Plant height measuring device and method based on visual processing

Abstract

The invention relates to the technical field of agricultural instruments, in particular to a plant height measuring device based on visual processing, which comprises a lifting guide column for guiding measuring equipment, a supporting assembly is arranged between the measuring equipment and the lifting guide column, and a marking mechanism matched with the measuring equipment for use is arranged on the supporting assembly. A driving mechanism for lifting the measuring equipment is arranged on the lifting guide column; the measuring device is of a folding structure. Non-contact measurement is adopted, mechanical clamping damage to plants is avoided through airflow gathering, the device is particularly suitable for fragile crops, meanwhile, the position of the spray pipe is adjustable, the device can adapt to different plant types and complex field environments, in the measurement process, measurement and marking are synchronized through mechanical linkage, the data management efficiency is improved, and the device is suitable for popularization and application. After a user starts a driving motor, the measuring equipment automatically ascends and descends, centralizes plants, calculates the plant height and triggers the marking mechanism to spray after the plants are in place, and manual intervention is not needed in the whole process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural instruments, in particular to a plant height measuring device based on visual processing and a method thereof. BACKGROUND

[0002] Plant height is an important indicator of crop growth. On the one hand, field managers need to know the growth status of plants in time and accurately, and take appropriate measures to ensure the healthy growth of plants. On the other hand, in the process of crop breeding, it is necessary to obtain phenotypic information such as plant height, and to associate it with genetic information, to provide a reference for cultivating crops with outstanding phenotypes. At present, the measurement method of plant height is mainly manual measurement. The measurement tools mainly include straight scale, folding tape and the like. The measurement process is cumbersome, inconvenient to carry and low in efficiency. Especially when the plant height is higher than the height of the measurer, it is difficult to read the data and a large error is generated.

[0003] Chinese patent CN105737740B discloses a plant height field measurement device and method, which comprises a truss sliding module connected with a truss, a camera arranged on the truss sliding module, a lifting guide column connected with the truss sliding module at one end, a lifting motor arranged on the truss sliding module, and a plant height measurement module in which the lifting guide column is arranged, and the plant height measurement module is connected with the lifting motor through a transmission rope.

[0004] However, the above-mentioned patent still has the following defects: if no marking function is provided, the data is confused, when multiple plants are measured continuously, it is difficult to distinguish between measured and unmeasured plants, which may lead to repeated measurement or missed measurement, especially when the plant morphology is similar, and it is difficult to track subsequently, if the same plant needs to be monitored for a long time, the lack of marking will make it difficult to locate the target plant.

[0005] Therefore, it is urgent to improve the measuring device to solve the above-mentioned problems. SUMMARY

[0006] The purpose of the present application is to provide a plant height measuring device based on visual processing and a method thereof, which adopts non-contact measurement, avoids mechanical clamping damage to plants by airflow folding, is especially suitable for fragile crops, the position of the spray pipe can be adjusted to adapt to different plant types and complex field environments, and during the measurement process, the measurement and marking are synchronized through mechanical linkage, the data management efficiency is improved, the one-key measurement and marking process is realized, and after the user starts the driving motor, the measuring equipment automatically lifts, straightens the plant, calculates the plant height, and triggers the marking mechanism to spray after reaching the position, without manual intervention throughout the process.

[0007] In order to achieve the above object, the main technical scheme of the present application comprises: a plant height measuring device based on visual processing, comprising a lifting guide column for guiding the measuring device, a support assembly arranged between the measuring device and the lifting guide column, a marking mechanism arranged on the support assembly for use with the measuring device, and a driving mechanism arranged on the lifting guide column for lifting the measuring device.

[0008] The measuring device is composed of a folding structure, a gas conveying assembly, an impeller, and a measuring module, wherein the folding structure comprises an annular seat, the inside of the annular seat is provided with a nozzle connected with the gas conveying assembly, and the upper side of the annular seat is provided with an adjusting structure for adjusting the nozzle.

[0009] The marking mechanism comprises a liquid storage tank fixed to the support assembly, a liquid conveying structure, and an output pipe fixed to the bottom side of the annular seat, the liquid storage tank is provided with a linkage structure for use with the driving mechanism, and the side wall of the lifting guide column is fixed with an adjusting plate for use with the linkage structure.

