WO2016074513A1 - 一种旋臂式设施作物生物量多传感检测装置及方法 - Google Patents

一种旋臂式设施作物生物量多传感检测装置及方法 Download PDF

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WO2016074513A1
WO2016074513A1 PCT/CN2015/086701 CN2015086701W WO2016074513A1 WO 2016074513 A1 WO2016074513 A1 WO 2016074513A1 CN 2015086701 W CN2015086701 W CN 2015086701W WO 2016074513 A1 WO2016074513 A1 WO 2016074513A1
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crop
biomass
arm
sample
information
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张晓东
李立
毛罕平
左志宇
孙俊
高洪燕
倪纪恒
苏辰
周亚波
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Jiangsu University
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    • 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

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  • the invention relates to a device and a method for detecting facility crop growth information based on visual and mechanical multi-information fusion technology, and particularly relates to a spiral arm facility crop biomass multi-sensor detection device and method.
  • Non-destructive testing technology can non-contact monitoring of crop growth using non-contact methods such as hyperspectral and visual images without destroying the plant tissue structure.
  • This method can quickly, accurately, automatically and non-destructively monitor crop biomass, and is a high-tech that is urgently needed to implement precision agriculture.
  • the load cell can also detect the biomass without destroying the plant body.
  • the invention combines the visual imaging and the load detection method, and dynamically monitors the biomass of the crop through the spiral arm mechanism, and can grasp the biomass dynamic change information of the facility crop in real time, and provides a basis for scientific water and fertilizer management and production estimation.
  • the invention patent application No. 201210078528.1 discloses a hand-held biomass measuring device and method for detecting the resilience generated by crop deformation by using a pressure sensor, and detecting the biomass of the field crop, and the device is suitable for the field breeding process.
  • a pressure sensor detecting the resilience generated by crop deformation by using a pressure sensor
  • the device is suitable for the field breeding process.
  • it is difficult for the device and method to dynamically and continuously observe the individual biomass detection of potted crops due to the different detection methods.
  • the invention patent application with the application number 201210430049.1 discloses a crop biomass detecting device and a detecting method, which uses a laser ranging sensor to measure the plant height and uses a clamping sensor to measure the stem diameter, and the device is suitable for naturally growing wheat and rice. The plant height and stem diameter were tested for each crop with multiple stems per plant. However, the device and method only detect the plant height and stem diameter, and fail to give the detection information of the overall biomass.
  • the invention patent application with the application number of 201210011573.5 discloses a crop biomass non-destructive detection image acquisition and processing device and a detection method, and obtains fresh biomass and dry biomass information of the potted crop by obtaining image information of different angles of the crop.
  • the invention patent application can detect the biomass of potted crops, due to the limitation of its detection method, it is When the line is detected, it is difficult to achieve precise positioning of the same sample, so dynamic observation and research on biomass changes during crop growth cannot be achieved.
  • the existing crop biomass detection devices and methods are difficult to continuously detect the biomass information of the potted crops and their dynamic changes, and cannot meet the mass production of modern facilities. The need for quasi-real-time accurate dynamic monitoring of crop biomass during the process.
  • the present invention provides an apparatus and method for cyclic acquisition and automatic cruise monitoring of biomass information in a facility crop production process combining machine vision and biomass load detection methods.
  • the present invention provides a swing arm type crop biomass multi-sensor detecting device, which mainly comprises a T-shaped spiral arm frame and a support frame, and the T-shaped spiral arm frame has a second cross-arm end.
  • a digital camera the first digital camera is disposed on the column of the T-shaped arm frame, and the first digital camera and the second digital camera are connected to a computer through a data acquisition card;
  • the column of the T-shaped arm frame Rotating around its axis under the action of a motion control card;
  • a sample holder is placed on the support frame, a load sensor is arranged between the sample holder and the support frame, and a background is installed on the outer side of the support frame a plate, the background plate is provided with a reference scale, the lens of the first digital camera is facing the reference scale on the background plate;
  • the outer edge of the sample carrier is provided with a ring reference scale
  • the second digital camera is facing An annular reference scale on the sample holder.
