A canopy layer porosity measurement device and method based on multi-sensor fusion

Abstract

The present invention relates to a canopy layer porosity measurement device and method based on multi-sensor fusion, which comprises a frame, an upper adjustment mechanism, a lower adjustment mechanism, a distance measuring mechanism, a cutting mechanism, a walking mechanism and a control system. The upper adjustment mechanism and the distance measuring mechanism are used to provide accurate planar motion in the measurement area and measure the distance and image information of the canopy branches and leaves; the lower adjustment mechanism and the cutting mechanism are used to cut the upper canopy branches and leaves in the measurement area; the walking mechanism is used for the walking of the measuring device; and the control system is used to control the sensor information collection and motion control. The present invention can realize the efficient measurement of multiple sensor information of the plant canopy layer porosity, and has the advantages of simultaneously collecting multiple information, short measurement time and high degree of automation.

Description

Technical Field

[0001] The present invention belongs to the technical field of plant protection, and relates to a canopy layer porosity measurement device and a measurement method based on multi-sensor fusion, which realizes efficient measurement of various sensor information of plant canopy layer porosity, and has the advantages of simultaneously collecting multiple information, short measurement time, and high degree of automation. Technical Background

[0002] In the middle and late stages of plant canopy growth, a high canopy density is easily formed, which will cause the droplet deposition attenuation phenomenon during spraying, seriously affecting the prevention effect. The liquid medicine penetrates through the pores between the branches and leaves inside the canopy of the plant from top to bottom and deposits on each layer of leaves. Therefore, the premise of liquid medicine deposition inside the plant is liquid medicine penetration. Studying the distribution and size of pores inside the canopy of the plant is of great significance to studying the deposition of liquid medicine on branches and leaves.

[0003] After searching the literature on the prior art, it was found that the Chinese invention patent "A device and method for measuring the porosity of a plant group canopy" with patent application number 201710478499.0 uses laser to measure porosity. This measurement method needs to be improved in the following aspects: ① The laser used in the device for measuring the porosity of a plant group canopy measures a small number of points each time, and the measurement takes a long time; ② Multiple layers of porosity data are required, manual pruning is required, and the degree of automation is low; ③ There is only one type of distance information based on laser points, and there is a lack of distance information and image information of small-range surface reflection.

[0004] In view of the shortcomings of existing stratified porosity measurement devices, there is an urgent need to invent a canopy stratified porosity measurement device and measurement method based on multi-sensor fusion to shorten the measurement time, improve the degree of automation, and realize efficient measurement of multiple sensor information of plant canopy stratified porosity. Summary of the invention

[0005] In view of the shortcomings of the above-mentioned plant canopy layer porosity measurement technology, the present invention provides a canopy layer porosity measurement device and measurement method based on multi-sensor fusion, which can realize efficient measurement of various sensor information of plant canopy layer porosity.

[0006] The invention relates to a canopy layer porosity measuring device based on multi-sensor fusion, which is characterized by comprising a frame, an upper layer adjustment mechanism, a lower layer adjustment mechanism, a distance measuring mechanism, a cutting mechanism, a walking mechanism and a control system.

[0007] The upper adjustment mechanism includes an upper X-direction linear guide module and an upper Y-direction linear guide module; the upper X-direction linear guide module is fixed to the upper surface of the two beams in the X direction of the frame by bolts; the upper Y-direction linear guide module is fixed to the upper surface of the slider of the upper X-direction linear guide module by bolts and is kept perpendicular to the upper X-direction linear guide module. The upper adjustment mechanism can drive the distance measuring mechanism to realize the movement of the two-dimensional plane.

[0008] The lower adjustment mechanism includes a lower X-direction linear guide module, a lower Y-direction linear guide module, and a Z-direction linear guide module; the lower X-direction linear guide module is fixed to the upper surface of two beams in the X direction of the frame by bolts, and the two beams are fixed to the front and rear slide bars by bolts, and move up and down with the slider of the Z-direction linear guide module; the lower Y-direction linear guide module is fixed to the upper surface of the slider of the lower X-direction linear guide module by bolts, and is kept perpendicular to the lower X-direction linear guide module; the Z-direction linear guide module is fixed to the rectangular parallelepiped hole in the front half of the frame by bolts, and is perpendicular to the lower X-direction linear guide module and the lower Y-direction linear guide module. The lower adjustment mechanism can drive the cutting mechanism to realize the movement of the tool in three dimensions.

