CN207992810U - A kind of field automatic travelling device for detecting plant growth condition - Google Patents
A kind of field automatic travelling device for detecting plant growth condition Download PDFInfo
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- CN207992810U CN207992810U CN201820267772.5U CN201820267772U CN207992810U CN 207992810 U CN207992810 U CN 207992810U CN 201820267772 U CN201820267772 U CN 201820267772U CN 207992810 U CN207992810 U CN 207992810U
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims abstract description 8
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Abstract
The utility model discloses a kind of field automatic travelling devices for detecting plant growth condition, belong to field of agricultural mechanical automation, including：Apparatus main body, bottom are equipped with walking mechanism, and walking mechanism is controlled by processor；Plant testing agency is installed on by a hoistable platform on apparatus main body, is collected the optical imagery of plant and spectrum picture and is sent image to processor；Path Recognition mechanism is installed on the front end of apparatus main body, and for acquisition device main body way forward image and road image is sent to processor；Processor, receives the output data of the plant testing agency and Path Recognition mechanism, and controls the direction of travel of walking mechanism.The height of plant is measured while detecting plant pest and disease damage situation, improves production effect.
Description
Technical field
The utility model belongs to field of agricultural mechanical automation, specifically, being related to a kind of for detecting plant strain growth shape
The field automatic travelling device of condition.
Background technology
Agricultural robot is a kind of machine, is utilization of the robot in agricultural production, is that one kind can be soft by distinct program
Part controls, and to adapt to various operations, can feel and adapt to crop species or environmental change, there is detection (such as vision) and calculation etc.
Artificial intelligence a new generation nobody be automatically brought into operation machinery.Common agricultural robot includes rate fertilization robot, vegetable farm herbicide machine
People, picking fruit robot and sorting fruit robot etc..
In agricultural production process, it is also desirable to be measured to the plant height of crops and situation of catching an illness, measure plant height
Common method is to carry out manual measurement using ruler, however need to spend a large amount of manpower and materials, it is also necessary to when spending a large amount of
Between.The index for weighing plant growth condition is also very much, such as leaf blade size, root length, root/shoot ratio, is also required for people mostly
Work manual measurement.These are all unsuitable for large batch of production.
Utility model content
The purpose of this utility model is to provide a kind of field automatic travelling device for detecting plant growth condition, can be same
When the plant height and pest and disease damage situation of plant are measured, substantially increase the efficiency of agricultural production.
To achieve the goals above, the field automatically walk dress provided by the utility model for detecting plant growth condition
Set including：
Apparatus main body, bottom are equipped with walking mechanism, and walking mechanism is controlled by processor；
Plant testing agency is installed on by a hoistable platform in described device main body, collect plant optical imagery and
Spectrum picture simultaneously sends image to processor；
Path Recognition mechanism is installed on the front end of apparatus main body, for acquisition device main body way forward image and incites somebody to action
Road image is sent to processor；
Processor, receives the output data of the plant testing agency and Path Recognition mechanism, and controls walking mechanism
Direction of travel.
In above-mentioned technical proposal, apparatus main body is put on loaning and is walked, planted in detection using plant testing agency
The height of plant is measured while strain pest and disease damage situation, which greatly reduces labour, improves production effect.
Specific scheme is that walking mechanism includes mounted on the driving wheel of apparatus main body bottom rear end and mounted on device master
The driven wheel of body bottom front, driving wheel connect driving motor, and driven wheel connects steering-engine.It is driven actively by driving motor
Wheel rotation controls the rotational angle of driven wheel by steering-engine to make apparatus main body go ahead, to control device main body
Direction of advance.
Further specific scheme is that driving motor carries encoder, the actual speed for detecting driving motor；Processing
Device calculates the input speed of driving motor to control walking mechanism according to the actual speed of driving motor and the rotating speed of target of setting
Gait of march.
Another specific scheme is that plant testing agency includes optical camera for measuring plant height and is used for
The multispectral camera or infrared camera of plant pest and disease damage are detected, two cameras are respectively facing apparatus main body direction of advance
Rear and front end is arranged；Path Recognition mechanism includes that the camera of apparatus main body front end is fixed on by a straight-bar.
Another specific scheme is that hoistable platform includes being fixed on the pedestal in apparatus main body center and mounted on the bottom
Telescopic rod on seat, telescopic rod are equipped with the trip bolt for fixed flexible height, and plant testing agency is fixed on telescopic rod
Top.
Preferred scheme is built-in with for apparatus main body rechargeable battery.It powers for each section on apparatus main body, Ke Yiqu
Go out charging or replacement.
Method, program and control involved by the utility model belong to the prior art, and the utility model is claimed
It is the structure improvement of portable rape leaf Defect inspection device, the innovation being not related in method, program and control etc..
