camera is upside down；Motor is additionally provided with housing, the motor is used to control laser line generator to rotate；The video camera, laser line generator, motor are connected with control processor signal respectively.The utility model is simple in construction, easily installation, and efficient fine is non-contact, without manual measurement plant height, automatic measurement and can export crops plant height, convenient and swift, and subjective factor caused by manual measurement can be avoided to influence.
Description
Technical field
It the utility model is related to that crops structural information is non-contact, automatic measurement field, more particularly to it is a kind of full-automatic
Crops plant height measurement apparatus.
Background technology
By crop growth parameter estimator, identification agrometeorological conditions are to crop growthing development and yield composition and product
The influence of matter, for agrometeorological information, forecast and the climatic assessment of crops, field management etc. is instructed to provide foundation, for height
Production, high-quality, efficient, precision agriculture provide service.Crop growth parameter mainly includes density, leaf area index, plant height, growing way
Deng wherein plant height parameter is the important parameter in plant growing process, relies primarily on artificial observation, such as Chinese patent CN
Device disclosed in 204007409 U, it is still to need artificial use device to complete measurement.However, workload to be present big for artificial observation,
Observation process is easily influenceed by subjective factor.The automatic measurement dependent on motion that the B of patent CN 102175156 are provided
Device, because plant growth is in the environments such as wind, Exposure to Sunlight, motion is fragile, and practical value is not high.
Current plant height automatic measurement technology mainly includes ultrasonic technology and simple vision measurement technology.Ultrasonic technology
Due to signal transacting is simple, resolving power compared with it is strong, price is low etc., and advantage is widely used in range measurement.However, normal ultrasound waves are deposited
The blind zone problem of distance within 20cm can not be being measured, and because wave beam diverging is big, orientation accuracy is not high, is surveyed in crops plant height
Amount field does not obtain good effect.In simple vision measurement technology, have and plant height information is calculated based on monocular vision, also favorably
With the correlation technique of the binocular vision system reconstruct information such as plant height, but have that measurement accuracy is not high, and model is complicated, computationally intensive,
It is difficult to the shortcomings of actually using, so not being used widely.
Structured light technique is widely used in three-dimensional measurement field, main measurable object dimensional pattern.Chinese patent
CN103438832 B disclose a kind of 3-dimensional image measuring method based on line-structured light, and this method is by extracting line laser bar
Center line and testee edge intersection point, the three-dimensional information value of the intersection point is drawn, so as to reach measurement purpose.Chinese patent CN
205720668 U disclose structure light measurement device, give the three-dimensional measuring apparatus based on principle of triangulation.But in agriculture
In Plants high measurement, it is thus necessary to determine that relative to the height in level of growth face, current structured light measurement system modeling plant height
Or calibration process does not consider the application scenarios, so being not suitable for being directly used in measurement crops plant height.To crops plant height parameter
It is to realize the efficient, basis of precision agriculture and premise to realize automatic observation, is current urgent problem to be solved.
Utility model content
Purpose of utility model：To realize crops plant height automatic measurement, measurement accuracy is improved, the utility model provides one
The full-automatic crops plant height measurement apparatus of kind.
Technical scheme：A kind of full-automatic crops plant height measurement apparatus, including video camera, laser line generator control processor,
Housing, singletree and perpendicular strut, the perpendicular strut installation perpendicular to the ground, the singletree are arranged on perpendicular strut upper end and with erecting
Strut is mutually perpendicular to, and the housing is the cuboid that lower surface uses transparent material encapsulation, and the upper surface of the housing is fixed on
On singletree, video camera is arranged in the housing with laser line generator, and the shooting of the video camera is upside down；It is additionally provided with housing
Motor, the motor are used to control laser line generator to rotate；The video camera, laser line generator, motor are believed with control processor respectively
Number connection.
Further, in addition to L-type support and fixture, the motor are fixed on the upper surface in housing by L-type support,
Motor includes motor shaft, and the fixture is arranged on motor shaft, and fixture clamps laser line generator, the laser line generator and plumb line
The installation angle in direction isMeetAnd the optical plane that laser line generator is sent is not by camera coordinate system origin.
Further, the rotatable angular range of the motor is
Further, the laser line generator power is not less than 30mW.
Further, the video camera, laser line generator, motor are connected between control processor by connecting line respectively.
Further, be additionally provided with wireless communication module in the housing, the video camera, laser line generator, motor respectively with
Wireless communication module connects, and also is provided with wireless communication module on the control processor, for video camera, laser line generator, electricity
Machine communicates wirelessly.