[0009] The ranging mechanism includes a fixed bracket, a laser radar, a camera, and an ultrasonic wave; the fixed bracket is an I-shaped structure, which is fixed to the side of the upper Y-direction linear guide module slider by bolts; the laser radar can be a solid-state laser radar that meets the working conditions, and the laser radar, camera, and ultrasonic wave are respectively fixed to the surface of the fixed bracket by bolts and are perpendicular to the XY horizontal plane.

[0010] The cutting mechanism comprises a tool and a tool sleeve; the tool is fixed on the slider of the lower Y-direction linear guide module by bolts, and the tool sleeve is used to guide the cutting of the tool, prevent chips from flying around, and play a guiding and protective role.

[0011] The walking mechanism includes traveling wheels, universal wheels, a reduction motor, a traveling wheel support, and a universal wheel support; there are two traveling wheels, which are symmetrically fixed to the rear half of the frame through the traveling wheel supports, and serve as the driving wheel assembly for the plant group canopy porosity measuring device to move; there are two universal wheels, which are symmetrically fixed to the front half of the frame through the universal wheel supports, and realize the steering of the plant group canopy porosity measuring device during walking.

[0012] The control system includes a control box, a stepper motor, a reduction motor, an upper X-direction linear guide module, an upper Y-direction linear guide module, a lower X-direction linear guide module, a lower Y-direction linear guide module, a Z-direction linear guide module, a laser radar, a camera, an ultrasonic wave, a tool, and a power supply; the control box includes a controller, an upper X-positioning switch, an upper Y-positioning switch, a lower X-positioning switch, a lower Y-positioning switch, a button, an OLED display, a Bluetooth module, and a motor driver, which is fixed on a frame and mainly realizes functions such as porosity calculation, motor control, communication, input control, and initial positioning of a slider; the controller can be composed of other devices with equivalent processing capabilities such as a single-chip microcomputer, a microprocessor, an industrial computer, and an I / O drive interface circuit; the motor driver selects different types of AC and DC motor drivers, stepper motor drivers, servo motor drivers, etc. according to the type of motor, receives a control signal sent by the controller, and drives the motor to rotate; the Bluetooth module can realize that the laser radar transmits data to the controller over a long distance; the power supply supplies power to the control system. The buttons are used to input the scanning range to realize human-computer interaction. The display screen is used to display the status of each control element of the controller and the results of the measurement data. The positioning switch uses the limit switch to locate the starting point of the X-direction linear guide module and the Y-direction linear guide module.

[0013] The present invention also provides a method for measuring the canopy layer porosity based on multi-sensor fusion, which is characterized by the following steps:

[0014] 1) The frame spans over the plants, and the traveling mechanism drives the frame to move above the target crop; during this process, the slider on the X-direction linear guide module and the slider on the Y-direction linear guide module return to the positioning point;

[0015] 2) Input the length × width (a × b) value of the measurement area, the number of scans in the Y direction (m), and the number of scans in the X direction (n) into the control system through the buttons.

[0016] 3) After pressing the start scan button, the slider on the upper X-direction linear guide module moves from the target starting point each time The slider on the upper Y-direction linear guide module drives the laser radar, camera, and ultrasonic The blades are measured at a given angle range at the pitch points.

[0017] 4) After the Y-direction calculation is completed, the upper X-direction linear guide module slider drives the upper Y-direction linear guide module to move forward distance.

[0018] 5) Repeat steps 3 and 4 until the target end point is reached. The meter will automatically reset after the measurement is completed.

[0019] 6) Input the height of the lower layer of leaves, press the start cutting button, control the movement of the guide rail module in the XYZ direction, and the tool automatically cuts off the upper layer of leaves. Repeat steps 3, 4, and 5 to measure the lower layer of leaves;

[0020] 7) Set the height W of the laser radar and ultrasonic wave from each layer of blades, the angle β and distance L in the data of each point of the laser radar, that is, the height of the blade measured by laser is H = L × cosβ, and the height of the blade measured by ultrasonic wave is d. Each time the camera takes a photo, it is cropped to the area of ​​the center of the real scene where the camera is measuring. On each XY plane, take the m×n data of laser radar and ultrasonic wave, take the m×n area of ​​camera, and express them with a matrix respectively.

[0021] 8) Calculate the porosity of each layer of LiDAR [x] is the floor rounding function. Calculate the porosity of each layer by ultrasonic [x] is the floor function.

[0022] 9) The control system outputs the collected data (H, D, Z) and the calculated porosity values ​​(P1, P2).