Compared with prior art, the beneficial effects of the utility model are：
The utility model can automatically snap and detect the upgrowth situation of a panel region implants, simplify plant strain growth shape
The testing process of condition, while time and the cost of manual measurement are saved, it can be widely applied to the fast of plant upgrowth situation
Speed detection and monitoring.
Description of the drawings
Fig. 1 is field automatic travelling device side view.
Wherein：1, camera；2, plant testing agency；3, hoistable platform；4, chip is controlled；5, apparatus main body；51, it turns to
Steering engine；52, battery；53, driving motor；6, driving wheel；7, driven wheel.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiment is only the utility model a part of the embodiment, rather than whole realities
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Embodiment
Referring to Fig. 1, the present embodiment includes apparatus main body for detecting the field automatic travelling device of plant growth condition
5, plant testing agency 2, Path Recognition mechanism, processor, wherein processor include image processing module and control module
The bottom of apparatus main body 5 is equipped with walking mechanism, and walking mechanism includes the master mounted on 5 bottom rear end of apparatus main body
Driving wheel 6 and driven wheel 7 mounted on 5 bottom front of apparatus main body, driving wheel 6 connect driving motor 53, and the connection of driven wheel 7 turns to
Steering engine 51.It drives driving wheel 6 to rotate by driving motor 53, to make apparatus main body 5 go ahead, is controlled by steering-engine 51
The rotational angle of driven wheel 7, to the direction of advance of control device main body 5.
Driving motor 53 carries 512 line coding devices, the actual speed for detecting driving motor；Control module is according to driving
The actual speed of motor and the rotating speed of target of setting calculate the input speed of driving motor 53 to control vehicle with walking machine using PI algorithms
The gait of march of structure.
Plant testing agency 2 includes optical camera for measuring plant height and for detecting the more of plant pest and disease damage
Spectrum camera or infrared camera, the present embodiment is using optical camera and multispectral camera, two cameras point
It is not arranged towards the rear and front end of apparatus main body direction of advance, and is installed on apparatus main body 5 by hoistable platform 3, optics is taken the photograph
As the optical imagery of head collection plant, multispectral camera collects the spectrum picture of plant, and sends image to image procossing
Module.The height of plant is measured while detecting plant pest and disease damage situation.
The hoistable platform 3 of the present embodiment includes being fixed on the pedestal in 5 center of apparatus main body and installing on the base
Telescopic rod, telescopic rod are equipped with the trip bolt for fixed flexible height, and plant testing agency 2 is fixed on the top of telescopic rod
End.
Path Recognition mechanism includes that the camera 1 of 5 front end of apparatus main body is fixed on by an ABS plastic straight-bar, for clapping
Take the photograph the image of device forward march.
Image processing module extracts plant height information in optical imagery, extracts plant disease and insect information in spectrum picture,
And forward march center line and present viewing field center line are obtained from road image.
Control module includes a control chip 4, and control chip 4 passes through conducting wire and winding displacement and its remaining part on apparatus main body 5
Divide connection, be responsible for the movement and work of control device main body 5, includes detection and identification, turn of driving motor 53 of advance route
Speed, 1 photographed data of the corner of steering-engine 51 and camera storage and processing, control chip 4 according to present viewing field center line with
The direction of travel of the distance controlling walking mechanism of forward march center line.Wherein, control program writes simultaneously input control core in computer
In piece 4.
It is equipped in the inside of apparatus main body 5 and rechargeable battery 52.It powers, can take out for each section on apparatus main body
Charging is replaced.
The course of work of the field automatic travelling device of the present embodiment can be divided into the mobile and plant that tracks and detect two parts.Its
In, plant detection controls plant testing agency 2 by control chip 4 and completes, the plant that plant testing agency 2 shoots and stores
Image (optical imagery or spectrum picture).
The mobile speed control that is then divided into that tracks determines that two parts, the cycle of wherein speed control are as follows with path：
The practical forward speed of acquisition device main body, is compared with the speed of setting, calculates the advance speed currently needed
Degree, specifically includes：
(1) number of turns that encoder record driving motor 53 turns over whithin a period of time, control chip 4 are read by " interruption "
The practical forward speed of the numerical computations device；
(2) control chip 4 is using practical forward speed and the speed of program setting as the input of PD adjusters；
(3) control chip 4 calculates the input speed of 53 next cycle of driving motor；
(4) control chip 4 changes the duty ratio of PWM according to input speed and is output to driving motor 53.
