WO2016074513A1 - Swing-arm-type facility crop biomass multi-sensing detection device and method - Google Patents

Abstract

A swing-arm-type facility crop biomass multi-sensing detection device and method. The device mainly comprise a T-shaped swing-arm frame (4) and a support frame (10), wherein a second digital camera (2) is provided at the tail of a cross arm of the T-shaped swing-arm frame (4), a first digital camera (1) is provided on a vertical column of the T-shaped swing-arm frame (4), and the vertical column of the T-shaped swing-arm frame (4) can rotate around its axis under the action of a movement control card (8); and a sample bracket (5) is placed on the support frame (10), and a load sensor (6) is provided between the sample bracket (5) and the support frame (10). The method comprises: firstly, pre-configuring the swing-arm-type facility crop biomass multi-sensing detection device; then, starting the swing-arm-type facility crop biomass multi-sensing detection device to perform multi-sensing detection on crop biomass; and finally, extracting and performing a quantization description on a characteristic parameter of facility crop biomass. Machine vision is combined with a biomass load detection method to realize, through multi-information fusion, detection of circle collection and automatic cruising of biomass information about a facility crop production process.

Description

Spiral arm facility crop biomass multi-sensor detection device and method Technical field

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.

Background technique

China is a large country with large facilities and facilities. It has the largest facility area in the world. In the process of facility production, the biomass information of facility crops, especially leafy crops, and its dynamic changes are key indicators in crop growth monitoring and yield estimation. An important basis for water and fertilizer management and production forecasting. At present, the biomass detection of crops and regional vegetation is mostly based on manual methods. The sampling process will remove the crops and vegetation in the sampling area as a whole, and conduct direct weighing measurement, which not only directly destroys the samples in the area, but also A one-time sampling method does not allow continuous dynamic monitoring of the same sample. 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. At the same time, 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.

At present, the research on non-destructive testing of crop biomass based on machine vision technology and mechanical measurement method is in its infancy. 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. In the detection of small and medium-sized crop biomass in small and medium-sized plots, 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. Although 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. In summary, due to its own limitations, 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.

Summary of the invention

In order to overcome the deficiencies in the prior art, 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.

In order to achieve the above object, 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, and the second digital camera is facing An annular reference scale on the sample holder.

In the above solution, 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.

In the above solution, the column of the T-shaped arm frame is vertically installed on the center of the support frame.

In the above solution, 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:

(1) Preset of the multi-sensor detection device for the crop biomass of the spiral arm facility;

(2) Initiating a multi-sensor detection device for crop biomass in a spiral arm facility to perform multi-sensor detection of crop biomass;

(3) Extraction and quantitative description of the characteristic parameters of facility crop biomass.

Further, the preset of the spiral-arm facility crop biomass multi-sensor detecting device comprises the following steps:

1 Place the samples on the sample holder, set the samples on one of the sample holders as calibration samples, and lock the positioning slots of each bracket;

2 Adjusting the cantilever frame by the motion control card, so that the second digital camera of the top view field is located directly above the sample carrier, and the crop canopy image is collected, so that the first digital camera of the main field of view is axially perpendicular to the sample carrier. 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;

3Adjust the position of the reference ruler on the background plate and sample holder to ensure that it is not obscured and clearly imaged;

4 calibrate the load cell according to the crop-free reference sample;

5 Set the detection start position and the sampling interval travel distance of the swing arm of the multi-sensor detection device, and determine the automatic cruise interval time and start time of the system according to the detection requirements.

Further, 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.

