CN118533786A - Vegetable greenhouse planting environment detection device - Google Patents
Vegetable greenhouse planting environment detection device Download PDFInfo
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- CN118533786A CN118533786A CN202411008151.1A CN202411008151A CN118533786A CN 118533786 A CN118533786 A CN 118533786A CN 202411008151 A CN202411008151 A CN 202411008151A CN 118533786 A CN118533786 A CN 118533786A
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- 235000013311 vegetables Nutrition 0.000 title claims abstract description 203
- 238000001514 detection method Methods 0.000 title claims abstract description 30
- 238000003384 imaging method Methods 0.000 claims abstract description 70
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 57
- 238000003333 near-infrared imaging Methods 0.000 claims abstract description 28
- 238000002329 infrared spectrum Methods 0.000 claims abstract description 6
- 238000009423 ventilation Methods 0.000 claims description 156
- 238000007781 pre-processing Methods 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 6
- 230000002035 prolonged effect Effects 0.000 claims description 5
- 238000007664 blowing Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 8
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 238000000701 chemical imaging Methods 0.000 abstract description 2
- 235000021384 green leafy vegetables Nutrition 0.000 description 11
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 8
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 229930002875 chlorophyll Natural products 0.000 description 4
- 235000019804 chlorophyll Nutrition 0.000 description 4
- ATNHDLDRLWWWCB-AENOIHSZSA-M chlorophyll a Chemical compound C1([C@@H](C(=O)OC)C(=O)C2=C3C)=C2N2C3=CC(C(CC)=C3C)=[N+]4C3=CC3=C(C=C)C(C)=C5N3[Mg-2]42[N+]2=C1[C@@H](CCC(=O)OC\C=C(/C)CCC[C@H](C)CCC[C@H](C)CCCC(C)C)[C@H](C)C2=C5 ATNHDLDRLWWWCB-AENOIHSZSA-M 0.000 description 4
- 229910052757 nitrogen Inorganic materials 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
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- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000003900 soil pollution Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/3563—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing solids; Preparation of samples therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/3554—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for determining moisture content
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/359—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light using near infrared light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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Abstract
The invention relates to the field of agricultural intellectualization, in particular to a vegetable greenhouse planting environment detection device which comprises a near infrared imaging module, a moving assembly, a first acquisition module, an imaging pretreatment assembly and a controller, wherein the near infrared imaging module is a portable near infrared spectrum imager, the near infrared imaging module is arranged on the moving assembly, the moving assembly is used for adjusting the position and imaging angle of the near infrared imaging module, and the first acquisition module is a first vision sensor. According to the invention, the near infrared imaging module and the imaging pretreatment component are arranged, and the imaging pretreatment component can be used for removing water drops on the surfaces of the vegetable blades by adopting different means according to the characteristics of the vegetable blades, so that the detection accuracy of the spectral imaging technology on the water content of the vegetable blades is improved, the detection result can reflect the growth condition of plants more accurately, and a data basis is provided for the planting management of vegetable greenhouses.
Description
Technical Field
The invention relates to the technical field of agricultural intellectualization, in particular to a vegetable greenhouse planting environment detection device.
Background
An unmanned vegetable greenhouse is a system for realizing automation and management automation of vegetable planting by using modern technological means. The intelligent greenhouse is characterized in that the intelligent greenhouse is integrated with the intelligent greenhouse through the Internet of things technology, the artificial intelligence, the sensor, the actuator and other devices, the real-time collection, transmission, processing and control of the planting environment parameters in the greenhouse are realized, and compared with a traditional vegetable greenhouse, the intelligent greenhouse is managed and operated automatically through the intelligent management, so that the efficiency of agricultural production is improved. At present, unmanned vegetable greenhouses are already subjected to trial-and-spotting in the northeast area and the northeast area of China. The unmanned vegetable greenhouse can be set into an overground unmanned vegetable greenhouse or an overwater unmanned vegetable greenhouse according to different local geographic environments, the construction cost of the overground vegetable greenhouse is relatively low, but the greenhouse soil is influenced by surrounding environment, the unmanned vegetable greenhouse is suitable for an environment area with proper temperature and small soil pollution degree, the underwater vegetable greenhouse is a vegetable greenhouse constructed on water as the name implies, the construction cost of the overground vegetable greenhouse is relatively high, but compared with the overground vegetable greenhouse, the production field utilization rate of the overwater vegetable greenhouse is high, various leaf vegetables can be cultivated, and the yield is high.
