KR101959728B1 - Automatic growth amount measuring device using crops driven rope with color coordinate code - Google Patents

Abstract

Disclosed is an automatic growth amount measuring device capable of collecting an image such as a size of a side leaf of a crop, a length of the crop, and a thickness of a stem without any additional reference. The automatic growth amount measuring device comprises a fixing rope, a driven rope, and a controller. The fixing rope extends in a horizontal direction. The driven rope has one side fixated to the fixing rope for the other side to vertically extend downwards, displays a predetermined length, and induces a growth direction of a crop. The controller is configured to move up and down along the driven rope, and comprises: a camera to acquire growth information of a crop; and an ultrasonic sensor to obtain a height of the crop by irradiating ultrasonic waves downwards.

Description

TECHNICAL FIELD [0001] The present invention relates to an automatic growth measuring apparatus using a crop manure line having a color coordinate code,

The present invention relates to an automatic growth rate measuring apparatus, and more particularly, to an automatic growth rate measuring apparatus using a crop induction line having a color coordinate code.

In recent years, image processing techniques have been developed for collecting image images and converting them into growth amounts using imaging devices (smart phones, RGB cameras) in order to measure the growth rates of crops such as tomatoes and paprika cultivated using manned lines.

For image processing that transforms the image size such as the size of the side (leaf) of the crop, the length of the crop, and stem thickness nondestructively using the smartphone and RGB camera, the reference image And a grid (Grid) plate whose size is known), it is inconvenient to acquire a video image. In other words, the relative size can be known in the image measured by the camera, but the absolute size can not be known. In order to do this, the object image of the actually known size is simultaneously photographed, Size, height, stem thickness, etc. should be obtained.

Therefore, it is troublesome to provide reference at every shooting, which makes unmanned management impossible.

In order to solve such a problem, Korean Patent Laid-Open No. 10-2017-0056728 discloses a beam module in which a plurality of beam-penetrating objects are formed in a lattice shape according to a set interval formed between adjacent lattices, It can not be applied to a greenhouse using a module.

Korean Patent Publication No. 10-2017-0056728

Accordingly, it is an object of the present invention to provide an automatic growth measuring apparatus capable of collecting image images such as the size of a side (leaf) of a crop, a plant height and a stem thickness without a separate reference object.

In order to solve such problems, an automatic growth measuring apparatus according to an exemplary embodiment of the present invention includes a fixed line, a manned line, and a controller. The fixing line extends in the horizontal direction. The tow line is fixed on one side of the fixed line, and the other side extends vertically downward, and a display capable of exhibiting a predetermined length is formed, thereby inducing the growth direction of the crop. The controller includes a camera for acquiring crop growth information and an ultrasonic sensor for acquiring a height of the crop by irradiating ultrasound waves toward the lower part.

On the other hand, the controller may further include a camera support which extends in the horizontal direction, and the camera may be attached to the camera support end.

In addition, the cameras may be arranged in a plurality of concentric circles centered on the tow line.

In addition, the camera may be attached obliquely toward the tow bar.

For example, the camera may be attached at an inclination of 45 degrees.

The lead-in string includes a first periodic pattern repeated every first distance and a second periodic pattern repeated every second distance smaller than the first distance, and the second periodic pattern includes a first periodic pattern And the second periodic pattern may include preference information for determining the absolute length of the lead line.

For example, the symbol information that allows the absolute length of the lead line may be a color.

The controller may further include a manned line camera for acquiring preference information so that the absolute length of the manned line can be known.

In addition, the controller may further include a first roller and a second roller, and a first motor and a second motor. The first roller and the second roller are in close contact with each other with the tow line interposed therebetween. The first motor and the second motor rotate the first roller and the second roller in directions opposite to each other.

On the other hand, the automatic growth measuring apparatus may further include a power supply unit and a transmission / reception unit. The power supply unit supplies power to the controller through a power line. The transceiving unit collects data of the controller through a communication line and transmits the collected data to an external system or transmits control of an external system to the controller.

As described above, the automatic growth rate measuring apparatus according to the present invention can measure the size of the side (leaf) of the crop, the length of the crop, and the thickness of the stem without any additional reference by using an automatic line having a display of a relative length and an absolute height. You can collect video images.

