WO2016074527A1 - 一种盆栽作物长势动态检测装置及其检测方法 - Google Patents

一种盆栽作物长势动态检测装置及其检测方法 Download PDF

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Publication number
WO2016074527A1
WO2016074527A1 PCT/CN2015/089213 CN2015089213W WO2016074527A1 WO 2016074527 A1 WO2016074527 A1 WO 2016074527A1 CN 2015089213 W CN2015089213 W CN 2015089213W WO 2016074527 A1 WO2016074527 A1 WO 2016074527A1
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Prior art keywords
crop
potted
growth
cantilever frame
sensor
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English (en)
French (fr)
Inventor
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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Jiangsu University
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Priority to US15/525,894 priority Critical patent/US10455776B2/en
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    • 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
    • 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
    • A01G22/00—Cultivation of specific crops or plants not otherwise provided for
    • 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
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
    • 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
    • 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
    • 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
    • Y02A40/25—Greenhouse technology, e.g. cooling systems therefor

Definitions

  • the invention relates to a crop growth dynamic detecting device and a detecting method thereof, which are suitable for the technical field of potted crops.
  • Crop growth monitoring is an important basis for scientific decision making of water and fertilizer. Stem, plant height and biomass are important indicators for crop growth. Through scientific detection of these indicators, water and fertilizer management and production estimation during crop growth can be achieved. Provide scientific evidence.
  • crop growth detection is mainly based on manual methods.
  • biomass detection it is necessary to measure the biomass of crops at different growth stages by weighing. This sampling and measurement method is time consuming and laborious. Since the biomass measurements in different growth stages are not from the same sample, differences in crop growth between different samples can affect the accuracy of crop biomass determination.
  • the invention patent application No. 201210078528.1 discloses a handheld biomass measuring device and method for detecting the resilience generated during crop deformation by using a pressure sensor, thereby detecting the biomass of the field crop, and the device is suitable for field breeding. In the process of detecting the biomass of small and medium-sized crops in small plots, it is difficult for the device and method to dynamically monitor the individual growth information of potted crops due to different detection methods.
  • the invention patent application No. 201210430049.1 discloses a crop growth information detecting device and a detecting method, which are suitable for plant height and stem of a crop having multiple stems per plant such as wheat, rice and the like which are naturally grown.
  • the crude test does not allow dynamic continuous monitoring of potted crops.
  • the existing crop growth detection devices and methods are difficult to continuously and dynamically detect the biomass information and dynamic changes of potted crops, which cannot meet the large-scale production of modern potted crops. The need to achieve near real-time accurate dynamic monitoring of crop growth during the process.
  • the object of the present invention is to provide a crop growth dynamic detection device and a detection method for realizing non-destructive dynamic detection of potted crops.
  • a potting crop growth detecting device includes a detecting platform and a rotating shaft, and a rotating electric machine is mounted on a shaft bottom end of the rotating shaft, and the rotating motor drives the a rotating shaft is fixed; a first cantilever frame is fixed on an upper portion of the rotating shaft, a laser ranging sensor is mounted on an end of the first cantilever frame; a second cantilever frame is fixed on a lower portion of the rotating shaft, and the rotating shaft is further fixed a first stepping motor, the first stepping motor driving the second cantilever frame to move left and right through a rack and pinion device; the second cantilever frame a pressure sensor is installed at the end; a second stepping motor is disposed on the detecting platform, and the second stepping motor drives the rotating shaft to move left and right by means of a rack and pinion device; the detecting platform further has a plurality of bases. A load cell is mounted on each of the bases, and the bases are
  • the first stepping motor further includes a photoelectric encoder, and the photoelectric encoder determines the displacement amount of the second cantilever frame by detecting the number of rotations of the first stepping motor, thereby realizing the potting Measurement of stem diameter of crop samples.
  • the above solution further includes a signal transmission processing system
  • the signal transmission processing system includes a data acquisition card, a control module, and a computer
  • the data acquisition card is configured to use the laser ranging sensor, the pressure sensor, and the photoelectric Signals of the encoder and the load cell are transmitted to the control module
  • the control module is connected to the computer
  • the control module is configured to control the rotating electrical machine, the first stepping motor 8 and the first Two stepper motors.
  • the rotating shaft is detachably and fixedly connected with the first cantilever frame and the second cantilever frame, and the first cantilever frame and the second cantilever frame can be according to different types of potted crops.
