Method and device for automatically measuring uniformity of crop canopies

Abstract

The invention discloses an automatic measurement method and device for crop canopy uniformity, and belongs to the technical field of agricultural information. The method comprises the following steps: step 1, soil flatness detection and leveling; 2, collecting a canopy image and temperature; step 3, processing and analyzing the canopy image; 4, processing and analyzing the canopy temperature; 5, comprehensively analyzing and outputting uniformity; and step 6, increasing the measurement height. The device comprises a plurality of measuring stations and an intelligent system, the intelligent system is in signal connection with the measuring stations, each measuring station comprises a hollow supporting cylinder, a temperature measuring assembly and an imaging assembly, a driving assembly is arranged in each supporting cylinder, a rail groove is formed in the side wall of each supporting cylinder, and a fixing table is fixedly connected to the bottom end of each supporting cylinder. The method is simple and easy to operate, the images of the crop canopies are collected, the bent crops and the vertical crops are distinguished, the height of the bent crops is measured through a segmented measurement method and a deflection measurement method, and the problem that the measurement result is affected by external force acting on the crops is solved.

Description

Technical Field

[0001] The invention belongs to the field of agricultural information technology, and in particular relates to an automatic measurement method and device for the uniformity of crop canopies. Background Art

[0002] The crop canopy refers to the dense top layer of branches and leaves of a crop plant group. It is a collection of grass crowns or leaf crowns at roughly the same height in a crop community. The uniformity of the canopy includes the sparseness of crops growing in a piece of soil and the height differences between different crops. By detecting the height differences between different crops, the growth status and light energy utilization efficiency of crops can be judged, and by detecting the sparseness within the soil area, the canopy structure can be optimized by adjusting the planting density, fertilizer application and other measures to improve the light energy utilization efficiency and yield of crops.

[0003] The current market-provided measurement method and device for measuring the uniformity of crop canopies is to obtain images of crop canopies, process the image data, and then perform data inversion to obtain the uniformity parameters of crop canopies, and measure crops at regular intervals to calculate the uniformity of the canopy. However, this method is difficult to avoid being affected by external factors during measurement. For example, if it is windy or rainy during measurement, the crop plants will bend. At this time, the measured canopy uniformity is not accurate, but this method will still perform measurement and collection. Therefore, it is necessary to propose an automatic measurement method and device for the uniformity of crop canopies that can reduce the influence of external factors and improve the accuracy of canopy uniformity measurement. Summary of the invention

[0004] In order to solve the above-mentioned problems, the purpose of the present invention is to provide a method and device for automatically measuring the uniformity of crop canopies. By collecting images of crop canopies and distinguishing between curved crops and vertical crops, the height measurement of curved crops is achieved by using segmented measurement and deflection measurement methods, thereby reducing the problem of external forces acting on crops and affecting the measurement results.

[0005] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: an automatic measuring device for crop canopy uniformity, comprising a plurality of measuring stations and an intelligent system, wherein the intelligent system is connected to the measuring station by signal, the measuring station comprises a hollow support tube, a temperature measuring component for measuring temperature, and an imaging component for imaging and measuring canopy uniformity, a driving component for driving the imaging component to move is arranged in the support tube, a track groove is arranged on the side wall of the support tube, and a fixing platform is fixedly connected to the bottom end of the support tube;

[0006] The imaging assembly includes a connecting ring of a cylindrical structure, the inner wall of the connecting ring is fixedly connected to a connecting block that slides with the track groove, the other end of the connecting block is fixedly connected to the driving assembly, the inner wall of the connecting ring slides with the outer wall of the supporting tube, the outer wall of the connecting ring is fixedly connected to a first box body, a single-chip microcomputer is fixedly connected to the first box body, a first fixed tube that is fixedly connected to the side wall of the first box body away from the supporting tube, a camera is fixedly connected to one end of the first fixed tube away from the first box body, and the camera is electrically connected to the single-chip microcomputer.

[0007] The principle of the basic solution is: to realize image acquisition of crop canopies at various perspectives through the camera, to increase the acquisition height of the camera through the driving component, to collect the temperature distribution map of the crop canopy through the temperature measurement component, and to withstand the force of fixed measurement and lifting through the fixed platform.

[0008] The beneficial effects of the basic scheme are: 1. Since the uniformity of crops is evaluated at the three-dimensional level, and the camera and temperature measurement components collect images at the two-dimensional level, the three-dimensional uniformity estimation effect can be achieved by setting up several measurement stations and utilizing two-dimensional detection in multiple directions.

[0009] 2. The collection direction of the camera is fixed by the first fixed tube to achieve the effect of horizontal collection viewing angle, which is conducive to the rapid measurement and calculation of crop height and reduces the height substitution calculation due to angle tilt.

[0010] Furthermore, a baffle is fixedly connected to one end of the first fixed tube away from the first box body and is used to prevent dust accumulation and rainwater from penetrating into the first fixed tube, and the baffle is made of elastic material.