  • the support frame has a total of eight sets, and each of the support frames is evenly distributed on a circumference of 3 meters in diameter.
  • the column of the T-shaped arm frame is vertically installed on the center of the support frame.
  • the sample holder is provided with a positioning card slot for locking the sample.
  • the invention also provides a multi-sensor detection method for crop biomass in a spiral arm facility, which is carried out according to the following steps:
  • the preset of the spiral-arm facility crop biomass multi-sensor detecting device comprises the following steps:
  • the height is at the height of the crop half plant, adjusting the camera field of view allows the camera to image the canopy of the crop and the whole plant;
  • the multi-sensor detection process of the crop biomass is: firstly, the load information and the reference scale image information of the calibration sample in the first position are collected, and the reference information is determined; then the suspension frame is sequentially rotated and stopped at the detection position to complete the stroke range.
  • the load sensing information and biomass image information of all crop samples are collected and reset, and then the above process is repeated at set intervals to realize dynamic monitoring of crop biomass dynamic change information during crop growth.
  • the difference calculation is performed with the load sensing information of the calibration sample to obtain the fresh weight of the crop biomass
  • the growth information of the biomass of the facility crop growth process is quantitatively described and output through multi-information fusion.
  • the invention has the following effects: the invention combines the visual detection technology and the mechanical detection method, and uses the image detecting device on the spiral arm and the load detecting device on the detecting platform to cyclically detect the biomass information of the facility crop, and the existing Compared with the detection method, real-time monitoring of the biomass information of the facility crop production process can be realized.
  • 1 is a flow chart of a multi-sensor detection method for crop biomass in a spiral arm facility
  • FIG. 2 is a schematic structural view of a multi-sensor detection device for a crop-arm facility crop biomass
  • Figure 3 is a schematic view showing the position of the T-shaped arm frame, the background plate and the support frame;
  • 1-first digital camera 2-second digital camera; 3-background board; 4-T type arm frame; 5-sample carrier; 6-load sensor; 7-data acquisition card; Control card; 9-computer; 10-support frame.
  • the present invention provides a swing-arm facility crop biomass multi-sensor detection apparatus comprising a two-position imaging device, a mass acquisition device, a jib frame (4), a detection station, and a centralized control system.
  • the two-position imaging device comprises a first digital camera 1 and a second digital camera 2, wherein the second digital camera 2 is fixed at the end of the cross arm of the T-shaped arm frame 4 for obtaining a top view image of the crop, the first number
  • the camera 1 is fixed on the column of the T-shaped arm frame 4 for acquiring the front view image of the crop;
  • the first digital camera 1 and the second digital camera 2 are USB interfaces, and the collected data is uploaded to the centralized control system through the USB bus. Analysis and processing.
  • the mass collecting device includes a load sensor 6 and a data acquisition card 7, wherein the load sensor 6 is installed between the support frame 10 and the sample carrier 5 for acquiring the total mass of the crop, that is, fresh weight information, which is acquired by the load sensor 6
  • the quality also includes the quality of the pots, matrices and nutrient solution or other nutrients, so in the actual test, a vacant flower pot containing no crops but containing the same amount of substrate and nutrients is placed at one test position of the test bench for the load transfer.
  • the calibration and calculation of the sensory information is called a calibration sample. After the information acquired by the load cell 6 is A/D converted by the data acquisition card 7, the centralized control system is uploaded and analyzed by the USB bus.
  • the T-shaped arm frame 4 column is fixedly mounted on the center of the support frame 10, the top end of the column is fixed to the cross arm, and the end of the cross arm is provided with a second digital camera 2, T type
  • the first digital camera 1 is disposed on the column of the arm frame 4, and the column of the T-type arm frame 4 is controlled to rotate circumferentially by the program on the motion control card 8 to realize the circulation of the facility crops on the detection platforms on the annular circumference. Imaging.
