Greenhouse crop and environment detection device

Abstract

The utility model provides a kind of greenhouse crop and environment detection device, the utility model belongs to greenhouse detection device field, comprising: metal track, set in greenhouse;Mobile car, it is movable on metal track and the ground in greenhouse;Motor, install in mobile car;Turntable, the output shaft of motor passes through the upper surface of mobile car and is connected with the one end of turntable;Lifting column, with the other end of turntable is connected;First camera, install in the side of lifting column;Second camera, install in the side of lifting column, first camera and second camera are spaced from bottom to top arrangement.The purpose is to solve the problem that greenhouse crop and environment detection device in prior art cannot cover all tomato fruit detection in height direction and fruit image is not clear.The technical effect achieved is: realize the full coverage detection of tomato fruit in height direction.

Description

Technical Field

[0001] This utility model relates to the technical field of greenhouse testing devices, and in particular to a greenhouse crop and environment testing device. Background Technology

[0002] Modern facility agriculture technology has rapidly developed in the agricultural sector due to its significant advantages in efficient resource utilization and reduced waste. Among these advancements, intelligent agricultural machinery is playing an increasingly prominent role in improving the economic efficiency of greenhouse production; however, this also places higher demands on the level of facility agriculture equipment. Taking multi-span greenhouses as an example, the pipes laid on the ground not only provide heating but also serve as running tracks for agronomic equipment such as handling and leaf trimming, fully demonstrating the multifunctionality and integration of facility agriculture equipment.

[0003] In greenhouse cultivation, crop growth analysis and greenhouse environment monitoring are crucial steps. With the continuous advancement of image recognition and online monitoring technologies, using inspection devices for crop identification and analysis, as well as large-area greenhouse environmental monitoring, has become an important means to achieve time and labor savings while improving accuracy.

[0004] However, the existing inspection devices have a single camera mounted in the middle of the vehicle. While the shooting height can be adjusted by raising and lowering the camera, the shooting angle needs to be manually adjusted. Furthermore, the shooting distance must cover both tomatoes directly in front and tomatoes at a relatively greater distance, slightly below or above. This results in blurry images during the initial identification of tomato clusters, although it works normally. However, when segmenting and analyzing individual tomatoes to determine ripeness, the images become unclear. Additionally, because tomatoes have a wide vertical distribution, the limited range of a single camera makes it difficult to cover all tomatoes vertically. This limits its use to specific scenarios and its application in conjunction with agronomic operations, failing to meet the demands of efficient and precise inspection in actual greenhouse production. Utility Model Content

[0005] This invention provides a greenhouse crop and environmental monitoring device to address the shortcomings of existing greenhouse crop and environmental monitoring devices that cannot cover the entire tomato fruit in the vertical direction, thereby achieving full coverage monitoring of tomato fruits.

[0006] This utility model provides a greenhouse crop and environmental monitoring device, comprising:

[0007] Metal tracks, installed inside the greenhouse;

[0008] The mobile vehicle can move both on metal tracks and on the ground inside the greenhouse.

[0009] The motor is installed inside the mobile vehicle;

[0010] The motor's output shaft passes through the upper surface of the moving vehicle and connects to one end of the turntable;

[0011] The rising column is connected to the other end of the turntable;

[0012] The first camera is installed on the side of the lifting column;

[0013] The second camera is installed on the side of the lifting column, while the first and second cameras are spaced apart from bottom to top.

[0014] In addition, the greenhouse crop and environmental monitoring device according to this utility model may also have the following additional technical features:

[0015] In some embodiments of this utility model, it further includes:

[0016] The bracket is installed on the mobile vehicle;

[0017] An environmental sensor is connected to the end of the bracket that is away from the mobile vehicle.

[0018] In some embodiments of this utility model, it further includes:

[0019] The third camera is connected to the upper end of the lifting column.

[0020] In some embodiments of this utility model, the mobile vehicle includes:

[0021] The turntable is rotatably connected to the vehicle body;

[0022] The vehicle has multiple rotatable wheels attached to the bottom of its body.

[0023] In some embodiments of this utility model, the mobile vehicle further includes:

[0024] Track wheels are installed at the bottom of the vehicle body, and the track wheels are used to movably connect with the metal track.

[0025] In some embodiments of this utility model, the mobile vehicle further includes:

[0026] Anti-collision beams are installed at both the front and rear of the vehicle body.

[0027] In some embodiments of this utility model, it further includes:

[0028] Visual cameras: Two visual cameras are spaced apart at the bottom of the vehicle body.