[0023] The beneficial effects of the present invention are:

[0024] 1. The present invention realizes efficient measurement of multiple sensing information of plant canopy layer porosity;

[0025] 2. The present invention has the advantages of simultaneously collecting multiple information, short measuring time and high degree of automation;

[0026] 3. The present invention can simultaneously scan and image the three-dimensional structure of branches and leaves inside the plant canopy; BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Axial view of a canopy layer porosity measurement device based on multi-sensor fusion

[0028] Figure 2 A canopy layer porosity measurement device based on multi-sensor fusion

[0029] Figure 3 A top view of a canopy layer porosity measurement device based on multi-sensor fusion.

[0030] Figure 4 This is a control system diagram of a canopy layer porosity measurement device based on multi-sensor fusion.

[0031] In the figure:

[0032] 1. Upper X-direction linear guide module 2. Upper Y-direction linear guide module 3. Lower X-direction linear guide module 4. Lower Y-direction linear guide module 5. Tool sleeve 6. Frame 7. Slide bar 8. Reducer motor 9. Travel wheel support 10. Travel wheel 11. Universal wheel 12. Universal wheel support 13. Z-direction linear guide module 14. Stepper motor 15. Lower X-positioning switch 16. Camera 17. Upper X-positioning switch 18. LiDAR 19. Lower Y-positioning switch 20. Upper Y-positioning switch 21. Ultrasonic 22. Fixed bracket 23. Tool. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with the accompanying drawings. Figure 1 , 2 , 3. The present invention provides a canopy layer porosity measurement device based on multi-sensor fusion, characterized in that it comprises a frame (6), an upper layer adjustment mechanism, a lower layer adjustment mechanism, a distance measurement mechanism, a cutting mechanism, a walking mechanism and a control system.

[0034] The upper adjustment mechanism comprises an upper X-direction linear guide module (1) and an upper Y-direction linear guide module (2); the upper X-direction linear guide module (1) is fixed to the upper surfaces of two beams in the X direction of the frame by bolts; the upper Y-direction linear guide module (2) is fixed to the upper surface of the slider of the upper X-direction linear guide module (1) by bolts, and is kept perpendicular to the upper X-direction linear guide module (1). The upper adjustment mechanism can drive the distance measuring mechanism to realize the movement of the two-dimensional plane.

[0035] The lower adjustment mechanism comprises a lower X-direction linear guide module (3), a lower Y-direction linear guide module (4), and a Z-direction linear guide module (13); the lower X-direction linear guide module (3) is fixed to the upper surface of two beams in the X direction of the frame by bolts, and the two beams are fixed to the front and rear slide bars by bolts, and move up and down with the slider of the Z-direction linear guide module (13); the lower Y-direction linear guide module (4) is fixed to the upper surface of the slider of the lower X-direction linear guide module (3) by bolts, and is kept perpendicular to the lower X-direction linear guide module (3); the Z-direction linear guide module (13) is fixed to the rectangular parallelepiped hole of the front half of the frame by bolts, and is perpendicular to the lower X-direction linear guide module (3) and the lower Y-direction linear guide module (4). The lower adjustment mechanism can drive the cutting mechanism to realize the movement of the tool in three dimensions.

[0036] The distance measuring mechanism comprises a fixed bracket (22), a laser radar (18), a camera (16), and an ultrasonic wave (21); the fixed bracket (22) is an I-shaped structure, and is fixed to the side of a slider of an upper Y-direction linear guide module (2) by bolts; the laser radar (18) can be a solid-state laser radar that meets working conditions, and the laser radar (18), the camera (16), and the ultrasonic wave (21) are respectively fixed to the surface of the fixed bracket by bolts and are perpendicular to the XY horizontal plane.

[0037] The cutting mechanism comprises a tool (23) and a tool sleeve (5); the tool (23) is fixed on a lower Y-direction linear guide module slider (4) by bolts, and the tool sleeve (5) is used to guide the cutting of the tool (23) and prevent chips from flying around, thus playing a guiding and protective role.

[0038] The walking mechanism comprises a traveling wheel (10), a universal wheel (11), a reduction motor (8), a traveling wheel support (9), and a universal wheel support (12); the traveling wheel (10) is two in number, and is symmetrically fixed to the rear half of the frame (6) through the traveling wheel support (9) respectively, serving as a driving wheel assembly for the plant group canopy porosity measuring device to move; the universal wheel (11) is two in number, and is symmetrically fixed to the front half of the frame through the universal wheel support (12) respectively, realizing steering during the walking process of the plant group canopy porosity measuring device.