[0011] The beneficial effects of the basic solution are: by setting a baffle to protect the camera from dust, the problem of dust adhering to the camera during non-measurement periods is reduced, and the probability of the camera's collection ability being reduced due to dust adhesion is reduced.

[0012] Furthermore, the driving assembly includes a motor and an annular track. The outer wall of the track is fixedly connected to one end of the connecting block away from the connecting ring. Gears are meshed at the top and bottom of the track. The positions of the gears at the top and bottom of the inner wall of the support tube are respectively provided with a first limit rod and a second limit rod. Both ends of the second limit rod are fixedly connected to the inner wall of the support tube. The second limit rod passes through the corresponding gear and realizes coaxial rotation cooperation with the corresponding gear. A motor is provided at one end of the first limit rod. The motor is connected to the signal of the single-chip microcomputer. The output shaft of the motor is coaxially fixedly connected to the first limit rod. The motor is fixedly connected to the inner wall of the support tube. A limiting hole is provided on the inner wall of the support tube. The first limit rod extends away from one end of the motor to the limiting hole and fits with the limiting hole.

[0013] The beneficial effect of the basic solution is: through the signal connection between the motor and the single-chip microcomputer, the motor can be controlled by the single-chip microcomputer, the camera acquisition height can be increased, and the automatic measurement effect of the device can be achieved, and the process does not require manual operation.

[0014] Furthermore, the temperature measuring component includes a second box body, the top of which is fixedly connected to a second fixed tube, the second fixed tube is an "n"-shaped structure, the length of the horizontal part of the second fixed tube is greater than the distance from the axis of the support tube to the first fixed tube, and the end of the second fixed tube away from the second box body is fixedly connected to a thermal imager, and the thermal imager is electrically connected to the single-chip microcomputer.

[0015] The beneficial effects of the basic scheme are: 1. Since most crops grow vertically and the object of crop canopy uniformity measurement is vertically growing crops, the imaging perspective of the crop canopy temperature distribution map is made to be a bird's-eye view by setting the shape of the second fixed tube, thereby reducing the probability of the measured crops being blocked by other crops due to the viewing direction.

[0016] 2. By setting a limit on the length of the horizontal portion of the second fixed tube, it is beneficial to increase the measuring range and reduce the situation where the measuring range is blocked by the first box.

[0017] Furthermore, the intelligent system includes an acquisition module, a temperature processing module, an image processing module, a comprehensive analysis module, a driving module and a data output module;

[0018] A collection module is used to collect crop canopy images and crop canopy temperature distribution images in the planting field in the front view, reverse view, left view and right view;

[0019] The temperature processing module is used to process and transform the crop canopy temperature distribution map, calculate and form a crop temperature difference plane map to represent the crop canopy sparsity, and calculate and form a crop canopy height difference plane map to assist in analyzing the crop uniformity;

[0020] An image processing module is used to process and transform crop canopy images, calculate the height of crop canopies through images, and form a vertical plane diagram of crop height differences by comparison and calculation;

[0021] A driving module is used to control the driving motor to rotate so that the height of the first box is increased, so as to drive the camera to increase the height, thereby increasing the height of horizontal image acquisition;

[0022] The data output module is used to output the crop uniformity image.

[0023] The beneficial effect of the basic solution is that through the cooperation of various modules, the uniformity of the entire crop growth process can be measured without manual operation, and the automatic measurement effect of the device can be achieved.

[0024] A method for automatically measuring the uniformity of crop canopies, based on an automatic measuring device for the uniformity of crop canopies, comprises the following steps:

[0025] Step 1: Soil flatness detection and leveling: First, several support cylinders and fixed platforms are symmetrically installed around the planting field, and the initial imaging measurement is carried out to detect the flatness of the soil in the planting field and output the uniformity. The planting personnel level the planting field according to the soil flatness, and then sow the crop seeds;

[0026] Step 2: Capture of canopy images and temperature: After the crops have grown for 15 days, multiple sets of crop canopy images in the vertical plane are directly collected through the camera. At the same time, multiple sets of top-down crop canopy temperature distribution images are collected through the thermal imager using the day and night measurement method. The image information is then transmitted to the intelligent system for processing and analysis.

