KR102264200B1 - Crop growth information monitoring system - Google Patents

Abstract

The present invention relates to a system for monitoring growth procedure information by photographing an image of a crop in a crop production place. The system includes: a growth measurement driving robot (1000) including a robot apparatus part (100), a robot control part (200), a power supply part (300), and a robot rail part (400); a growth management single-board PC (2000) including a single board (500), a three-dimensional camera (600), a display (700) and an ultrasmall PC (800), while mounted on the growth measurement driving robot to automatically photograph the crop or separated from the driving robot to enable a farmer to manually photograph the crop; and a growth management PC (3000) building a database of growth information photographed by the growth measurement driving robot (1000) and the farmer with the three-dimensional camera (600). Therefore, the present invention has the effect of enabling a farmer who does not have professional knowledge to conveniently measure a crop growth procedure on an automatic or manual basis.

Description

Crop growth information monitoring system {Crop growth information monitoring system}

The present invention relates to a system for monitoring crop growth information, and in more detail, crop growth information for monitoring information on the growth process by shooting images of crops in places that produce crops, such as greenhouses, plant factories, and smart farms. It is about the monitoring system.

Recently, ICT convergence technology using the Internet, wired and wireless communication, CCTV, and image processing technology has been applied and developed in each industrial field. In particular, a system for monitoring information on crop cultivation is applied to plant factories and smart farms where IoT based on ICT convergence technology is applied in the agricultural field. In addition, a management system that can collect and manage environmental information in which crops are grown is also being developed.

And recently, in addition to monitoring technology for environmental information on growing crops, a crop growth management system has been developed in the form of a crop growth management system that analyzes the growth status of crops by measuring the change in crop growth and observing the growth process.

However, in plant factories and smart farms, the most important growth information measurement for precise production management of fruit trees depends on the direct measurement of experts, which wastes money and time, leading to lower productivity. Therefore, it is necessary to develop a technology that allows farmers without specialized knowledge to easily measure the growth process automatically or manually.

And Registration Patent Publication No. 10-1822410 is a communication unit that receives the crop image of the colony, a display unit for displaying information on the crop growth status of the colony, and the crop growth value of the colony by measuring the crop growth value of the colony using the crop image of the colony. and a control unit for diagnosing the crop growth state and displaying it on the display unit, wherein the control unit uses the crop color plane image of the colony and the crop multi-dimensional image of the colony as the crop image of the colony when diagnosing the crop growth state of the colony, and the An edge is detected in the multidimensional image of the crop of the colony and the background is removed to generate a first crop multidimensional image image of the community in which the crop organs are separated, and the crop multidimensional image image of the community in which the first generated crop organs are separated. and by matching the angle of view reference point between the crop color plane image image of the colony and matching the angle of view to generate a second crop color dynamic image of the community, and the color characteristics of the corresponding crop under the second generated crop color dynamic image of the community A pixel having the shape pattern of the corresponding crop and the edge information of each crop organ is obtained through pixel segmentation based on the unique shape pattern set by each crop organ, and the obtained color characteristics of the corresponding crop, the shape pattern of the crop, and the crop are obtained. Based on the pixel information with the edge information for each organ, a characteristic suitable for the set unique characteristics of the crop organ is estimated for each crop organ, the crop organ is identified, the crop organ image is detected, and the crop organ growth value is obtained from the detected crop organ image It relates to a crop growth diagnosis apparatus using a crop image characterized by measuring and diagnosing the crop growth status of the colony, and provides crop image recognition in the community, and accurate growth values such as length, width, thickness, etc. of crop organs A crop growth diagnosis device using a crop image that accurately predicts crop yield by diagnosing crop growth status by obtaining measured values is disclosed.

In addition, Korean Patent Publication No. 10-1832724 discloses a system and method for diagnosing crop growth through image images. The crop growth diagnosis system includes: a smart terminal that takes a crop image and transmits it to a growth diagnosis server; By analyzing the crop image received from the smart terminal, the length, thickness, and width of each crop organ including leaves, nodes, flower rooms, and fruits are measured and the measured values and video images are stored, and the stored data is pre-stored growth variation standard data for each crop. In comparison with , a crop growth diagnosis system through an image image including a diagnosis server for diagnosing crop growth processes including nutritional status, developmental processes, and physiological disorders, and predicting future crop conditions and a response method according to the diagnosis results and methods are disclosed.

