GB2614447A - Tracked vehicle with autofocus for acquiring field phenotypes and method for automatic focusing - Google Patents

Tracked vehicle with autofocus for acquiring field phenotypes and method for automatic focusing Download PDF

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GB2614447A
GB2614447A GB2219295.9A GB202219295A GB2614447A GB 2614447 A GB2614447 A GB 2614447A GB 202219295 A GB202219295 A GB 202219295A GB 2614447 A GB2614447 A GB 2614447A
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lifting
type
phenotypes
acquisition mechanism
control system
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GB202219295D0 (en
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He Yong
Li Xiyao
He Liwen
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Zhejiang University ZJU
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Zhejiang University ZJU
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0098—Plants or trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G7/00—Botany in general
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    • B60—VEHICLES IN GENERAL
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    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
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    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/18—Focusing aids
    • G03B13/20—Rangefinders coupled with focusing arrangements, e.g. adjustment of rangefinder automatically focusing camera
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/15—Agricultural vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/44—Tracked vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture

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Abstract

A tracked vehicle with automatic focus for acquiring field phenotypes and a method for automatic focusing are provided, for use particularly in agricultural research of Chinese caabbges. The vehicle includes a tracked traveling mechanism 6, a lifting field phenotype acquisition mechanism 3, a piezoelectric ultrasonic sensor 2 and a control system 2. Piezoelectric ultrasonic sensor 2 obtains a real-time distance between lifting acquisition mechanism 3 and a crop. Control system 5 controls traveling mechanism 6 to run on a preset path and adjusts the lifting acquisition mechanism 3 to lift according to the real-time distance and a calibration distance between lifting acquisition mechanism 3 and the crop. Acquisition mechanism 3 obtains a hyperspectral image of the crop, and typically has a lifting two-axis mechanical cantilever arm and a hyperspectral camera 1.

Description

TRACKED VEHICLE WITH AUTOFOCUS FOR ACQUIRING FIELD PHENOTYPES AND METHOD FOR AUTOMATIC FOCUSING
TECHNICAL FIELD
[0001] The present disclosure relates to the technical field of the acquiring of crop field phenotype, and in particular, to a tracked vehicle with autofocus for acquiring field phenotypes and a method for automatic focusing.
BACKGROUND
[0002] During researching field phenotypes of Chinese cabbages, a hyperspectral camera needs to be configured for collecting the phenotypes of the Chinese cabbages. In order to reduce the workload of working personnel, a tracked vehicle may be configured for carrying a push-broom type hyperspectral camera to move in a field according to a specified path, and collecting hyperspectral image information of the Chinese cabbages during moving.
[0003] The tracked vehicle has good climbing capability, and is suitable for field operation. Meanwhile, soil can be protected by means of tracks, so as to prevent the formation of a plow pan. However, the tracked vehicle is relatively heavy, and has poor flexibility and mobility, and low traveling velocity. As a result, the push-broom type hyperspectral camera carried on the tracked vehicle has a large position offset and a long offset time in the direction perpendicular to the ground in an uneven field, and then the hyperspectral camera is difficult to focus automatically during advancing, pushing, and brooming of the tracked vehicle, which affects the quality of the acquired hyperspectral image At present, the method for automatic focusing for a hyperspectral camera mainly aims at the hyperspectral camera carried on an unmanned aerial vehicle. There is little research on the method for automatic focusing for the hyperspectral camera of a field tracked vehicle. Therefore, there is an urgent need for a tracked vehicle with autofocus for acquiring field phenotypes and a method for automatic focusing.
SUMMARY
[0004] An objective of the present disclosure is to provide a tracked vehicle with autofocus for acquiring field phenotypes and a method for automatic focusing, which can perform automatic focusing during field phenotype acquisition, so as to ensure the quality of hyperspectral images [0005] In order to achieve the abovementioned objective, the present disclosure provides the following solutions: [0006] A tracked vehicle with autofocus for acquiring field phenotypes includes: [0007] a track-type traveling mechanism, a lifting-type acquisition mechanism for field phenotypes, a piezoelectric ultrasonic sensor, and a control system.