[0010] The linkage structure is composed of a toothed plate, a gear, an L-shaped rod, and a roller, the roller bearing is installed at one end of the L-shaped rod, the inside of the adjusting plate is provided with a wave-shaped sliding groove matched with the roller, and the outer surface of the roller is in rolling connection with the inner wall of the wave-shaped sliding groove.

[0011] Preferably, the support assembly comprises a support table, one side of the support table is welded with a sliding sleeve, and the sliding sleeve is slidingly sleeved on the outer surface of the lifting guide column.

[0012] Preferably, the side of the support table away from the sliding sleeve is fixed with the outer surface of the annular seat, the nozzle is composed of two expansion pipes and a telescopic throat pipe fixed between the two expansion pipes, and the two expansion pipes are arranged in a horn shape.

[0013] Preferably, the end of the expansion pipe close to the outside of the annular seat is connected with the gas conveying assembly, the gas conveying assembly comprises a gas conveying pipe and a communication pipe fixed to the outer surface of the annular seat, the impeller is arranged on the top side of the lifting guide column, the top side of the lifting guide column is provided with a working cavity matched with the impeller, and the two ends of the gas conveying pipe are respectively communicated with the communication pipe and the working cavity.

[0014] Preferably, the adjusting structure comprises a lifting table arranged above the annular seat, a connecting piece connected with the telescopic throat pipe is slidingly arranged in the inside of the annular seat, an adjusting arm is hinged between the connecting piece and the lifting table, a rotating sleeve is rotatably installed on the top side of the annular seat, and a lifting sleeve threadedly matched with the rotating sleeve is rotatably installed on the bottom side of the lifting table.

[0015] Preferably, the lifting sleeve and the rotating sleeve are hollow, the lifting platform and the annular seat are internally provided with coaxially arranged through holes, the annular seat is internally provided with a mounting hole and a communication groove, the mounting hole and the communication groove are open to the outside, the top side of the communication groove is communicated with the mounting hole, and the expansion pipe close to the outside of the annular seat is fixed in the mounting hole.

[0016] Preferably, the connecting piece comprises a connecting rod slidingly arranged in the communication groove, the outer surface of the connecting rod is fixed with a connecting block connected with the telescopic throat pipe through bolts, and the measuring module is detachably mounted on the outside of the annular seat.

[0017] Preferably, the driving mechanism comprises a support seat fixed to the top side of the lifting guide column, a rotating shaft is bearing-mounted on one side of the support seat, spline-fixed wire wheels are arranged at the left and right ends of the rotating shaft, wires are wound around the outer surfaces of the wire wheels, and connecting ears fixed to the outer surfaces of the sliding sleeves are arranged at the bottom ends of the two wires.

[0018] The driving mechanism further comprises a driving motor fixed to the outer surface of the support seat, the driving motor is a double-shaft motor, one output shaft of the driving motor is fixed with a worm, the other output shaft is fixed with an impeller, and the outer surface of the rotating shaft is fixed with a worm wheel engaged with the worm.

[0019] Preferably, the infusion structure comprises a piston cylinder fixed to the bottom side of the support table, two check valves are fixed in communication with the outer surface of the piston cylinder, infusion pipes are fixed to the ends of the two check valves, a plug rod extending to the outside of the check valve is arranged in the check valve, an abutting block is fixed to the bottom end of the plug rod, and a return spring is fixed between the abutting block and the piston cylinder.

[0020] The two infusion pipes are fixed in communication with the output pipe and the liquid storage tank, respectively, a stirring rod is bearing-mounted in the liquid storage tank, the gear is fixed to one end of the stirring rod, a limiting seat limiting the gear plate is fixed to the outer surface of the liquid storage tank, one end of the L-shaped rod away from the roller is fixed to the side wall of the gear plate, and the gear plate is engaged with the gear.

[0021] Another technical problem to be solved by the application is to provide a plant height measurement method based on visual processing, comprising the following steps:

[0022] S1, positioning the plant, the device moves to above the target plant along a preset path, the lifting guide column is lowered to make the measuring device close to the top of the plant;

[0023] S2, the nozzle sprays air flow to gather branches and leaves, the adjusting structure dynamically adjusts the direction of the air flow to ensure that the plant is vertical;

[0024] S3, the measuring module shoots images of the top and the base of the plant, and calculates the plant height through the following algorithm:

[0025] S3-1, top recognition: locate the highest point of the plant using color segmentation or deep learning models;

[0026] S3-2, base positioning: combine soil background features or pre-set root marker points;

[0027] S3-3, height conversion: calculate the plant height based on camera focal length, pixel ratio, and actual distance;

[0028] S4, after storing the plant height data, the linkage structure triggers the marking mechanism to identify the plant, avoiding repeated measurements.