Further, the process of extracting and quantifying the characteristic parameters of the facility crop biomass is as follows:

1 based on the obtained reference scale image information of the calibration sample, extracting and calculating the reference scale of the front view and the top view field of the start bit, and obtaining a conversion relationship between the actual size and the target feature parameter;

2 obtaining actual quality information of the crop-free sample based on the acquired load sensing information of the calibration sample;

(3) Processing the image of the crop sample in the top view field, extracting the feature parameters of the crown width and the canopy area; processing the crop sample image of the main field of view to obtain the characteristic parameters of the diameter distribution of the plant along the axial direction, and according to the integral conversion relationship Obtaining a crop sample volume, and obtaining quality estimation information of the crop according to the volume density model;

4 According to the load sensing information of the crop sample, the difference calculation is performed with the load sensing information of the calibration sample to obtain the fresh weight of the crop biomass;

5 Based on the obtained crop quality estimation information and fresh weight dynamic change information, 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.

DRAWINGS

1 is a flow chart of a multi-sensor detection method for crop biomass in a spiral arm facility;

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;

In the figure, 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.

detailed description

The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

Referring to Figures 2 and 3, 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.

Wherein 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.

There are 8 sets of support frames 10, which are evenly distributed on the circumference of 3 meters in diameter. A sample of the crop to be tested or a sample without a crop is placed above the sample holder 5, and a load sensor 6 is installed below, and 8 sets of load sensors 6 are connected with the analog input port of the data acquisition card 7, so that synchronous collection of 8 sample quality information can be realized. .

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.

Referring to Figure 1, 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:

1) Preset of multi-sensor detection device for crop biomass in crop-arm facility

1 Place each sample on the sample holder 5, wherein the calibration sample is placed on the first sample holder, and the positioning slots of each bracket are locked;

2 Adjusting the column of the T-shaped arm frame 4 so that the second digital camera 2 of the top view field is located directly above the sample holder, and the crop canopy image is collected, so that the first digital camera 1 and the sample holder of the main field of view are 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;

3 placing a ring-shaped reference ruler of a known size on the background plate 3 in the direction of the main field of view, placing a ring-shaped reference ruler of a known size on the sample carrier 5 of the top view field, adjusting the position of the reference ruler to ensure that it is not blocked and Clear imaging;

4 calibrating the load cell 6 according to the sample without the crop calibration;

5 setting the detection start position and the sampling interval travel distance of the arm frame 4 of the multi-sensing detecting device, and determining the automatic cruise interval time and the starting time of the system according to the detection requirements;

2) Start the multi-sensor detection device for crop biomass in the spiral arm facility to perform multi-sensor detection of crop biomass

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.

3) Extraction and quantitative description of facility crop biomass parameters

1 based on the obtained reference scale image information of the calibration sample, extracting and calculating the reference scale of the front view and the top view field of the start bit, and obtaining a conversion relationship between the actual size and the target feature parameter;

2 obtaining actual quality information of the crop-free sample based on the acquired load sensing information of the calibration sample;

3 Processing the crop sample image of the top view field, extracting the characteristic parameters such as crown width and canopy area; processing the crop sample image of the main field of view to obtain the characteristic parameters such as the diameter distribution of the plant along the axial direction, and according to the integral The conversion relationship obtains the crop sample volume, and the quality estimation information of the obtained crop is obtained according to the volume density model;

4 According to the load sensing information of the crop sample, the difference calculation is performed with the load sensing information of the calibration sample to obtain the fresh weight of the crop biomass.

5 Based on the obtained crop quality estimation information and fresh weight dynamic change information, the growth information of the biomass of the facility crop growth process is quantitatively described and output through multi-information fusion.

It should be noted that the above description is only for explaining the technical solutions of the present invention, and is not intended to limit the scope of the present invention. Those skilled in the art can easily modify or replace the technical solutions of the present invention without departing from the present disclosure. The essence and scope of the technical solution of the invention.