1 is a schematic side view showing an automatic growth measuring apparatus according to an exemplary embodiment of the present invention.
FIG. 2 is a side view showing an embodiment of the guide bar shown in FIG. 1. FIG.
3 is a side view showing one embodiment of the controller shown in FIG.
4 is a plan view showing another embodiment of the controller shown in Fig.
5 is a side view showing another embodiment of the controller shown in Fig.
6 is a flowchart for measuring the height of the crop through the ultrasonic sensor.

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing. In the accompanying drawings, the dimensions of the structures may be exaggerated to illustrate the present invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprising" or "having ", and the like, are intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof. In addition, A and B are 'connected' and 'coupled', meaning that A and B are directly connected or combined, and other component C is included between A and B, and A and B are connected or combined .

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not. Also, in the claims of a method invention, each step may be reversed in order, unless the steps are clearly constrained in order.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

1 is a schematic side view showing an automatic growth measuring apparatus according to an exemplary embodiment of the present invention.

Referring to FIG. 1, an apparatus for measuring an automatic growth according to an exemplary embodiment of the present invention includes a fixing line 110, an automatic line 120, and a controller 130.

The fixing line 110 extends in a horizontal direction (or a horizontal direction). For example, one side of the fixing line 110 may be fixed to one side of the greenhouse and the other side may be fixed to the other side of the greenhouse. Alternatively, two columns may be installed inside the greenhouse, and one side and the other side of the fixing line 110 may be fixed to the two columns.

One side of the towline 120 is fixed to the fixing line and the other side thereof extends vertically downward. That is, the tow line 120 is newly pulled to induce the growth direction of the crop. Crops such as tomatoes or paprika grow upward along these manhole strings 120. In the present invention, the lead wire 120 is utilized as a reference for measuring the absolute length. To this end, the tow bar 120 is formed with a mark capable of displaying a predetermined length. The lead-in string 120 is formed not only with a display indicating a relative length but also with an indication of an absolute height. To this end, the lead line 120 includes a first periodic pattern repeated at a first distance and a second periodic pattern repeated at a second distance less than the first distance, The first periodic pattern may be repeated within one period of the first periodic pattern, and the second periodic pattern may include preference information so that the absolute length of the leading line 120 can be known. For example, the symbol information that allows the absolute length of the leading line 120 may be a color. The detailed structure of the lead wire 120 will be described in more detail with reference to FIG.

The controller 130 is configured to move up and down along the tow bar 120. The controller 130 also includes a camera 131 and an ultrasonic sensor 132.

The camera 131 is used to acquire crop growth information. The camera 131 obtains an RGB image or a depth value of a leaf or fruit of a crop such as tomato or paprika.

The controller 130 may further include a camera support 133 extending in a horizontal direction and the camera 131 may be attached to an end of the camera support 133. At this time, the camera 131 may be inclined toward the tow line 120. For example, the camera 131 may be attached at an angle of 45 degrees. By providing the camera 131 in an inclined manner, it is possible to reduce an error due to overlapping of leaves of a crop.

In addition, the controller 130 further includes an ultrasonic sensor 132 for irradiating ultrasonic waves downward to obtain a height of a crop. More specifically, the ultrasonic sensor 132 measures the distance between the controller 130 and the leaf at the top of the crop (plant length). That is, the ultrasonic sensor 132 measures the distance between the controller 130 and the leaf at the top of the crop by sensing the ultrasonic wave generated by the ultrasonic sensor 132 and reflecting the ultrasonic wave from the ultrasonic sensor 132 again.

The automatic growth measuring apparatus 100 may further include a power supply unit 140 and a transceiver unit 150.

The power supply unit 140 supplies power to the controller 130 through a power line 141. That is, the power supply unit 140 supplies power to the respective components of the controller 130, that is, the camera 131, the ultrasonic sensor 132, and the like.

The transceiving unit 150 collects data of the controller 130 through a communication line 142 and transmits the data to an external system (not shown) or transmits control of the external system to the controller 130. For example, the external system may utilize a local PC, a cloud, or the like.