However, the prior technologies are wasting money and time by relying on experts to measure the most important growth information for precise production management of crops in plant factories and smart farms. It is necessary to develop and disseminate a technology that can measure the growth process of crops to improve the problem of declining agricultural productivity due to the aging of farmers.

Therefore, the present invention has been devised to solve the above problems, and the present invention relies on professional manpower to measure the most important growth information for precise production management of crops in plant factories and smart farms. A crop growth information monitoring system that improves the deterioration of agricultural productivity and improves the problem of declining agricultural productivity due to aging of farmers by enabling farmers without specialized knowledge to easily and automatically or manually measure and measure the growth process of crops is intended to provide.

The present invention is to monitor the growth process information by shooting an image of a crop in a place where crops are produced, including a robot mechanism unit 100, a robot control unit 200, a power supply unit 300, and a robot rail unit 400. The formed growth measuring driving robot 1000 and; A single board 500, a 3D depth camera 600, a display 700, and a small PC 800 are included and mounted on the growth measuring driving robot to automatically photograph crops or separate from the driving robot to allow farmers A growth management single board PC (2000) formed so that the crops can be photographed manually; It is characterized in that it is formed by including a growth management robot 1000 and a growth management PC 3000 that converts the growth information captured by the farmer with the 3D depth camera 600 into a database.

Therefore, the present invention relies on experts to measure the most important growth information for precise production management of crops in plant factories and smart farms, and improves productivity due to wasted money and time, and also to farmers without specialized knowledge. There is a remarkable effect of being able to measure the growth process of crops easily, automatically or manually.

1 is a perspective view of a crop growth information monitoring system of the present invention;
2 is a perspective view of a growth measuring driving robot of the crop growth information monitoring system of the present invention;
3 is a photograph of the power supply unit of the crop growth information monitoring system of the present invention;
4 is a flowchart of the crop growth information monitoring system of the present invention;
5 is a photograph of mounting a single board PC for growth management of the crop growth information monitoring system of the present invention.
6 is a front view of a single board PC growth management of the crop growth information monitoring system of the present invention
7 is a rear view of the growth management single board PC of the crop growth information monitoring system of the present invention.
8 is a picture of the inside of a single board PC for growth management of the crop growth information monitoring system of the present invention
9 is a picture of a single board PC 3D camera for growth management of the crop growth information monitoring system of the present invention

The real name is to monitor the growth process information by shooting an image of a crop at a place where crops are produced, and is formed including a robot mechanism unit 100, a robot control unit 200, a power supply unit 300, and a robot rail unit 400. A growth measuring driving robot (1000) and; A single board 500, a 3D depth camera 600, a display 700, and a small PC 800 are included, and are mounted on the growth measuring driving robot to automatically photograph crops or separate from the driving robot for farmers. A growth management single board PC (2000) formed so that the crops can be photographed manually; It is formed by including the growth measuring driving robot 1000 and the growth management PC 3000 that converts the growth information captured by the farmer with the 3D depth camera 600 into a database, so that farmers without specialized knowledge can easily grow crops automatically or manually. process can be measured.

The present invention will be described in detail with reference to the accompanying drawings as follows.

1 is a perspective view of a crop growth information monitoring system of the present invention, FIG. 2 is a perspective view of a growth measuring driving robot of the crop growth information monitoring system of the present invention, and FIG. 3 is a photograph of a power supply unit of the crop growth information monitoring system of the present invention. And Figure 4 is a flow chart of the crop growth information monitoring system of the present invention, Figure 5 is a photograph of a single board PC mounting growth management of the crop growth information monitoring system of the present invention, Figure 6 is a single growth management of the crop growth information monitoring system of the present invention This is a picture of the front of the board PC. In addition, Figure 7 is a photograph of the rear side of the growth management single board PC of the crop growth information monitoring system of the present invention, Figure 8 is a photograph of the inside of the growth management single board PC of the crop growth information monitoring system of the present invention, and Figure 9 is the crop growth information monitoring of the present invention This is a picture of a single board PC 3D camera for growth management of the system.

The real name crop growth information monitoring device relates to a crop growth information monitoring system that monitors growth process information by shooting images of crops in a place where crops are produced, and includes a growth measuring driving robot 1000 and a growth management single board PC ( 2000) and a growth management PC (3000).