[0029] The present application has at least the following beneficial effects:

[0030] 1. The present application uses non-contact measurement, avoids mechanical clamping damage to the plant by airflow collection, is especially suitable for fragile crops, and the spray pipe position can be adjusted to adapt to different plant types and complex field environments. During the measurement process, the measurement and marking are synchronized through mechanical linkage, improving data management efficiency.

[0031] 2. The horn-shaped expansion pipe of the spray pipe utilizes the conversion of fluid kinetic energy and pressure, and according to Bernoulli's principle, the airflow accelerates in the contraction section like a telescopic throat pipe, and diffuses in the expansion section, forming a ring-shaped airflow field. The plant branches and leaves are gathered towards the center by airflow pressure, not only reducing the interference of leaf inclination or shielding on visual recognition, ensuring that the measurement module accurately captures the plant feature points, but also adapting to different plant types by adjusting the angle of the spray pipe to optimize the airflow coverage range.

[0032] 3. The present application adjusts the overall shape of the spray pipe by changing the length of the telescopic throat pipe, making it adapt to plants of different heights and crown widths. By lengthening the telescopic throat pipe, the airflow injection point is closer to the top of the plant, ensuring that the branches and leaves are fully straightened. By shortening the telescopic throat pipe, it avoids excessive dispersion of airflow, and concentrates on the middle part of the plant, improving the straightening efficiency.

[0033] 4. When the support assembly is lifted, the rollers roll along the wave-shaped sliding groove of the adjusting plate, pushing the L-shaped rod to swing, driving the tooth plate to reciprocate, driving the gear to rotate, and the gear drives the stirring rod to rotate to prevent the marking liquid in the storage tank from precipitating. After the measurement device is displaced to the appropriate position, the plug rod is pushed, and the marking liquid is pumped to the output pipe through the delivery pipe and check valve, sprayed onto the plant to complete the marking, realizing a one-key measurement and marking process. After the user starts the drive motor, the measurement device automatically lifts, straightens the plant, calculates the plant height, and triggers the marking mechanism to spray after reaching the position, without manual intervention throughout the process. BRIEF DESCRIPTION OF DRAWINGS

[0034] The drawings described herein are intended to provide further understanding of the present application, form a part of the present application, and the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0035] Figure 1 is a perspective view of the overall structure of the present application;

[0036] Figure 2 is a structural schematic view of the support assembly of the present application;

[0037] Figure 3 is a structural schematic view of the measuring device of the present application;

[0038] Figure 4 is a structural sectional view of the folding structure of the present application;

[0039] Figure 5 is a structural schematic view of the nozzle of the present application;

[0040] Figure 6 is a structural schematic view of the driving structure of the present application

[0041] Figure 7 is a structural schematic view of the marking mechanism of the present application;

[0042] Figure 8 is a structural sectional view of the liquid storage tank of the present application;

[0043] Figure 9 is a structural schematic view of the present application Figure 2 is an enlarged structural schematic view of A shown.

[0044] In the drawings, 1 is a lifting guide column; 11 is an adjusting plate; 111 is a wavy chute; 2 is a support assembly; 21 is a support table; 22 is a sliding sleeve; 3 is a measuring device; 301 is a folding structure; 3011 is an annular seat; 3012 is a nozzle; 30121 is an expansion pipe; 30122 is a telescopic throat pipe; 3013 is a lifting table; 3014 is an adjusting arm; 3015 is a connecting rod; 3016 is a rotating sleeve; 3017 is a lifting sleeve; 3018 is a mounting hole; 3019 is a communication groove; 302 is a gas conveying pipe; 303 is an impeller; 304 is a communication pipe; 305 is a measuring module; 306 is a through hole; 307 is a connecting block; 4 is a driving mechanism; 401 is a support seat; 402 is a rotating shaft; 403 is a wire reel; 404 is a wire; 405 is a connecting lug; 406 is a driving motor; 407 is a worm; 408 is a worm wheel; 5 is a marking mechanism; 501 is a liquid storage tank; 502 is a liquid conveying structure; 5021 is a piston cylinder; 5022 is a check valve; 5023 is a liquid conveying pipe; 5024 is a plug rod; 5025 is an abutting block; 5026 is a return spring; 503 is a stirring rod; 504 is a toothed plate; 505 is a gear; 506 is an L-shaped rod; 507 is a roller; and 508 is an output pipe. DETAILED DESCRIPTION

[0045] The technical solution of the present invention will be further described in detail below in conjunction with specific implementation methods.