  • the samples are mounted at different locations on the axis of rotation.
  • the type of the potted crop to be tested on the detection platform is the same in none of the dynamic detection cycles.
  • the invention also provides a method for dynamically detecting the growth of potted crops by using a potting crop growth monitoring device, comprising the following steps:
  • the potted crop growth monitoring device first collects the quality information of the crop-free sample, and after determining the baseline information, the pot
  • the sensors of the crop growth dynamic detection device are detected according to the program sequence of the computer, and the crop quality, stem diameter and plant height information are collected and reset after being collected in one cycle, and then the above detection is repeated according to the set cycle time. Process to achieve dynamic detection of crop growth information.
  • the quality information collected from the potted crop sample load sensor is compared with the quality information collected by the non-crop sample load sensor to obtain the change of crop biomass
  • the present invention can perform real-time dynamic detection of the same type of crop growth information without destroying the crop.
  • the use of mechanical-optical multi-sensors to detect crop stem diameter, plant height and biomass can not only achieve rapid, real-time and effective non-destructive detection of crop growth, but also continuously and dynamically monitor crop growth information. This is also the development trend of digital agriculture in the future.
  • the present invention combines a load cell, a pressure sensor, a photoelectric encoder, and a laser ranging sensor to continuously and dynamically monitor crop stem diameter, plant height, and biomass. Crop weight information was collected by load cell, and the stem stem and plant height information were collected by pressure sensor, photoelectric encoder and laser ranging sensor.
  • the crop growth information was described by mechanical-optical multi-information fusion. (3) Compared with the traditional manual detection method, it can not only improve the efficiency, but also realize the continuous monitoring of the dynamic change information of the target crop growth process. Compared with remote sensing monitoring methods such as spectrum and image, it is less affected by environmental factors such as illumination and complex background.
  • Fig. 1 is a schematic structural view of a crop growth dynamic detecting device based on mechanical-optical multi-sensor information.
  • the technical scheme of the crop growth dynamic detection device based on the mechanical-optical multi-sensor information is as follows:
  • the device can sample and monitor three crop samples at the same time, and use one cropless sample as the calibration sample. Adjust the no-crop sample and crop sample to have the same amount of substrate and water and fertilizer, and use the same fertilization irrigation measures.
  • the detecting device first collects the quality information of the crop-free sample, and after determining the reference information, the detecting device sequentially reaches the preset position for detection, completes the collection of the crop quality, the stem diameter and the plant height information in one cycle, and then resets according to the set cycle. Time repeats the above detection process to achieve dynamic detection of crop growth information.
  • the quality information collected from the crop sample load sensor is compared with the quality information collected by the crop-free sample load sensor to obtain the change of crop biomass.
  • the invention is based on the mechanical-optical multi-sensor information for the crop growth dynamic detection device, and dynamically detects the growth information of the crop through the synergistic action of the multi-sensor and the mechanical device.
  • the crop growth dynamic detection device based on the mechanical-optical multi-sensor information comprises a detection platform, a multi-sensor information acquisition device and a control system.
  • the detection platform includes a rotating shaft, a cantilever frame, and a base.
  • the rotating shaft is driven by a stepping motor, the stepping motor is fixed on the base of the detecting platform, and the driven gear is mounted on the rotating shaft, and the rotating motion of the detecting platform is realized by a pair of gear transmissions.
  • the cantilever frame comprises a plant height detecting cantilever frame and a stem coarse detecting cantilever frame.
  • the plant height detecting cantilever frame is provided with a laser ranging sensor.
  • the cantilever frame can adjust the height in a vertical direction and adjust the elongation of the cantilever in a horizontal direction.
  • the stem coarse detecting can be mounted with a pressure sensor on the cantilever frame, the cantilever frame can adjust the height in the vertical direction, and the cantilever protrusion amount Controlled by another stepping motor, the stepping motor is fixed on the rotating shaft, and a part of the cantilever is processed into a rack, and the cantilever is horizontally moved by the movement of the rack and pinion.
  • a photoelectric encoder is installed at one end of the stepping motor, and the displacement of the cantilever is measured by detecting the number of rotations of the stepping motor, thereby measuring the stem diameter of the crop.
  • the load cell 4 is located directly below the crop and is mounted between the crop and the base 10.