[0027] Step 3: canopy image processing and analysis: cameras in several directions are used to collect crop canopy images of the front, rear, left and right views respectively, and the highest point of the vertical crops in the crops is identified through the image and the height data is recorded. The height of the fully visible curved crops and the obscured curved crops are restored and calculated by the segmented measurement method and the deflection restoration method respectively, and then the calculation is converted into the corresponding front, rear, left and right view height difference maps;

[0028] Step 4: canopy temperature processing and analysis: several thermal imagers will collect several crop canopy temperature distribution images, and integrate the crop canopy temperature distribution images into a crop canopy temperature distribution map of the entire planting field by taking the average color value at the overlapped part. The different color values ​​in the map are converted into temperature data, and then the temperature difference at the location is compared and calculated based on the ambient temperature. The temperature difference is marked with "±" data to form a crop canopy plane temperature difference map. In addition, the mutual comparison of the temperatures of adjacent crops is calculated and converted into crop height differences, and the height differences are merged and marked into a crop canopy plane height difference map;

[0029] Step 5, comprehensively analyze and output the uniformity: mark the preliminary height difference of the surrounding crops with the vertical height difference map of the front, rear, left and right views of the crops, verify whether the marked height difference is correct with the height difference map of the crop canopy plane, and mark the incorrect parts, set the upper limit of the height difference to +2.0cm, set the lower limit of the height difference to -2.0cm, comprehensively analyze the height difference map, mark the height difference crops with a height difference greater than the upper limit in the height difference map as a "+", and mark the height difference crops with a height difference less than the lower limit in the height difference map as a "-", mark to form a crop uniformity plane diagram, and output the marked crop uniformity plane diagram to the display device, so that the planting personnel can perform regional fertilization control;

[0030] Step six, measuring height increase: the average height of the crop canopy in the corresponding viewing direction is calculated by the front, rear, left and right viewing canopy images of the crop, and the first box is increased according to several corresponding average heights as the lifting height. The lifting of the first box drives the collection height of the corresponding viewing angle of the camera to be increased.

[0031] The principle of the basic scheme is: to evaluate the flatness of the crop canopy by analyzing the height difference of the crop canopy, to evaluate the sparseness of the crop canopy by analyzing the temperature difference of the crop canopy, and to calculate the height of the bent part of the bent crops affected by external forces through the segmented measurement method and deflection restoration method.

[0032] The beneficial effects of the basic scheme are: 1. When measuring the uniformity of crop canopies, there are external factors such as wind that affect the position of crop canopies. By distinguishing and identifying crops bent by external forces and using segmented measurement and deflection restoration methods to calculate the height of the bent parts, the accuracy of measuring the uniformity of crop canopies is improved, and the probability of errors in uniformity measurement caused by bending due to external forces is reduced.

[0033] 2. Since the measurement of crop canopy uniformity is a phased measurement and the range of image acquisition is limited, the camera's acquisition height is raised to follow the growth of crops, reducing the problem of inaccurate image acquisition due to insufficient acquisition height, and achieving the effect of automatic measurement of the device.

[0034] Furthermore, the day and night detection method in step 2 is to measure and record the temperature of the planting field during the day and night respectively.

[0035] The beneficial effect of the basic scheme is: since crops at different heights will cause shading during the day, resulting in temperature differences between crops, and the respiration efficiency of crops at different heights is different, the temperature difference caused by respiration will also be different. By collecting the temperature of crops during the day and night and processing it into temperature differences and then converting it into height differences, using multiple groups of comparisons can make the measurement of height differences more accurate.

[0036] Furthermore, the segmented measurement method in step three is used to measure crops whose curved parts are completely visible in the collected image, and the curved image of the crop is marked as a number of marking points. Then, the straight-line distances between adjacent marking points are added as the height of the curved part of the crop, and the measured height of the vertical part of the crop is added as the height of the crop.

[0037] The beneficial effect of the basic scheme is: when collecting crop canopy images, the crops are bent by external forces, and some of the external forces are only temporary. Therefore, by dividing the bent part into several straight line segments and calculating the bending length, the bent part can be approximately measured, thereby improving the accuracy and rationality of the uniformity measurement.

[0038] Furthermore, in the deflection restoration method in step 3, when the obstructed curved crop is identified in the image captured by the camera, the maximum distance between the straight part and the curved part of the curved crop is extended to measure the deflection value, the length of the curved part of the obstructed curved crop is calculated by the circumference formula, and then the length of the curved part is added to the height of the straight part identified and measured by the image to obtain the height of the obstructed curved crop;

[0039] The circumference formula is:

[0040]

[0041] Wherein, L represents the length of the curved part of the obscured curved crop, and r represents the deflection value of the crop.

[0042] The beneficial effect of the basic scheme is: due to the dense planting of crops, there are situations where the crops are completely affected by external forces and are not completely visible. Therefore, the height of the curved part of the obscured curved crops is restored by approximating the deflection, further improving the accuracy of the neatness analysis.

[0043] Furthermore, the height difference map in step three and step four is a difference mark map between the height of each crop and the average canopy height, wherein the average canopy height is the height of the bent crops calculated by the segmented measurement method and the deflection restoration method combined with the height of the unbent crops, and all heights are added and averaged as the average canopy height, wherein the difference mark represents crops with heights greater than the average canopy height as positive values, and crops with heights less than the average canopy height as negative values.