  • the centralized control system described therein includes a computer 9, a data acquisition card 7, and a motion control card 8.
  • the control computer 9 and the data acquisition card 7 are connected through a USB bus, and are used for acquiring analog information collected by the eight load cells 6 and converting them into digital signals for analysis and processing; the computer 9 and the first digital camera are respectively connected through the USB bus. 1 is connected with the second digital camera 2, and the computer 9 issues an instruction to acquire image information of the crop, and analyzes and processes the computer 9; the computer 9 is connected to the T-type arm frame 4 through the motion control card 8, and the computer 9 issues an instruction to control
  • the column of the T-shaped arm frame 4 is sequentially stopped at the detection position of each test station, and the crop biomass is periodically cycled.
  • the present invention relates to a method for multi-sensor detection of crop biomass in a spiral arm facility, which is carried out according to the following steps:
  • the frame 5 is axially vertical and the height is at the height of the crop half plant. Adjusting the camera field of view allows the camera to image the canopy of the crop and the whole plant;
  • the detecting device first collects the load information and the reference scale image information of the calibration sample in the first position, and determines the reference information; then the detecting device sequentially arrives and stops at the detection position, and completes the load sensing information and biomass of all the crop samples in the range of the stroke. Image information is collected and reset. The above process is then repeated at set intervals to achieve dynamic monitoring of crop biomass dynamics during crop growth.