The driving of the automatic growth measuring apparatus 100 will be described in more detail with reference to FIGS. 6 to 8. FIG.

FIG. 2 is a side view showing an embodiment of the guide bar shown in FIG. 1. FIG.

Referring to FIG. 2, the lead line 120 includes not only an indication of a relative length but also an indication of an absolute height. For this purpose, the lead-in line 120 includes a first periodic pattern LP repeated every first distance (for example, 10 cm) and a second periodic pattern LP repeated for every second distance (for example, 1 cm) The second periodic pattern SP is repeated within one period of the first periodic pattern LP and the second periodic pattern SP has an absolute length of the leading line 120, (CC1, CC2,. For example, the symbol information that allows the absolute length of the leading line 120 may be a color.

More specifically, the beginning of the first first periodic pattern LP is formed in the form of a black band S having a width of about 2 cm, followed by 1 cm of white band, then 1 cm of black band, A 1 cm thick inherent color band CC1 having an intrinsic color so that the absolute height of the periodic pattern LP can be known, a white band next to the white band, a black band of 1 cm again, and a first periodic pattern LP ), And the first periodic pattern (LP) is repeated.

The beginning of the second first periodic pattern LP is formed in the form of a black band S having a width of about 2 cm, followed by 1 cm of white band, then 1 cm of black band, (CC2) having a color different from that of the first periodic pattern (CC1), followed by a white band, followed by a black band of 1 cm, and then again a 2 cm And the first periodic pattern (LP) is repeated.

That is, since each of the inherent color bands CC1, CC2, CC3, ... have different colors, the absolute height of the unique color band adjacent to the top of the crop is determined by using the unique color band captured at the top of the crop by the camera By using the ultrasonic sensor described above and the relative height of the uppermost leaf of the crop, it is possible to measure the height of the crop more accurately.

At the beginning of each first periodic pattern LP, the start of the first periodic pattern LP is formed in the form of a black band S having a width of about 2 cm and the last is formed by a white band E having a width of 2 cm , It is possible to distinguish the beginning and the end of each cycle, and the size of the leaf and the fruit obtained by the camera can be obtained by using the inner 1 cm wide strips and the 2 cm wide strips.

In the process of measuring the absolute size of the leaf or fruit using the relative size between the leaf or fruit and the patterns in the obtained image, the correction process is performed according to the conventional method in consideration of the angular distance at which the image is taken.

3 is a side view showing one embodiment of the controller shown in FIG.

3, the controller 130 may further include a first roller 134a and a second roller 134b, and a first motor 135a and a second motor 135b.

The first roller 134a and the second roller 134b are in close contact with each other with the towline 120 interposed therebetween. The first motor 135a and the second motor 135b rotate the first roller 134a and the second roller 134b in opposite directions to each other.

Therefore, the controller 130 can be moved upward or downward by driving the first motor 135a and the second motor 135b.

4 is a plan view showing another embodiment of the controller shown in Fig. The embodiment shown in FIG. 4 is substantially the same as the embodiment shown in FIG. 3, except for the number of camera supports and the number of cameras. Accordingly, the same or similar components are denoted by the same reference numerals, and redundant description is omitted.

Referring to FIG. 4, the camera support 133 extends in four directions, and a camera (not shown) may be provided at each end. For example, the lengths of the camera supports 133 are all the same, and the cameras (not shown) may be arranged along a concentric circle centering on the lead lines.

4 shows an example in which four camera supports 133 are formed, but the present invention is not limited thereto.

Thus, when an image at various angles is obtained, a more accurate crop growth condition can be detected.

5 is a side view showing another embodiment of the controller shown in Fig. The embodiment shown in FIG. 5 is substantially the same as the embodiment shown in FIG. 3 or 4 except that it further includes a manned-line camera. Accordingly, the same or similar components are denoted by the same reference numerals, and redundant description is omitted.

Referring to FIGS. 1 and 5, the controller may further include a manned line camera 136 for obtaining preference information so that the absolute length of the manned line can be known. The tow bar camera 136 detects strips CC1, CC2, ... having unique colors in the tow bar 120 shown in Fig.