[0044] The beneficial effects of the basic scheme are: using the height difference map as the measurement standard for uniformity, comprehensively analyzing the uniformity of the crop canopy by comparing the data of each height difference map, reducing the probability of inaccurate analysis of the uniformity of the crop canopy due to other external factors or collection errors, and improving the rationality of the uniformity analysis of the crop canopy. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Schematic diagram of an automatic measurement method for crop canopy uniformity in an embodiment of the present invention.

[0046] Figure 2 Schematic diagram of an axonometric view of an automatic measuring device for crop canopy uniformity in an embodiment of the present invention.

[0047] Figure 3 It is a schematic enlarged isometric view of a measuring station in the automatic measuring device for crop canopy uniformity in an embodiment of the present invention.

[0048] Figure 4 It is a front cross-sectional view of a support tube in the automatic measuring device for crop canopy uniformity in an embodiment of the present invention.

[0049] Figure 5 The automatic measuring device for the uniformity of crop canopies in the embodiment of the present invention is Figure 4 Enlarged forward section view of point A in the middle.

[0050] The figure marks in the drawings of the specification include: 1. support cylinder; 101. track groove; 201. connecting ring; 202. connecting block; 203. first box body; 204. single-chip microcomputer; 205. first fixed tube; 206. camera; 207. baffle; 301. motor; 302. crawler track; 303. gear; 304. limit rod; 305. limit hole; 401. second box body; 402. second fixed tube; 403. thermal imager; 5. fixed platform. DETAILED DESCRIPTION

[0051] The following is further described in detail through specific implementation methods:

[0052] Embodiment 1:

[0053] Basically as attached Figure 2 , Figure 3 and Figure 4 As shown, the difference from the above embodiment is that an automatic measuring device for crop canopy uniformity includes several measuring stations and an intelligent system, the intelligent system is connected to the measuring station by signal, the measuring station includes a hollow support tube 1, a temperature measuring component for measuring temperature and an imaging component for imaging and measuring canopy uniformity, a driving component for driving the imaging component to move is provided in the support tube 1, a track groove 101 is provided on the side wall of the support tube 1, and a fixing platform 5 is welded to the bottom end of the support tube 1;

[0054] The imaging assembly includes a connecting ring 201 of a cylindrical structure, a connecting block 202 that is slidably matched with the track groove 101 is welded to the inner wall of the connecting ring 201, the other end of the connecting block 202 is welded to the driving assembly, the inner wall of the connecting ring 201 is slidably matched with the outer wall of the supporting tube 1, a first box body 203 is welded to the outer wall of the connecting ring 201, a single-chip computer 204 is welded in the first box body 203, a first fixed tube 205 perpendicular to the side wall of the first box body 203 is welded and connected to the side of the first box body 203 away from the supporting tube 1, a camera 206 is welded to the end of the first fixed tube 205 away from the first box body 203, and the camera 206 is electrically connected to the single-chip computer 204; by setting the first fixed tube 205 perpendicular to the plane of the box, the direction of image acquisition by the camera 206 can be a standard front view, rear view, left view or right view, and the detection of four viewing angles can intuitively measure the uniformity of the crop canopy through height on the one hand, and reduce the probability of inaccurate measurement of the crop canopy height due to special growth patterns in a single direction on the other hand.

[0055] When the intelligent system determines that the uniformity of the crop canopy needs to be detected, the intelligent system controls the cameras 206 corresponding to the several measuring stations to collect images of the crops in the front, rear, left and right views. In addition, the intelligent system controls the temperature measuring components of the several measuring stations to collect temperature images during the day and at night. After completing the analysis and processing of the image data, the intelligent system will transmit a lifting height signal to the driving component. The driving component starts to drive the lifting of the connecting block 202. The lifting of the connecting block 202 drives the upward movement of the connecting ring 201. The rise of the connecting ring 201 drives the rise of the first box body 203. The rise of the first box body 203 drives the rise of the first fixed pipe 205 welded thereto. At this time, the camera 206 will also rise with the rise of the first fixed pipe 205, thereby achieving the effect of raising the measurement height and reducing the probability of inaccurate uniformity measurement due to the plant growth height exceeding the shooting range of the camera 206.

[0056] Embodiment 2:

[0057] Basically as attached Figure 4 As shown, the difference from the above embodiment lies in that a baffle 207 is welded on one end of the first fixed tube 205 away from the first box body 203, which is used to prevent dust accumulation and rainwater from penetrating into the first fixed tube 205, and the baffle 207 is made of elastic material; since the device cannot be moved after installation, the device will be subjected to various weather conditions and dust adhesion over time, and the baffle 207 is provided to prevent the influence of dust and rainwater on the collection function of the camera 206, thereby reducing the probability of the camera 206 reducing the measurement accuracy due to the line of sight being blocked by dust. In addition, the design of the elastic material of the baffle 207 is conducive to shaking off and cleaning the dust on the baffle 207 when the baffle 207 is vibrated by an external force.