  • the base is used to obtain crop quality information. Because the quality obtained by the base includes flower pots, substrates, nutrient solution, etc., the substrate is grown throughout the process of crop growth. The volatilization of nutrient solution affects the accuracy of crop biomass detection. Therefore, in the actual test, a pot of calibration pot containing no substrate and nutrient solution is placed, and the initial quality is the same as that of the sample-free culture device.
  • the multi-sensor information collecting device comprises a load sensor, a pressure sensor, a photoelectric encoder, a laser ranging sensor and a data acquisition card.
  • the load cell, the pressure sensor, the photoelectric encoder, and the laser ranging sensor are connected to the data acquisition card through a coaxial signal cable, and the data acquisition card is connected to the computer through the USB bus.
  • the control system includes a control module and a computer.
  • the control module is connected to the computer through the USB bus, and the IO interface is connected with two stepping motors, and the computer sends commands to control the movement of the stepping motor.
  • the stem stem detection cantilever frame shrinks the cantilever frame by controlling the stepper motor each time the next crop is detected, away from the position of the stem of the crop, and then controls another stepping motor to bring the rotating shaft to the next detection position.
  • the crop growth dynamics detecting device based on the mechanical-optical multi-sensor information comprises a detecting platform, a multi-sensor information collecting device and a control system.
  • the detecting platform is provided with a rotating shaft 7, a first cantilever frame 5, a second cantilever frame 6, and a base 10.
  • the rotating shaft 7 can be rotated by a rotating motor at the bottom, the second stepping motor 9 is fixed on the detecting platform base, and the driving gear is mounted on the rotating output shaft of the second stepping motor 9, and the driven rack is mounted.
  • the second stepping motor 9 drives the left and right movement of the rotating shaft 7 by the rack and pinion transmission.
  • the rotating shaft 7 includes a first cantilever frame 5 for plant height detection and a second cantilever frame 6 for stem thickness detection.
  • a laser ranging sensor 1 is mounted on the first cantilever frame 5, and the first cantilever frame 5 and the rotating shaft 7 are detachable fixing parts, and can be plugged, preferably, a mounting groove is arranged on the rotating shaft 7, A cantilever frame 5 is inserted on the rotating shaft 7, and the first cantilever frame 5 can be vertically inserted at different heights of the rotating shaft 7 according to the actual needs of the potted crop to be tested, the first cantilever frame 5 and the rotating shaft 7 Together, they move in the left-right direction by the action of the second stepping motor 9.
  • the second cantilever frame 6 is mounted with a pressure sensor 2, the second cantilever frame 6 and the rotating shaft 7 are mounted in substantially the same manner as the first cantilever frame 5, and the left and right extension of the second cantilever frame 6 is determined by the first step.
  • the motor 8 is controlled, the first stepping motor 8 is fixed on the rotating shaft 7, and a part of the second cantilever frame 6 is processed into a rack, and the output shaft of the first stepping motor 8 is mounted with teeth.
  • the wheel by the movement of the rack and pinion, realizes the horizontal movement of the cantilever of the second cantilever frame 6.
  • the photoelectric encoder 3 is attached to one end of the first stepping motor 8, and the displacement amount of the cantilever of the second cantilever frame 6 is measured by detecting the number of rotations of the first stepping motor 8, thereby realizing the measurement of the stem diameter of the crop.
  • the load cell 4 is located directly below the crop and is mounted between the crop and the base 10.
  • the base 10 has a total of 4 sets distributed on a square test stand having a diameter of 3 meters.
  • the base 10 is used for obtaining crop quality information, and the quality of the base includes the flower pot, the substrate, the nutrient solution, etc., in the whole growth of the crop. During the process, the volatilization of the substrate, nutrient solution and the like will affect the accuracy of the crop biomass detection. Therefore, in the actual test, a pot of a calibration basin containing no substrate and nutrient solution is placed, and the initial quality and the sample-free culture device are The same quality.
  • the multi-sensor information collecting device comprises a load sensor 4, a pressure sensor 2, a photoelectric encoder 3, a laser ranging sensor 1 and a data acquisition card 11.
  • the load cell 4, the pressure sensor 2, the photoelectric encoder 3, and the laser ranging sensor 1 are connected to the data acquisition card 11 via a coaxial signal cable, and the data acquisition card 11 is connected to the computer 13 via a USB bus.
  • the control system includes a control module 12 and a computer 13.
  • the control module 12 is connected to the computer 13 via a USB bus.
