CN209803822U - In-situ growth phenotype monitoring device for crop canopy - Google Patents
In-situ growth phenotype monitoring device for crop canopy Download PDFInfo
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Abstract
The embodiment of the utility model provides a crop canopy normal position growth phenotype monitoring devices, through respectively setting up canopy top data acquisition and collection module, canopy inside image acquisition module and canopy bottom fisheye lens, can acquire and wait to detect the crop canopy top, the morphological structure data of inside and bottom, and canopy inside image acquisition module height and angularly adjustable for canopy inside morphological structure data is abundanter, it is more accurate finally to treat the growth phenotype monitoring of monitoring crop canopy, the globality is stronger, and has fine universality.
Description
Technical Field
The utility model relates to the field of agricultural technology, especially, relate to a crop canopy normal position growth phenotype monitoring devices.
Background
Crop canopy is an organizational system where crops perform photosynthesis and substance production functions, and its morphological structure has important effects on light interception ability, canopy photosynthetic efficiency, and crop yield. Meanwhile, the crop canopy structure also reflects the genetic characteristics of crop varieties and the adaptation degree of the crop canopy structure to the environment, and the crop canopy morphological structure has space-time variability under the influence of genetic and environmental factors. Corn is one of the most important grain crops in China, and has great yield increasing potential. The method has important significance for structural function analysis of the corn, evaluation of corn varieties and improvement of productivity by continuously monitoring the growth and growth vigor of the corn canopy and quickly constructing a three-dimensional model of the corn canopy. A large amount of organ shelters exist in the crop canopy, and the canopy morphological structure is continuously changed along with the change of crop growth and environment, which bring great challenges to crop canopy growth monitoring and three-dimensional reconstruction.
in the aspect of growth monitoring of a crop canopy morphological structure, an unmanned aerial vehicle is mainly used for mounting a laser radar or a visible light image sensor to obtain a crop canopy three-dimensional point cloud or a visible light image, and growth monitoring of the canopy structure is realized through data registration and phenotype analysis; and the continuous monitoring of the growth of the crop group is realized by building a rail-mounted or vehicle-mounted phenotype platform. The measures mainly acquire the external surface form or color texture data of the crop canopy, and because the crop canopy is seriously shielded, the measures are difficult to acquire the form and structure information of the crop inside the canopy; a fish-eye lens is arranged in the canopy to obtain a hemispherical image, and the crown clearance fraction or growth monitoring of the designated position of the canopy can be obtained, but the method has limited measuring position and poor monitoring information global property; the field walking robot can realize the collection of the morphological structure in the canopy, but has specific requirements on the field soil environment, the line spacing and the like, and does not have universality.
SUMMERY OF THE UTILITY MODEL
Embodiments of the present invention provide a device for monitoring the phenotype of in situ growth of a crop canopy that overcomes or at least partially solves the above problems.
The embodiment of the utility model provides a crop canopy normal position growth phenotype monitoring devices, include: the device comprises a base, a telescopic bracket, a canopy top data acquisition and acquisition module, a canopy internal image acquisition module and a canopy bottom fisheye lens; the bottom end of the telescopic support is fixedly connected with the base, the canopy top data acquisition and acquisition module is arranged at the top end of the telescopic support, and the canopy internal image acquisition module is arranged in the middle of the telescopic support;
The canopy top data acquisition and collection module comprises a module box body, a plurality of image sensors, a multispectral sensor, a laser radar, a photosynthetically active radiation sensor, a data acquisition unit and a canopy internal image acquisition module controller; the module box body is fixedly connected with the top end of the telescopic bracket; the canopy top image sensors are uniformly arranged at the lower part of the module box body and are used for acquiring a plurality of first images of the top of the crop canopy; the multispectral sensor is arranged in the module box body and used for acquiring a multispectral image of the top of a canopy of a crop to be monitored; the laser radar is arranged in the module box body and is used for acquiring three-dimensional point cloud data of the top of the crop canopy to be monitored; the photosynthetic active radiation sensor is horizontally arranged at the top of the module box body and is used for acquiring photosynthetic active radiation data at the top of the crop canopy to be monitored;
The canopy internal image acquisition module comprises a sliding and rotating control submodule and a horizontal camera, and the horizontal camera is connected with the middle part of the telescopic bracket through the sliding and rotating control submodule and is used for acquiring a plurality of second images at different heights and different angles in the canopy of the crop to be monitored; the canopy internal image acquisition module controller is connected with the canopy internal image acquisition module;
the data collector is respectively connected with the plurality of image sensors, the multispectral sensor, the laser radar, the photosynthetically active radiation sensor, the horizontal camera and the fish-eye lens at the bottom of the canopy.