[0058] Embodiment 3:

[0059] As attached Figure 4 and Figure 5 As shown, the difference from the above embodiment is that the driving assembly includes a motor 301 and an annular crawler track 302, the outer wall of the crawler track 302 is welded to the end of the connecting block 202 away from the connecting ring 201, and gears 303 are meshed at the top and bottom of the crawler track 302. The inner wall of the support cylinder 1 corresponds to the positions of the plurality of gears 303 and is symmetrically provided with a first limiting rod 304 and a second limiting rod 304, both ends of the second limiting rod 304 are welded to the inner wall of the support cylinder 1, the second limiting rod 304 penetrates the corresponding gear 303 and realizes coaxial rotation cooperation with the corresponding gear 303, one end of the first limiting rod 304 is provided with a motor 301, the motor 301 is connected to the single-chip microcomputer 204 signal, the output shaft of the motor 301 is coaxially welded with the first limiting rod 304, the motor 301 is welded to the inner wall of the support cylinder 1, a limiting hole 305 is provided on the inner wall of the support cylinder 1, and the first limiting rod 304 is away from the motor 30 1 one end extends into the limiting hole 305 and fits into the limiting hole 305; when the motor 301 receives the signal that the single chip microcomputer 204 needs to be lifted, the motor 301 starts to rotate, and the rotation of the output shaft of the motor 301 drives the first limiting rod 304 to rotate, and the first limiting rod 304 will drive the corresponding gear 303 to rotate, and the rotation of the gear 303 will drive the crawler 302 to rotate, and the displacement of the crawler 302 can realize the displacement of the welded connecting block 202 up and down to realize the driving function, and the lifting height can be converted into the rotation time of the motor 301 through the signal connection between the motor 301 and the single chip microcomputer 204 to realize the control of the lifting height, and the meshing of the gear 303 and the crawler 302 can realize that the camera 206 will not drop due to its own weight during the measurement process, thereby reducing the probability of inaccurate measurement of the uniformity of the crop canopy due to different shooting heights of the camera 206.

[0060] Embodiment 4:

[0061] As attached Figure 3 and Figure 4As shown, the difference from the above embodiment is that the temperature measuring component includes a second box body 401, and the top of the second box body 401 is welded and connected with a second fixed tube 402, the second fixed tube 402 is an "n"-shaped structure, and the length of the horizontal part of the second fixed tube 402 is greater than the distance from the axis of the support tube 1 to the first fixed tube 205; since most crops are in a vertical growth state, and the objects of crop canopy uniformity measurement are basically vertically growing crops, the imaging viewing angle of the crop canopy temperature distribution map is set by setting the shape of the second fixed tube 402 In order to look down and reduce the probability that the measured crops are blocked by other crops due to the viewing angle, in addition, setting a limit on the length of the horizontal part of the second fixed tube 402 is beneficial to increasing the measurement range and reducing the situation where the measurement range is blocked by the first box body 203; a thermal imager 403 is welded on the end away from the second box body 401, and the thermal imager 403 is electrically connected to the single-chip computer 204; when collecting the temperature distribution map of the crop canopy, the thermal imager 403 measures the temperature within the measurement range and transmits the image record to the intelligent system for processing and analysis.

[0062] Embodiment 5:

[0063] The difference from the above embodiment is that the intelligent system includes an acquisition module, a temperature processing module, an image processing module, a comprehensive analysis module, a displacement processing module, a driving module and a data output module;

[0064] An acquisition module, used to acquire crop canopy images and crop canopy temperature distribution images of the front view, reverse view, left view and right view in the planting field through the camera 206 and the thermal imager 403, and transmit the crop canopy images and crop canopy temperature distribution images to the image processing module and the temperature processing module respectively;

[0065] The temperature processing module is used to receive the crop canopy temperature distribution image transmitted by the acquisition module, convert the color value of the crop canopy temperature distribution image into temperature data, calculate the temperature difference and mark it to form a crop canopy temperature difference map by comparing the temperature data with the ambient temperature, and calculate the height difference of adjacent crops by converting adjacent temperature differences to form a crop canopy height difference plane map, and transmit several images to the comprehensive analysis module;

[0066] An image processing module is used to receive the crop canopy image transmitted by the acquisition module, identify the outline of each crop, classify the identified crops and calculate the height using different algorithms, calculate the average canopy height by the height of each crop in the image, transmit the average canopy height to the driving module, and then compare the height of each crop with the average canopy height to calculate the height difference and mark it to form a crop canopy height difference vertical map, and then transmit the crop canopy height difference vertical map to the comprehensive analysis module;

[0067] A comprehensive analysis module is used to receive the vertical map of crop canopy height difference and the plan map of crop canopy height difference, perform comprehensive analysis and processing, draw and calculate a map representing the uniformity of crop canopies in the entire planting field, and transmit the crop canopy uniformity map to the data output module;

[0068] The driving module is used to receive the average canopy height data, convert the average canopy height into a signal of the driving time of the motor 301, and transmit the signal to the motor 301 to control the motor 301 to rotate. The rotation of the motor 301 drives the crawler 302 to move. The displacement of the crawler 302 drives the first box 204 to move. At the same time, the displacement of the first box 204 drives the camera 206 to move, so that the height of the camera 206 increases, thereby improving the image collection height;

[0069] The data output module is used to output the crop canopy uniformity map to an external display device, making it easier for growers to control and manage fertilization.