[0029] In some embodiments of this utility model, it further includes:

[0030] Distance sensors are installed at both the front and rear ends of the vehicle body.

[0031] In some embodiments of this utility model, it further includes:

[0032] Metal detection sensor: At least one metal detection sensor is installed on the bottom of the vehicle body.

[0033] In some embodiments of this utility model, it further includes:

[0034] RFID tags are placed on the greenhouse floor and located at one end of a metal track.

[0035] An RFID operation module is installed on the bottom of the vehicle body.

[0036] In summary, this application includes at least one of the following beneficial technical effects: by driving the turntable to rotate via a motor, the lifting column moves 360 degrees around the center line of the motor's output shaft, which in turn moves both the first and second cameras 360 degrees around the center line of the motor's output shaft. This achieves 360-degree, blind-spot-free shooting by the inspection device. Simultaneously, the first and second cameras, positioned one above the other and spaced apart, work together to photograph and inspect the tomato fruits. This allows both the first and second cameras to only need to photograph the tomato crops in the nearby, directly facing direction to achieve coverage and inspection of all tomato crops in the vertical direction. This ensures that the images of all tomato bunches are clear when identifying their maturity, thereby achieving accurate and efficient inspection of tomato crops in the greenhouse. Attached Figure Description

[0037] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0038] Figure 1 The first perspective view of a mobile vehicle for a greenhouse crop and environmental monitoring device according to some embodiments of the present invention is shown schematically.

[0039] Figure 2 The second view schematically illustrates a perspective view of a mobile vehicle for a greenhouse crop and environmental monitoring device according to some embodiments of the present invention.

[0040] Figure 3 The third view schematically illustrates a perspective view of a mobile vehicle for a greenhouse crop and environmental monitoring device according to some embodiments of the present invention.

[0041] Figure 4 A schematic diagram of a greenhouse crop and environmental monitoring device according to some embodiments of the present invention is shown.

[0042] Figure label:

[0043] 1. Vehicle body, 2. Turntable, 3. Lifting column, 4. First camera, 5. Second camera, 6. Third camera, 7. Environmental sensor, 8. Display screen, 9. Controller, 10. Moving wheel, 11. Positioning receiver module, 12. Distance sensor, 13. Anti-collision beam, 14. Vision camera, 15. Track wheel, 16. RFID operation module, 18. Metal detection sensor, 19. RFID tag, 20. Positioning transmitter module, 21. Metal track, 22. Tomato planting area, 23. Rotating shaft, 24. Support. Detailed Implementation

[0044] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0045] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “” used herein may also indicate the inclusion of the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated, unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0046] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0047] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may also be rotated 90 degrees or in other orientations, and the spatial relative descriptors used in the text will be interpreted accordingly.

[0048] like Figures 1 to 4 As shown, according to an embodiment of the first aspect of this utility model, a greenhouse crop and environment monitoring device is proposed, including a metal track 21, a mobile vehicle, a lifting column 3, a first camera 4, a second camera 5, a motor, and a turntable 2. The metal track 21 is set inside the greenhouse, so the mobile vehicle can move on the metal track 21 and on the ground inside the greenhouse. The motor is installed inside the mobile vehicle, and the output shaft of the motor passes through the upper surface of the mobile vehicle and is connected to one end of the turntable 2. The other end of the turntable 2 is provided with a lifting column 3. The first camera 4 and the second camera 5 are both installed on the side of the lifting column 3, and the first camera 4 and the second camera 5 are arranged at intervals from bottom to top.

[0049] In the above embodiment, it should be noted that a rotating shaft 23 is also included. A motor is connected to the mobile vehicle by bolts or snap-fits. The output shaft of the motor is connected to the rotating shaft 23. The rotating shaft 23 is connected to the end of the turntable 2 away from the lifting column 3. The lifting column 3 is an existing two-stage electric telescopic rod. The first camera 4 is connected to one side of the upper end of the first-stage telescopic rod of the lifting column 3 by bolts or snap-fits. The second camera 5 is connected to one side of the upper end of the second-stage telescopic rod of the lifting column 3 by bolts or snap-fits. Both the first camera 4 and the second camera 5 are existing depth cameras that can output depth data and RGB image data. There are multiple metal tracks 21, which are spaced apart in the greenhouse. There is a tomato planting area 22 between each pair of adjacent metal tracks 21.