And the growth measuring traveling robot 1000 is formed to include a robot mechanism unit 100 , a robot control unit 200 , a power supply unit 300 , and a robot rail unit 400 .

A lower platform 110 in the form of a rectangular structure is formed in the lower portion of the robot mechanism 100, and a traveling shaft 120 that moves using a heating pipe as a rail is provided at the lower portion of the lower platform, and a vertical movement shaft 130 is provided at the upper portion. And the arm rotation shaft 140, the manipulator 150 serving as an arm of the robot, the camera rotation shaft 160, and the camera vertical tilt shaft 170 are sequentially connected and formed.

In addition, the growth measuring driving robot 1000 receives commands such as origin return, position movement, autonomous driving, etc. from the robot operating PC 230 and performs the corresponding commands while taking pictures of the measuring part of the crop, the robot mechanism 100 of the The traveling shaft 120 is an AC server motor, and other axes are possible if provided to operate as a precision microstepper motor and a speed reducer.

In addition, the robot control unit 200 includes a temperature-humidity sensor, a magnet sensor, a lidar sensor, a CCTV, etc. for detecting the surrounding environment, and a sensing unit 210 equipped with, and a growth measurement target crop according to the surrounding environment measured by the sensing unit. The control unit 220 for controlling the growth measuring driving robot 1000 to move and shooting, and the robot operating PC 230 for planning and adjusting the operation of the growth measuring driving robot are included. And the control unit is a robot main control that controls the robot to perform a main command, a servo control that follows (servo) a set value, a step control that makes the control step by step, input and output (input, output) ) to control the robot operation through I/O control.

In addition, in order to give a movement command to the robot mechanism unit 100 through the robot operating PC 230, a database is transmitted/received between the database of the robot operating PC and the growth management PC 3000, so that the growth measuring driving robot ( 1000) can be remotely controlled and operated normally when an abnormality occurs after installing it on site.

In addition, CCTV for monitoring the posture, position, direction, and surrounding environment of the growth measuring driving robot 1000 is installed in the robot mechanism unit 100 for remote monitoring, and a scheduling system is applied to the robot operating PC 230 to ensure that the robot is reserved. It is equipped to enable unmanned automatic operation every day, every week, and at a set time. Also, since the width and height of the greenhouse differ for each greenhouse, the environment setting of each axis of the driving robot enables setting of the movement radius of each axis. In addition, it is possible to determine the image image name so that the farm, greenhouse, greenhouse building, and crop locations can be known only with the image image.

And the power supply unit 300 is provided on the lower platform 110, the power supply unit is provided including a storage battery 310 and an automatic charger 320, continuous automatic charging is possible from the origin in an automatic charging method, After the growth measurement by autonomous driving, it is automatically returned to the origin and automatically charged, so that the growth measuring driving robot 1000 is provided to supply power to the robot mechanism unit, the robot control unit, and the robot operating PC while performing unmanned operation.

In addition, the robot rail unit 400 is formed to move the robot mechanism unit 100 using a greenhouse heating pipe as a rail.

In addition, as another embodiment, in the driving and control of the robot mechanism unit 100 and the robot control unit 200, the auxiliary wheel 123 is provided in addition to the rail traveling wheel 121 and the auxiliary traveling wheel 122 to carry out line relocation and installation work. It enables manual operation, and a proximity sensor for recognizing the starting point and ending point of the crop line and a lidar sensor for collision prevention are formed, and motor driving controllers such as step motors, low-pressure AC motors, and BLDC motors are installed in the robot control unit ( 200) may be provided and controlled. And Wi-Fi for remote control and monitoring of the robot operating PC 230 is provided.

And the growth management single board PC (2000) is a single board 500 in the form of a thin square box, and a 3D depth camera 600 for taking an image; a display 700 for touching the screen; A small PC 800 capable of embedding a program is included and formed, a 3D depth camera is formed on one side of the single board 500, and a display 700 for controlling shooting by touching the screen on the other side is formed. Also, a small PC 800 such as Raspberry Pi, Arduino, Windows 10, etc. is built-in inside, and it is mounted on the manipulator 150 of the growth measuring driving robot 1000 to automatically photograph or drive crops. It can be detached from the robot, allowing farmers to manually photograph crops. In addition, when a farmer wearing a sensor on clothes manually takes a picture of a crop at an arbitrary location in the greenhouse and then the robot takes a picture, the robot recognizes the location taken by the farmer by the GPS-based location recognition system in the greenhouse and the robot is selected In addition to the location, it is possible to compare and analyze the growth information by overlapping the points taken by the farmer at will. In addition, since there is a difference in comparison according to the amount of light according to the time taken, the robot control unit 200 appropriately corrects the color of the picture according to the climate and temperature by measuring the time and temperature at the time of taking the picture. Therefore, even when shooting on the same day, it is possible to correctly compare the growth status by correcting for the difference in shooting quality depending on morning and evening. And crop growth information monitoring is also formed with one handle hole 510 on the left and right sides of the other surface of the single board 500 .