[0008] The control system is connected to each of the track-type traveling mechanism, the lifting-type acquisition mechanism for field phenotypes, and the piezoelectric ultrasonic sensor. [0009] The piezoelectric ultrasonic sensor is configured for acquiring a real-time distance between the lifting-type acquisition mechanism for field phenotypes and a crop.
[0010] The control system is configured for controlling the track-type traveling mechanism to run according to a preset path.
[0011] The control system is further configured for adjusting the lifting of the lifting-type acquisition mechanism for field phenotypes according to the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop. [0012] The lifting-type acquisition mechanism for field phenotypes is configured for acquiring a hyperspectral image of the crop.
[0013] In some embodiments, the lifting-type acquisition mechanism for field phenotypes includes: [0014] a lifting type two-axis mechanical arm and a push-broom type hyperspectral camera. [0015] The lifting type two-axis mechanical arm is configured for lifting simultaneously with the push-broom type hyperspectral camera and piezoelectric ultrasonic sensor carried by the lifting type two-axis mechanical arm.
[0016] In some embodiments, the lifting type two-axis mechanical arm includes: [0017] a base, an upright post, and a cantilever.
[0018] The base is parallel to the track-type traveling mechanism. The base is connected to the track-type traveling mechanism. The upright post is rotatably arranged on the base. One end of the cantilever is sliclably sleeved to the upright post. The cantilever is perpendicular to the upright post.
[0019] The other end of the cantilever is configured for carrying the piezoelectric ultrasonic sensor and the push-broom type hyperspectral camera.
[0020] ln some embodiments, the lifting type two-axis mechanical arm further includes: [0021] a first servo motor.
[0022] The first servo motor is mechanically connected to the upright post.
[0023] The first servo motor is electrically connected to the control system. The control system is configured for controlling the first servo motor to adjust the angle of the upright post, so that the cantilever is parallel to the ground.
[0024] In some embodiments, the lifting type two-axis mechanical arm further includes: [0025] a second servo motor.
[0026] The second servo motor is mechanically connected to the cantilever.
[0027] The second servo motor is electrically connected to the control system. The control system is further configured for controlling the second servo motor to adjust the height of the cantilever.
[0028] A method for automatic focusing is implemented by the abovementioned tracked vehicle with autofocus for acquiring field phenotypes. The method for automatic focusing includes: [0029] acquiring a real-time distance between a lifting-type acquisition mechanism for field phenotypes and a crop by a piezoelectric ultrasonic sensor; [0030] adjusting the lifting of the lifting-type acquisition mechanism for field phenotypes by a control system according to the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop; and [0031] acquiring a hyperspectral image of the crop by the lifting-type acquisition mechanism for field phenotypes.
[0032] In some embodiments, before the acquiring a real-time distance between a lilting-type acquisition mechanism for field phenotypes and a crop by a piezoelectric ultrasonic sensor, the method further includes: [0033] controlling the track-type traveling mechanism by the control system to run according to a preset path.
[0034] In some embodiments, adjusting the lifting of the lifting-type acquisition mechanism for field phenotypes by a control system according to the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop includes: [0035] determining a difference value between the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop; [0036] determining a lifting direction of a cantilever according to the positive and negative values of the difference value; and [0037] controlling a second servo motor to move the cantilever in the lifting direction by taking the difference value as a movement distance.
[0038] In some embodiments, before adjusting the lifting of the lifting-type acquisition mechanism for field phenotypes by a control system according to the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop, the method further includes: [0039] controlling a first servo motor by the control system to adjust the angle of an upright post, so that the cantilever is parallel to the ground.
[0040] According to specific embodiments provided by the present disclosure, the present disclosure discloses the following technical effects: [0041] The present disclosure aims to provide a tracked vehicle with autofocus for acquiring field phenotypes and a method for automatic focusing. The tracked vehicle for acquiring field phenotypes includes a track-type traveling mechanism, a lifting-type acquisition mechanism for Field phenotypes, a piezoelectric ultrasonic sensor, and a control system. The control system is connected to each of the track-type traveling mechanism, the lifting-type acquisition mechanism for field phenotypes, and the piezoelectric ultrasonic sensor. The piezoelectric ultrasonic sensor is configured for acquiring a real-time distance between the lifting-type acquisition mechanism for field phenotypes and a crop. The control system is configured for controlling the track-type traveling mechanism to run according to a preset path. The control system is further configured for adjusting the lifting of the lifting-type acquisition mechanism for field phenotypes according to the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop. According to the present disclosure, the lifting-type acquisition mechanism for field phenotypes is arranged, so that the distance between a push-broom type hyperspectral camera in the lifting-type acquisition mechanism for field phenotypes and a crop is kept at the calibration distance all the time, which can focus automatically during field phenotype acquisition, so as to ensure the quality of a hyperspectral image.