[0039] The control system comprises a control box, a stepper motor (14), a reduction motor (8), an upper X-direction linear guide module (1), an upper Y-direction linear guide module (2), a lower X-direction linear guide module (3), a lower Y-direction linear guide module (4), a Z-direction linear guide module (13), a laser radar (18), a camera (16), an ultrasonic wave (21), a tool, and a power supply; the control box comprises a controller, an upper X-positioning switch (17), an upper Y-positioning switch (20), a lower X-positioning switch (15), a lower Y-positioning switch (19), a button, an OLED display The display screen, Bluetooth module, and motor driver are fixed on the frame, and mainly realize functions such as porosity calculation, motor control, communication, input control, and the initial positioning of the slider; the controller can be composed of other devices with equivalent processing capabilities such as single-chip microcomputers, microprocessors, industrial computers, and I / O drive interface circuits; the motor driver uses different types of AC and DC motor drivers, stepper motor drivers, servo motor drivers, etc. according to the type of motor, receives the control signal sent by the controller, and drives the motor to rotate; the Bluetooth module can realize the long-distance data transmission of the laser radar to the controller; the power supply supplies power to the control system. The buttons are used to input the scanning range to realize human-computer interaction. The display screen is used to display the status of each control element of the controller and the results of the measurement data. The positioning switch uses a limit switch to locate the starting point of the X-direction linear guide module and the Y-direction linear guide module.

[0040] The present invention also provides a method for measuring the canopy layer porosity based on multi-sensor fusion, the steps of which are as follows:

[0041] 1) The frame (6) is placed across the top of the plant, and the travel mechanism drives the frame to move above the target crop; during this process, the sliders on the X-direction linear guide module (1) (3) and the sliders on the Y-direction linear guide module (2) (4) return to the positioning point;

[0042] 2) Input the length × width (a × b) value of the measurement area, the number of scans in the Y direction (m), and the number of scans in the X direction (n) into the control system through the buttons;

[0043] 3) After pressing the start scan button, the slider on the upper X-direction linear guide module (1) moves from the target starting point each time. The slider on the upper Y-direction linear guide module (2) drives the laser radar (18), the camera (16), and the ultrasonic wave (21) to move at intervals of The blades of a given angle range are measured at the pitch point;

[0044] 4) After the Y-direction calculation is completed, the slider of the upper X-direction linear guide module (1) drives the upper Y-direction linear guide module (2) to move forward by a certain length. distance;

[0045] 5) Repeat steps 3 and 4 until the target end point, and the system will automatically reset after the measurement is completed;

[0046] 6) Input the height of the lower layer of leaves, press the start cutting button, control the movement of the guide rail module in the XYZ direction (3) (4) (13), and the tool automatically cuts off the upper layer of leaves. Repeat steps 3, 4, and 5 to measure the lower layer of leaves;

[0047] 7) Set the height W of the laser radar and ultrasonic wave from each layer of blades, the angle β and distance L in the data of each point of the laser radar, that is, the height of the blade measured by laser is H = L × cosβ, and the height of the blade measured by ultrasonic wave is d. Each time the camera takes a photo, it is cropped to the area of ​​the center of the real scene where the camera is measuring. On each XY plane, take the m×n data of laser radar and ultrasonic wave, take the m×n area of ​​camera, and express them with a matrix respectively.

[0048] 8) Calculate the porosity of each layer of LiDAR [x] is the floor rounding function. Calculate the porosity of each layer by ultrasonic [x] is the floor function.

[0049] 9) The control system outputs the collected data (H, D, Z) and the calculated porosity values ​​(P1, P2).