furthermore, the base is disc-shaped, and the base is provided with a probe on one side different from the telescopic bracket.
Further, the canopy internal image acquisition module further comprises a rain cover, and the rain cover is fixed on the sliding and rotating control submodule and is located right above the horizontal camera.
Further, the wireless module is arranged at the top of the module box body and used for establishing a wireless communication channel with the remote control end.
Further, still include root system monitoring module, root system monitoring module includes little root canal and root system scanning sensor, root system scanning sensor sets up in the little root canal, little root canal is fixed to be set up be different from on the base one side of telescopic bracket is used for acquireing treat the root system image of monitoring crop.
further, still include soil moisture content monitoring module, soil moisture content monitoring module includes a plurality of soil temperature and humidity sensors for acquire the humiture of the different degree of depth soil near waiting to monitor crop root system.
The embodiment of the utility model provides a pair of crop canopy normal position growth phenotype monitoring devices, through respectively setting up canopy top data acquisition and collection module, canopy inside image acquisition module and canopy bottom fisheye lens, can acquire and wait to detect the crop canopy top, the morphological structure data of inside and bottom, and canopy inside image acquisition module height and angularly adjustable for canopy inside morphological structure data is abundanter, it is more accurate finally to treat the growth monitoring of monitoring crop canopy, the globality is stronger, and has fine universality.
drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a device for monitoring a phenotype of in-situ growth of a crop canopy according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a growth monitoring device shown in fig. 1 according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Fig. 1 is a schematic structural view of a crop canopy in-situ growth phenotype monitoring device provided by an embodiment of the present invention, as shown in fig. 1, the growth monitoring device includes: the device comprises a base 1, a telescopic bracket 2, a canopy top data acquisition and acquisition module 3, a canopy internal image acquisition module 4 and a canopy bottom fisheye lens 5; the bottom end of the telescopic support 2 is fixedly connected with the base 1, the canopy top data acquisition and acquisition module 3 is arranged at the top end of the telescopic support 2, and the canopy internal image acquisition module 4 is arranged in the middle of the telescopic support 2.
Wherein, base 1 and telescoping shoring column 2 fixed connection back, as canopy top data acquisition and collection module 3 and canopy inside image acquisition module 4's bearing structure, and guarantee that canopy top data acquisition and collection module 3 are located the canopy top of waiting to monitor the crop, canopy inside image acquisition module 4 is located the canopy inside of waiting to monitor the crop, and the bottom surface suitable position that canopy bottom fisheye lens 5 set up according to actual conditions when monitoring simultaneously. It will be appreciated that since the length of the telescopic support 2 can be adjusted as required, the position of the canopy internal image acquisition module 4 relative to the crop canopy can also be adjusted as required. In addition, the telescopic bracket 2 is divided into a plurality of sections of small brackets, and a canopy internal image acquisition module 4 can be arranged on each section of small bracket.
the canopy top data acquisition and collection module 3 comprises a module box body, a plurality of image sensors, a multispectral sensor, a laser radar, a photosynthetically active radiation sensor, a data collector and a canopy internal image acquisition module controller; the module box body is fixedly connected with the top end of the telescopic bracket; the canopy top image sensors are uniformly arranged at the lower part of the module box body and are used for acquiring a plurality of first images of the top of the crop canopy; the multispectral sensor is arranged in the module box body and used for acquiring a multispectral image of the top of a canopy of a crop to be monitored; the laser radar is arranged in the module box body and is used for acquiring three-dimensional point cloud data of the top of the crop canopy to be monitored; the photosynthetic active radiation sensor is horizontally arranged at the top of the module box body and used for acquiring photosynthetic active radiation data at the top of the canopy of the crop to be monitored.