BRIEF DESCRIPTION OF THE DRAWINGS
[0042] To describe the technical solutions in the embodiments of the present disclosure or in the prior art more clearly, the following briefly describes the drawings required for describing the embodiments. Apparently, the drawings in the following description show merely some embodiments of the present disclosure, and those of ordinary skill in the art may still derive other drawings from these drawings without creative efforts.
[0043] FIG. 1 is a schematic structural diagram of a tracked vehicle with autofocus for acquiring field phenotypes in Embodiment 1 of the present disclosure.
[0044] FIG. 2 is a flowchart of a method for automatic focusing in Embodiment 2 of the present disclosure.
[0045] Reference signs in the drawings: 1 push-broom type hyperspectral camera; 2 piezoelectric ultrasonic sensor; 3 lifting type two-axis mechanical arm; 301 cantilever; 302 upright post; 303 rotary support mechanism; 304 base; 4 servo motor; 5 control system; and 6 track-type traveling mechanism.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0046] Technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Apparently, the described embodiments are merely part rather than all of the embodiments of the present disclosure. On the basis of the embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present disclosure.
[0047] An objective of the present disclosure is to provide a tracked vehicle with autofocus for acquiring field phenotypes and a method for automatic focusing, which can perform automatic focusing during field phenotype acquisition, so as to ensure the quality of hyperspectral images [0048] In order to make the abovementioned objective, features, and advantages of the present disclosure more apparent and more comprehensible, the present disclosure is further described in detail below with reference to the drawings and specific implementation modes.
[0049] Embodiment 1 [0050] The present embodiment provides a tracked vehicle with autofocus for acquiring field phenotypes, including: [0051] a track-type traveling mechanism 6, a lifting-type acquisition mechanism for field phenotypes 3, a piezoelectric ultrasonic sensor 2, and a control system 5.
[0052] The control system is connected to each of the track-type traveling mechanism, the lifting-type acquisition mechanism for field phenotypes, and the piezoelectric ultrasonic sensor. [0053] The piezoelectric ultrasonic sensor is configured for acquiring a real-time distance between the lifting-type acquisition mechanism for field phenotypes and a crop.
[0054] The control system is configured for controlling the track-type traveling mechanism to run according to a preset path.
[0055] The control system is further configured for adjusting the lifting of the lifting-type acquisition mechanism for field phenotypes according the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop.
[0056] The lifting-type acquisition mechanism for field phenotypes is configured for acquiring a hyperspectral image of the crop. The lifting-type acquisition mechanism for field phenotypes includes: a lifting type two-axis mechanical arm and a push-broom type hyperspectral camera 1. The lifting type two-axis mechanical arm is configured for lifting simultaneously with the carried push-broom type hyperspectral camera and piezoelectric ultrasonic sensor.
[0057] The lifting type two-axis mechanical arm includes: a base 304, a rotary support mechanism 303 (including an upright post 302 and a cantilever 301), and a servo motor 4 (including a first servo motor and a second servo motor). The base is parallel to the track-type traveling mechanism. The base is connected to the track-type traveling mechanism. The upright post is rotatably arranged on the base. One end of the cantilever is slidably sleeved to the upright post. The cantilever is perpendicular to the upright post. The other end of the cantilever is configured for carrying the piezoelectric ultrasonic sensor and the push-broom type hyperspectral camera.