[0046] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0047] like Figures 1-8 As shown, the plant height measuring device based on visual processing provided in this embodiment includes a lifting guide column 1 for guiding the measuring device 3, and a support assembly 2 is arranged between the measuring device 3 and the lifting guide column 1, wherein the support assembly 2 includes a support platform 21, and a sliding sleeve 22 is welded on one side of the support platform 21. The sliding sleeve 22 is slidably sleeved on the outer surface of the lifting guide column 1. When in use, the sliding sleeve 22 slides vertically along the lifting guide column 1 to realize the lifting and lowering guidance of the measuring device 3. The sliding connection between the sliding sleeve 22 and the lifting guide column 1 ensures that the measuring device 3 moves strictly in the vertical direction during the lifting process, reduces horizontal deviation, and makes the measuring module 305 of the measuring device 3 always aligned with the top of the plant, avoiding measurement errors caused by equipment tilt.

[0048] In order to realize plant height measurement, the measuring equipment 3 is composed of a folding structure 301, an air supply component, an impeller 303 and a measuring module 305, wherein the folding structure 301 includes an annular seat 3011, the interior of the annular seat 3011 is provided with a nozzle 3012 connected to the air supply component, and the upper part of the annular seat 3011 is provided with an adjustment structure for adjusting the nozzle 3012; specifically, the side of the support platform 21 away from the sliding sleeve 22 is fixed to the outer surface of the annular seat 3011, and the nozzle 3012 is composed of two expansion tubes 30121 and a telescopic throat 30122 fixed between the two expansion tubes 30121, wherein the two expansion tubes 30121 are trumpet-shaped in appearance. The adjustment mechanism includes a lifting platform 3013 positioned above an annular seat 3011. A connector slidably mounted within the annular seat 3011 connects to the telescopic throat 30122. An adjustment arm 3014 is hingedly connected to the connector and the lifting platform 3013. A rotating sleeve 3016 is rotatably mounted on the top side of the annular seat 3011, while a lifting sleeve 3017, threadedly engaged with the rotating sleeve 3016, is rotatably mounted on the bottom side of the lifting platform 3013. Rotating the rotating sleeve 3016, through the threaded engagement, drives the lifting sleeve 3017 axially, thereby driving the adjustment arm 3014 to adjust the length of the nozzle 3012.

[0049] The end of the expansion pipe 30121 close to the outside of the annular seat 3011 is connected with the gas conveying assembly, the gas conveying assembly includes a gas conveying pipe 302 and a communication pipe 304 fixed to the outer surface of the annular seat 3011, the impeller 303 is arranged on the top side of the lifting guide column 1, and the top side of the lifting guide column 1 is provided with a working cavity matched with the impeller 303, and the two ends of the gas conveying pipe 302 are respectively communicated with the communication pipe 304 and the working cavity. Specifically, the number of the spray pipes 3012, the adjusting arms 3014 and the connecting rods 3015 is at least four. The four spray pipes 3012 are evenly distributed in a ring shape, uniformly spray air flow to the surrounding of the plant through the trumpet-shaped expansion pipe 30121, and form a surrounding pressure field, so that the stems and leaves are gathered to the center from multiple directions. Compared with single-sided or double-sided air flow, the natural inclination of the plant can be more effectively corrected;

[0050] In addition, by changing the length of the telescopic throat pipe 30122, the overall shape of the spray pipe 3012 is adjusted to adapt to plants of different heights and crown widths. By lengthening the telescopic throat pipe 30122, the air flow injection point is closer to the top of the plant, ensuring that the branches and leaves are fully straightened. By shortening the telescopic throat pipe 30122, the air flow is prevented from being excessively dispersed, and the straightening efficiency is improved by concentrating on the middle part of the plant. When the telescopic throat pipe 30122 is long, the air flow speed increases and the pressure decreases, forming a concentrated air flow beam, which is suitable for plants with dense branches and leaves.