And after identifying and measuring the leaf, node, flower room, and fruit of the crop with the growth management single board PC (2000), the leaf, node, flower room, and fruit are separated and the depth image is three-dimensionally converted to calculate the growth amount for each part with the robot operating PC. (230) to be stored in the database.

And as another embodiment, the method of measuring the crop with the growth management single board PC (2000) is as follows. First, the robot control unit 200 attaches a number identification tag to the end of the inducement line of the crop to be measured, visually recognizes the number tag to find the target crop, locates the number tag in the center of the coordinates, and then descends vertically to find the starting point of the crop. Then, as it descends from the starting point of the crop to the medium, the coordinates of the measuring part of the crop are automatically set, and the robot automatically drives according to the set coordinates and takes an image. In addition, by applying the robot automatic coordinate setting method according to the change of the crop, the image is taken while rotating 180 degrees at an angle of 45 degrees from 50 cm above the end of the crop, and the Y-axis is automatically moved 50 cm from the top to the bottom and rotated 180 degrees. After that, repeat shooting while descending step by step to the crop medium.

In addition, the growth management PC (3000) is a database of growth information captured by the growth measuring driving robot (1000) and the farmer with the 3D depth camera (600). Information can be acquired and managed, and the measured growth amount is provided to be stored in the database of the robot operating PC 230 and the growth management PC 3000, and the measurement result, image image, and robot coordinates are stored in the growth management PC ( 3000), so that the robot measurement results can be inquired from the outside with a smartphone. In addition, the growth management single board PC 2000 and the growth management PC 3000 enable wireless communication, and the robot controller and the robot operating PC 230 are also provided to enable wireless communication.

In addition, as another embodiment, in order to perform deep learning by growth stage of crops such as paprika, tomato, melon, etc., which are target crops, image data collection and classification for learning and 3D depth camera are used to collect growth image data after planting until harvest. In addition, the growth diagnosis algorithm of the target crop can be provided by comparing the growth amount per unit period on the database platform, and the leaf length, leaf width, and leaf area estimation algorithms of the target crop can be provided to provide information when measuring growth. . The crop growth stage can be divided into the planting stage, flowering period, and fruit non-waiting harvest period, and the measurement items are the distance between the camera and the subject, the photographed image (leaf, stem, fruit, flower room, growth point), and the growth rate per unit period (leaf number). , leaf length, leaf width, node length, node thickness, exaggeration, fruit width, number of flowers), fruit shape image (fruit skin color information), and cultivation environment data (inside and outside temperature/humidity) can also be measured.

Therefore, the present invention relies on experts to measure the most important growth information for precise production management of crops in plant factories and smart farms, and improves productivity due to wasted money and time, and also to farmers without specialized knowledge. There is a remarkable effect of being able to measure the growth process of crops easily, automatically or manually.

100: robot mechanism 110: lower platform
120: driving shaft 121: rail running wheel
122: auxiliary driving wheel 123: auxiliary wheel
130: vertical coaxial shaft 140: female rotation shaft
150: manipulator 160: camera rotation axis
170: camera tilt axis 200: robot control unit
210: sensing unit 220: control unit
230: robot operating PC 300: power supply
310: storage battery 320: automatic charger
400: robot rail 500: single board
510: handle hole 600: 3D depth camera
700: display 800: small PC
1000: Growth measuring driving robot 2000: Growth management single board PC
3000: growth management PC

Claims (3)