[0058] The first servo motor is mechanically connected to the upright post. The first servo motor is electrically connected to the control system. The control system is configured for controlling the first servo motor to adjust the angle of the upright post, so that the cantilever is parallel to the ground, thereby ensuring that the real-time distance between the lifting-type acquisition mechanism for field phenotypes and the crop acquired by the piezoelectric ultrasonic sensor is a perpendicular distance. The second servo motor is mechanically connected to the cantilever. The second servo motor is electrically connected to the control system. The control system is further configured for controlling second servo motor to adjust the height of the cantilever.
[0059] The present embodiment is specifically described below by taking the acquisition of the field phenotypes of Chinese cabbage as an example.
[00601 As shown in FIG. 1, a tracked vehicle for acquiring the field phenotype of Chinese cabbage includes a track-type traveling mechanism, a lifting type two-axis mechanical arm, a piezoelectric ultrasonic sensor, a push-broom type hyperspectral camera, a control system, and a servo motor. The lilting type two-axis mechanical arm is mounted on the track-type traveling mechanism The mechanical arm includes a base, an upright post part, and a cantilever part. The base and the upright post part form a rotary support mechanism. The servo motor can drive the upright post to rotate and drive the cantilever to lift. The push-broom type hyperspectral camera is connected to a cantilever terminal of the lifting type two-axis mechanical arm, and the camera is in a vertical state, and a camera lens directly faces the ground. A mounting hole is formed at a position close to the cantilever terminal of the lifting type two-axis mechanical arm, in which the piezoelectric ultrasonic sensor is mounted, so that an ultrasonic sensor directly faces the ground, and a circuit group of the ultrasonic sensor is connected to the control system. In FIG. 1, F is the focal point of a focusing lens of the hyperspectral camera.
[0061] As shown in FIG. 2, the tracked vehicle for acquiring the field phenotype of Chinese cabbage is placed at a starting point of a planned path of the tracked vehicle before starting working, and the hyperspectral camera aims at the midpoint of the first row of Chinese cabbages. An operator manually focuses the hyperspectral camera and acquires a hyperspectral image to ensure clear imaging.
[0062] After that, the tracked vehicle is started to start working along the planned path in a field. When the tracked vehicle starts working, the control system additionally applies pulse signals to two poles of a piezoelectric ultrasonic sensor, so that a piezoelectric wafer resonates to generate ultrasonic waves that are perpendicular to the ground. The ultrasonic waves are reflected when encountering the Chinese cabbage, and the piezoelectric wafer vibrates again when receiving the ultrasonic waves, thereby converting the ultrasonic waves into electrical signals, and transmitting the electrical signals to the control system. The initial distance ho between the Chinese cabbage and the piezoelectric ultrasonic sensor when the hyperspectral camera is focused manually is calibrated and acquired. According to a ranging principle of the piezoelectric ultrasonic sensor, the distance between the Chinese cabbage and the sensor is determined by the propagation velocity of the ultrasonic waves in air and the time from the emitting of the ultrasonic waves to the receiving of the ultrasonic waves which return when encountering a Chinese cabbage. Therefore, it can be known that the initial distance ho between the Chinese cabbage and the piezoelectric ultrasonic sensor and the initial distance uo between the Chinese cabbage and the focusing lens of the hyperspectral camera are as shown in Formulas (1) and (2). According to a Gaussian image distribution formula, it can be known that the theoretical value of uo is u, as shown in Formula (3).
[0063] With the continuous advancing of the tracked vehicle, the piezoelectric ultrasonic sensor continuously acquires the real-time distance hi between the Chinese cabbage and the same, and transmits an electrical signal to the control system. The control system enables the cantilever part of the lifting type two-axis mechanical arm to move a distance h2 up or down according to a difference value between the real-time distance and the initial distance, as shown in Formula (4), so that the distance between the Chinese cabbage and the ultrasonic sensor is kept as the initial distance ho all the time, thereby realizing automatic focusing of the hyperspectral camera, and ensuring the imaging quality of a hyperspectral camera during the operation of the tracked vehicle.
[0064] ho = C (1) [0065] uo =17,, -a = C xTo -a (2) [0066] ln the formula: ho is the initial distance between the Chinese cabbage and the piezoelectric ultrasonic sensor, the unit is mm; To is the time from the emitting of the ultrasonic waves to the receiving of the ultrasonic waves which return when encountering a Chinese cabbage, and the unit is m/s; uo is the initial distance between the Chinese cabbage and the focusing lens of the hyperspectral camera, and the unit is mm: and a is the distance between the piezoelectric ultrasonic sensor and the focusing lens of the hyperspectral camera. C is the propagation velocity of the ultrasonic waves in air, and the unit is m/s.