Claims

1. A canopy layer porosity measurement device based on multi-sensor fusion, characterized in that: It consists of a frame, an upper adjustment mechanism, a lower adjustment mechanism, a distance measuring mechanism, a cutting mechanism, a walking mechanism and a control system; The upper adjustment mechanism includes an upper X-direction linear guide module and an upper Y-direction linear guide module; the upper X-direction linear guide module is fixed to the upper surface of the two beams in the X direction of the frame by bolts; the upper Y-direction linear guide module is fixed to the upper surface of the slider of the upper X-direction linear guide module by bolts, and is kept perpendicular to the upper X-direction linear guide module; the upper adjustment mechanism can drive the distance measuring mechanism to realize the movement of the two-dimensional plane; The lower adjustment mechanism comprises a lower X-direction linear guide module, a lower Y-direction linear guide module, and a Z-direction linear guide module; the lower X-direction linear guide module is fixed to the upper surface of two beams in the X direction of the frame by bolts, and the two beams are fixed to the front and rear two slide bars by bolts, and move up and down with the slider of the Z-direction linear guide module; the lower Y-direction linear guide module is fixed to the upper surface of the slider of the lower X-direction linear guide module by bolts, and is kept perpendicular to the lower X-direction linear guide module; the Z-direction linear guide module is fixed in the rectangular parallelepiped hole of the front half of the frame by bolts, and is perpendicular to the lower X-direction linear guide module and the lower Y-direction linear guide module; the lower adjustment mechanism can drive the cutting mechanism to realize the movement of the tool in three dimensions; The distance measuring mechanism includes a fixed bracket, a laser radar, a camera, and an ultrasonic wave; the fixed bracket is an I-shaped structure, and is fixed to the side of the slider of the upper Y-direction linear guide module by bolts; the laser radar can be a solid-state laser radar that meets the working conditions, and the laser radar, camera, and ultrasonic wave are respectively fixed to the surface of the fixed bracket by bolts and are perpendicular to the XY horizontal plane; The cutting mechanism includes a tool and a tool sleeve; the tool is fixed to the slider of the lower Y-direction linear guide module by bolts, and the tool sleeve is used to guide the cutting of the tool, prevent chips from flying around, and play a guiding and protective role; The walking mechanism includes a traveling wheel, a universal wheel, a reduction motor, a traveling wheel support, and a universal wheel support; the traveling wheels are two, which are symmetrically fixed to the rear half of the frame through the traveling wheel supports, and serve as a driving wheel assembly for the plant group canopy porosity measuring device to travel; the universal wheels are two, which are symmetrically fixed to the front half of the frame through the universal wheel supports, and realize the steering of the plant group canopy porosity measuring device during travel; The control system includes a control box, a stepper motor, a reduction motor, an upper X-direction linear guide module, an upper Y-direction linear guide module, a lower X-direction linear guide module, a lower Y-direction linear guide module, a Z-direction linear guide module, a laser radar, a camera, an ultrasonic wave, a tool, and a power supply; the control box includes a controller, an upper X-positioning switch, an upper Y-positioning switch, a lower X-positioning switch, a lower Y-positioning switch, a button, an OLED display, a Bluetooth module, and a motor driver, which are fixed on the frame and mainly realize the porosity calculation, motor control, communication, input control, and the initial positioning function of the slider; the controller can be composed of a single chip The control system is composed of a computer, a microprocessor, an industrial computer and an I / O drive interface circuit; the motor driver selects different types of AC and DC motor drivers, stepper motor drivers and servo motor drivers according to the motor type, receives the control signal sent by the controller, and drives the motor to rotate; the Bluetooth module can realize the laser radar to transmit data to the controller over a long distance; the power supply supplies power to the control system; the button is used to input the scanning range to realize human-computer interaction; the display screen is used to display the status of each control element of the controller and the result of the measurement data; the positioning switch uses a limit switch to locate the starting point of the X-direction linear guide module and the Y-direction linear guide module.

2. The method for measuring canopy layer porosity based on multi-sensor fusion according to claim 1, characterized in that: Here are the steps: 1) The frame spans over the plants, and the traveling mechanism drives the frame to move above the target crop; during this process, the slider on the X-direction linear guide module and the slider on the Y-direction linear guide module return to the positioning point; 2) Input the length a×width b value of the measurement area, the number of scans in the Y direction m, and the number of scans in the X direction n into the control system through the key; 3) After pressing the start scan button, the slider on the upper X-direction linear guide module moves from the target starting point each time The slider on the upper Y-direction linear guide module drives the laser radar, camera, and ultrasonic The blades of a given angle range are measured at the spacing points; 4) After the Y-direction calculation is completed, the upper X-direction linear guide module slider drives the upper Y-direction linear guide module to move forward distance; 5) Repeat steps 3 and 4 until the target endpoint, and the system will automatically reset after the measurement is completed; 6) Input the height of the lower layer of leaves, press the start cutting button, control the movement of the guide rail module in the XYZ direction, and the tool automatically cuts off the upper layer of leaves. Repeat steps 3, 4, and 5 to measure the lower layer of leaves; 7) Set the height W of the laser radar and ultrasonic wave from each layer of blades, the angle β and distance L in the data of each point of the laser radar, that is, the height of the blade measured by the laser is H = L × cosβ, the height of the blade measured by the ultrasonic wave is d, and each photo taken by the camera is cropped to the area of ​​the center of the real scene where the camera is measuring On each XY plane, take the m×n data of laser radar and ultrasonic wave, take the m×n area of ​​camera, and express them with a matrix respectively. 8) Calculate the porosity of each layer of LiDAR [x] is the floor function; Calculate the porosity of each layer by ultrasonic [x] is the floor function; 9) The control system outputs the collected data H, D, Z and the calculated porosity values ​​P1 and P2.

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