Monitoring the growth process information by shooting an image of a crop in a place where crops are produced, growth measurement formed including the robot mechanism unit 100 , the robot control unit 200 , the power supply unit 300 , and the robot rail unit 400 . a driving robot 1000; A single board 500, a 3D depth camera 600, a display 700, and a small PC 800 are included and installed in the growth measuring driving robot 1000 to automatically photograph crops or from the driving robot. A growth management single board PC (2000) formed so that farmers can manually photograph crops by separating it; In the crop growth information monitoring system formed including the growth measurement driving robot 1000 and the growth management PC 3000 that the farmer converts the growth information photographed with the 3D depth camera 600 into a database,
A lower platform 110 is formed in the lower portion of the robot mechanism 100, and a traveling shaft 120 that moves using a heating pipe as a rail is provided in the lower portion of the lower platform, and a vertical movement shaft 130 and an arm rotation shaft ( 140), the manipulator 150 serving as an arm of the robot, the camera rotation axis 160, and the camera vertical tilt axis 170 are sequentially connected,
The growth measuring driving robot 1000 receives commands from the robot operating PC 230 for return to origin, position movement, and autonomous driving, and performs the commands while taking pictures of the measuring part of the crop,
The robot control unit 200 is a temperature-humidity sensor, a magnet sensor, a lidar sensor, and a detection unit 210 equipped with a CCTV for detecting the surrounding environmental conditions, and grows as a growth measurement target crop according to the surrounding environmental condition measured by the detection unit. It consists of a control unit 220 that controls the measuring driving robot 1000 to move and shooting, and a robot operating PC 230 that plans and adjusts the operation of the growth measuring driving robot, and the control unit allows the robot to execute a main command. Robot operation is controlled through robot main control that controls to perform, servo control that is controlled to follow the set value, step control that makes the control step by step, and I/O control that controls input and output (input, output) control,
In order to give a movement command to the robot mechanism unit 100 through the robot operating PC 230, a database is transmitted/received between the database of the robot operating PC and the growth management PC 3000, so that the growth measuring driving robot 1000 ) is installed on site, and in case of an abnormality, it can be remotely controlled and remote controlled to enable normal operation.
CCTV for monitoring the posture, position direction, and surrounding environment of the growth measuring driving robot 1000 is installed in the robot mechanism unit 100 for remote monitoring, and the robot is reserved by applying a scheduling system to the robot operating PC 230 It is equipped to enable unmanned automatic operation every day, every week, and at a set time. Also, since the width and height of the greenhouse differ for each greenhouse, the environment setting of each axis of the driving robot enables setting of the movement radius of each axis and image image It is possible to determine the location of the farm, greenhouse, greenhouse building, and crops only with the video image by selecting
The robot rail unit 400 uses a greenhouse heating pipe as a rail to move the robot mechanism unit 100, and in driving and controlling the robot mechanism unit 100 and the robot control unit 200, the rail traveling wheel 121 and the auxiliary In addition to the traveling wheel 122, the auxiliary wheel 123 is provided to enable manual operation of line relocation and installation, and a proximity sensor for recognizing the start and end points of a crop line and a lidar sensor for collision prevention are formed. In addition, a motor drive controller is provided in the robot control unit 200 to control
Growth management single board PC (2000) is a single board (500), and a 3D depth camera (600) for taking an image; a display 700 for touching the screen; A small PC 800 capable of embedding a program is included and formed, a 3D depth camera is formed on one side of the single board 500, and a display 700 for controlling shooting by touching the screen on the other side is formed. Also, a PC 800 is built-in therein, and it is mounted on the manipulator 150 of the growth measuring traveling robot 1000 to automatically photograph crops or separate from the traveling robot so that farmers can photograph crops manually. In addition, when a farmer wearing a sensor on clothes manually takes a picture of a crop at an arbitrary location in the greenhouse and then the robot takes a picture, the robot recognizes the location taken by the farmer by a GPS-based location recognition system in the greenhouse. In addition to this fixed location, the location where the farmer arbitrarily took pictures is also overlapped so that growth information can be compared and analyzed. By measuring the degree, the robot control unit 200 corrects the color of the photo according to the climate and temperature,
In the method of measuring crops with the growth management single board PC (2000), the robot control unit 200 first attaches a number recognition tag to the end of the inducement line of the target crop, visually recognizes the number tag, finds the target crop, and places the number tag in the center of the coordinates After doing this, descend vertically to find the starting point of the crop, then descend from the starting point of the crop to the medium to automatically set the coordinates of the measuring part of the crop, and the growth measuring driving robot 1000 automatically runs according to the set coordinates to take an image. Crop growth information monitoring system characterized by delete delete

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