[0051] When the telescopic throat pipe 30122 is short, the air flow speed decreases and the pressure increases, forming a diffused air flow field, which is suitable for plants with sparse branches and leaves, ensuring that the air flow uniformly covers the top of the plant, reducing the incomplete straightening of branches and leaves caused by local air flow shortage, and improving the identification accuracy of the measurement module 305. In order to better straighten, a valve can also be arranged on the spray pipe 3012. The air flow is mild, reducing the interference of mechanical stimulation on plant physiological activities such as photosynthesis and hormone secretion, and ensuring that the measurement result reflects the true growth state.

[0052] In order to facilitate the plant to pass through the measurement device 3, the lifting sleeve 3017 and the rotating sleeve 3016 are both hollow, the inside of the lifting platform 3013 and the annular seat 3011 are both provided with coaxially arranged through holes 306, the inside of the annular seat 3011 is provided with a mounting hole 3018 and a communication groove 3019, the left and right ends of the mounting hole 3018 and the communication groove 3019 are both communicated with the outside, the top side of the communication groove 3019 is communicated with the mounting hole 3018, and the expansion pipe 30121 close to the outside of the annular seat 3011 is fixed in the inside of the mounting hole 3018.

[0053] The connecting piece comprises a connecting rod 3015 slidingly arranged in the communication groove 3019, an outer surface of the connecting rod 3015 is fixed with a connecting block 307 connected with the telescopic throat pipe 30122 through a bolt, and the measuring module 305 is detachably arranged outside the annular seat 3011. The measuring module 305 captures images of the top and root of the plant by a CCD camera, calculates the plant height through an image processing algorithm such as edge detection and feature point matching, and simultaneously integrates a laser ranging sensor to synchronously measure the actual distance from the top of the plant to the ground, thereby complementing the visual data to improve the accuracy.

[0054] In order to realize the displacement of the measuring device 3, the lifting guide column 1 is provided with a driving mechanism 4 for lifting the measuring device 3, the driving mechanism 4 comprises a support seat 401 fixed to the top side of the lifting guide column 1, a rotating shaft 402 is bearing-mounted on one side of the support seat 401, wire wheels 403 are fixedly arranged on the left and right ends of the rotating shaft 402 through a spline, the outer surfaces of the wire wheels 403 are wound with wires 404, and the bottom ends of the two wires 404 are provided with connecting ears 405 fixed to the outer surface of the sliding sleeve 22; wherein the driving mechanism 4 further comprises a driving motor 406 fixed to the outer surface of the support seat 401, the driving motor 406 is a double-shaft motor, one output shaft of the driving motor 406 is fixed with a worm 407, and the other output shaft is fixed with the impeller 303, and the outer surface of the rotating shaft 402 is fixed with a worm wheel 408 engaged with the worm 407. The driving motor 406 is a double-shaft motor, one end of the driving motor 406 drives the worm wheel 408 and the rotating shaft 402 through the worm 407, and the other end directly drives the impeller 303 to generate airflow. This design reduces the number of power sources, simplifies the transmission chain, improves the energy transmission efficiency, the engagement of the worm 407 and the worm wheel 408 has the characteristics of large transmission ratio and compact structure, can realize speed reduction and torque increase, ensures the stable rotation of the rotating shaft 402, and reduces the vibration in the lifting process.

[0055] Moreover, the wire wheels 403 are connected with the sliding sleeve 22 through the wires 404, and the flexible transmission characteristics of the steel wire rope or high-strength fiber rope are utilized to reduce the impact caused by rigid connection and realize the stable lifting of the measuring device 3.