  • the difference calculation is performed with the load sensing information of the calibration sample to obtain the fresh weight of the crop biomass.
  • the growth information of the biomass of the facility crop growth process is quantitatively described and output through multi-information fusion.

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Abstract

一种旋臂式设施作物生物量多传感检测装置及方法，主要包括T型旋臂架（4）和支撑架（10），T型旋臂架（4）的横臂末设有第二数字摄像机（2），T型旋臂架（4）的立柱上设有第一数字摄像机（1），T型旋臂架（4）的立柱能够在运动控制卡（8）的作用下绕其轴线旋转；支撑架（10）上放置有样本托架（5），样本托架（5）和所述支撑架（10）之间设有荷重传感器（6），首先旋臂式设施作物生物量多传感检测装置的预置；其次启动旋臂式设施作物生物量多传感检测装置，进行作物生物量的多传感检测；最后对设施作物生物量特征参数的提取和量化描述。将机器视觉与生物量荷重探测方法相结合，通过多信息融合，实现对设施作物生产过程的生物量信息的循环采集和自动巡航监测。

Description

一种旋臂式设施作物生物量多传感检测装置及方法 技术领域
本发明涉及一种基于视觉和力学多信息融合技术检测设施作物生长信息的装置及方法，特指一种旋臂式设施作物生物量多传感检测装置及方法。
背景技术
我国是设施生产大国，设施面积世界第一，在设施生产过程中,设施作物尤其是叶菜类作物的生物量信息及其动态变化过程是作物长势监测以及产量估算中的关键指标，是进行科学水肥管理和产量预估的重要依据。目前，作物及区域植被的生物量检测多以人工方法为主，取样过程会对取样区域的作物和植被进行整体移除，进行直接称重测量，不仅对区域内样本造成直接毁坏，而且这种一次性的取样方法，无法实现对相同样本的连续动态监测。无损检测技术能够在不破坏植物组织结构的基础上，利用高光谱和视觉图像等非接触的手段对作物的生长状况进行非接触监测。这种方法可以迅速、准确、自动化、非破坏性的对作物生物量进行监测，是实施精确农业迫切需要的高新技术。同时荷重传感器也可以在不破坏植物本体的情况下进行生物量的探测。本发明将视觉成像和荷重探测方法相结合，通过旋臂机构对作物的生物量进行循环动态监测，能够实时掌握设施作物的生物量动态变化信息，为科学水肥管理和产量预估的提供依据。
目前基于机器视觉技术和力学测量方法的作物生物量无损检测研究处于起步阶段。申请号为201210078528.1的发明专利申请，公开了一种手持式生物量测定装置及方法，利用压力传感器获取作物形变时产生的回弹力,对大田作物的生物量进行探测，该装置适用于田间育种过程中对小地块中小群体农作物生物量的检测，由于其检测方式的不同，该装置和方法难以对设施盆栽作物的个体生物量检测进行动态的连续观测。申请号为201210430049.1的发明专利申请，公开了一种作物生物量检测装置及检测方法，利用激光测距传感器测量株高，利用夹持传感器测量茎粗，该装置适用于对自然生长的小麦、水稻等每个单株具有多个茎杆的作物进行株高和茎粗的检测。但该装置和方法只针对株高和茎粗进行检测，没能给出整体生物量的检测信息。申请号为201210011573.5的发明专利申请，公开了一种作物生物量无损检测图像采集处理装置及检测方法，通过获取作物不同角度的图像信息，得到盆栽作物的鲜生物量和干生物量信息。该发明专利申请虽然能够对盆栽作物的生物量进行检测，但由于其检测方式的局限性，使得其在对多株进 行检测时，很难实现同一样本的精确定位，因此无法实现对作物生长过程生物量变化的动态观测和研究。综上所述，现有的作物生物量检测装置和方法由于其自身的局限性，很难对设施盆栽作物的生物量信息及其动态变化过程进行连续的循环检测，不能满足现代化设施大规模生产过程中，对作物生物量进行准实时精确动态监测的需要。