[0067] u = fy -up (3)
-
[0068] In the formula: u is the theoretical distance between the Chinese cabbage and the focusing lens of the hyperspectral camera, and the unit is mm; and v is the theoretical distance between the focusing lens of the hyperspectral camera and the hyperspectral camera, and the unit is mm: and f is a focal length, and the unit is mm [0069] h, = -11/4 (4) [0070] In the formula: h9 is the distance that the cantilever part of the lifting type two-axis mechanical arm moves up or down, and the unit is mm; and hi is the real-time distance between the Chinese cabbage and the piezoelectric ultrasonic sensor, and the unit is mm.
[0071] Embodiment 2 [0072] The present embodiment provides a method for automatic focusing. The method for automatic focusing is implemented by the tracked vehicle with autofocus for acquiring field phenotypes described in Embodiment 1. The method for automatic focusing includes that: [0073] a piezoelectric ultrasonic sensor acquires a real-time distance between a lifting-type acquisition mechanism for field phenotypes and a crop; [0074] a control system adjusts the lifting-type acquisition mechanism for field phenotypes to lift according to the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop; and [0075] the lifting-type acquisition mechanism for field phenotypes acquires a hyperspectral image of the crop.
[0076] Before the piezoelectric ultrasonic sensor acquires the real-time distance between the lifting-type acquisition mechanism for field phenotypes and the crop, the method further includes that: [0077] the control system controls the track-type traveling mechanism to run according to a preset path.
[0078] The step of the control system adjusting the lifting-type acquisition mechanism for field phenotypes to lift according to the real-time distance and the calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop includes that: [0079] a difference value between the real-lime distance and the calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop is determined; [0080] a lifting direction of a cantilever is determined according to the positive and negative values of difference value; and I0 [0081] a second servo motor is controlled to move the cantilever in the lifting direction by taking the difference value as a movement. distance.
[0082] Before the control system adjusts the lifting-type acquisition mechanism for field phenotypes to lift according to the real-time distance and the calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop, the method for automatic focusing provided by the present embodiment further includes that: [0083] the control system controls a first. servo motor to adjust the angle of an upright post, so that the cantilever is parallel to the ground.
[0084] Various embodiments in the present specification are described in a progressive manner. Each embodiment focuses on differences from other embodiments, and the same and similar parts of various embodiments may refer to one another. The system disclosed by the embodiment is described relatively simply since it corresponds to the method disclosed by the embodiment, and relevant point may refer to the description of a method section.
[0085] In this specification, specific examples are used to describe the principle and implementation manners of the present disclosure. The description of the embodiments above is merely intended to help understand the method and core idea of the present disclosure. In addition, those skilled in the art may make modifications based on the idea of the present disclosure with respect to the specific implementation manners and the application scope. In conclusion, the contents of the present specification shall not be construed as a limitation to the present disclosure.

Claims (9)

  1. WHAT IS CLAIMED IS: 1. A tracked vehicle with autofocus for acquiring field phenotypes, characterized in that, the tracked vehicle comprising: a track-type traveling mechanism a lifting-type acquisition mechanism for field phenotypes, a piezoelectric ultrasonic sensor, and a control system, wherein the control system is connected to the track-type traveling mechanism, the lifting-type acquisition mechanism for field phenotypes, and the piezoelectric ultrasonic sensor; the piezoelectric ultrasonic sensor is configured for acquiring a real-time distance between the lifting-type acquisition mechanism for field phenotypes and a crop; the control system is configured for controlling the track-type traveling mechanism to run according to a preset path; the control system is further configured for adjusting the lifting of the lifting-type acquisition mechanism for field phenotypes according to the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop; and the lifting-type acquisition mechanism for field phenotypes is configured for acquiring a hyperspectral image of the crop.