[0056] In order to avoid repeated measurement, the support assembly 2 is provided with a marking mechanism 5 matched with the measuring device 3, the marking mechanism 5 comprises a liquid storage tank 501 fixed on the support assembly 2, a liquid conveying structure 502 and an output pipe 508 fixed on the bottom side of the annular seat 3011, the liquid storage tank 501 is provided with a linkage structure matched with the driving mechanism 4, and the side wall of the lifting guide column 1 is fixed with an adjusting plate 11 matched with the linkage structure; wherein the linkage structure is composed of a toothed plate 504, a gear 505, an L-shaped rod 506 and a roller 507, the roller 507 is bearing mounted on one end of the L-shaped rod 506, the inside of the adjusting plate 11 is provided with a wave-shaped sliding groove 111 matched with the roller 507, and the outer surface of the roller 507 is in rolling connection with the inner wall of the wave-shaped sliding groove 111. Specifically, the liquid conveying structure 502 comprises a piston cylinder 5021 fixed on the bottom side of the support table 21, the outer surface of the piston cylinder 5021 is fixedly connected with two check valves 5022, the two check valves 5022 are fixed with liquid conveying pipes 5023 away from one end, the inside of the check valve 5022 is provided with a plug rod 5024 extending to the outside, the bottom end of the plug rod 5024 is fixed with an abutting block 5025, and the abutting block 5025 and the piston cylinder 5021 are fixedly connected with a return spring 5026; when the support assembly 2 is lifted, the roller 507 rolls along the wave-shaped sliding groove 111 of the adjusting plate 11, the toothed plate 504 is driven to reciprocate through the L-shaped rod 506, the roller 507 climbs along the wave-shaped sliding groove 111, pushes the toothed plate 504 to move forward, drives the gear 505 to rotate, and drives the stirring rod 503 to prevent the marking liquid from precipitating.

[0057] In the embodiment, the two liquid conveying pipes 5023 are fixedly connected with the output pipe 508 and the liquid storage tank 501 respectively, the inside of the liquid storage tank 501 is bearing mounted with the stirring rod 503, the gear 505 is fixed on one end of the stirring rod 503, the outer surface of the liquid storage tank 501 is fixed with a limiting seat limiting the toothed plate 504, the end of the L-shaped rod 506 away from the roller 507 is fixed with the side wall of the toothed plate 504, and the toothed plate 504 is engaged with the gear 505. The gear 505 is coaxially connected with the stirring rod 503, and the stirring is driven by the kinetic energy of the lifting of the measuring device 3, without the need for an additional power source. It should be noted that after the user starts the driving motor 406, the measuring device 3 automatically lifts, rightens the plant, calculates the plant height, and triggers the marking mechanism 5 to spray after reaching the position, without manual intervention throughout the process, and the liquid storage tank 501 and the pipeline adopt corrosion-resistant materials such as PP or stainless steel, which are suitable for acidic and alkaline marking liquids.

[0058] Another technical problem to be solved by the present application is to provide a plant height measurement method based on visual processing, comprising the following steps:

[0059] S1, locate the plant, the device moves to the target plant above along the preset path, the lifting guide column 1 is lowered to make the measuring device 3 close to the top of the plant;

[0060] S2, the nozzle 3012 sprays the airflow to gather the branches and leaves, and the adjusting structure dynamically adjusts the airflow direction to ensure that the plant is vertical;

[0061] S3, the measurement module 305 captures the top and base images of the plant, and calculates the plant height through the following algorithm:

[0062] S3-1, top identification: using color segmentation or deep learning model to locate the highest point of the plant;

[0063] S3-2, base positioning: combining soil background features or preset root marker points;

[0064] S3-3, height conversion: according to the camera focal length, pixel ratio and actual distance, the displacement of the lifting guide column 1 calculates the plant height;

[0065] S4, after the plant height data is stored, the linkage structure triggers the marking mechanism 5 to mark the plant to avoid repeated measurement.

[0066] As shown in Figures 1-8 The principle of the plant height measuring device and method based on visual processing provided by the embodiment is as follows:

[0067] The driving motor 406 drives the rotating shaft 402 to rotate through the worm 407 and the worm gear 408, drives the wire reel 403 to wind and unwind the wire 404, controls the support assembly 2 to move up and down along the lifting guide column 1, makes the measuring device 3 reach above the plant, and another output shaft of the driving motor 406 directly drives the impeller 303 to rotate, and the airflow is transported to the nozzle 3012 through the gas conveying pipe 302 and the communication pipe 304;

[0068] The adjusting structure drives the lifting sleeve 3017 to rotate through the lifting platform 3013, drives the rotating sleeve 3016 to move in screw, thereby pulling the adjusting arm 3014 to adjust the length and angle of the telescopic throat pipe 30122, changes the airflow injection direction, adapts to plants of different plant types, and the horn-shaped expansion pipe 30121 of the nozzle 3012 directs the airflow to the plant stems and leaves, and the airflow pressure makes the plant branches and leaves gather to the center, reducing the inclination interference;