Further, the control processor is computer.
Further, the control processor includes DSP or ARM process chips and the embedded system of peripheral circuit.
Beneficial effect：A kind of full-automatic crops plant height measurement apparatus provided by the utility model, can be simply and easily
Crops plant height automatic measurement is realized, simple in construction, easily installation, efficient fine is non-contact, without manual measurement plant height,
Automatic measurement and crops plant height can be exported, it is convenient and swift, and subjective factor caused by manual measurement can be avoided to influence.
Brief description of the drawings
Fig. 1 is full-automatic crops plant height measurement apparatus structure chart；
Fig. 2 is control laser rotating machine composition.
Fig. 3 is full-automatic crops plant height measurement apparatus workflow diagram.
In Fig. 1 and Fig. 2：1- video cameras, 2- lasers, 3- control processors, 4- housings, 5- connecting lines, 6- singletrees, 7-
Perpendicular strut, 8- motors, 81- motor shafts, 9-L type supports, 10- fixtures, 11- ground, 12- crops.
Embodiment
A kind of full-automatic crops plant height provided with reference to the accompanying drawing in the embodiment of the present application to the utility model is surveyed
Amount method and device embodiment is described further.Obviously, described embodiment is only that the application part is implemented
Example, rather than whole embodiments.Based on embodiments herein, those skilled in the art are not making creative work premise
Lower obtained every other embodiment, belong to the scope of the application protection.
As shown in figure 1, automatic crops plant height measurement apparatus includes video camera 1, laser line generator 2, control processor 3, shell
Body 4, singletree 6 and perpendicular strut 7, the perpendicular strut 7 and the right angle setting of ground 11, the singletree 6 are arranged on the perpendicular upper end of strut 7
And be mutually perpendicular to perpendicular strut 7, the housing 4 uses the cuboid of transparent material encapsulation, the upper table of the housing 4 for lower surface
Face is fixed on singletree 6, and video camera 1 is arranged in the housing 4 with laser line generator 2, the camera court of the video camera 1
Under；Motor 8 is additionally provided with housing 4, the motor 8 is used to control laser line generator 2 to rotate；The video camera 1, laser line generator 2, electricity
The signal of processor 3 connection processed respectively of machine 8.Video camera 1, laser line generator 2 etc. directly can bought on the market.
As shown in Fig. 2 also including L-type support 9 and fixture 10, the motor 8 is fixed in housing 4 by L-type support 9
Upper surface, motor 8 include motor shaft 81, and the fixture 10 is arranged on motor shaft 81, and fixture 10 clamps laser line generator 2, institute
State laser line generator 2 and the angle in plumb line direction isAnd the optical plane that laser line generator is sent is not sat by video camera
Mark system origin；The 8 rotatable angular range of motor isIf laser is connected to rotatable certain angle
On the device of degree, realize that laser measures in crop scanning overhead by laser rotation, to avoid laser from getting to crops
Between ridge, it should be considered as this measuring method and the special shape of device, belong to the application protection domain.
Using the rotatable certain angle of motor control laser, realize that laser is swept above crop by laser rotation
Measurement is retouched, laser can be avoided to get between crops ridge.
The power of laser line generator 2 is not less than 30mW, is controlled by control processor 3, is closed under non-measured state, measurement
Opened under state；The video camera 1, laser line generator 2, motor 8 are connected between control processor 3 by connecting line 5 respectively.When
So, can also be communicated using wireless network, wireless communication module is set in housing, the video camera 1, laser line generator 2,
Motor 8 is connected with wireless communication module respectively, and wireless communication module also is provided with the control processor 3, is used for and video camera
1st, laser line generator 2, motor 8 communicate wirelessly.
In described device, video camera 1 is arranged on inside housing 4, to gather associated picture；Laser line generator 2 is arranged on and taken the photograph
The side of camera 1, the laser plane that laser line generator 2 is sent do not pass through camera light heart point；Control processor 3 controls laser line generator 2
Open and close, controlled motor 8 rotates, and carries out image-processing operations；Crops can be directly exported after the completion of control processor computing
12 height；Control processor 3 described in the present embodiment is made up of computer or by DSP or ARM process chip and outside
The embedded system of circuit is enclosed, using Implementation of Embedded System control processor function and is integrated in inside crust of the device,
This measuring method and the special shape of device should be considered as, belong to the application protection domain.