[0050] The technical effect achieved by the above embodiment is as follows: the motor drives the turntable 2 to rotate, which in turn drives the lifting column 3 to move 360 ​​degrees around the center line of the motor's output shaft. This allows both the first camera 4 and the second camera 5 to move 360 ​​degrees around the center line of the motor's output shaft. This enables the inspection device to capture images of the tomato fruit without blind spots. The two cameras, the first camera 4 and the second camera 5, are set up one above the other and positioned at an interval to cooperate in capturing and detecting the tomato fruit. This allows the first camera 4 and the second camera 5 to capture images of the tomato crops in the direction they are facing, thus achieving coverage and detection of all tomato crops in the height direction. This ensures that the images of all tomato bunches are clear when identifying their maturity, thereby achieving accurate and efficient inspection of tomato crops in the greenhouse.

[0051] Optional, such as Figure 1 and Figure 2 As shown, it also includes an environmental sensor 7 and a bracket 24. The bracket 24 is installed on the mobile vehicle, and the environmental sensor 7 is connected to the end of the bracket 24 that is away from the mobile vehicle.

[0052] In the above optional embodiments, it should be noted that the bracket 24 is connected to the mobile vehicle by bolts, snap-fit, or welding, and the environmental sensor 7 is an existing sensor that can detect light, temperature, humidity, carbon dioxide concentration, and light conditions. The environmental sensor 7 is connected to the bracket 24 by bolts or snap-fit.

[0053] The advantages of the above optional embodiments are as follows: by setting the environmental sensor 7, the movement detection of environmental parameters is realized, thereby realizing comprehensive detection of the environment inside the greenhouse and avoiding the situation where single-point detection leads to inaccurate detection.

[0054] Optional, such as Figure 1 and Figure 2 As shown, it also includes a third camera 6, which is connected to the upper end of the lifting column 3.

[0055] In the above optional embodiments, it should be noted that the third camera 6 is an existing surveillance camera PTZ camera, which can rotate 360° to monitor the operating status of the vehicle body 1, the on-site conditions of the greenhouse, etc., and can also perform inspection operations on the greenhouse facilities; the third camera 6 is installed on the top of the lifting column 3 by means of bolt connection or snap-fit.

[0056] The advantages of the above optional embodiments are that the setting of the third camera 6 ensures the reliability and accuracy of the inspection process.

[0057] Optional, such as Figures 1 to 3As shown, the mobile vehicle includes mobile wheels 10 and a vehicle body 1. The turntable 2 is rotatably connected to the vehicle body 1. Multiple mobile wheels 10 are rotatably connected to the bottom of the vehicle body 1. The bracket 24 is mounted on the vehicle body 1.

[0058] In the above optional embodiments, it should be noted that the bracket 24 is mounted on the vehicle body 1, and the movable wheel 10 is a Mecanum wheel that can rotate and move forward, backward, left and right. The movable wheel 10 is driven to rotate and move forward, backward, left and right by an existing Mecanum wheel motor, and the Mecanum wheel motor is mounted on the vehicle body 1.

[0059] The advantages of the above optional embodiments are: the setting of the moving wheels 10 ensures that the moving vehicle can reliably move forward, backward, left, and right on the ground inside the greenhouse, thereby realizing comprehensive testing of tomatoes.

[0060] Optional, such as Figure 3 As shown, the mobile vehicle also includes track wheels 15. Track wheels 15 are provided at the bottom of the vehicle body 1 and are used to movably connect with the metal track 21.

[0061] In the above optional embodiments, it should be noted that the track wheel 15 is connected to the vehicle body 1 via a motor.

[0062] The advantages of the above optional embodiments are as follows: the setting of the track wheel 15 enables the device to move reliably and simply on the track, and the setting of the moving wheel 10 enables the device to move on the ground of the greenhouse and on the track to detect the growth and maturity of tomato plants.

[0063] Optional, such as Figures 1 to 3 As shown, the mobile vehicle also includes anti-collision beams 13, with anti-collision beams 13 installed at both the front and rear ends of the vehicle body 1.

[0064] In the above optional embodiments, it should be noted that the anti-collision beam 13 is connected to the vehicle body 1 by welding or bolting.

[0065] The advantages of the above optional embodiments are: by setting the anti-collision beam 13, damage to the vehicle body 1 of the mobile vehicle can be avoided in the event of a collision, thus improving safety performance.

[0066] Optional, such as Figure 3 As shown, it also includes visual cameras 14, with two visual cameras 14 spaced apart at the bottom of the vehicle body 1.

[0067] In the above optional embodiments, it should be noted that the central axes of the two visual cameras 14 are collinear.

[0068] The advantages of the above optional embodiments are: by setting up two visual cameras 14, the angle difference of the color band below the two visual cameras 14 can be detected respectively, thereby facilitating the adjustment of the direction of the moving wheel 10.