发明内容
为了克服现有技术中的不足，本发明提供一种将机器视觉与生物量荷重探测方法相结合的对设施作物生产过程的生物量信息的循环采集和自动巡航监测的装置和方法。
为实现上述目的，本发明提供的一种旋臂式设施作物生物量多传感检测装置，主要包括T型旋臂架和支撑架，所述T型旋臂架的横臂末设有第二数字摄像机，所述T型旋臂架的立柱上设有第一数字摄像机，所述第一数字摄像机和所述第二数字摄像机通过数据采集卡与计算机连接；所述T型旋臂架的立柱能够在运动控制卡的作用下绕其轴线旋转；所述支撑架上放置有样本托架，所述样本托架和所述支撑架之间设有荷重传感器，所述支撑架的外侧安装有背景板，所述背景板上装有参考标尺，所述第一数字摄像机的镜头正对背景板上的参考标尺；所述样本托架的外边缘上装有环形参考标尺，所述第二数字摄像机正对所述样本托架上的环形参考标尺。
上述方案中，所述支撑架共有八套，所述每个支撑架均匀分布于直径3米的圆周上。
上述方案中，所述T型旋臂架的立柱竖直安装在所述支撑架组成的圆心上。
上述方案中，所述样本托架设有用于锁紧样本的定位卡槽。、
本发明还提供一种旋臂式设施作物生物量多传感检测方法，按照下述步骤进行：
(1)旋臂式设施作物生物量多传感检测装置的预置；
(2)启动旋臂式设施作物生物量多传感检测装置，进行作物生物量的多传感检测；
(3)对设施作物生物量特征参数的提取和量化描述。
进一步地，所述旋臂式设施作物生物量多传感检测装置的预置，具体包括以下步骤：
①将样本分别置于样本托架上，将其中一个样本托架上的样本设为标定样本，并将各托架的定位卡槽锁紧；
②通过运动控制卡调整悬臂架，使俯视视场的第二数字摄像机位于样本托架正上方，对作物冠层图像进行采集，使主视视场的第一数字摄像机与样本托架轴向垂直，高度处于作物半株高位，调整相机视场使相机能够对作物的冠层和植株整株进行成像；
③调整背景板和样本托架上的参考标尺位置，确保不被遮挡并清晰成像；
④根据无作物参考样本，对荷重传感器进行标定；
⑤设置多传感检测装置的旋臂架的检测起始位和采样间隔行程距离，并根据检测需要确定系统的自动巡航间隔时间和启动时间。
进一步地，作物生物量的多传感检测过程为：首先对处于首位的标定样本进行荷重信息和参考标尺图像信息采集，确定基准信息；然后悬臂架顺序转动并停靠在检测位，完成行程范围内的所有作物样本的荷重传感信息和生物量图像信息的采集并复位，之后按照设定间隔时间重复上述过程，实现对作物生长过程作物生物量动态变化信息的动态监测。
进一步地，其中所述的对设施作物生物量特征参数的提取和量化描述过程为：
①基于获取的标定样本的参考标尺图像信息，对起始位的主视和俯视视场的参考标尺进行提取和参数计算，得到实际尺寸与目标特征参数的换算关系；
②基于获取的标定样本的荷重传感信息，得到无作物样本的实际质量信息；
③对俯视视场的作物样本图像进行处理，提取冠幅和冠层面积特征参数；对主视视场的作物样本图像进行处理，获得植株沿轴向的直径分布特征参数，并依据积分换算关系得到作物样本体积，根据体积密度模型，得到的作物的质量估算信息；
④根据作物样本的荷重传感信息，与标定样本的荷重传感信息进行差分运算，得到作物生物量的鲜重；
⑤基于获取的作物质量估算信息和鲜重动态变化信息，通过多信息融合对设施作物生长过程的生物量的长势信息进行量化描述输出。
本发明的效果是：本发明将视觉探测技术和力学检测方法相结合，利用旋臂上的图像检测装置和检测台上的荷重检测装置对设施作物的生物量信息进行循环检测，与现有的检测方法相比，可以实现对设施作物生产过程的生物量信息的实时监测。
附图说明
图1是一种旋臂式设施作物生物量多传感检测方法的流程图；
图2是一种旋臂式设施作物生物量多传感检测装置结构简图；
图3是T型旋臂架、背景板和支撑架的位置示意图；
图中，1－第一数字摄像机；2－第二数字摄像机；3－背景板；4－T型旋臂架；5－样本托架；6－荷重传感器；7－数据采集卡；8－运动控制卡；9－计算机；10－支撑架。
具体实施方式
下面结合附图和实施步骤对本发明进行详细的描述。
参照附图2和3，本发明一种旋臂式设施作物生物量多传感检测装置，该装置包含双位成像装置、质量采集装置、旋臂架(4)、检测台和集中控制系统。