The switch of control processor control laser line generator is, it is necessary to open laser line generator when measuring, laser line generator is by laser strip
Beat on crops, camera acquisition image is simultaneously handled image, is measured according to the principle of structure light vision e measurement technology
Go out crops plant height, control processor output crops plant height value.
The device can simply and easily realize crops plant height automatic measurement, simple in construction, easily installation, high-efficiency precision
Carefully, it is non-contact, without manual measurement plant height, automatic measurement and crops plant height can be exported, it is convenient and swift, and people can be avoided
Subjective factor caused by work measurement influences.
As shown in figure 3, the specific steps of crops plant height measurement are carried out using the present apparatus to be included：The first step, define coordinate
System；Second step, establish system model, the 3rd step, caliberating device parameter；4th step, measure plant height.Following tool is illustrated with reference to Fig. 1
Body step：
1 defines coordinate system
It is x parallel to image x, y directions using video camera photocentre point as the origin of coordinatescAxle, ycAxle, optical axis direction zcAxle,
Camera coordinate system is established, defines xcAxle, ycAxle and zcAxle；Using the horizontal plane where the starting point of crops bottom as xgAxle ygAxle is formed
Plane, plumb line opposite direction is zgAxle, earth axes are established, define xgAxle, ygAxle and zgAxle；With gridiron pattern on scaling board
Odd number, the direction of even number angle point are xbAxle, ybAxle, using tessellated vertical line as zbAxle, scaling board plane coordinate system is established, defined
xbAxle, ybAxle and zbAxle；
2 establish system model
In the system model, including camera model, optic plane equationses model and improved triangulation model.
2.1 camera model
If spatially any point P is X in the coordinate of camera coordinate systemP=(xc,yc,zc)T, after video camera imaging,
Subpoint p on the image plane, its coordinate are p=(u, v)T, increased one-dimensional unit coordinate and become homogeneous form and be：WithIn the case of distortion is not considered, according to camera model, camera coordinate system and image
The relation of plane coordinate system is：
Wherein zcIt is P in the depth value of camera coordinate system, can not be typically directly obtained, that is, existed by national forest park in Xiaokeng
In national forest park in Xiaokeng, a ray in a corresponding three-dimensional space of image coordinate system；It is shooting
Machine intrinsic parameter, ku,kvIt is the scale factor in image x, y directions, s reflects the angle factor of the axial direction of x, y two, u0,v0It is video camera mirror
Head optical axis and the intersecting point coordinate of CCD planes.
2.2 optic plane equationses models
In Plants height measuring system based on laser vision, video camera is rigidly connected with the laser plane projector, and swashs
Optical plane is not by camera coordinate system origin, then laser plane is represented by π=(a, b, c, 1) in camera coordinate system；
When system works, laser strip is beaten on crops, series of features point is left on crops, if characteristic point is in camera coordinate system
Homogeneous coordinates beThe series of features point is on laser plane, so meeting：
2.3 improved triangulation models
If P is a bit on laser plane, the corresponding points that p is projected on the plane of delineation for it, original triangulation model,
A point p and laser plane equation in i.e. given image plane, the D coordinates value of the P points of camera coordinate system corresponding to p points is solved,
But this measurement background is measurement crops plant height, it is desirable to height of the crops relative to lower horizontal face is solved, so this practicality is new
Type uses improved triangulation model.
According to principle of triangulation, the characteristic point that laser strip is formed both meets national forest park in Xiaokeng, meets optical plane side again
Journey model, i.e.,：
Laser strip can be obtained and beat on crops characteristic point in camera coordinate system coordinate Xc, its depth value zcl.Such as Fig. 1 institutes
Show, if the setting height(from bottom) of video camera is z'g0, camera optical axis and plumb line angle are θ, parameter z'g0With θ cosine value cos
(θ) collectively forms video camera installation parameter.Then crops plant height is：
H=z'g0-zc cos(θ)
Wherein camera optical axis and plumb line angle parameterzc0Handed over for camera optical axis and earth axes
Z of the point in camera coordinate systemcAxle value.
In the Plants high measurement method and device of laser vision described in the utility model, camera intrinsic parameter K, light
Plane equation π, video camera setting height(from bottom) z'g0, camera optical axis and plumb line angle parameter cos (θ), with system installation
Fix afterwards, be constant, need to demarcate in advance；When system works, the characteristic point that laser strip is beaten on crops can be by accordingly scheming
As processing method obtains, crops plant height parameter can be measured in real time by bringing characteristic point into system model computing.