The unmanned vegetable greenhouse on the ground adopts an image recognition mode to sample and photograph vegetable leaves in the vegetable greenhouse so as to realize the purpose of detecting the planting environment in the vegetable greenhouse, and the unmanned vegetable greenhouse on the water adopts an atomization spraying mode to supplement water for vegetables, so that the content of fog in the vegetable greenhouse on the water is higher, the visibility is low, the pixels of image information acquired by adopting an image recognition technology are lower, and the error reporting rate is high when the image information is compared and detected.
Disclosure of Invention
Based on the above, it is necessary to provide a vegetable greenhouse planting environment detection device for solving the problem of low image recognition accuracy of an environment monitoring system, aiming at the problem of the current image acquisition equipment applied to an unmanned vegetable greenhouse.
The above purpose is achieved by the following technical scheme:
a vegetable greenhouse planting environment detection device includes:
A near infrared imaging module;
the near infrared imaging module is arranged on the moving assembly, and the moving assembly is used for adjusting the position and the imaging angle of the near infrared imaging module;
The first acquisition module is used for acquiring the length, the width and the length-width ratio of the vegetable leaves to be detected;
the imaging pretreatment component is arranged on the moving component and is used for removing water drops on the surface of the vegetable blade to be detected, and the imaging pretreatment component is provided with a first working mode and a second working mode;
The imaging pretreatment component is in a first working mode, so that the section of the vegetable blade to be detected is in a V shape, and in a second working mode, the imaging pretreatment component blows air to two sides of the upper surface of the vegetable blade to be detected, so that the section of the vegetable blade to be detected is in an inverted V shape;
The controller is configured to receive the length-width ratio of the vegetable leaves to be detected, which is acquired by the first acquisition module;
If the length-width ratio of the vegetable leaf to be detected, which is received by the controller, is larger than a first preset value, the controller controls the imaging preprocessing component to remove water drops on the surface of the vegetable leaf to be detected in a first working mode; if the length-width ratio of the vegetable leaf to be detected, which is received by the controller, is smaller than or equal to a first preset value, the controller controls the imaging pretreatment component to remove water drops on the surface of the vegetable leaf to be detected in a second working mode.
In one embodiment, the imaging preprocessing component comprises a first vent pipe, a second vent pipe, a third vent pipe and an air driving piece, wherein the first vent pipe, the second vent pipe and the third vent pipe are mutually parallel, vent hole groups are formed in the circumferential direction of the first vent pipe, each vent hole group comprises a plurality of vent holes, the plurality of vent holes are arranged at intervals along the axis of the first vent pipe, and the second vent pipe and the third vent pipe have the same structure as the first vent pipe;
the first vent pipe, the second vent pipe and the third vent pipe can all move in a three-dimensional space;
The air driving parts are used for blowing outwards or sucking inwards through the vent holes, three air driving parts are connected with the first vent pipe, the second vent pipe and the third vent pipe in a one-to-one correspondence mode.
In one embodiment, the imaging preprocessing component further comprises a second acquisition module, wherein the second acquisition module is used for acquiring the position information of the vegetable leaves to be detected;
the controller is further configured to receive position information of the vegetable leaves to be measured;
When the imaging pretreatment component is in a first working mode, the controller firstly controls the second ventilation pipe to move to the position of the center line of the lower surface of the vegetable blade to be detected in the length direction, then controls the first ventilation pipe and the third ventilation pipe to move to the lower surface of the vegetable blade to be detected and to be positioned at the positions of preset distances on two sides of the second ventilation pipe, then controls the first ventilation pipe and the third ventilation pipe to move upwards by preset heights, and finally controls the air driving piece to suck air inwards so that the section of the vegetable blade to be detected is in a V shape;
When the imaging pretreatment component is in a second working mode, the controller firstly controls the second ventilation pipe to move to the position where the center line of the length direction of the lower surface of the vegetable blade to be detected is located, then controls the first ventilation pipe and the third ventilation pipe to move to the upper surface of the vegetable blade to be detected and to be located at preset distance positions on two sides of the second ventilation pipe, then controls the air driving piece connected with the second ventilation pipe to inhale inwards, then controls the first ventilation pipe and the third ventilation pipe to move upwards by preset height, and finally controls the air driving piece connected with the first ventilation pipe and the third ventilation pipe to blow outwards, so that the section of the vegetable blade to be detected is in an inverted V shape.