[0069] Optional, such as Figure 1 and Figure 2 As shown, it also includes a ranging sensor 12, with one ranging sensor 12 installed at the front end and one at the rear end of the vehicle body 1.

[0070] In the above optional embodiments, it should be noted that the distance sensor 12 is connected to the vehicle body 1 by means of screw connection or snap connection; the distance sensor 12 can be a distance detection sensor such as an ultrasonic sensor or a laser sensor, and its detection distance is between 0.25 cm and 10 m.

[0071] The above-mentioned optional implementations have the following beneficial effects: by setting the ranging sensor 12, obstacles that the moving vehicle moves forward or backward can be effectively detected, reducing the probability of collision and thus increasing the safety performance of the device.

[0072] Optional, such as Figure 3 As shown, it also includes a metal detection sensor 18, and at least one metal detection sensor 18 is provided on the bottom of the vehicle body 1.

[0073] In the above optional embodiments, it should be noted that the metal detection sensor 18 is connected to the vehicle body 1 by means of screw connection or snap connection, and the metal detection sensor 18 adopts the existing metal detection sensor 18.

[0074] The advantages of the above optional embodiments are as follows: when the metal detection sensor 18 detects the track, the first and second cameras can be activated to perform tomato identification and maturity analysis, avoiding the need to activate the first and second cameras throughout the detection process, thus avoiding waste and excessive data collection, and indirectly reducing the difficulty of data processing.

[0075] Optional, such as Figure 3 and Figure 4 As shown, it also includes an RFID tag 19 and an RFID operation module 16. The RFID operation module 16 is installed at the bottom of the vehicle body 1, and the RFID tag 19 is installed on the ground of the greenhouse and located at one end of the metal track 21.

[0076] In the above optional embodiments, it should be noted that a positioning receiving module 11 and a positioning transmitting module 20 are also included. Multiple positioning transmitting modules 20 are arranged in a matrix form inside the greenhouse, and at least one positioning receiving module 11 is arranged on the vehicle body 1. Both the positioning receiving module 11 and the positioning transmitting module 20 can be existing UWB positioning modules or existing WIFI positioning modules, etc.

[0077] Both the RFID tag 19 and the RFID operation module 16 utilize existing RFID tags 19 and RFID operation modules 16. The RFID tag 19 is the information carrier, responsible for storing and transmitting item data; its performance frequency and power supply method determine the identification distance and scenario applicability. The RFID operation module 16 is the information processing center, realizing the collection, parsing, and business integration of tag data through readers and software systems. The two together constitute a complete RFID identification system, with an RFID tag 19 installed at both ends of each metal track 21.

[0078] It also includes a controller 9 and a display screen 8. A control handle can also be installed on the vehicle body 1. The control handle is electrically connected to the controller 9. The control handle uses the existing method of controlling the movement of remote control vehicles in the forward, backward, left, and right directions to control the movement of the mobile vehicle. The Mecanum wheel motor of the mobile vehicle, the motor on the track wheel 15, the motor connected to the turntable 2, the first camera 4, the second camera 5, the third camera 6, the environmental sensor 7, the display screen 8, the positioning receiver module 11, the ranging sensor 12, the vision camera 14, the RFID operation module 16, the metal detection sensor 18, the RFID tag 19, and the positioning transmitter module 20 are all electrically connected to the controller 9.

[0079] The workflow of this device is as follows: The control of this inspection device can be divided into manual and automatic modes. In manual mode, the operator can control the device to move forward, backward, and turn using the control handle. In automatic mode, inspection operations can be performed. After the inspection operation begins, the two visual cameras 14 start operating. The controller 9 controls the moving wheels 10 to adjust their direction by calculating the direction of the color band and the inertial measurement unit inside the vehicle body 1, realizing forward navigation based on the color band. When encountering a specific RFID tag 19, it performs operations such as forward, backward, left turn, and right turn. For example, when encountering a "left turn" RFID tag 19, the device turns left; the turntable 2 turns to the side to be inspected, generally to the left of the device's direction of travel. During the inspection process, when encountering the metal track 21 inside the greenhouse, it automatically performs a track-mounting operation. After the metal detection sensor 18 detects that the rear moving wheel 10 of the metal track 21 is on the track, it stops running, and the track wheel 15 is activated. The visual navigation based on the color band stops, and the moving wheels 10 also stop working. At this time, only the track wheel 15 moves.