  • the IO interface is connected to the two stepping motors 8, 9 and the computer 13 issues commands to control the movement of the stepping motors 8, 9.
  • Stem Rough Detection The second cantilever frame 6 shrinks the second cantilever frame 6 by controlling the first stepping motor 8 each time the next crop is detected, away from the position of the stem of the crop, and then controls another stepping motor to reach the axis of rotation. Next detection location.
  • the technical solution of the biological device for detecting a multi-sensor of a rotating arm of the present invention is as follows:
  • the device can sample and monitor three potted crop samples at the same time, and use one cropless sample as the calibration sample. Adjust the no-crop sample and crop sample to have the same amount of substrate and water and fertilizer, and use the same fertilization irrigation measures.
  • Each sample is placed on the load sensing device 10, and each sample is locked by a locking device. Among them, no crop samples were placed in the last position.
  • the initial position of the sensor rotating arm 6 is such that the outermost edge of the pressure sensor 2 is tangent to the three potted crop samples, a circle formed without a crop sample. Set the cycle time and start time according to the detection needs.
  • the detecting device first collects the quality information of the crop-free sample, and after determining the reference information, the detecting device sequentially reaches the preset position for detection, completes the collection of the crop quality, the stem diameter and the plant height information in one cycle, and then resets according to the set cycle. Time repeats the above detection process to achieve dynamic detection of crop growth information.
  • the quality information collected from the crop sample load sensor is compared with the quality information collected by the crop-free sample load sensor to obtain the change of crop biomass.