In one embodiment, the imaging preprocessing component further comprises a timing module, wherein the timing module is used for recording the inspiration time of the second ventilation pipe;
The controller is configured to receive the duration recorded by the timing module;
when the imaging pretreatment component is in a first working mode, after the air suction time of the second ventilation pipe reaches a first preset time, the controller continuously controls the first ventilation pipe, the second ventilation pipe and the third ventilation pipe to incline a preset angle towards a direction away from the leaf neck of the vegetable leaf synchronously and keep a second preset time, and finally controls the first ventilation pipe and the third ventilation pipe to move downwards by a preset height;
When the imaging pretreatment component is in the second working mode, after the duration of continuous inward inhalation of the second ventilation pipe reaches a first preset duration, the controller continuously controls the air driving piece connected with the first ventilation pipe and the third ventilation pipe to stop working, then controls the first ventilation pipe and the third ventilation pipe to move downwards by a preset height, and finally controls the air driving piece connected with the first ventilation pipe and the third ventilation pipe to inhale inwards.
In one embodiment, the imaging preprocessing component further comprises a weight sensing module, wherein the weight sensing module is used for detecting the weight borne by the second ventilation pipe;
The controller is configured to receive the weight value carried by the second vent pipe and calculate the change of the weight value in the designated time period;
When the duration of continuous inward inhalation of the second ventilation pipe reaches a third preset duration, if the variation of the weight value in the target duration is non-zero, the first preset duration is prolonged;
the third preset time period is equal to the first preset time period minus the specified time period.
In one embodiment, the imaging preprocessing assembly further comprises a frame and three-axis mechanical arms, wherein the three-axis mechanical arms are independently arranged on the frame, and the tail ends of the three-axis mechanical arms are respectively connected with one ends of the first communicating pipe, the second communicating pipe and the third communicating pipe and used for driving the first ventilating pipe, the second ventilating pipe and the third ventilating pipe to move in a three-dimensional space.
In one embodiment, the second acquisition module is a second vision sensor.
In one embodiment, the first acquisition module is a first vision sensor.
In one embodiment, the mobile assembly includes a drone and a third vision sensor disposed on the drone, the third vision sensor for navigating the drone.
In one embodiment, the near infrared imaging module is a portable near infrared spectrum imager.
The beneficial effects of the invention are as follows:
The invention is provided with the near infrared imaging module and the imaging pretreatment component, the characteristics of the water content, the chlorophyll content, the nitrogen content and the like of the vegetable leaves can be detected through the near infrared imaging module, compared with the image acquisition technology, the error reporting rate is lower when the planting environment in the unmanned vegetable greenhouse on water is detected, the water drops on the surfaces of the vegetable leaves can be removed by adopting different means according to the characteristics of the vegetable leaves through the imaging pretreatment component, the detection accuracy of the spectral imaging technology on the water content of the vegetable leaves is improved, so that the detection result can more accurately reflect the growth condition of plants, and a data basis is provided for the planting management of the vegetable greenhouse.
Drawings
FIG. 1 is a schematic diagram showing the switching of the working modes of an imaging preprocessing component in a vegetable greenhouse planting environment detection device;
FIG. 2 is a schematic diagram of the controller control in the vegetable greenhouse planting environment detection device of the present invention;
FIG. 3 is a schematic view of a wide leaf vegetable leaf to be tested in a vegetable greenhouse planting environment detection device according to the present invention in a V-shape;
FIG. 4 is a schematic diagram of a wide leaf vegetable leaf to be detected in a vegetable greenhouse planting environment detection device in a working state of a near infrared imaging module;
FIG. 5 is a schematic view of a narrow leaf vegetable leaf to be tested in an inverted V-shape in a vegetable greenhouse planting environment detection device of the present invention;
FIG. 6 is a schematic diagram of a vegetable leaf to be measured with a narrow leaf in a vegetable greenhouse planting environment detection device in the present invention in a near infrared imaging module working state;
Fig. 7 is a schematic diagram of the position of the vent hole in the vegetable greenhouse planting environment detection device.
Wherein:
100. A first vent pipe; 110. a vent hole; 200. a second vent pipe; 300. a third gas-passing pipe; 400. vegetable leaves to be measured.