Wherein, the module box is general for the flying saucer shape, and there is black and white check texture at module box top, can obtain for unmanned aerial vehicle image and provide the marker.
The canopy internal image acquisition module 4 comprises a sliding and rotating control submodule 41 and a horizontal camera 42, wherein the horizontal camera 42 is connected with the middle part of the telescopic bracket 2 through the sliding and rotating control submodule 41 and is used for acquiring a plurality of second images of different heights and different angles in the canopy of the crop to be monitored; the canopy internal image acquisition module controller is connected with the canopy internal image acquisition module.
The sliding and rotating control submodule 41 can drive the horizontal camera 42 to slide up and down along the telescopic bracket 2 to adjust the height of the telescopic bracket 2 relative to the canopy, and can also drive the horizontal camera 42 to rotate 360 degrees by taking the telescopic bracket 2 as a circle center to adjust the angle of the telescopic bracket 2 relative to the canopy. The controller of the image acquisition module in the canopy is provided with a timing automatic control instruction and can also receive a remote instruction to control the height and horizontal rotation angle of the image acquisition module in the canopy.
the data collector is respectively connected with the plurality of image sensors, the multispectral sensor, the laser radar, the photosynthetically active radiation sensor, the horizontal camera and the fish-eye lens at the bottom of the canopy.
Specifically, when the growth monitoring device is used, the growth monitoring device is arranged near crops to be monitored, the telescopic bracket 2 is firstly adjusted to a proper height, so that each sensor in the canopy top data acquisition and collection module 3 is positioned above a canopy, a plurality of first images, multispectral images, three-dimensional point cloud data and photosynthetically active radiation data at the top of the canopy are acquired, and the data are sent to the data acquisition unit for storage. And then the internal image acquisition module controller of the canopy controls the internal image acquisition module 4 of the canopy to adjust the height and the angle of the internal image acquisition module, and the internal image acquisition module 4 of the canopy acquires a plurality of second images with different heights and different angles in the canopy and sends the plurality of second images to the data collector for storage. And arranging the fish-eye lens 5 at the bottom of the canopy at a proper position on the ground, acquiring a hemispherical image of the bottom of the canopy, and sending the hemispherical image to a data collector for storage. The data in the data acquisition unit can be used for subsequent processing to obtain corresponding parameters of the canopy so as to realize the monitoring of the canopy of the crop to be monitored.
The embodiment of the utility model provides a pair of crop canopy normal position growth phenotype monitoring devices, through respectively setting up canopy top data acquisition and collection module, canopy inside image acquisition module and canopy bottom fisheye lens, can acquire and wait to detect the crop canopy top, the morphological structure data of inside and bottom, and canopy inside image acquisition module height and angularly adjustable for canopy inside morphological structure data is abundanter, it is more accurate finally to treat the growth monitoring of monitoring crop canopy, the globality is stronger, and has fine universality.
In the above embodiment, the base is a disc, and a probe is disposed on a side of the base different from the telescopic bracket.
specifically, when the device is set up, the insertion of the probe into the soil acts to immobilize the entire device. The base disc is provided with horizontal bubbles for ensuring the installation level of the base.
in the above embodiment, the canopy internal image acquiring module further includes a rain cover 43, and the rain cover 43 is fixed on the sliding and rotating control sub-module 41 and is located right above the horizontal camera 42.
Specifically, the rain cover 43 is used for shading and waterproofing the camera.
In the above embodiment, the device further comprises a wireless module 6, and the wireless module 6 is arranged at the top of the module box and used for establishing a wireless communication channel with the remote control terminal 7.