[0069] Through the image acquisition of the measurement module 305, after the plant is righted by the airflow, the CCD camera in the measurement module 305 captures the images of the top and root of the plant, and calculates the plant height through the image processing algorithm such as edge detection and feature point matching;

[0070] When the support assembly 2 is lifted, the roller 507 rolls along the wavy slide groove 111 of the adjusting plate 11, pushes the L-shaped rod 506 to swing, drives the toothed plate 504 to reciprocate, drives the gear 505 to rotate, the gear 505 drives the stirring rod 503 to rotate to prevent the marking liquid in the liquid tank 501 from precipitating, after the measuring device 3 is displaced to the appropriate position, the plug rod 5024 is pushed, the marking liquid is pumped to the output pipe 508 through the piston cylinder 5021 and the check valve 5022, sprayed on the plant to complete the marking.

[0071] As used in the specification and claims, certain terminology is used to refer to specific components. One of skill in the art will understand that different names can be used by hardware manufacturers to refer to the same component. The specification and claims do not differentiate components on the basis of difference in name but differentiate components on the basis of difference in functionality. As used throughout the specification and claims, "comprising" is to be read as "comprising, without limitation." "Approximately" means within an acceptable error range for the corresponding function, which those of skill in the art will understand.

[0072] The foregoing description illustrates and describes several preferred embodiments of the present application. However, it is to be understood that the application is not limited to the precise arrangements and instrumentalities described, as the same can, of course, be subjected to various changes, modifications and substitutions without departing from the spirit of the application. It is intended to cover by the appended claims all such changes and modifications that come within the scope of the application.

Claims

1. A vision processing based plant height measuring device, characterized by, The utility model provides a kind of lifting column (1) for guiding measuring device (3), supporting assembly (2) is arranged between measuring device (3) and lifting column (1), and marking mechanism (5) is arranged on supporting assembly (2) and is used in cooperation with measuring device (3), driving mechanism (4) is arranged on lifting column (1) and is used to lift measuring device (3); The measuring device (3) is composed of a retractable structure (301), a gas delivery assembly, an impeller (303), and a measurement module (305). The retractable structure (301) includes an annular seat (3011) with a nozzle (3012) connected to the gas delivery assembly inside. An adjustment structure is provided above the annular seat (3011) to adjust the nozzle (3012). The marking mechanism (5) includes a liquid storage tank (501) fixed to the supporting assembly (2), a liquid delivery structure (502), and an output pipe (508) fixed to the bottom side of the annular seat (3011). The liquid storage tank (501) is provided with a linkage structure for cooperation with the driving mechanism (4). An adjustment plate (11) is fixed to the side wall of the lifting column (1) for cooperation with the linkage structure. The linkage structure is composed of a toothed plate (504), a gear (505), an L-shaped rod (506), and a roller (507). The roller (507) is bearing-mounted to one end of the L-shaped rod (506). A wave-shaped sliding groove (111) is formed inside the adjustment plate (11) to match the roller (507). The outer surface of the roller (507) is in rolling connection with the inner wall of the wave-shaped sliding groove (111).

2. The vision processing based plant height measuring device according to claim 1, characterized in that: The supporting assembly (2) includes a support table (21) with a sliding sleeve (22) welded to one side. The sliding sleeve (22) is slidingly sleeved to the outer surface of the lifting column (1).

3. The vision processing based plant height measuring device according to claim 2, characterized in that: The side of the support table (21) away from the sliding sleeve (22) is fixed to the outer surface of the annular seat (3011). The nozzle (3012) is composed of two expansion pipes (30121) and a telescopic throat pipe (30122) fixed between the two expansion pipes (30121). The two expansion pipes (30121) are shaped like a trumpet.

4. The vision processing based plant height measuring device according to claim 3, characterized in that: The end of the expansion pipe (30121) near the outside of the annular seat (3011) is connected to the gas delivery assembly, which includes a gas delivery pipe (302) and a communication pipe (304) fixed to the outer surface of the annular seat (3011). The impeller (303) is arranged on the top side of the lifting column (1), and the top side of the lifting column (1) is provided with a working cavity matching the impeller (303). The two ends of the gas delivery pipe (302) are respectively in communication with the communication pipe (304) and the working cavity.