Detailed Description
The present invention will be further described in detail below with reference to examples, which are provided to illustrate the objects, technical solutions and advantages of the present invention. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The numbering of components herein, such as "first," "second," etc., is used merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated. In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
As shown in fig. 1-7, a vegetable greenhouse planting environment detection device comprises a near infrared imaging module, a moving assembly, a first acquisition module, an imaging pretreatment assembly and a controller, wherein the near infrared imaging module is a portable near infrared spectrum imager, the near infrared imaging module is arranged on the moving assembly, the moving assembly is used for adjusting the position and the imaging angle of the near infrared imaging module, the first acquisition module is a first vision sensor, the first acquisition module is used for acquiring the length, the width and the length-width ratio of a vegetable blade 400 to be detected, the imaging pretreatment assembly is arranged on the moving assembly, the imaging pretreatment assembly is used for removing water drops on the surface of the vegetable blade 400 to be detected, the imaging pretreatment assembly is provided with a first working mode and a second working mode, the imaging pretreatment assembly is in the first working mode, the cross section of the vegetable blade 400 to be detected can be made to be in a V shape, the imaging pretreatment assembly is arranged in the second working mode, the imaging pretreatment assembly blows air to two sides of the upper surface of the vegetable blade 400 to be detected, so that the cross section of the vegetable blade 400 to be detected is in an inverted V shape, the controller is configured to receive the length-width ratio of the vegetable blade 400 acquired by the first acquisition module, the length-width ratio of the vegetable blade 400 to be detected, the water drops on the surface of the vegetable blade 400 to be detected is set to be detected, and the first working mode is set to be the first and the water drops to be detected by the first working mode, and the vegetable blade 400 to be detected is subjected to the first working mode to control the water drops; if the aspect ratio of the vegetable blade 400 to be measured received by the controller is smaller than or equal to the first preset value, the controller controls the imaging preprocessing component to remove the water drops on the surface of the vegetable blade 400 to be measured in the second working mode.
As shown in fig. 1 and 2, when it is required to detect a planting environment in a vegetable greenhouse on water, a worker manually or automatically controls a moving assembly to move to a position above a vegetable plant to be detected in the vegetable greenhouse by a program, then obtains the length, width and aspect ratio of the vegetable blade 400 to be detected by a first obtaining module, and primarily determines whether the vegetable blade 400 to be detected belongs to a narrow leaf vegetable or a wide leaf vegetable by the aspect ratio of the vegetable blade 400 to be detected, then the first obtaining module sends the obtained aspect ratio of the vegetable blade 400 to a controller, the controller compares the obtained aspect ratio of the vegetable blade 400 to be detected with a first preset value set in the controller after receiving the aspect ratio of the vegetable blade 400 to be detected, and if the aspect ratio of the vegetable blade 400 to be detected is greater than the first preset value, the controller determines that the vegetable blade 400 to be detected belongs to the wide leaf vegetable, then the controller sends a control command to the imaging pretreatment component, so that the imaging pretreatment component is in a first working mode, the cross section of the vegetable blade 400 to be tested is in a V shape, at the moment, water drops attached to the upper surface of the vegetable blade 400 to be tested can slightly slide towards the center of the vegetable blade 400 to be tested under the action of gravity, when two adjacent water drops contact each other, under the action of liquid surface tension, the two water drops gather into one water drop, the weight of the water drops after gathering increases, the sliding speed towards the center of the vegetable blade 400 to be tested is increased, the gathering with other water drops is accelerated, finally, the water drops on the surface of the vegetable blade 400 to be tested gather into a group of water in the area where the central line of the length direction of the upper surface of the vegetable blade 400 to be tested is located, because the vegetable blade is generally obliquely grown, after the water drops on the surface of the vegetable blade 400 to be tested gather into a group of water, the improvement makes imaging pretreatment subassembly and the vegetables blade 400 that awaits measuring break away from the contact, just can make the water mass that gathers drop from the vegetables blade 400 that awaits measuring under the action of gravity, and the controller can send the instruction to near infrared imaging module this moment for near infrared imaging mode begins work, detects characteristics such as the moisture content of vegetables blade 400 that awaits measuring, chlorophyll content and nitrogen content through near infrared imaging module, so that the staff reflects the planting environmental factor in the vegetable greenhouse through analyzing the characteristics of vegetables blade, provides the data foundation for vegetable greenhouse's planting management.