[0080] After the metal detection sensor 18 detects the metal track 21, it activates the first and second cameras to perform tomato identification and maturity analysis. During the identification and maturity analysis process, the operator can adjust the lifting column 3 via the control handle or display screen 8 to adjust the height of the first and second cameras. Generally, the height of the lifting column 3 is adjusted before the automatic inspection task is started.

[0081] The inspection device stops upon encountering an RFID tag 19 with a "return" message, and the tomato identification and maturity analysis tasks cease. After the turntable 2 turns to the other side, the tomato identification and maturity analysis tasks resume, and the inspection device moves in the opposite direction to perform the inspection.

[0082] After the metal detection sensor 18 fails to detect the metal track 21, it performs a lower track operation. The moving wheel 10 starts working, and the visual navigation based on the color strip is activated. After the visual camera 14 acquires the color strip information, the track wheel 15 stops. At this time, only the moving wheel 10 is working. After encountering the next "left turn" RFID tag 19, it enters the next row of inspection operations and performs the same task again.

[0083] After all inspections are completed, the inspection device returns to its initial position via a pre-set route using a color-coded visual navigation method, without acquiring RFID tag 19 information during the process.

[0084] During the inspection, the third camera remains on, allowing staff to observe plant growth, the safety of the facility structure, and other indicators. Environmental sensor 7 is also constantly acquiring data; its acquisition frequency can be adjusted via the screen. The positioning module receiver interfaces with the positioning module transmitter at a specific frequency, continuously monitoring the device's location within the greenhouse. Operators can remotely observe the parameters displayed on screen 8 from the control room. The controller 9 transmits the real-time images from screen 8 to the computer in the control room via Wi-Fi.

[0085] The beneficial effects of the above optional embodiments are as follows: by setting up the RFID tag 19 and the RFID operation module 16 together, information such as the forward and backward movement and turning of the mobile vehicle can be obtained, as well as image data of each camera can be obtained, visual navigation based on color bands can be realized, data of the metal detection sensor 18 can be obtained, and it can be determined whether the vehicle body 1 is running on the track. The inspection results, monitoring video images and other data can be wirelessly transmitted to the computer in the computer room via WIFI.

[0086] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A greenhouse crop and environmental monitoring device, characterized in that, include: Metal track (21), installed inside the greenhouse; The mobile vehicle can move both on the metal track (21) and on the ground inside the greenhouse; The motor is installed inside the mobile vehicle; Turntable (2), the output shaft of the motor passes through the upper surface of the moving vehicle and is connected to one end of the turntable (2); The lifting column (3) is connected to the other end of the turntable (2); The first camera (4) is installed on the side of the lifting column (3); The second camera (5) is installed on the side of the lifting column (3), and the first camera (4) and the second camera (5) are spaced apart from bottom to top.

2. The greenhouse crop and environmental monitoring device according to claim 1, characterized in that, Also includes: The bracket (24) is installed on the mobile vehicle; An environmental sensor (7) is connected to one end of the bracket (24) away from the mobile vehicle.

3. The greenhouse crop and environmental monitoring device according to claim 1, characterized in that, Also includes: The third camera (6) is connected to the upper end of the lifting column (3).

4. The greenhouse crop and environmental monitoring device according to any one of claims 1 to 3, characterized in that, The mobile vehicle includes: The vehicle body (1) is rotatably connected to the turntable (2); The bottom of the vehicle body (1) is rotatably connected to multiple of the movable wheels (10).

5. The greenhouse crop and environmental monitoring device according to claim 4, characterized in that, The mobile vehicle also includes: The bottom of the vehicle body (1) is provided with the track wheel (15), which is used to be movably connected to the metal track (21).

6. The greenhouse crop and environmental monitoring device according to claim 4, characterized in that, The mobile vehicle also includes: The anti-collision beam (13) is provided at both the front and rear ends of the vehicle body (1).

7. The greenhouse crop and environmental monitoring device according to claim 4, characterized in that, Also includes: Visual cameras (14) are provided at intervals on the bottom of the vehicle body (1).

8. The greenhouse crop and environmental monitoring device according to claim 4, characterized in that, Also includes: Distance sensor (12), one of the distance sensors (12) is provided at the front end and one at the rear end of the vehicle body (1).

9. The greenhouse crop and environmental monitoring device according to claim 4, characterized in that, Also includes: Metal detection sensor (18) is provided at least one of the metal detection sensors (18) at the bottom of the vehicle body (1).

10. The greenhouse crop and environmental monitoring device according to claim 4, characterized in that, Also includes: An RFID tag (19) is placed on the ground of the greenhouse and located at one end of the metal track (21); RFID operation module (16) is provided at the bottom of the vehicle body (1).

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