3.1 camera intrinsic parameter scaling methods
Camera intrinsic parameter K scaling method uses Zhang Zhengyou gridiron pattern scaling methods, and calibration process uses different positions and pose
The width image of m >=3；It is required that in calibration process, gridiron pattern scaling board is placed in corresponding to the starting point of crops bottom at least once
On horizontal plane, make earth axes xgAxle ygThe plane that axle is formed and scaling board plane coordinate system xbAxle, ybThe plane weight that axle is formed
Close, with calibrating camera installation parameter.
3.2 video camera installation parameter scaling methods
Video camera installation parameter includes the setting height(from bottom) z' of video camerag0, the cosine value of camera optical axis and plumb line angle theta
cos(θ)。
3.2.1 video camera setting height(from bottom) z'g0Scaling method
Gridiron pattern scaling board is placed in corresponding to the starting point of crops bottom on horizontal plane, now defines earth axes and mark
Fixed board plane coordinate system overlaps；Camera coordinate system (xc,yc,zc) and earth axes (xg,yg,zg) between relation beWherein R0Spin matrix between Two coordinate system, t0For the translation vector of Two coordinate system, gridiron pattern is utilized
Scaling method obtains R0,t0；Then camera coordinate system coordinate origin XC0=[0,0,0]T, homogeneous form is
It is X in the coordinate of earth axesG0=[xg0,yg0,zg0], homogeneous form isz'g0=| zg0| i.e.
For video camera setting height(from bottom) parameter,Obtained by following formula：
3.2.2 camera optical axis and cosine value cos (θ) scaling method of plumb line angle theta
When gridiron pattern scaling board is placed in corresponding to the starting point of crops bottom on horizontal plane, scaling board plane is in earth axes
Equation be expressed as π0=[0,0,1,0], i.e. z=0 plane, by the plane transformation to camera coordinate system, are expressed as π0'
=(a0,b0,c0,d0), π1Calculated by following formula：
Optical axis and π0' the intersection point of plane isI.e.Thus included angle cosine can be calibrated
Value cos (θ)：
If video camera is vertically-mounted, i.e. θ=0, by other means, such as direct measurement, ultrasonic ranging etc. is directly
Video camera is measured apart from ground level z'g0Metering system, it should be considered as this measuring method and the special shape of device, belong to this
Apply for protection domain.
3.3 line laser plane parameter scaling methods
Scaling board plane is expressed as π in scaling board plane coordinate system0=[0,0,1,0], scaling board plane under ith pose
Equation is expressed as π in camera coordinate systemi', scaling board plane is represented into π from scaling board coordinate system0Transform to camera coordinate system
Represent πi', transform isWhereinRi,tiFor corresponding spin matrix and translation vector, marking
Determine to obtain during intrinsic parameter；
Using the width scaling board pose of m >=3 and image is gathered in calibration process, collection image is handled, extraction line swashs
Optical losses point is as laser strip characteristic point, laser strip characteristic point of selection n >=10 in scaling board plane on every width figure,
The characteristic point of selection is in the homogeneous coordinates of the plane of delineationIt is in camera coordinates by the homogeneous coordinate transformation
The coordinate X of systemCi[xci,yci,zci]T, homogeneous form isTransformation for mula is：
This mn point XCiOn online laser plane, meet optic plane equationses modelIntended using least square method
Zygonema laser plane parameter π.
When plant height measures, when laser carries out rotation sweep measurement, diverse location calculating plant height is brought corresponding light into and put down
Face equation parameter.Such as when the motor driven laser anglec of rotation firstWhen, demarcate the optic plane equationses of relevant position
Rotated firstRotated again in the case of degreeDegree, demarcate the optic plane equationses of relevant positionWhereinWithScope be
4.1 image procossing
To 1- camera acquisitions to beaten line laser bar plant image carry out binaryzation, extracted according to binary image
Laser strip characteristic point；Because the line laser power that the present embodiment uses is larger, feature is obvious in the picture, binarization operation
It is obvious to distinguish target and background；If in other embodiments, characteristics of image unobvious, then using image procossings such as filtering, sharpenings
Method carries out image procossing, extracts characteristic point.