5. A vision processing based plant height measuring device as claimed in claim 4, wherein: The adjusting structure comprises a lifting platform (3013) arranged above a ring-shaped seat (3011), an inner part of the ring-shaped seat (3011) is slidably provided with a connecting piece connected with a telescopic throat pipe (30122), an adjusting arm (3014) is hinged between the connecting piece and the lifting platform (3013), a top side of the ring-shaped seat (3011) is rotatably provided with a rotating sleeve (3016), and a bottom side of the lifting platform (3013) is rotatably provided with a lifting sleeve (3017) threadedly matched with the rotating sleeve (3016).

6. The vision processing based plant height measuring device according to claim 5, characterized in that: The lifting sleeve (3017) and the rotating sleeve (3016) are both hollow, the lifting platform (3013) and the ring-shaped seat (3011) are both provided with coaxially arranged through holes (306), the ring-shaped seat (3011) is provided with a mounting hole (3018) and a communication groove (3019), left and right ends of the mounting hole (3018) and the communication groove (3019) are both communicated with the outside, the top side of the communication groove (3019) is communicated with the mounting hole (3018), and the expansion pipe (30121) close to the outside of the ring-shaped seat (3011) is fixed in the mounting hole (3018).

7. A vision processing based plant height measuring device as claimed in claim 6, wherein: The connecting piece comprises a connecting rod (3015) slidably arranged in the communication groove (3019), the outer surface of the connecting rod (3015) is fixedly provided with a connecting block (307) connected with the telescopic throat pipe (30122) through bolts, and the measuring module (305) is detachably arranged outside the ring-shaped seat (3011).

8. The vision processing based plant height measuring device according to claim 2, wherein: The driving mechanism (4) comprises a supporting seat (401) fixed to the top side of the lifting guide column (1), a rotating shaft (402) is bearing-mounted on one side of the supporting seat (401), left and right ends of the rotating shaft (402) are both fixedly provided with wire wheels (403) through splines, the outer surfaces of the wire wheels (403) are both wound with wires (404), and bottom ends of the two wires (404) are both fixedly provided with connecting ears (405) fixed to the outer surface of the sliding sleeve (22). The driving mechanism (4) further comprises a driving motor (406) fixed to the outer surface of the supporting seat (401), the driving motor (406) is a double-shaft motor, one output shaft of the driving motor (406) is fixedly provided with a worm (407), the other output shaft is fixedly provided with the impeller (303), and the outer surface of the rotating shaft (402) is fixedly provided with a worm wheel (408) engaged with the worm (407).

9. The vision processing based plant height measuring device according to claim 2, wherein: The infusion structure (502) comprises a piston cylinder (5021) fixed to the bottom side of the supporting table (21), the outer surface of the piston cylinder (5021) is fixedly and continuously provided with two check valves (5022), one end of each of the two check valves (5022) is fixedly provided with an infusion pipe (5023), the inner part of the check valve (5022) is provided with a plug rod (5024) extending to the outside, the bottom end of the plug rod (5024) is fixedly provided with an abutting block (5025), and the abutting block (5025) and the piston cylinder (5021) are fixedly provided with a return spring (5026). Two said infusion tube (5023) are respectively with output pipe (508) and liquid tank (501) fixed communication, bearing installation has stirring rod (503) in the inside of liquid tank (501), gear (505) is fixed to one end of stirring rod (503), the outer surface of liquid tank (501) is fixed with the limiting seat of gear plate (504) limiting, the one end of L-shaped rod (506) is away from the fixed of gear plate (504) side wall with roller (507), gear plate (504) is engaged with gear (505).

10. A method for measuring plant height based on visual processing, characterized by, The plant height measuring device based on visual processing comprises the following steps: S1, positioning the plant, the device moves to the target plant above the preset path, the lifting column (1) is lowered to make the measuring equipment (3) close to the top of the plant; S2, the nozzle (3012) sprays air flow to gather branches and leaves, and the structure dynamically adjusts the direction of the air flow to ensure that the plant is vertical; S3, the measuring module (305) shoots the top and base images of the plant, and calculates the plant height by the following algorithm: S3-1, top identification: locate the highest point of the plant using color segmentation or deep learning model; S3-2, base positioning: combine the soil background features or the preset root marker point; S3-3, height conversion: calculate the plant height according to the camera focal length, pixel ratio and actual distance, and the displacement of the lifting column; S4, after storing the plant height data, the linkage structure triggers the marking mechanism (5) to mark the plant to avoid repeated measurement.

Images