Mobile multi-source crop information acquisition device

Abstract

The utility model provides a mobile multi-source crop information acquisition device. The mobile multi-source crop information acquisition device comprises a mobile platform; the first driving device is connected with the moving platform and used for driving the moving platform to move in the first direction, the second direction and the third direction, and any two of the first direction, the second direction and the third direction are perpendicular to each other; the sliding rail device is arranged on the moving platform; the mounting device is arranged on the sliding rail device and can move in the first direction, the second direction and the third direction along the sliding rail device, and the mounting device comprises a connecting piece connected with the sliding rail device, and a light supplementing lamp, a camera, an imager and a laser radar scanner which are arranged on the connecting piece; and the second driving device is connected with the mounting device and used for driving the mounting device to move on the sliding rail device. The plant growth information acquisition device can freely move to the position above a plant for imaging, and the efficiency and accuracy of crop growth information acquisition can be improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural information, and in particular relates to a mobile multi-source crop information collection device. Background Art

[0002] Crop canopy information monitoring and diagnosis and regulation based on monitoring information are the core technologies of smart agriculture. Crop sensors are key equipment for efficiently obtaining crop canopy information, and the accuracy of crop canopy information obtained by sensors directly determines the effectiveness of smart agriculture diagnosis and regulation.

[0003] At present, in the field of crop information collection, crop growth information sensors based on passive light sources have difficulty in effectively obtaining information in complex crop growth environments, different crop varieties, and multi-device integration. Traditional crop information collection devices mostly use fixed points in the field, which is expensive, and the sensors fixed in the device are easily damaged. In addition, the position of fixed crop information collection devices is not convenient to adjust, and it is difficult to adapt to the growth posture of crops, and it is difficult to collect effective crop information, which in turn affects the monitoring accuracy of the sensor. Utility Model Content

[0004] The utility model aims to provide a new technical solution for a mobile multi-source crop information collection device, which can at least solve the technical problem that the position of the existing fixed crop information collection device is inconvenient to adjust.

[0005] The utility model provides a mobile multi-source crop information collection device, comprising: a mobile platform; a first driving device, the first driving device is connected to the mobile platform to drive the mobile platform to move in a first direction, a second direction and a third direction, any two of the first direction, the second direction and the third direction are perpendicular to each other; a slide rail device, the slide rail device is arranged on the mobile platform; a mounting device, the mounting device is arranged on the slide rail device and can move along the slide rail device in the first direction, the second direction and the third direction, the mounting device comprises a connecting piece connected to the slide rail device and a fill light, a camera, an imager and a laser radar scanner arranged on the connecting piece; a second driving device, the second driving device is connected to the mounting device to drive the mounting device to move on the slide rail device.

[0006] Optionally, the connecting member comprises an elongated rod, and the fill light, the camera, the imager and the lidar scanner are spaced apart and distributed along the length direction of the connecting member.

[0007] Optionally, in the length direction of the connecting member, the camera is located on one side of the imager, and the scanner is located on the other side of the imager.

[0008] Optionally, fill lights are provided on both sides of the imager in the length direction of the connecting member.

[0009] Optionally, the length direction of the connecting member extends along the first direction, and the fill light includes: two fill light parts, and the two fill light parts are distributed and spaced apart along the second direction.

[0010] Optionally, the mobile platform includes: a base and universal wheels, the universal wheels are arranged at the bottom of the base, and the slide rail device is arranged at the top of the base.

[0011] Optionally, the base comprises a rectangular parallelepiped frame.

[0012] Optionally, the long side of the rectangular frame extends along the first direction, the wide side of the rectangular frame extends along the second direction, and the height direction of the rectangular frame extends along the third direction; the slide rail device includes: two first slide rails, each of the first slide rails is arranged on the long side of the rectangular frame and is parallel to the long side of the rectangular frame, and the two first slide rails are distributed along the second direction with spacer blocks; a second slide rail, the second slide rail extends along the second direction, one end of the second slide rail is connected to one of the first slide rails, and the other end of the second slide rail is connected to another first slide rail; a third slide rail, the third slide rail is movably arranged on the second slide rail, the third slide rail extends along the third direction, and the mounting device is movably mounted on the third slide rail.