4.2 plant heights measure
To camera acquisition to the plant image for having beaten line laser bar handle after, extract line laser bar bright spot and exist
The homogeneous coordinates of the plane of delineationTransform to the coordinate X of camera coordinate systemCi[xci,yci,zci]T, homogeneous form isMeet principle of triangulation：
Choose zciQ minimum laser spots, 10≤q≤20, calculate average value
Calculating plant height is：H=z'g0-zqcos(θ)。
Wherein, 10≤q≤20, zqFor q laser strip characteristic point camera coordinate system zcThe average value of axial coordinate, h are
The crops plant height calculated.
To above-mentioned the disclosed embodiments, person skilled in the relevant art can realize or using the application.To embodiment
A variety of modifications will be apparent for those skilled in the art.Therefore, General Principle defined herein
It can be realized in other embodiments in the case of the technical scope of the application is not departed from.So the application is not limited to herein
Shown embodiment, but meet principles disclosed herein and the consistent most wide scope of features of novelty.
Claims (8)
1. a kind of full-automatic crops plant height measurement apparatus, it is characterised in that including video camera (1), laser line generator (2), control
Processor (3), housing (4), singletree (6) and perpendicular strut (7), the perpendicular strut (7) installation perpendicular to the ground, the singletree
(6) it is arranged on perpendicular strut (7) upper end and is mutually perpendicular to perpendicular strut (7), the housing (4) is that lower surface is sealed using transparent material
The cuboid of dress, the upper surface of the housing (4) are fixed on singletree (6), and video camera (1) is arranged on laser line generator (2)
In the housing (4), the shooting of the video camera (1) is upside down；Motor (8) is additionally provided with housing (4), the motor (8) is used
Rotated in control laser line generator (2)；The video camera (1), laser line generator (2) and motor (8) are believed with control processor (3) respectively
Number connection.
2. full-automatic crops plant height measurement apparatus according to claim 1, it is characterised in that also including L-type support (9) and
Fixture (10), the motor (8) are fixed on the upper surface in housing (4) by L-type support (9), and motor (8) includes motor shaft
(81), the fixture (10) is arranged on motor shaft (81), and fixture (10) clamps laser line generator (2), the laser line generator (2)
Installation angle with plumb line direction isMeetAnd the optical plane that laser line generator is sent does not pass through camera coordinates
It is origin.
3. full-automatic crops plant height measurement apparatus according to claim 2, it is characterised in that the motor (8) is rotatable
Angular range be
4. full-automatic crops plant height measurement apparatus according to any one of claims 1 to 3, it is characterised in that the line swashs
Light device (2) power is not less than 30mW.
5. full-automatic crops plant height measurement apparatus according to any one of claims 1 to 3, it is characterised in that the shooting
Machine (1), laser line generator (2), motor (8) are connected between control processor (3) by connecting line (5) respectively.
6. full-automatic crops plant height measurement apparatus according to any one of claims 1 to 3, it is characterised in that the housing
Wireless communication module is inside additionally provided with, the video camera (1), laser line generator (2), motor (8) are connected with wireless communication module respectively,
Wireless communication module also is provided with the control processor (3), for being carried out with video camera (1), laser line generator (2), motor (8)
Wireless telecommunications.
7. full-automatic crops plant height measurement apparatus according to any one of claims 1 to 3, it is characterised in that the control
Processor (3) is computer.
8. full-automatic crops plant height measurement apparatus according to any one of claims 1 to 3, it is characterised in that the control
Processor (3) includes DSP or ARM process chips and the embedded system of peripheral circuit.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106871799A (en) * | 2017-04-10 | 2017-06-20 | 淮阴工学院 | A kind of full-automatic crops plant height measuring method and device |
| CN108801942A (en) * | 2018-03-01 | 2018-11-13 | 上海交通大学 | The adjustable linear array laser detection electromechanical assembly and method, system that rice tillering counts |
| CN113418456A (en) * | 2021-05-24 | 2021-09-21 | 江苏大学 | Crop height online measuring method suitable for rice combine harvester |
-
2017
- 2017-04-10 CN CN201720367685.2U patent/CN206627071U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106871799A (en) * | 2017-04-10 | 2017-06-20 | 淮阴工学院 | A kind of full-automatic crops plant height measuring method and device |
| CN108801942A (en) * | 2018-03-01 | 2018-11-13 | 上海交通大学 | The adjustable linear array laser detection electromechanical assembly and method, system that rice tillering counts |
| CN108801942B (en) * | 2018-03-01 | 2020-07-24 | 上海交通大学 | Linear array laser imaging method for rice tillering counting |
| CN113418456A (en) * | 2021-05-24 | 2021-09-21 | 江苏大学 | Crop height online measuring method suitable for rice combine harvester |
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