其中所述双位成像装置包括第一数字摄像机1和第二数字摄像机2，其中第二数字摄像机2固定在T型旋臂架4的横臂末端，用于获取作物的俯视图像，第一数字摄像机1固定在T型旋臂架4的立柱上，用于获取作物的主视图像；第一数字摄像机1和第二数字摄像机2为USB接口，所采集数据通过USB总线上传至集中控制系统进行分析和处理。
其中所述质量采集装置包括荷重传感器6和数据采集卡7，其中荷重传感器6安装在支撑架10和样本托架5之间，用于获取作物的总质量即鲜重信息，由于荷重传感器6获取的质量还包括花盆、基质和营养液或其他营养物质的质量，因此在实际检测时，在检测台的一个检测位放置无作物但包含等量基质和营养物质的空置花盆用于荷重传感信息的标定和计算，称作标定样本。荷重传感器6获取的信息通过数据采集卡7进行A/D转换后，通过USB总线上传集中控制系统进行分析和处理。
其中所述的支撑架10共有8套，均匀分布于直径3米的圆周上。样本托架5上方放置待测作物样本或无作物标定样本，下方安装荷重传感器6，8套荷重传感器6与数据采集卡7的模拟输入端口相连接，可实现对8个样本质量信息的同步采集。
其中所述的T型旋臂架4立柱固定在竖直安装在所述支撑架10组成的圆心上，立柱顶端固定横臂，横臂上安装横臂末端设有第二数字摄像机2，T型旋臂架4的立柱上设有第一数字摄像机1，通过运动控制卡8上的程序控制T型旋臂架4的立柱依次圆周转动，实现对位于环形圆周各检测台上的设施作物的循环成像。
其中所述的集中控制系统包括计算机9、数据采集卡7和运动控制卡8。控制计算机9与数据采集卡7通过USB总线相连，用于获取8个荷重传感器6采集的模拟量信息并通过A/D转换成数字信号进行分析处理；计算机9通过USB总线分别与第一数字摄像机1和第二数字摄像机2相连接，由计算机9发出指令获取作物的图像信息，并进行分析和处理；计算机9通过运动控制卡8与T型旋臂架4相连，由计算机9发出指令，控制T型旋臂架4的立柱依次停靠在各检测台的检测位，对作物生物量进行定时循环检测。
参照附图1，本发明一种旋臂式设施作物生物量多传感检测方法，按照下述步骤进行：
1)旋臂式设施作物生物量多传感检测装置的预置
①将各样本分别置于样本托架5上，其中在首个样本托架上放置标定样本，并将各托架的定位卡槽锁紧；
②调整T型旋臂架4的立柱，使俯视视场的第二数字摄像机2位于样本托架正上方，对作物冠层图像进行采集，使主视视场的第一数字摄像机1与样本托架5轴向垂直，高度处于作物半株高位，调整相机视场使相机能够对作物的冠层和植株整株进行成像；
③在主视视场方向的背景板3上放置已知尺寸的环形参考标尺，在俯视视场的样本托架5上放置已知尺寸的环形参考标尺，调整参考标尺位置，确保不被遮挡并清晰成像；
④根据无作物标定样本，对荷重传感器6进行标定；
⑤设置多传感检测装置的旋臂架4的检测起始位和采样间隔行程距离，并根据检测需要确定系统的自动巡航间隔时间和启动时间；
2)启动旋臂式设施作物生物量多传感检测装置，进行作物生物量的多传感检测
检测装置首先对处于首位的标定样本进行荷重信息和参考标尺图像信息采集，确定基准信息；之后检测装置顺序到达并停靠在检测位，完成行程范围内的所有作物样本的荷重传感信息和生物量图像信息的采集并复位。之后按照设定间隔时间重复上述过程，实现对作物生长过程作物生物量动态变化信息的动态监测。
3)对设施作物生物量特征参数的提取和量化描述
①基于获取的标定样本的参考标尺图像信息，对起始位的主视和俯视视场的参考标尺进行提取和参数计算，得到实际尺寸与目标特征参数的换算关系；
②基于获取的标定样本的荷重传感信息，得到无作物样本的实际质量信息；
③对俯视视场的作物样本图像进行处理，提取冠幅和冠层面积等特征参数；对主视视场的作物样本图像进行处理，获得植株沿轴向的直径分布等特征参数，并依据积分换算关系得到作物样本体积，根据体积密度模型，得到的作物的质量估算信息；
④根据作物样本的荷重传感信息，与标定样本的荷重传感信息进行差分运算，得到作物生物量的鲜重。
⑤基于获取的作物质量估算信息和鲜重动态变化信息，通过多信息融合对设施作物生长过程的生物量的长势信息进行量化描述输出。
最后应当说明的是，以上内容仅用以说明本发明的技术方案，而非对本发明保护范围的限制，本领域的普通技术人员对本发明的技术方案进行的简单修改或者等同替换，均不脱离本发明技术方案的实质和范围。