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Abstract

一种盆栽作物长势动态检测装置，包括检测平台和旋转轴（7）；旋转轴（7）上部固定有第一悬臂架（5），第一悬臂架（5）的末端安装有激光测距传感器（1）；旋转轴（7）下部固定有第二悬臂架（6）；第二悬臂架（6）的末端安装有压力传感器（2）；检测平台上还设有若干底座（10），通过荷重传感器（4）采集作物重量信息，通过压力传感器（2）、光电编码器（3）和激光测距传感器（1）采集作物茎粗和株高信息，通过信息融合对作物长势信息进行描述，能够提高效率，实现对目标作物生长过程长势动态变化信息的连续监测。

Description

一种盆栽作物长势动态检测装置及其检测方法 技术领域
本发明涉及一种作物长势动态检测装置及其检测方法，适用于盆栽作物技术领域。
背景技术
作物长势信息监测是进行水肥科学决策的重要依据，茎粗、株高和生物量是体现作物长势的重要指标，通过对这些指标的科学检测，能够为作物生长过程中的水肥管理、产量预估提供科学依据。
目前，作物长势检测主要是以人工方式为主，例如在生物量检测过程中需要采收后通过称重方式测量作物在不同生长阶段的生物量，这种取样和测量方法耗时、费力。由于在不同生长阶段生物量测定的样本不是来自同一样本，不同样本之间作物长势的差异会影响作物生物量测定的准确性。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，从而对田间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，由于检测方式的不同，该装置和方法难以对盆栽作物的个体长势信息进行动态的连续监测。申请号为201210430049.1的发明专利申请，公开了一种作物生长信息检测装置及检测方法，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，也无法对盆栽作物进行动态连续监测。综上所述，现有的作物长势检测装置和方法由于其自身的局限性，很难对盆栽作物的生物量信息及其动态变化过程进行连续的动态检测，不能满足现代化盆栽作物在规模化生产过程中实现对作物长势进行准实时精确动态监测的需要。
发明内容
本发明的目的在于提供一种作物长势动态检测装置和检测方法，实现对盆栽作物的无损动态检测。
为了实现上述目的，本发明采取的技术方案如下：一种盆栽作物长势动态检测装置，包括检测平台和旋转轴，所述旋转轴的轴底端部安装有旋转电机，所述旋转电机带动所述旋转轴转动；所述旋转轴上部固定有第一悬臂架，所述第一悬臂架的末端安装有激光测距传感器；所述旋转轴下部固定有第二悬臂架，所述旋转轴上还固定有第一步进电机，所述第一步进电机通过齿轮齿条装置带动所述第二悬臂架左右移动；所述第二悬臂架的 末端安装有压力传感器；所述检测平台上设有第二步进电机，所述第二步进电机依靠齿轮齿条装置带动所述旋转轴左右移动；所述检测平台上还设有若干底座，所述每个底座上安装有载重传感器，所述底座沿所述旋转轴呈圆形排列。
上述方案中，所述第一步进电机上还安装光电编码器，所述光电编码器通过检测所述第一步进电机的旋转圈数来测定第二悬臂架的位移量，从而实现对盆栽作物样本茎粗的测量。
上述方案中，还包括信号传输处理系统，所述信号传输处理系统包括数据采集卡、控制模块和计算机，所述数据采集卡用来将所述激光测距传感器、所述压力传感器、所述光电编码器和所述载重传感器的信号传输给所述控制模块，所述控制模块与所述计算机相连，所述控制模块用来控制所述旋转电机、所述第一步进电机8和所述第二步进电机。
上述方案中，所述旋转轴与所述第一悬臂架和所述第二悬臂架之间为可拆卸固定连接，所述第一悬臂架和所述第二悬臂架能够根据不同类型的盆栽作物样本安装在所述旋转轴的不同位置上。但对于该喷在作物长势动态检测装置而言，没一个动态检测周期内，检测平台上的待检测盆栽作物的种类类型都是一样的。
本发明还提供了一种利用盆栽作物长势动态检测装置对盆栽作物长势进行动态检测方法，包括如下步骤：
A多传感检测装置的预置
①采用一个无作物样本作为标定样本，调整无作物样本和盆栽作物样本，使其具有等量的基质和水肥，并采用同样的施肥灌溉措施；
②将无作物样本和盆栽作物作物样本均放置在底座上；
③根据盆栽作物样本的需要，调整第一悬臂架的位置，使激光测距传感器位于盆栽作物样本正上方，调整第二悬臂架的位置，使压力传感器处于作物的茎部位置；设置装有压力传感器的第二旋臂架的初始位置，使压力传感器的最外边缘与所有盆栽作物样本形成的圆相切；