Specifically, various data stored in the data collector are sent to the remote control end 7 through the wireless module 6 for further analysis and processing. And meanwhile, the remote control instruction is received through the wireless module 6.
In the above-mentioned embodiment, the device still includes root system monitoring module 8, root system monitoring module includes little root canal 81 and root system scanning sensor 82, root system scanning sensor 82 sets up in little root canal 81, little root canal 81 is fixed to be set up base 1 go up different in one side of telescopic bracket 2 is used for acquireing treat the root system image of monitoring the crop.
Specifically, in using the device, the micro-tubes 81 are inserted into the soil.
in the above embodiment, this still includes soil moisture content monitoring module 9, soil moisture content monitoring module 9 includes a plurality of soil temperature and humidity sensors for acquire the humiture of the different degree of depth soil near waiting to monitor crop root system.
Specifically, the soil temperature and humidity sensor is buried in the soil of different depths.
In addition, the method for performing three-dimensional reconstruction of the crop canopy by using the canopy growth monitoring device shown in fig. 1 comprises the following steps:
S201, collecting a plurality of first images with time marks at the tops of canopy of crops to be monitored, three-dimensional point cloud data, multispectral images, photosynthetically active radiation data, soil moisture content data and root system images by using the canopy top data acquisition and collection module; acquiring a plurality of second images with different heights and different angles, which are provided with time marks, height marks and angle marks, in the canopy of the crop to be monitored by using the canopy internal image acquisition module; acquiring a hemispherical image of the bottom of the canopy of the crop to be monitored by using the fisheye lens of the bottom of the canopy;
S202, acquiring canopy coverage of the crop to be monitored according to the plurality of first images; acquiring a node unit scale phenotype parameter of the crop to be monitored according to the plurality of second images; acquiring the crown space fraction of the crop to be monitored according to the hemisphere image; wherein the unit scale phenotype parameters at least comprise plant height, leaf number, leaf inclination angle, azimuth angle and leaf growth height information;
S203, performing three-dimensional reconstruction on the canopy of the crop to be monitored according to the node unit scale phenotype parameters to obtain a first three-dimensional reconstruction model, and calibrating the first three-dimensional reconstruction model by utilizing the canopy coverage, the canopy clearance fraction and the three-dimensional point cloud data to obtain a second three-dimensional reconstruction model.
Step S201 is a data acquisition process, and various data of the crop canopy are acquired by using the growth monitoring device described in the above embodiment. Step S202 is a data processing process, and the processed data is used for subsequent three-dimensional reconstruction. Step S203 is a three-dimensional reconstruction process.
Specifically, as shown in fig. 2, 4 corn plants are taken as an example of crops to be monitored to illustrate the embodiments of the present invention, and it is understood that the embodiments of the present invention are not limited thereto.
step S201 specifically includes the following steps:
(1) The crop canopy growth monitoring device is buried in the middle of 4 crops, as shown in fig. 2.
(2) setting a sensor time acquisition interval as t, and acquiring a canopy bottom hemisphere image, a canopy top visible light image, a canopy top three-dimensional point cloud, a canopy top multispectral image, canopy external photosynthetically active radiation, soil moisture content data and root system image data at intervals of t, wherein the data have acquisition time marks; and acquiring visible light images at different heights and different angles in the canopy, wherein the acquired images have height and angle marks besides time marks.