[0013] Optionally, the second driving device includes: a driven gear, which is respectively connected to the first slide rail, the second slide rail and one of the third slide rails and to the mobile platform; a driving gear, which is meshed with the driven gear; and a stepper motor, which is connected to the driving gear and is used to drive the driving gear to rotate.

[0014] Optionally, the mobile multi-source crop information collection device further includes: a display screen, which is disposed on the mobile platform and exposed to the outside world, and the display screen is electrically connected to the mounting device; and / or, the mobile multi-source crop information collection device further includes: an operating platform, which is disposed on the mobile platform and exposed to the outside world, and the operating platform is electrically connected to the first driving device and the second driving device.

[0015] Compared with the prior art, the mobile multi-source crop information acquisition device of the embodiment of the utility model can be moved by a mobile platform, has a simple structure, and is flexible in movement. In field tests, the mobile platform can be moved to any position, and the three-dimensional motion system can be adjusted to achieve the acquisition of multi-source crop information. It has good adaptability to different working environments. When in use, the mounting device can be moved above the target crop, and the crop image, spectrum or three-dimensional information can be collected through the three-dimensional scanning system.

[0016] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present invention and, together with the description, serve to explain the principles of the present invention.

[0018] Figure 1 It is a structural schematic diagram of a mobile multi-source crop information collection device according to an embodiment of the utility model;

[0019] Figure 2 It is a partial structural schematic diagram of a mobile multi-source crop information collection device according to an embodiment of the utility model.

[0020] Reference numerals:

[0021] Mobile multi-source crop information collection device 100;

[0022] Mobile platform 10; base 11; universal wheel 12;

[0023] Slide rail device 20; first slide rail 21; second slide rail 22; third slide rail 23;

[0024] Mounting device 30; connecting piece 31; fill light 32; camera 33; imager 34; laser radar scanner 35;

[0025] PC 40;

[0026] Control device 50;

[0027] Display screen 60;

[0028] Operating platform 70. DETAILED DESCRIPTION

[0029] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0030] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present invention, its application, or uses.

[0031] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0032] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0033] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0034] The mobile multi-source crop information collection device 100 according to an embodiment of the present utility model is described in detail below with reference to the accompanying drawings.

[0035] like Figure 1 and Figure 2 As shown, the mobile multi-source crop information collection device 100 according to an embodiment of the utility model includes: a mobile platform 10, a first driving device, a slide rail device 20, a mounting device 30 and a second driving device.

[0036] Specifically, the first driving device is connected to the mobile platform 10 to drive the mobile platform 10 to move in the first direction, the second direction and the third direction, any two of the first direction, the second direction and the third direction are perpendicular to each other, the slide rail device 20 is provided on the mobile platform 10, the mounting device 30 is provided on the slide rail device 20 and can move along the slide rail device 20 in the first direction, the second direction and the third direction, the mounting device 30 includes a connecting member 31 connected to the slide rail device 20 and a fill light 32, a camera 33, an imager 34 and a laser radar scanner 35 provided on the connecting member 31, and the second driving device is connected to the mounting device 30 to drive the mounting device 30 to move on the slide rail device 20. Among them, the connecting member 31 can facilitate the installation of the mounting device 30. The second driving device and the first driving device can belong to the control device 50, which can control the movement and speed of the mounting device 30, so that the mounting device 30 stays at a suitable position, which is convenient for receiving and storing the collected data information. In this embodiment, the first driving device and the second driving device are not limited to motors, but may also be external driving forces such as human power.

[0037] That is to say, the mobile multi-source crop information collection device 100 in the embodiment of the utility model adopts a combination of a mobile platform 10, a first driving device, a slide rail device 20, a mounting device 30 and a second driving device. The slide rail device 20 is arranged on the mobile platform 10, and the mounting device 30 is arranged on the slide rail device 20. The first driving device can drive the mobile platform 10 to move in the field, and the second driving device can realize the movement of the mounting device 30 on the slide rail device 20, thereby realizing movement in multiple directions, for example, the first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction.

[0038] In this embodiment, the slide rail device 20 can realize multi-angle measurement of the mounting device 30, which is conducive to continuous monitoring of key growth information of crops within a certain range, saving a lot of manpower and material resources, and the position adjustment is easy to control.