④对设置在所述底座和所述无作物样本之间的荷重传感器进行标定；
⑤根据检测需要在计算机上设置各个电动机的起始位置，确定旋转角度、启动时间和循环时间；
B启动盆栽作物长势动态检测装置，对作物长势进行检测
盆栽作物长势动态检测装置首先采集无作物样本质量信息，确定基准信息之后，盆 栽作物长势动态检测装置的各个传感器按照计算机的程序顺序达到预设位置进行检测，在一个循环周期内完成作物质量、茎粗和株高信息的采集后复位，然后按设置的循环时间重复上述检测过程，从而实现对作物长势信息的动态检测。
C对盆栽作物样本长势特征参数的量化和描述
①从盆栽作物样本荷重传感器采集到的质量信息与无作物样本荷重传感器采集到的质量信息做差运算，得到作物生物量的变化；
②从激光测距传感器1和压力传感器2采集到的盆栽作物样本信息中提取茎粗、株高特征参数；
③根据获取的作物茎粗、株高、质量信息的变化，通过多信息融合对作物生长过程中长势变化信息进行量化描述输出。
本发明的效果：(1)本发明可以在不破坏作物的情况对同一类型的作物长势信息进行实时动态检测。通过力学-光学多传感器来检测作物茎粗、株高和生物量，不仅可以实现快速、实时、有效的作物长势无损探测，而且可以连续动态地监测作物的长势信息。这也是未来数字农业的发展趋势。(2)本发明将荷重传感器、压力传感器、光电编码器和激光测距传感器相结合，对作物茎粗、株高和生物量的进行连续动态监测。通过荷重传感器采集作物重量信息，通过压力传感器、光电编码器和激光测距传感器采集作物茎粗和株高信息，通过力学-光学多信息融合对作物长势信息进行描述。(3)与传统的人工检测方法相比，不仅能够提高效率，而且可以实现对目标作物生长过程长势动态变化信息的连续监测。与光谱、图像等遥感监测方法相比，受光照和复杂背景等环境因素的影响较小。
附图说明
图1是基于力学-光学多传感信息的作物长势动态检测装置结构简图。
图中：1-激光测距传感器，2-压力传感器，3-光电编码器，4-荷重传感器，5-第一悬臂架，6-第二悬臂架，7-旋转轴，8-第一步进电机，9-第二步进电机，10-底座，11数据采集卡，12控制模块，13-计算机。
具体实施方式
基于力学-光学多传感信息的作物长势动态检测装置技术方案如下：
1)多传感检测装置的预置
①本装置可同时对三个作物样本进行取样监测，采用一个无作物样本作为标定样本。 调整无作物样本和作物样本的使其具有等量的基质和水肥，并采用同样的施肥灌溉措施。
②将各样本放置在荷重传感装置上，通过锁紧装置锁紧各样本。其中，在最后一个位置放置无作物样本。
③调整激光测距传感器旋转臂的位置，使激光测距传感器位于作物正上方，通过紧固螺栓使相对位置固定；调整压力传感器旋转臂的上下位置，使压力传感器处于作物的茎部位置。
④对无作物样本的荷重传感器进行标定。
⑤设置机械式旋转臂多传感检测装置检测的起始位置和旋转角度；设置装有压力传感器旋转臂的初始位置，使压力传感器的最外边缘与4个样本形成的圆相切。根据检测需要设置循环时间和启动时间。
2)启动多传感检测装置，对作物长势进行检测
检测装置首先采集无作物样本质量信息，确定基准信息之后，检测装置顺序达到预设位置进行检测，在一个循环周期内完成作物质量、茎粗和株高信息的采集后复位，然后按设置的循环时间重复上述检测过程，从而实现对作物长势信息的动态检测。
3)对作物长势特征参数的量化和描述
①从作物样本荷重传感器采集到的质量信息与无作物样本荷重传感器采集到的质量信息做差运算，得到作物生物量的变化。
②从传感器采集作物样本信息中提取茎粗、株高特征参数。
③根据获取的作物茎粗、株高、质量信息的变化，通过多信息融合对作物生长过程中长势变化信息进行量化描述输出。
本发明基于力学-光学多传感信息的作物长势动态检测装置，通过多传感器和机械装置的协同作用对作物的长势信息进行动态检测。
基于力学-光学多传感信息的作物长势动态检测装置包含检测平台、多传感信息采集装置和控制系统。
所述检测平台包含旋转轴、悬臂架和底座。
所述旋转轴由步进电机驱动，步进电机固定在检测平台底座上，将从动齿轮安装在旋转轴上，通过一对齿轮传动实现检测平台的旋转运动。
所述悬臂架包含株高检测悬臂架和茎粗检测悬臂架，所述株高检测悬臂架上安装激光测距传感器，悬臂架可以沿垂直方向调节高度，沿水平方向调节悬臂的伸长量。所述茎粗检测悬臂架上安装压力传感器，悬臂架可以沿垂直方向调节高度，而悬臂的伸出量 由另一台步进电机控制，步进电机固定在旋转轴上，悬臂的一部分加工成齿条，通过齿轮齿条的运动实现悬臂沿水平运动。步进电机的一端安装光电编码器，通过检测步进电机的旋转的圈数来测定悬臂的位移量，从而实现对作物茎粗的测量。