Claims (8)

  1. 一种旋臂式设施作物生物量多传感检测装置，其特征在于：包括T型旋臂架(4)和支撑架(10)，所述T型旋臂架(4)的横臂末端设有第二数字摄像机(2)，所述T型旋臂架(4)的立柱上设有第一数字摄像机(1)，所述第一数字摄像机(1)和所述第二数字摄像机(2)通过数据采集卡(7)与计算机(9)连接；所述T型旋臂架(4)的立柱能够在运动控制卡(8)的作用下绕其轴线旋转；所述支撑架(10)上放置有样本托架(5)，所述样本托架(5)和所述支撑架(10)之间设有荷重传感器(6)，所述支撑架(10)的外侧安装有背景板(3)，所述背景板(3)上装有参考标尺，所述第一数字摄像机(1)的镜头正对背景板(3)上的参考标尺；所述样本托架(5)的外边缘上装有环形参考标尺，所述第二数字摄像机(2)正对所述样本托架(5)上的环形参考标尺。
  2. 根据权利要求1所述的一种旋臂式设施作物生物量多传感检测装置，其特征在于：所述支撑架(10)共有八套，所述每个支撑架(10)均匀分布于直径3米的圆周上。
  3. 根据权利要求2所述的一种旋臂式设施作物生物量多传感检测装置，其特征在于：所述T型旋臂架(4)的立柱竖直安装在所述支撑架(10)组成的圆心上。
  4. 根据权利要求3所述的一种旋臂式设施作物生物量多传感检测装置，其特征在于：所述样本托架(5)设有用于锁紧样本的定位卡槽。
  5. 一种旋臂式设施作物生物量多传感检测方法，按照下述步骤进行：
    (1)旋臂式设施作物生物量多传感检测装置的预置；
    (2)启动旋臂式设施作物生物量多传感检测装置，进行作物生物量的多传感检测；
    (3)对设施作物生物量特征参数的提取和量化描述。
  6. 根据权利要求5所述的一种旋臂式设施作物生物量多传感检测方法，其特征在于：所述旋臂式设施作物生物量多传感检测装置的预置，具体包括以下步骤：
    ①将样本分别置于样本托架(5)上，其中在首个样本托架上放置标定样本，并将其余样本托架的定位卡槽锁紧；
    ②通过运动控制卡8调整悬臂架(4)，使俯视视场的第二数字摄像机(2)位于样本托架正上方，对作物冠层图像进行采集，使主视视场的第一数字摄像机(1)与样本托架(5)轴向垂直，高度处于作物半株高位，调整相机视场使相机能够对作物的冠层和植株整株进行成像；
    ③调整背景板(3)和样本托架(5)上的参考标尺位置，确保不被遮挡并清晰成像；
    ④根据无作物参考样本，对荷重传感器(6)进行标定；
    ⑤设置多传感检测装置的旋臂架(4)的检测起始位和采样间隔行程距离，并根据检测需要确定系统的自动巡航间隔时间和启动时间。
  7. 根据权利要求5所述的一种旋臂式设施作物生物量多传感检测方法，其特征在于：作物生物量的多传感检测过程为：首先对处于首位的标定样本进行荷重信息和参考标尺图像信息采集，确定基准信息；然后悬臂架(4)顺序转动并停靠在检测位，完成行程范围内的所有作物样本的荷重传感信息和生物量图像信息的采集并复位，之后按照设定间隔时间重复上述过程，实现对作物生长过程作物生物量动态变化信息的动态监测。
  8. 根据权利要求5所述的一种旋臂式设施作物生物量多传感检测方法，其特征在于：其中所述的对设施作物生物量特征参数的提取和量化描述过程为：
    ①基于获取的标定样本的参考标尺图像信息，对起始位的主视和俯视视场的参考标尺进行提取和参数计算，得到实际尺寸与目标特征参数的换算关系；
    ②基于获取的标定样本的荷重传感信息，得到无作物样本的实际质量信息；
    ③对俯视视场的作物样本图像进行处理，提取冠幅和冠层面积特征参数；对主视视场的作物样本图像进行处理，获得植株沿轴向的直径分布特征参数，并依据积分换算关系得到作物样本体积，根据体积密度模型，得到的作物的质量估算信息；
    ④根据作物样本的荷重传感信息，与标定样本的荷重传感信息进行差分运算，得到作物生物量的鲜重；
    ⑤基于获取的作物质量估算信息和鲜重动态变化信息，通过多信息融合对设施作物生长过程的生物量的长势信息进行量化描述输出。
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