[0039] Among them, the camera 33 can realize the acquisition of crop images, and the camera 33 can adopt a high-resolution optical camera, etc. The imager 34 can collect spectra, and the imager 34 can adopt a hyperspectral imager, etc. The laser radar scanner 35 can collect three-dimensional point cloud information. In this embodiment, by using the camera 33, the imager 34 and the laser radar scanner 35 to cooperate with each other, the crop information can be obtained more comprehensively, providing a basis for subsequent crop growth monitoring and diagnosis, and formulating pesticide and fertilization prescriptions. In addition, the camera 33, the imager 34 and the laser radar scanner 35 can be collectively referred to as a monitoring sensor or a three-dimensional scanning system.

[0040] The first driving device and the second driving device etc. may be collectively referred to as a control device 50 . In this case, the mobile multi-source crop information collection device 100 of the embodiment of the utility model may include a mobile platform 10 and a control device 50 .

[0041] It can be seen that compared with the prior art, the mobile multi-source crop information acquisition device 100 of the embodiment of the utility model can be moved by the mobile platform 10, has a simple structure, and is flexible in movement. In the field test, the mobile platform 10 can be moved to any position, and the three-dimensional motion system can be adjusted to achieve the acquisition of multi-source crop information. It has good adaptability to different working environments. When in use, the mounting device 30 can be moved above the target crop, and the crop image, spectrum or three-dimensional information can be collected through the three-dimensional scanning system, and the above information can also be received and stored through the control device 50.

[0042] Optionally, the mobile multi-source crop information collection device 100 of the embodiment of the utility model further includes a PC 40, which is electrically connected to the camera 33, the imager 34 and the laser radar scanner 35, and the collected data information can be transmitted to the PC 40 via a data line for storage.

[0043] Optionally, the camera 33 may be a binocular vision camera 33 .

[0044] Optionally, the imager 34 may adopt the Pika XC hyperspectral imager 34 produced by Resonon Corporation of the United States, with a spectral range of 400-1000nm, a spectral resolution of 4.9nm, a number of spectral channels of 164, a number of spatial channels of 320, a maximum number of frames per second of 520, and a high spectral resolution.

[0045] Optionally, the laser radar scanner 35 may be a FARO Focus Premium 350. Scanning speed: 20-50 mm / s, vertical scanning field angle 120°, scanning accuracy 2 mm. Parameters such as plant height, plant width, leaf length, leaf width, leaf inclination and leaf area of ​​crops can be obtained, providing a more accurate data source for the extraction of three-dimensional morphological parameters of crops and the structural analysis of the canopy.

[0046] According to one embodiment of the utility model, the connecting member 31 includes a long rod, and the fill light 32, the camera 33, the imager 34 and the lidar scanner 35 are spaced apart and distributed along the length direction of the connecting member 31; when the mobile multi-source crop information collection device works in a farmland environment, multiple sensors can be installed; a single or multiple phenotypic sensors are centrally installed under the connecting member 31, and the position of the sensor can be accurately controlled by the control terminal.

[0047] In some specific implementations of the utility model, in the length direction of the connecting member 31, the camera 33 is located on one side of the imager 34, and the scanner is located on the other side of the imager 34; the overall height can be adjusted by telescopic connecting member 31, thereby realizing the height fine-tuning function of the sensor installed on the connecting member 31.

[0048] According to an embodiment of the present invention, fill lights 32 are respectively provided on both sides of the imager 34 in the length direction of the connecting member 31; the fill lights 32 can adjust the lighting angle, thereby realizing a precise fill light function.

[0049] In some specific implementations of the embodiments of the present utility model, the length direction of the connecting member 31 extends along the first direction, and the fill light 32 includes: two fill light parts, and the two fill light parts are distributed and spaced apart along the second direction.

[0050] According to an embodiment of the utility model, the mobile platform 10 includes: a base 11 and a universal wheel 12, wherein the universal wheel 12 is disposed at the bottom of the base 11, and the slide rail device 20 is disposed at the top of the base 11. The base 11 can provide support for the slide rail device 20, etc., and the universal wheel 12 can not only provide a support bottom for the base 11, but also realize the multi-directional rotation of the mobile platform 10.