所述荷重传感器4位于作物正下方，安装在作物和底座10之间。底座共有4套，分布于直径为3米的正方形检测台上，底座用于获取作物质量信息，由于底座获取的质量包括花盆、基质、营养液等，在作物生长的整个过程中因基质、营养液等挥发会影响作物生物量检测的准确性，因此，在实际检测中放置一盆无作物仅包含基质、营养液的标定盆，其初始质量与无作物样本培养装置的质量相同。
所述多传感信息采集装置包含荷重传感器、压力传感器、光电编码器、激光测距传感器和数据采集卡。所述荷重传感器、压力传感器、光电编码器、激光测距传感器通过同轴信号电缆与数据采集卡连接，数据采集卡通过USB总线与计算机连接。
所述控制系统包括控制模块和计算机。控制模块通过USB总线与计算机连接，IO接口与两台步进电机连接，由计算机发出指令控制步进电机的运动。茎粗检测悬臂架每次在检测下一作物时通过控制步进电机使悬臂架收缩，远离作物茎部位置，然后控制另一台步进电机使旋转轴到达下一检测位置。
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1，本发明基于力学-光学多传感信息的作物长势动态检测装置包含检测平台、多传感信息采集装置和控制系统。
其中所述检测平台上设有旋转轴7、第一悬臂架5、第二悬臂架6和底座10。
其中所述旋转轴7可以有底部的旋转电机带动进行旋转，第二步进电机9固定在检测平台底座上，主动齿轮安装在第二步进电机9的旋转输出轴上，从动齿条安装在旋转轴7上，通过齿轮齿条传动实现第二步进电机9带动旋转轴7的左右运动。其中旋转轴7上包含有用于株高检测的第一悬臂架5和用于茎粗检测的第二悬臂架6。所述第一悬臂架5上安装激光测距传感器1，所述第一悬臂架5与所述旋转轴7是可拆卸固定零件，可以是插接，优选在旋转轴7上设置安装槽，第一悬臂架5插接在旋转轴7上，第一悬臂架5可以根据待测盆栽作物的实际需要，沿垂直方向插接在旋转轴7的不同高度上，第一悬臂架5和旋转轴7一起在第二步进电机9的作用下沿左右方向移动。所述第二悬臂架6上安装压力传感器2，第二悬臂架6与旋转轴7的安装方式和第一悬臂架5的基本相同，而第二悬臂架6的左右伸出量由第一步进电机8控制，第一步进电机8固定在旋转轴7上，第二悬臂架6的一部分加工成齿条，第一步进电机8的输出轴上安装有齿 轮，通过齿轮齿条的运动实现第二悬臂架6的悬臂沿水平运动。第一步进电机8的一端安装光电编码器3，通过检测第一步进电机8的旋转的圈数来测定第二悬臂架6的悬臂的位移量，从而实现对作物茎粗的测量。其中所述荷重传感器4位于作物正下方，安装在作物和底座10之间。
其中所述底座10共有4套，分布于直径为3米的正方形检测台上，底座10用于获取作物质量信息，由于底座获取的质量包括花盆、基质、营养液等，在作物生长的整个过程中因基质、营养液等挥发会影响作物生物量检测的准确性，因此，在实际检测中放置一盆无作物仅包含基质、营养液的标定盆，其初始质量与无作物样本培养装置的质量相同。
其中所述多传感信息采集装置包含荷重传感器4、压力传感器2、光电编码器3、激光测距传感器1和数据采集卡11。所述荷重传感器4、压力传感器2、光电编码器3、激光测距传感器1通过同轴信号电缆与数据采集卡11连接，数据采集卡11通过USB总线与计算机13连接。
其中所述控制系统包括控制模块12和计算机13。控制模块12通过USB总线与计算机13连接，IO接口与两台步进电机8、9连接，由计算机13发出指令控制步进电机8、9的运动。茎粗检测第二悬臂架6每次在检测下一作物时通过控制第一步进电机8使第二悬臂架6收缩，远离作物茎部位置，然后控制另一台步进电机使旋转轴到达下一检测位置。
参照附图1，本发明一种机械式旋转臂多传感器的检测生物量装置的技术方案如下：
1)多传感检测装置的预置
①本装置可同时对三个盆栽作物样本进行取样监测，采用一个无作物样本作为标定样本。调整无作物样本和作物样本的使其具有等量的基质和水肥，并采用同样的施肥灌溉措施。
②将各样本放置在荷重传感装置10上，通过锁紧装置锁紧各样本。其中，在最后一个位置放置无作物样本。
③调整激光测距传感器1旋转臂的位置，使激光测距传感器位于作物正上方，通过紧固螺栓使相对位置固定；调整压力传感器2旋转臂的上下位置，使压力传感器2处于作物的茎部位置。
④对无作物样本的荷重传感器4进行标定。
⑤设置机械式旋转臂多传感检测装置检测的起始位置和旋转角度；设置装有压力传 感器旋转臂6的初始位置，使压力传感器2的最外边缘与三个盆栽作物样本、一个无作物样本形成的圆相切。根据检测需要设置循环时间和启动时间。
2)启动多传感检测装置，对作物长势进行检测