In step S202, each data processing process specifically includes:
(1) Processing data of a hemisphere at the bottom of the canopy: extracting the crown gap fraction of the current position by utilizing a continuously monitored crown layer bottom hemisphere image through operations such as image segmentation, binarization and the like;
(2) Processing the image data at the top of the canopy: acquiring 4 images acquired by 4 canopy top visible light cameras at the same time, obtaining a canopy top panoramic image through image splicing, and extracting the coverage of a canopy through operations such as image segmentation and the like;
(3) Processing three-dimensional point cloud data at the top of the canopy: by utilizing the obtained three-dimensional point cloud at the top of the canopy, the height difference between the current position and the ground is calculated to obtain the dynamic growth change of the plant height of each monitored plant in the canopy;
(4) Processing multispectral images at the top of the canopy: extracting phenotype parameters such as NDVI, nitrogen content, water content and the like of the canopy by using the acquired multispectral image at the top of the canopy;
(5) And (3) processing the visible light image data inside the canopy: and acquiring a panoramic image of the interior of the canopy by utilizing visible light images of different heights and different angles in the canopy through image splicing, and extracting node unit scale phenotype parameters of 4 corns around the device on the basis, wherein the node unit scale phenotype parameters comprise the number of leaves, the growth height of each leaf, the leaf inclination angle, the azimuth angle, the leaf length, the leaf width, the stem diameter, the ear position height and the like.
And step S203, performing three-dimensional reconstruction on the data obtained after the data processing to obtain a canopy three-dimensional model of the 4 corns.
By using the growth monitoring device to obtain the morphological structure data of the top, the inside and the bottom of the canopy, the morphological structure data are used for three-dimensional reconstruction after certain pretreatment, the workload is small, the efficiency is high, and the precision of the obtained three-dimensional reconstruction model is high.
In the above embodiment, the three-dimensional reconstruction of the canopy of the crop to be monitored according to the pitch unit scale phenotype parameter to obtain a first three-dimensional reconstruction model specifically includes:
And acquiring the first three-dimensional reconstruction model by utilizing the node unit scale phenotype parameters and combining the three-dimensional template resource library of the crops to be monitored through a similarity matching and parameterized modeling method of the node unit scale phenotype parameters.
Specifically, the extracted plant height, leaf number, leaf inclination angle, azimuth angle and leaf growth height information of each plant are combined with a corn organ three-dimensional template resource library, and the three-dimensional modeling of 4 corns is realized through similarity matching of unit parameters and a parameterized modeling method, so that a first three-dimensional reconstruction model is obtained. The model also requires subsequent calibration.
In the above embodiment, the calibrating the first three-dimensional reconstruction model by using the canopy coverage, the crown gap fraction, and the three-dimensional point cloud data to obtain the second three-dimensional reconstruction model specifically includes:
and iterating the node unit scale phenotype parameters in the first three-dimensional reconstruction model until iteration is stopped according to the canopy coverage, the crown gap fraction and the three-dimensional point cloud data to obtain a second three-dimensional reconstruction model.
Specifically, on the basis of the 4 corn first three-dimensional reconstruction models, the 4 corn three-dimensional models are calibrated from the canopy angle through the extracted canopy coverage, the canopy clearance fraction and the canopy top three-dimensional point cloud distribution and through parameters such as the iteration leaf azimuth angle, the leaf length and the like, and the second three-dimensional reconstruction model of the corn group is obtained after iteration is stopped, namely the final three-dimensional reconstruction model of the corn group.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (6)
1. A crop canopy in situ growth phenotype monitoring device, comprising: the device comprises a base, a telescopic bracket, a canopy top data acquisition and acquisition module, a canopy internal image acquisition module and a canopy bottom fisheye lens; the bottom end of the telescopic support is fixedly connected with the base, the canopy top data acquisition and acquisition module is arranged at the top end of the telescopic support, and the canopy internal image acquisition module is arranged in the middle of the telescopic support;
the canopy top data acquisition and collection module comprises a module box body, a plurality of image sensors, a multispectral sensor, a laser radar, a photosynthetically active radiation sensor, a data acquisition unit and a canopy internal image acquisition module controller; the module box body is fixedly connected with the top end of the telescopic bracket; the canopy top image sensors are uniformly arranged at the lower part of the module box body and are used for acquiring a plurality of first images of the top of the crop canopy; the multispectral sensor is arranged in the module box body and used for acquiring a multispectral image of the top of a canopy of a crop to be monitored; the laser radar is arranged in the module box body and is used for acquiring three-dimensional point cloud data of the top of the crop canopy to be monitored; the photosynthetic active radiation sensor is horizontally arranged at the top of the module box body and is used for acquiring photosynthetic active radiation data at the top of the crop canopy to be monitored;
The canopy internal image acquisition module comprises a sliding and rotating control submodule and a horizontal camera, and the horizontal camera is connected with the middle part of the telescopic bracket through the sliding and rotating control submodule and is used for acquiring a plurality of second images at different heights and different angles in the canopy of the crop to be monitored; the canopy internal image acquisition module controller is connected with the canopy internal image acquisition module;
the data collector is respectively connected with the plurality of image sensors, the multispectral sensor, the laser radar, the photosynthetically active radiation sensor, the horizontal camera and the fish-eye lens at the bottom of the canopy.