The cycle that path determines is as follows：
The image of its front loaning, handles the image before the walking of acquisition device main body, utilizes path and week
The difference of surrounding environment determines the coordinate of path both sides boundary in the picture；It is calculated in road according to the coordinate on path both sides boundary
Line, and obtain the abscissa of the advance route of apparatus main body；The current image in the advance visual field of acquisition device main body, obtains the visual field
The abscissa of center line；Calculate the difference of the abscissa of visual field center line and advance route and according to the difference control device main body before
Into direction.It is specific as follows：
(1) shooting of camera 1 obtains the loaning in front of a width automatic travelling device；
(2) original image for obtaining shooting carries out contrast enhancing operation；
(3) RGB image is switched into gray level image；
(4) gray-scale map is subjected to gray scale adjustment, enhances the contrast of gray-scale map；
(5) binaryzation will be carried out for threshold value with 0.35 by the gray-scale map of contrast enhancing；
(6) black white image is subjected to median filter process；
(7) black white image is subjected to morphological dilations processing；
(8) black white image is subjected to morphological erosion processing；
(9) difference for utilizing path and ambient enviroment, determines coordinate (pixel in the picture where the boundary of path both sides
Coordinate)；
(10) center line of road is calculated according to the coordinate on the boundary of path in figure；
(11) center line of road is divided into 4 parts from top to bottom, by the 2nd, 3, the horizontal seat of the pixel of the center line of road of 4 parts
Mark is according to 1:3:6 weight seeks weighted average, obtains the abscissa of advance route；
(12) advance route shows the direction that device should advance in previous cycle, and visual field center line shows working as device
The previous dynasty is to only when the visual field center line of device is overlapped with advance route, the direction of advance of device is only correctly；Control chip
4 calculate the difference of visual field center line and the abscissa of advance route, as the input of pi regulator；
(13) the PWM wave output that control chip 4 switchs to the output of pi regulator to control 51 rotational angle of steering-engine, turns
Accordingly change rotational angle to steering engine 51 so that device turns to target direction of advance.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this practicality is new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing in the equivalent requirements of the claims will be fallen
All changes in justice and range are embraced therein.Any reference numeral in claim should not be considered as limitation
Involved claim.
Claims (6)
1. a kind of field automatic travelling device for detecting plant growth condition, which is characterized in that including：
Apparatus main body, bottom are equipped with walking mechanism, and the walking mechanism is controlled by processor；
Plant testing agency is installed on by a hoistable platform in described device main body, and the optical imagery and spectrum of plant are collected
Image simultaneously sends image to processor；
Path Recognition mechanism is installed on the front end of described device main body, for acquisition device main body way forward image and incites somebody to action
Road image is sent to processor；
Processor, receives the output data of the plant testing agency and Path Recognition mechanism, and controls the traveling of walking mechanism
Direction.
2. field automatic travelling device according to claim 1, it is characterised in that：
The walking mechanism includes mounted on the driving wheel of described device bottom part body rear end and mounted on described device main body
The driven wheel of bottom front, the driving wheel connect driving motor, and the driven wheel connects steering-engine.
3. field automatic travelling device according to claim 2, it is characterised in that：
The driving motor carries encoder, the actual speed for detecting driving motor；The processor is according to driving
The actual speed of motor and the rotating speed of target of setting calculate the input speed of driving motor to control the gait of march of walking mechanism.
4. field automatic travelling device according to claim 1, it is characterised in that：
The plant testing agency includes optical camera for measuring plant height and for detecting plant pest and disease damage
Multispectral camera or infrared camera, two cameras are respectively facing the rear and front end setting of apparatus main body direction of advance；
The Path Recognition mechanism includes that the camera of described device body front end is fixed on by a straight-bar.
5. field automatic travelling device according to claim 1, it is characterised in that：
The hoistable platform includes the pedestal and installation telescopic rod on the base for being fixed on apparatus main body center, described
Telescopic rod is equipped with the trip bolt for fixed flexible height, and plant detection odd even stock is fixed on the telescopic rod
Top.
6. the field automatic travelling device according to claim 1 to 5 any claim, it is characterised in that：
The apparatus main body, which is built-in with, rechargeable battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820267772.5U CN207992810U (en) | 2018-02-24 | 2018-02-24 | A kind of field automatic travelling device for detecting plant growth condition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820267772.5U CN207992810U (en) | 2018-02-24 | 2018-02-24 | A kind of field automatic travelling device for detecting plant growth condition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207992810U true CN207992810U (en) | 2018-10-19 |
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ID=63824703
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820267772.5U Expired - Fee Related CN207992810U (en) | 2018-02-24 | 2018-02-24 | A kind of field automatic travelling device for detecting plant growth condition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207992810U (en) |
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2018
- 2018-02-24 CN CN201820267772.5U patent/CN207992810U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181019 Termination date: 20210224 |