If the aspect ratio of the vegetable blade 400 to be measured is smaller than the first preset value, the controller judges that the vegetable blade 400 to be measured belongs to narrow-leaf vegetables, then the controller sends a control instruction to the imaging pretreatment assembly, the imaging pretreatment assembly is in a second working mode, the imaging pretreatment assembly blows air to two sides of the upper surface of the vegetable blade 400 to be measured, so that the section of the vegetable blade 400 to be measured is in an inverted V shape in the width direction, water drops on the surface of the vegetable blade 400 to be measured gradually fall from two sides of the width direction of the vegetable blade 400 to be measured under the action of airflow driving, at the moment, the controller can control the near-infrared imaging module to start working, the characteristics of the water content, the chlorophyll content, the nitrogen content and the like of the vegetable blade 400 to be measured are detected through the near-infrared imaging module, so that the characteristics of the vegetable blade are analyzed by workers to reflect the planting environment factors in the vegetable greenhouse, and data basis is provided for planting management of the vegetable greenhouse.
It should be noted that, because the image acquisition device is difficult to shoot an ultra-high definition and high pixel image in foggy weather, the invention adopts the near infrared spectrum imaging technology to detect the characteristics of the water content, chlorophyll content, nitrogen content and the like of the vegetable leaves, and compared with the image acquisition technology, the error reporting rate is lower when detecting the planting environment in the unmanned vegetable greenhouse on water.
It should be further noted that, in order to further improve the accuracy of near infrared spectrum imaging, therefore, an imaging pretreatment component is added, and the water drops on the surface of the vegetable leaf 400 to be detected are removed by the imaging pretreatment component, so that the detection accuracy of the spectrum imaging technology on the water content of the vegetable leaf is improved, and the detection result can more accurately reflect the growth condition of plants, and provide a data basis for the planting management of the vegetable greenhouse.
It should be further noted that, for the narrow leaf vegetables, the width is narrower, and the imaging pretreatment component blows air to two sides of the upper surface of the vegetable blade 400 to be tested, so that the cross section of the vegetable blade 400 to be tested is in an inverted V shape, and water drops fall from the upper surface of the vegetable blade 400 to be tested. For wide leaf vegetables, the width is wider, if air is blown to two sides of the upper surface of the vegetable blade 400 to be tested, the action force of air flow cannot act on the whole vegetable blade 400 to be tested, so that the actual water drop removing effect is limited; for the wide-leaf vegetables, the section of the vegetable blade 400 to be tested is in a V shape, because the length of the arc-shaped contour lines on two sides of the wide-leaf vegetables is larger than the length of the central line of the wide-leaf vegetables in the length direction, water drops are collected towards the central line of the wide-leaf vegetables in the length direction, the water drops are more easily collected into a big water mass and fall from the wide-leaf vegetables, and after the big water mass flows down, the water drops are not easy to remain at the position of the contour line of the lower surface of the wide-leaf vegetables, so that the water drops on the surface of the wide-leaf vegetables are better removed.
In a further embodiment, as shown in fig. 3 to 7, the pre-imaging processing assembly includes a first ventilation pipe 100, a second ventilation pipe 200, a third ventilation pipe 300 and air driving members, the air driving members are electric suction pumps, the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300 are parallel to each other, vent hole groups are formed in the circumferential direction of the first ventilation pipe 100, each vent hole group includes a plurality of vent holes 110, the plurality of vent holes 110 are arranged at intervals along the axis of the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300 are identical to the first ventilation pipe 100 in structure, the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300 can all move in three-dimensional space, the air driving members are used for blowing air outwards or sucking air inwards through the vent holes 110, and the three air driving members are in one-to-one correspondence with the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300.
In a further embodiment, the imaging preprocessing component further includes a second acquisition module, the second acquisition module being a second vision sensor, the second acquisition module being configured to acquire the position information of the vegetable blade 400 to be measured, the controller being further configured to receive the position information of the vegetable blade 400 to be measured.