[0070] Embodiment 6:

[0071] Basically as attached Figure 1 As shown: A method for automatically measuring the uniformity of crop canopies, based on an automatic measuring device for the uniformity of crop canopies, comprises the following steps:

[0072] Step 1, soil flatness detection and leveling: First, several support cylinders 1 and fixed platforms 5 are symmetrically installed around the planting field, and the initial imaging measurement is carried out to detect the flatness of the soil in the planting field and output the uniformity. The planting personnel level the planting field according to the soil flatness, and then sow the crop seeds.

[0073] Step 2, canopy image and temperature collection: after 15 days of crop growth, multiple groups of crop canopy vertical plane images are directly collected through the camera 206, and at the same time, data is collected by the thermal imager 403 during the day and night, and multiple groups of crop canopy temperature distribution images from a bird's-eye view are collected, and the image information is processed and analyzed; because crops are exposed to sunlight during the day, crops with high canopy heights will block crops with low canopy heights, and the warming effect caused by sunlight will cause crops with different canopy heights to have different temperatures, while crops mainly breathe at night, and crops with high canopy heights have better growth, and their respiration will be greater than that of crops with low canopy heights, so the warming effect caused by respiration will also cause crops with different canopy heights to have temperature differences, and a more reasonable crop uniformity analysis can be obtained by collecting data during the day and at night and conducting comprehensive analysis and comparison.

[0074] Step 3, canopy image processing and analysis: the cameras 206 in several directions will collect crop canopy images of the front view, rear view, left view and right view, identify the highest point of the vertical crops in the crops through the image and record the height data, and perform height restoration calculations on the fully visible curved crops and the obscured curved crops through the segmented measurement method and the deflection restoration method respectively, and then calculate and convert them into corresponding front view, rear view, left view and right view height difference maps;

[0075] The segmented measurement method is used to measure and calculate the crops with complete visible curved parts in the collected image. The crop curved image is marked as a number of marked points, and then the straight-line distances between adjacent marked points are added as the height of the curved part of the crop, and the height of the vertical part of the crop is added as the height of the crop. When the crop canopy image is collected, the crop is bent by external forces, and some external forces are only temporary. Therefore, by dividing the curved part into a number of straight line segments to calculate the curved length, the curved part can be approximately measured, thereby improving the accuracy and rationality of the uniformity measurement.

[0076] The deflection restoration method is used to measure and calculate the crops whose curved parts are blocked by other crops in the collected images. The maximum distance between the straight part and the curved part of the curved crop is measured as the deflection value, and the height of the curved part of the blocked curved crop is calculated by the circumference formula. Then, the height of the curved part is added to the height of the vertical part of the crop identified and measured by the image as the height of the blocked curved crop.

[0077] The circumference formula is:

[0078]

[0079] Wherein, L represents the length of the curved part of the obscured curved crop, and r represents the deflection value of the crop.

[0080] Since there are densely planted parts of crops, there are cases where crops that are completely affected by external forces are not fully visible. Therefore, the height of the curved part of the obscured curved crops is restored by approximating the deflection to further improve the accuracy of the neatness analysis.

[0081] Step 4, canopy temperature processing and analysis: a plurality of thermal imagers 403 will collect a plurality of crop canopy temperature distribution images, and integrate the plurality of crop canopy temperature distribution images into a crop canopy temperature distribution map of the entire planting field by taking the average color value at the overlapped part, and convert the different color values ​​in the map into temperature data, and then compare and calculate the temperature difference at the position based on the ambient temperature, and mark the temperature difference with "±" data to form a crop canopy plane temperature difference map, and in addition, compare and calculate the temperatures of adjacent crops and convert them into crop height differences, and merge and mark the height differences into a crop canopy plane height difference map;

[0082] The height difference map is a difference mark map between the height of each crop and the average canopy height, where the average canopy height is the height of the bent crops calculated by the segmented measurement method and the deflection restoration method combined with the height of the unbent crops. The average canopy height is obtained by adding up all the heights and averaging them. The difference mark represents crops with heights greater than the average canopy height as positive values, and crops with heights less than the average canopy height as negative values. Since the uniformity of the crop canopy includes the sparseness and height flatness of the crop canopy, the flatness can be intuitively displayed by directly measuring the front, rear, left and right images, and the height difference converted by temperature difference can assist in verifying the accuracy of the measured height difference, reduce the probability of inaccurate analysis of the uniformity of the crop canopy due to other external factors or image acquisition errors, and improve the rationality of the analysis of the uniformity of the crop canopy.