2. The in situ growth phenotype monitoring device of a crop canopy as claimed in claim 1, wherein the base is disc-shaped and a probe is provided on a side of the base other than the telescoping support.
3. The crop canopy in situ growth phenotype monitoring device of claim 1, wherein the canopy interior image acquisition module further comprises a rain shield fixed to the sliding and rotating control submodule and positioned directly above the horizontal camera.
4. The crop canopy in situ growth phenotype monitoring device of claim 3, further comprising a wireless module disposed at a top of the module housing for establishing a wireless communication channel with a remote control.
5. the phenotypic monitoring device of claim 1, further comprising a root system monitoring module, wherein the root system monitoring module comprises a micro root tube and a root system scanning sensor, the root system scanning sensor is disposed in the micro root tube, and the micro root tube is fixedly disposed on the base at a side different from the telescopic bracket for acquiring the root system image of the crop to be monitored.
6. the in-situ growth phenotype monitoring device for the crop canopy as claimed in claim 1, further comprising a soil moisture monitoring module, wherein the soil moisture monitoring module comprises a plurality of soil temperature and humidity sensors for acquiring temperature and humidity of soil at different depths near the root system of the crop to be monitored.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110046613A (en) * | 2019-05-16 | 2019-07-23 | 北京农业信息技术研究中心 | A kind of crop canopies growth in situ phenotype monitoring device and three-dimensional rebuilding method |
| CN111238395A (en) * | 2020-01-29 | 2020-06-05 | 南京慧瞳作物表型组学研究院有限公司 | 360-degree multi-level rotary image monitor for crop root system phenotype acquisition |
| CN111239340A (en) * | 2020-01-29 | 2020-06-05 | 南京慧瞳作物表型组学研究院有限公司 | Multichannel acquisition system and installation method for field crop root phenotype |
| WO2021156653A1 (en) * | 2020-02-07 | 2021-08-12 | Pontificia Universidad Javeriana | System and method for phenotypic characterisation of agricultural crops |
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2019
- 2019-05-16 CN CN201920698212.XU patent/CN209803822U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110046613A (en) * | 2019-05-16 | 2019-07-23 | 北京农业信息技术研究中心 | A kind of crop canopies growth in situ phenotype monitoring device and three-dimensional rebuilding method |
| CN110046613B (en) * | 2019-05-16 | 2023-10-24 | 北京农业信息技术研究中心 | Crop canopy in-situ growth phenotype monitoring device and three-dimensional reconstruction method |
| CN111238395A (en) * | 2020-01-29 | 2020-06-05 | 南京慧瞳作物表型组学研究院有限公司 | 360-degree multi-level rotary image monitor for crop root system phenotype acquisition |
| CN111239340A (en) * | 2020-01-29 | 2020-06-05 | 南京慧瞳作物表型组学研究院有限公司 | Multichannel acquisition system and installation method for field crop root phenotype |
| CN111239340B (en) * | 2020-01-29 | 2021-08-03 | 南京慧瞳作物表型组学研究院有限公司 | Multichannel acquisition system and installation method for field crop root phenotype |
| WO2021156653A1 (en) * | 2020-02-07 | 2021-08-12 | Pontificia Universidad Javeriana | System and method for phenotypic characterisation of agricultural crops |
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