检测装置首先采集无作物样本质量信息，确定基准信息之后，检测装置顺序达到预设位置进行检测，在一个循环周期内完成作物质量、茎粗和株高信息的采集后复位，然后按设置的循环时间重复上述检测过程，从而实现对作物长势信息的动态检测。
3)对作物长势特征参数的量化和描述
①从作物样本荷重传感器采集到的质量信息与无作物样本荷重传感器采集到的质量信息做差运算，得到作物生物量的变化。
②从传感器采集作物样本信息中提取茎粗、株高特征参数。
③根据获取的作物茎粗、株高、质量信息的变化，通过多信息融合对作物生长过程中长势变化信息进行量化描述输出。

Claims (5)

  1. 一种盆栽作物长势动态检测装置，其特征在于，包括检测平台和旋转轴(7)，所述旋转轴(7)的轴底端部安装有旋转电机，所述旋转电机带动所述旋转轴(7)转动；所述旋转轴(7)上部固定有第一悬臂架(5)，所述第一悬臂架(5)的末端安装有激光测距传感器(1)；所述旋转轴(7)下部固定有第二悬臂架(6)，所述旋转轴(7)上还固定有第一步进电机(8)，所述第一步进电机(8)通过齿轮齿条装置带动所述第二悬臂架(6)左右移动；所述第二悬臂架(6)的末端安装有压力传感器(2)；所述检测平台上设有第二步进电机(9)，所述第二步进电机(9)依靠齿轮齿条装置带动所述旋转轴(7)左右移动；所述检测平台上还设有若干底座(10)，所述每个底座(10)上安装有载重传感器(4)，所述底座(10)沿所述旋转轴(7)呈圆形排列。
  2. 根据权利要求1所述的一种盆栽作物长势动态检测装置，其特征在于，所述第一步进电机(8)上还安装光电编码器(3)，所述光电编码器(3)通过检测所述第一步进电机(8)的旋转圈数来测定第二悬臂架(6)的位移量，从而实现对盆栽作物样本茎粗的测量。
  3. 根据权利要求2所述的一种盆栽作物长势动态检测装置，其特征在于，还包括信号传输处理系统，所述信号传输处理系统包括数据采集卡(11)、控制模块(12)和计算机(13)，所述数据采集卡(11)用来将所述激光测距传感器(1)、所述压力传感器(2)、所述光电编码器(3)和所述载重传感器(4)的信号传输给所述控制模块(12)，所述控制模块(12)与所述计算机(13)相连，所述控制模块(12)用来控制所述旋转电机、所述第一步进电机(8)和所述第二步进电机(9)。
  4. 根据权利要求3所述的一种盆栽作物长势动态检测装置，其特征在于，所述旋转轴(7)与所述第一悬臂架(5)和所述第二悬臂架(6)之间为可拆卸固定连接，所述第一悬臂架(5)和所述第二悬臂架(6)能够根据不同类型的盆栽作物样本安装在所述旋转轴(7)的不同位置上。
  5. 一种利用盆栽作物长势动态检测装置对盆栽作物长势进行动态检测方法，包括如下步骤：
    A多传感检测装置的预置
    ①采用一个无作物样本作为标定样本，调整无作物样本和盆栽作物样本，使其具有等量的基质和水肥，并采用同样的施肥灌溉措施；
    ②将无作物样本和盆栽作物作物样本均放置在底座(10)上；
    ③根据盆栽作物样本的需要，调整第一悬臂架(5)的位置，使激光测距传感器(1)位于盆栽作物样本正上方，调整第二悬臂架(6)的位置，使压力传感器(2)处于作物的茎部位置；设置装有压力传感器(2)的第二旋臂架(6)的初始位置，使压力传感器(2)的最外边缘与所有盆栽作物样本形成的圆相切；
    ④对设置在所述底座(10)和所述无作物样本之间的荷重传感器(4)进行标定；
    ⑤根据检测需要在计算机上设置各个电动机的起始位置，确定旋转角度、启动时间和循环时间；
    B启动盆栽作物长势动态检测装置，对作物长势进行检测
    盆栽作物长势动态检测装置首先采集无作物样本质量信息，确定基准信息之后，盆栽作物长势动态检测装置的各个传感器按照计算机的程序顺序达到预设位置进行检测，在一个循环周期内完成作物质量、茎粗和株高信息的采集后复位，然后按设置的循环时间重复上述检测过程，从而实现对作物长势信息的动态检测；
    C对盆栽作物样本长势特征参数的量化和描述
    ①从盆栽作物样本荷重传感器采集到的质量信息与无作物样本荷重传感器采集到的质量信息做差运算，得到作物生物量的变化；
    ②从激光测距传感器(1)和压力传感器(2)采集到的盆栽作物样本信息中提取茎粗、株高特征参数；
    ③根据获取的作物茎粗、株高、质量信息的变化，通过多信息融合对作物生长过程中长势变化信息进行量化描述输出。
PCT/CN2015/089213 2014-11-10 2015-09-09 一种盆栽作物长势动态检测装置及其检测方法 Ceased WO2016074527A1 (zh)

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