[0051] In some specific implementations of the utility model, the base 11 is a rectangular frame. For example, the base 11 is a mobile frame constructed of aluminum profiles. For another example, the main material of the rectangular frame is aluminum profiles. A three-dimensional mounting platform with a length, width, and height of 3 meters, 2 meters, and 2 meters is constructed to adjust and fix the imager 34 at any position in space. In this embodiment, the frame has the advantage of flexible construction, and the use of a rectangular frame is conducive to improving the setting efficiency of the slide rail device 20, providing a directional reference for the installation of the slide rail device 20.

[0052] According to an embodiment of the present invention, the long side of the rectangular parallelepiped frame extends along the first direction, the wide side of the rectangular parallelepiped frame extends along the second direction, and the height direction of the rectangular parallelepiped frame extends along the third direction. The slide rail device 20 includes: two first slide rails 21, a second slide rail 22 and a third slide rail 23.

[0053] Specifically, each first slide rail 21 is arranged on a long side of the rectangular parallelepiped frame and is parallel to the long side of the rectangular parallelepiped frame, two first slide rails 21 are distributed along the second direction interval block, the second slide rail 22 extends along the second direction, one end of the second slide rail 22 is connected to one first slide rail 21, and the other end of the second slide rail 22 is connected to another first slide rail 21, the third slide rail 23 is movably arranged on the second slide rail 22, the third slide rail 23 extends along the third direction, and the mounting device 30 is movably installed on the third slide rail 23. The connecting member 31 can be directly or indirectly installed on the third slide rail 23.

[0054] For example, the slide rail device 20 uses an industrial-grade closed high-speed synchronous belt linear module to form an XYZ three-axis combined slide table with a compact and sturdy structure. The linear module body is 60mm wide and uses a two-phase 60 stepper motor to achieve synchronous belt transmission, with a wireless controller and a mini drive module. The system uses two sets of linear modules to form the X-axis, with a length of 3000mm; a set of linear modules is used as the Y-axis, with a length of 2200mm; positioning accuracy: ±0.1MM; the maximum horizontal load is 30KG. The Z-axis has an automatic adjustment range of 50cm, and the height can be adjusted to adapt to the phenotypic imaging analysis of plants at different heights.

[0055] In some specific implementations of the present invention, the second driving device includes a driven gear, a driving gear and a stepping motor.

[0056] Specifically, the driven gear is respectively connected to one of the first slide rail 21, the second slide rail 22 and the third slide rail 23 and to the mobile platform 10, the driving gear is meshed with the driven gear, and the stepping motor is connected to the driving gear and is used to drive the driving gear to rotate.

[0057] Optionally, the first slide rail 21 is defined as a transversely movable slide rail platform, which rotates in cooperation with the mobile platform 10 through a driven gear; meshes with the driven gear through a driving gear; is connected to the driving gear through a stepping motor, and drives the driving gear to rotate.

[0058] Optionally, the second slide rail 22 is defined as a longitudinally movable slide, which rotates in cooperation with the mobile platform 10 via a driven gear; meshes with the driven gear via a driving gear; is connected to the driving gear via a stepping motor and is used to drive the driving gear to rotate.

[0059] Optionally, the third slide rail 23 is defined as a vertically movable slide rail platform, which rotates in coordination with the mobile platform 10 via a driven gear; meshes with the driven gear via a driving gear; is connected to the driving gear via a stepping motor and is used to drive the driving gear to rotate.

[0060] Optionally, the slide rail device 20 includes a linear light source, which uses a halogen lamp to meet the requirements of full-band imaging hyperspectral data acquisition. Optionally, the linear light source is integrated with the mounting device 30 to achieve high-precision synchronous movement of the mounting device 30 and the linear light source.

[0061] In some specific embodiments of the present invention, the mobile multi-source crop information collection device 100 further includes: a display screen 60, which is disposed on the mobile platform 10 and exposed to the outside world. The display screen 60 is electrically connected to the mounting device 30 for user viewing.

[0062] According to an embodiment of the present invention, the mobile multi-source crop information collection device 100 further includes an operating platform 70, which is disposed on the mobile platform 10 and exposed to the outside world. The operating platform 70 is electrically connected to the first driving device and the second driving device for easy user operation.

[0063] The working process of the mobile multi-source crop information collection device 100 according to the embodiment of the utility model is described in detail below in conjunction with specific embodiments.