[0083] Step 5, comprehensively analyze and output the uniformity: mark the preliminary height difference of the surrounding crops with the height difference map of the front, rear, left and right views of the crops, verify whether the marked height difference is correct with the height difference map of the crop canopy plane, and mark the incorrect parts, then set the upper limit of the height difference to +2.0cm, set the lower limit of the height difference to -2.0cm, comprehensively analyze the height difference map, mark the height difference crops with a height difference greater than the upper limit in the height difference map as a "+", and mark the height difference crops with a height difference less than the lower limit in the height difference map as a "-", mark to form a crop uniformity plane diagram, and output the marked crop uniformity plane diagram to the display device, so that the planting personnel can perform regional fertilization control;

[0084] Step six, measuring height increase: the average height of the crop canopy in the corresponding viewing direction is calculated by the front, rear, left and right viewing canopy images of the crop, and the first box 203 is increased according to the corresponding average heights as the lifting height. The lifting of the first box 203 drives the collection height of the camera 206 corresponding to the viewing angle to increase.

[0085] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0086] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. An automatic measuring device for crop canopy uniformity, characterized in that: The invention comprises a plurality of measuring stations and an intelligent system, wherein the intelligent system is connected to the measuring station by signal, the measuring station comprises a hollow support tube (1), a temperature measuring component for measuring temperature, and an imaging component for imaging and measuring canopy uniformity, a driving component for driving the imaging component to move is arranged in the support tube (1), a track groove (101) is arranged on the side wall of the support tube (1), and a fixing platform (5) is fixedly connected to the bottom end of the support tube (1); The imaging assembly comprises a connecting ring (201) of a cylindrical structure, the inner wall of the connecting ring (201) is fixedly connected with a connecting block (202) that slidably cooperates with the track groove (101), the other end of the connecting block (202) is fixedly connected with the driving assembly, the inner wall of the connecting ring (201) is slidably cooperated with the outer wall of the supporting cylinder (1), the outer wall of the connecting ring (201) is fixedly connected with a first box body (203), a single-chip computer (204) is fixedly connected inside the first box body (203), a first fixed tube (205) perpendicular to the side wall of the first box body (203) is fixedly connected to the side of the first box body (203) away from the supporting cylinder (1), a camera (206) is fixedly connected to the end of the first fixed tube (205) away from the first box body (203), and the camera (206) is electrically connected to the single-chip computer (204).

2. The automatic measuring device for crop canopy uniformity according to claim 1, characterized in that: A baffle (207) is fixedly connected to one end of the first fixed tube (205) away from the first box body (203) and is used to prevent dust accumulation and rainwater from penetrating into the first fixed tube (205); the baffle (207) is made of elastic material.

3. The automatic measuring device for crop canopy uniformity according to claim 1, characterized in that: The driving assembly comprises a motor (301) and an annular crawler (302); the outer wall of the crawler (302) is fixedly connected to an end of the connecting block (202) away from the connecting ring (201); the top and bottom of the crawler (302) are meshed with gears (303); the positions of the gears (303) at the top and bottom of the inner wall of the support tube (1) are respectively provided with a first limiting rod (304) and a second limiting rod (304); both ends of the second limiting rod (304) are fixedly connected to the inner wall of the support tube (1); the second limiting rod (304) passes through the corresponding gears. (303) realizes coaxial rotation cooperation with the corresponding gear (303), a motor (301) is provided at one end of the first limit rod (304), the motor (301) is connected to the single chip computer (204) signal, the output shaft of the motor (301) is coaxially fixedly connected to the first limit rod (304), the motor (301) is fixedly connected to the inner wall of the support tube (1), a limit hole (305) is provided on the inner wall of the support tube (1), and the first limit rod (304) extends away from one end of the motor (301) to the limit hole (305) and fits with the limit hole (305).

4. The automatic measuring device for crop canopy uniformity according to claim 1, characterized in that: The temperature measuring component comprises a second box body (401), the top of the second box body (401) is fixedly connected to a second fixed tube (402), the second fixed tube (402) is an "n"-shaped structure, the length of the horizontal portion of the second fixed tube (402) is greater than the distance from the axis of the support tube (1) to the first fixed tube (205), and the end of the second fixed tube (402) away from the second box body (401) is fixedly connected to a thermal imager (403), and the thermal imager (403) is electrically connected to the single-chip computer (204).

5. The automatic measuring device for crop canopy uniformity according to claim 6, characterized in that: The intelligent system includes an acquisition module, a temperature processing module, an image processing module, a comprehensive analysis module, a driving module and a data output module; A collection module is used to collect crop canopy images and crop canopy temperature distribution images in the planting field in the front view, reverse view, left view and right view; The temperature processing module is used to process and transform the crop canopy temperature distribution map, calculate and form a crop temperature difference plane map to represent the crop canopy sparsity, and calculate and form a crop canopy height difference plane map to assist in analyzing the crop uniformity; An image processing module is used to process and transform crop canopy images, calculate the height of crop canopies through images, and then form a vertical plane diagram of crop height differences by comparison and calculation; A driving module, used for controlling the driving motor (301) to rotate, so that the height of the first box (204) is raised, thereby driving the camera (206) to raise its height, so that the height of horizontal image acquisition is raised; The data output module is used to output the crop uniformity image.