Claims (8)

A spiral arm type facility biomass multi-sensor detecting device, comprising: a T-shaped arm frame (4) and a support frame (10), wherein the T-shaped arm frame (4) has a cross arm end There is a second digital camera (2), and a first digital camera (1) is provided on the column of the T-shaped arm frame (4), the first digital camera (1) and the second digital camera (2) Connecting with a computer (9) via a data acquisition card (7); the column of the T-shaped arm frame (4) is rotatable about its axis under the action of a motion control card (8); the support frame (10) A sample holder (5) is disposed thereon, a load sensor (6) is disposed between the sample holder (5) and the support frame (10), and a background plate is mounted on an outer side of the support frame (10) 3), the background plate (3) is provided with a reference scale, the lens of the first digital camera (1) is facing the reference scale on the background plate (3); the outer edge of the sample holder (5) is mounted There is a circular reference scale, the second digital camera (2) facing the annular reference scale on the sample holder (5). A swing-arm facility crop biomass multi-sensor detecting device according to claim 1, wherein the support frame (10) has eight sets, and each of the support frames (10) is evenly distributed in diameter. 3 meters on the circumference. A swing-arm facility crop biomass multi-sensor detecting device according to claim 2, wherein the column of the T-shaped arm frame (4) is vertically mounted on the support frame (10) On the center of the circle. A swing-arm facility crop biomass multi-sensor detecting device according to claim 3, wherein the sample holder (5) is provided with a positioning card slot for locking the sample. A multi-sensor detection method for crop biomass in a spiral arm facility is carried out according to the following steps: (1) Preset of the multi-sensor detection device for the crop biomass of the spiral arm facility; (2) Initiating a multi-sensor detection device for crop biomass in a spiral arm facility to perform multi-sensor detection of crop biomass; (3) Extraction and quantitative description of the characteristic parameters of facility crop biomass. The method for detecting a multi-sensor detection of a crop-arm biomass according to claim 5, wherein the preset of the multi-sensor detection device of the crop-arm facility crop biomass comprises the following steps: 1 Place the sample on the sample holder (5), place the calibration sample on the first sample holder, and lock the positioning slots of the remaining sample holders; 2 Adjusting the cantilever frame (4) by the motion control card 8 so that the second digital camera (2) of the top view field is located directly above the sample holder, and the crop canopy image is collected to make the first digital camera of the main field of view (1) It is perpendicular to the sample holder (5) 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; 3 Adjust the position of the reference scale on the background plate (3) and the sample holder (5) to ensure that it is not obscured and clearly imaged; 4 calibrate the load cell (6) according to the cropless reference sample; 5 Set the detection start position and sampling interval travel distance of the swing arm frame (4) of the multi-sensing detecting device, and determine the automatic cruise interval time and start time of the system according to the detection needs. The multi-sensor detection method for crop biomass in a spiral arm facility according to claim 5, wherein the multi-sensor detection process of the crop biomass is: firstly carrying load information and a reference scale for the calibration sample in the first position. Image information is collected, and the reference information is determined; then the cantilever frame (4) is sequentially rotated and stopped at the detection position, and the load sensing information and the biomass image information of all the crop samples in the range of the stroke are collected and reset, and then according to the set interval. The above process is repeated to achieve dynamic monitoring of crop biomass dynamics during crop growth. The method for detecting multi-sensor detection of a crop-arm biomass according to claim 5, wherein the process of extracting and quantifying the characteristic parameters of the crop biomass of the facility is: 1 based on the obtained reference scale image information of the calibration sample, extracting and calculating the reference scale of the front view and the top view field of the start bit, and obtaining a conversion relationship between the actual size and the target feature parameter; 2 obtaining actual quality information of the crop-free sample based on the acquired load sensing information of the calibration sample; (3) Processing the image of the crop sample in the top view field, extracting the feature parameters of the crown width and the canopy area; processing the crop sample image of the main field of view to obtain the characteristic parameters of the diameter distribution of the plant along the axial direction, and according to the integral conversion relationship Obtaining a crop sample volume, and obtaining quality estimation information of the crop according to the volume density model; 4 According to the load sensing information of the crop sample, the difference calculation is performed with the load sensing information of the calibration sample to obtain the fresh weight of the crop biomass; 5 Based on the obtained crop quality estimation information and fresh weight dynamic change information, the growth information of the biomass of the facility crop growth process is quantitatively described and output through multi-information fusion.

Images