[0064] Move the mobile platform 10 to the field sample area to be tested, fix the universal wheel 12, input the planned path into the control software of the PC 40, control the mobile platform 10 to move to a certain height above the crop along the planned path, operate the high-resolution optical camera to take images through the sensor control system, and operate the hyperspectral sensor to perform spectral scanning at the same time. If necessary, the LiDAR can be operated to collect crop three-dimensional point cloud information at the same time. At this point, the acquired data is stored in the PC 40 end, and the operation is repeated until all crop information in the field test area is collected. After collecting crop information in the entire area, the staff performs post-processing and analysis on the acquired crop information to obtain information such as crop leaf area, nitrogen content, plant height, and lesions, so as to formulate crop fertilization prescriptions and achieve precise crop regulation.

[0065] In summary, the mobile multi-source crop information collection device 100 according to the embodiment of the utility model has the advantages of simple structure, convenient control, easy information collection, and the ability to collect more accurate and comprehensive crop information.

[0066] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A mobile multi-source crop information collection device, characterized in that: include: Mobile platforms; a first driving device, the first driving device being connected to the mobile platform and used for driving the mobile platform to move in a first direction, a second direction and a third direction, wherein any two of the first direction, the second direction and the third direction are perpendicular to each other; A slide rail device, wherein the slide rail device is arranged on the mobile platform; A mounting device, the mounting device is arranged on the slide rail device and can move along the slide rail device in the first direction, the second direction and the third direction, the mounting device comprises a connecting member connected to the slide rail device and a fill light, a camera, an imager and a laser radar scanner arranged on the connecting member; A second driving device is connected to the mounting device to drive the mounting device to move on the slide rail device.

2. The mobile multi-source crop information collection device according to claim 1, characterized in that: The connecting member comprises an elongated rod, and the fill light, the camera, the imager and the laser radar scanner are distributed at intervals along the length direction of the connecting member.

3. The mobile multi-source crop information collection device according to claim 2, characterized in that: In the length direction of the connecting member, the camera is located on one side of the imager, and the scanner is located on the other side of the imager.

4. The mobile multi-source crop information collection device according to claim 3, characterized in that: In the length direction of the connecting piece, fill lights are respectively provided on both sides of the imager.

5. The mobile multi-source crop information collection device according to any one of claims 2 to 4, characterized in that: The length direction of the connecting member extends along the first direction, and the fill light includes: Two fill-in light parts are distributed along the second direction at intervals.

6. The mobile multi-source crop information collection device according to claim 1, characterized in that: The mobile platform comprises: A base and a universal wheel, wherein the universal wheel is arranged at the bottom of the base, and the slide rail device is arranged at the top of the base.

7. The mobile multi-source crop information collection device according to claim 6, characterized in that: The base includes a rectangular parallelepiped frame.

8. The mobile multi-source crop information collection device according to claim 7, characterized in that: The long side of the rectangular parallelepiped frame extends along the first direction, the wide side of the rectangular parallelepiped frame extends along the second direction, and the height direction of the rectangular parallelepiped frame extends along the third direction; The slide rail device comprises: Two first slide rails, each of which is disposed on a long side of the rectangular parallelepiped frame and is parallel to the long side of the rectangular parallelepiped frame, and the two first slide rails are distributed along the second direction spacer blocks; a second slide rail, the second slide rail extending along the second direction, one end of the second slide rail connected to one of the first slide rails, and the other end of the second slide rail connected to another of the first slide rails; A third slide rail, wherein the third slide rail is movably disposed on the second slide rail, the third slide rail extends along the third direction, and the mounting device is movably mounted on the third slide rail.

9. The mobile multi-source crop information collection device according to claim 8, characterized in that: The second driving device comprises: A driven gear, wherein the driven gear is respectively connected to one of the first slide rail, the second slide rail and the third slide rail and is connected to the moving platform; a driving gear meshing with the driven gear; A stepper motor is connected to the driving gear and is used to drive the driving gear to rotate.

10. The mobile multi-source crop information collection device according to claim 1, characterized in that: Also includes: A display screen, which is disposed on the mobile platform and exposed to the outside world, and is electrically connected to the mounting device; and / or, An operating platform is arranged on the mobile platform and exposed to the outside, and the operating platform is electrically connected to the first driving device and the second driving device.

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