  2. 2. The tracked vehicle with autofocus for acquiring field phenotypes according to claim 1, wherein the lifting-type acquisition mechanism for field phenotypes comprises: a lifting type two-axis mechanical arm and a push-broom type hyperspectral camera; the lifting type two-axis mechanical arm is configured for lifting simultaneously with the push-broom type hyperspectral camera and the piezoelectric ultrasonic sensor carried by the lifting type two-axis mechanical arm.
  3. 3. The tracked vehicle with autofocus for acquiring field phenotypes according to claim 2, wherein the lifting type two-axis mechanical arm comprises: a base, an upright post, and a cantilever; the base is parallel to the track-type traveling mechanism; the base is connected to the track-type traveling mechanism; the upright post is rotatably arranged on the base; one end of the cantilever is slidably sleeved to the upright post; the cantilever is perpendicular to the upright post; and another end of the cantilever is configured for carrying the piezoelectric ultrasonic sensor and the push-broom type hyperspectral camera.
  4. 4. The (racked vehicle with autofocus for acquiring field phenotypes according to claim 3, wherein the lifting type two-axis mechanical arm further comprises: a first servo motor; the first servo motor is mechanically connected to the upright post; the first servo motor is electrically connected to the control system; and the control system is configured for controlling the first servo motor to adjust an angle of the upright post, so that the cantilever is parallel to the ground.
  5. 5. The tracked vehicle with autofocus for acquiring field phenotypes according to claim 4, wherein the lifting type two-axis mechanical arm further comprises: a second servo motor; the second servo motor is mechanically connected to the cantilever; the second servo motor is electrically connected to the control system; and the control system is further configured for controlling the second servo motor to adjust a height of the cantilever.
  6. 6. A method for automatic focusing, characterized in that the method is implemented by the tracked vehicle with autofocus for acquiring field phenotypes according to any one of claims 1 to 5; the method comprising: acquiring a real-time distance between the lifting-type acquisition mechanism for field phenotypes and a crop by the piezoelectric ultrasonic sensor; adjusting the lifting of the lifting-type acquisition mechanism for field phenotypes by a control system according to the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop; and acquiring a hyperspectral image of the crop by the lifting-type acquisition mechanism for field phenotypes.
  7. 7. The method for automatic focusing according to claim 6, further comprising,before the acquiring a real-time distance between a lifting-type acquisition mechanism for field phenotypes and a crop by a piezoelectric ultrasonic sensor: controlling the track-type (raveling mechanism by the control system to run according to a preset path.
  8. 8. The method for automatic focusing according to claim 6, wherein adjusting the lifting of the lifting-type acquisition mechanism for field phenotypes by the control system according to the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop comprises: determining a difference value between the real-time distance and the calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop; determining a lifting direction of a cantilever according to positive and negative values of the difference value; and controlling a second servo motor to move the cantilever in the lifting direction by taking the difference value as a movement distance.
  9. 9. The method for automatic focusing according to claim 8, further comprising, before the adjusting the lifting of the lifting-type acquisition mechanism for field phenotypes by the control system according to the real-time distance and a calibration distance between the lifting-type acquisition mechanism for field phenotypes and the crop: controlling a first servo motor by the control system to adjust an angle of the upright post, so that the cantilever is parallel to the ground.
GB2219295.9A 2022-06-07 2022-12-20 Tracked vehicle with autofocus for acquiring field phenotypes and method for automatic focusing Active GB2614447B (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN207163896U (en) * 2017-08-17 2018-03-30 安徽农业大学 A kind of wheat scab detection means based on high light spectrum image-forming
CN110514202A (en) * 2019-08-26 2019-11-29 河南理工大学 Near-earth high throughput phenotypic information acquires robot
CN212423316U (en) * 2020-06-23 2021-01-29 北京易科泰生态技术有限公司 Phenotype analysis platform of field intelligent robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN207163896U (en) * 2017-08-17 2018-03-30 安徽农业大学 A kind of wheat scab detection means based on high light spectrum image-forming
CN110514202A (en) * 2019-08-26 2019-11-29 河南理工大学 Near-earth high throughput phenotypic information acquires robot
CN212423316U (en) * 2020-06-23 2021-01-29 北京易科泰生态技术有限公司 Phenotype analysis platform of field intelligent robot

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