Therefore, even if the leaf of the crop does not grow and the strips CC1, CC2, ... having unique colors are not taken by the camera 131, The height of the crop can be measured by detecting strips CC1, CC2,...

6 is a flowchart for measuring the height of the crop through the ultrasonic sensor.

1, 3, and 6, in order to measure the height of the crop through the ultrasonic sensor, first, the distance between the leaf (superficial length) located at the top of the crop and the ultrasonic sensor is measured by the controller 130, (Step S110).

The ultrasonic sensor 132 of the controller 130 is driven to measure the distance between the controller 130 and the plant length (step S120). The measured distance is compared with the input distance and the measured distance (step S130). If there is a difference, the controller 130 drives the first motor 135a and the second motor 135b to determine the position of the controller 130 (Step S140). After the movement, the process proceeds to step S120 again, and the above process is repeated until the controller 130 is moved to the set position.

When the controller 130 is moved to the set position, the position is fixed (step S150), and the controller 130 uses the unique colored strips CC1, CC2, CC3, ... of the ruled line 120 shown in FIG. And the controller 130 measures the absolute height from the ground (step S160). At this time, the image obtained by the camera 131 may be used, or alternatively, the image obtained by the humanoid camera 136 shown in FIG. 5 may be utilized. Then, the relative height between the controller 130 and the plant height is measured through the ultrasonic sensor 132 (step S170)

The controller 130 then obtains the key of the crop by subtracting the absolute height of the measured controller 130 and the relative height value between the controller 130 and the plant height (step S180), and transmits the key to the transceiver 150 To the external system (step S190). At this time, the control unit 130 also transmits the image obtained through the camera 131 to the external system, so that the external system compares the leaf size of the crop with the attraction line 130, The growth status of crops can be monitored and stored in a database.

As described above, the automatic growth rate measuring apparatus according to the present invention can measure the size of the side (leaf) of the crop, the length of the crop, and the thickness of the stem without any additional reference by using an automatic line having a display of a relative length and an absolute height. You can collect video images.

While the present invention has been described in connection with what is presently considered to be practical and exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: Automatic growth measuring device
110: fixed line 120: manned line
130: controller
131: camera 132: ultrasonic sensor
133: camera support 134a: first roller
134b: second roller 135a: first motor
135b: second motor 136: manned line camera
140: power supply unit 141: power line
150: Transmitting / receiving unit 151: Communication line
LP: 1st cycle SP: 2nd cycle
S: Start point E: End point

Claims (10)

A horizontally extending fastening strip;
The other side of which is fixed to the fixed line and the other side of which is vertically extended to the lower side; And
A controller configured to move up and down along the lead line, the controller including a camera for obtaining crop growth information and an ultrasonic sensor for obtaining a height of a crop by irradiating ultrasound waves toward a lower portion;
Lt; / RTI >
The lead string includes a first periodic pattern repeated every first distance and a second periodic pattern repeated every second distance less than the first distance,
Wherein the second periodic pattern is repeated within one period of the first periodic pattern,
Wherein the second periodic pattern includes preference information so that the absolute length of the lead line can be known.
The method according to claim 1,
The controller further includes a camera support extending in a horizontal direction,
Wherein the camera is attached to the end of the camera support.
3. The method of claim 2,
Wherein the plurality of cameras are arranged along a concentric circle centering on the tow line.
The method of claim 3,
Wherein the camera is obliquely attached to the lead wire.
5. The method of claim 4,
Wherein the camera is attached at an inclination of 45 degrees.
delete The method according to claim 1,
Wherein the symbol information that allows the absolute length of the lead line is a color.
The method according to claim 1,
The controller comprising:
Further comprising a manned line camera for obtaining the preference information so as to know the absolute length of the manned line.
The method according to claim 1,
The controller comprising:
A first roller and a second roller which are in close contact with each other with the lead line interposed therebetween; And
Further comprising a first motor and a second motor for rotating the first roller and the second roller in opposite directions to each other.
The method according to claim 1,
A power supply unit for supplying power to the controller through a power line; And
A transmission / reception unit for collecting data of the controller through a communication line and transmitting the data to an external system or transmitting control of an external system to the controller;
Further comprising an automatic growth rate measuring device.

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