6. A method for automatically measuring the uniformity of crop canopies, based on the method of the automatic measuring device for the uniformity of crop canopies of claim 1, characterized in that: The following steps are involved: Step 1: soil flatness detection and leveling: first, a plurality of support cylinders (1) and a fixing platform (5) are symmetrically installed around the planting field, and an initial imaging measurement is performed to detect the flatness of the soil in the planting field and output the uniformity. The planting personnel level the planting field according to the soil flatness, and then sow the crop seeds; Step 2, canopy image and temperature collection: after the crops have grown for 15 days, multiple groups of crop canopy images in the vertical plane are directly collected through the camera (206), and multiple groups of crop canopy temperature distribution images from a bird's-eye view are collected through the thermal imager (403) using a day and night measurement method, and then the image information is transmitted to the intelligent system for processing and analysis; Step 3, canopy image processing and analysis: using cameras (206) in several directions to collect crop canopy images of the front view, rear view, left view and right view respectively, identifying the highest point of the vertical crop in the crop through the image and recording the height data, and performing height restoration calculations on the fully visible curved crops and the obscured curved crops through the segmented measurement method and the deflection restoration method respectively, and then calculating and converting into corresponding front view, rear view, left view and right view height difference maps; Step 4, canopy temperature processing and analysis: a plurality of thermal imagers (403) collect a plurality of crop canopy temperature distribution images, and integrate the plurality of crop canopy temperature distribution images into a crop canopy temperature distribution map of the entire planting field by taking the average color value at the overlapped part, and convert the different color values ​​in the map into temperature data, and then compare and calculate the temperature difference at the position with the ambient temperature as the standard, and mark the temperature difference with "±" data to form a crop canopy plane temperature difference map, and in addition, compare and calculate the temperatures of adjacent crops and convert them into crop height differences, and merge and mark the height differences into a crop canopy plane height difference map; Step 5, comprehensively analyze and output the uniformity: mark the preliminary height difference of the surrounding crops with the vertical height difference map of the front, rear, left and right views of the crops, verify whether the marked height difference is correct with the height difference map of the crop canopy plane, and mark the incorrect parts, then set the upper limit of the height difference to +2.0cm, set the lower limit of the height difference to -2.0cm, comprehensively analyze the height difference map, mark the height difference crops with a height difference m greater than the upper limit in the height difference map as "+", and mark the height difference crops with a height difference less than the lower limit in the height difference map as "-", mark to form a crop uniformity plane diagram, and output the marked crop uniformity plane diagram to the display device, so that the planting personnel can perform regional fertilization control; Step six, measuring height increase: the average height of the crop canopy in the corresponding viewing angle direction is calculated by using the crop canopy images in the front, rear, left and right views, and the first box (203) is increased based on the corresponding average heights as the increase height. The increase in the first box (203) drives the acquisition height of the corresponding viewing angle of the camera (206) to increase.

7. The automatic measurement method for crop canopy uniformity according to claim 6, characterized in that: The day and night detection method in step 2 is to measure and record the temperature of the planting field during the day and night respectively.

8. The automatic measurement method for crop canopy uniformity according to claim 6, characterized in that: The segmented measurement method in step three is used to calculate the crops whose curved parts are completely visible in the collected image, mark the curved image of the crops into several marking points, and then add the straight-line distances between adjacent marking points as the height of the curved part of the crop, and add the measured height of the vertical part of the crop as the height of the crop.

9. The automatic measurement method of crop canopy uniformity according to claim 6, characterized in that: The deflection restoration method in step 3 is that when the obstructed curved crop is identified in the image captured by the camera (206), the maximum distance between the straight part and the curved part of the curved crop is extended to measure the deflection value, the length of the curved part of the obstructed curved crop is calculated by the circumference formula, and then the length of the curved part plus the height of the straight part identified and measured in the image are added to obtain the height of the obstructed curved crop; The circumference formula is: Wherein, L represents the length of the curved part of the obscured curved crop, and r represents the deflection value of the crop.

10. The automatic measurement method of crop canopy uniformity according to claim 6, characterized in that: The height difference map in step three and step four is a difference mark map between the height of each crop and the average canopy height, wherein the average canopy height is the height of the bent crops calculated by the segmented measurement method and the deflection restoration method combined with the height of the unbent crops, and all heights are added and averaged as the average canopy height, wherein the difference mark represents crops with heights greater than the average canopy height as positive values, and crops with heights less than the average canopy height as negative values.

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