As shown in fig. 3 and 4, when the pre-imaging processing assembly is in the first working mode, the second obtaining module obtains the position information of the vegetable blade 400 to be detected first, after the controller receives the position information of the vegetable blade 400 to be detected, the controller firstly controls the second ventilation pipe 200 to move to the position where the center line of the length direction of the lower surface of the vegetable blade 400 to be detected is located, the controller further controls the first ventilation pipe 100 and the third ventilation pipe 300 to move to the position where the lower surface of the vegetable blade 400 to be detected is located at the preset distance on both sides of the second ventilation pipe 200, then controls the first ventilation pipe 100 and the third ventilation pipe 300 to move upwards by the preset height, finally controls the air driving part to inhale inwards, at this time, the lower surfaces of the wide-leaf vegetables to be detected are sucked at the positions of the ventilation holes 110 of the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300, the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300 are in a V shape, and the wide-leaf vegetables to be detected are sucked on the first ventilation pipe 100, the second ventilation pipe 200 and the second ventilation pipe 300, and the wide-leaf vegetables to be detected are distributed in a V shape.
As shown in fig. 5 and 6, when the pre-imaging processing assembly is in the second working mode, the second obtaining module obtains the position information of the vegetable blade 400 to be detected first, after the controller receives the position information of the vegetable blade 400 to be detected, the controller firstly controls the second ventilation pipe 200 to move to the position where the central line of the length direction of the lower surface of the vegetable blade 400 to be detected is located, then controls the first ventilation pipe 100 and the third ventilation pipe 300 to move to the upper surface of the vegetable blade 400 to be detected and to be located at the preset distance positions on both sides of the second ventilation pipe 200, then controls the air driving part connected with the second ventilation pipe 200 to suck inwards, sucks the part where the central line of the narrow leaf vegetable is located on the second ventilation pipe 200, then controls the first ventilation pipe 100 and the third ventilation pipe 300 to move upwards by the preset height, and finally controls the air driving part connected with the first ventilation pipe 100 and the third ventilation pipe 300 to blow outwards, so that the section of the vegetable blade 400 to be detected is in a reverse V shape, and the section of the vegetable blade 400 is separated from the vegetable bead on the upper surface of the narrow leaf vegetable.
In a further embodiment, the pre-imaging processing assembly further comprises a timing module for recording a length of time the second ventilation tube 200 is aspirated, and the controller is configured to receive the length of time recorded by the timing module.
When the imaging preprocessing component is in the first working mode, after the air suction duration of the second ventilation pipe 200 reaches the first preset duration, the controller continuously controls the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300 to incline at a preset angle towards the direction away from the vegetable blade neck and keep the second preset duration, so that the tail ends of the vegetable blades incline downwards, the big water clusters converged at the central line position of the length direction of the vegetable blades can fall down conveniently, and finally the first ventilation pipe 100 and the third ventilation pipe 300 are controlled to move downwards for a preset height, at the moment, the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300 are located at the same height, so that the surfaces of the vegetable blades are in a plane state as much as possible, and the vegetable blades can be scanned conveniently by the subsequent near infrared imaging module.
It should be noted that the first preset duration and the second preset duration may be set according to the length and the width of the vegetable leaf, if the length and the width of the vegetable leaf are larger, the first preset duration and the second preset duration are appropriately increased, otherwise, the first preset duration and the second preset duration are reduced. Specifically, the controller may be configured to receive the length and width of the vegetable leaf acquired by the first acquisition module such that the first preset time period satisfies the following functional relationship: Wherein Is the width of the vegetable leaves and is equal to the width of the vegetable leaves,Is a constant that is greater than 1,Is a non-zero constant such that the second preset time period satisfies the following functional relationship: Wherein Is the length of the vegetable leaves and is equal to the length of the vegetable leaves,Is a constant that is greater than 1,Is a non-zero constant.
When the imaging preprocessing assembly is in the second working mode, after the duration of continuous inward inhalation of the second ventilation pipe 200 reaches the first preset duration, the controller continuously controls the air driving parts connected with the first ventilation pipe 100 and the third ventilation pipe 300 to stop working, at this time, the first ventilation pipe 100 and the third ventilation pipe 300 do not blow outwards any more, then the first ventilation pipe 100 and the third ventilation pipe 300 are controlled to move downwards by preset heights, at this time, the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300 are all contacted with the lower surfaces of vegetable blades, and finally the air driving parts connected with the first ventilation pipe 100 and the third ventilation pipe 300 are controlled to inhale inwards, so that the vegetable blades are sucked on the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300, at this time, the surfaces of the vegetable blades can be in a planar state as much as possible, and the vegetable blades can be scanned by the subsequent near infrared imaging module.
In a further embodiment, the imaging preprocessing component further includes a weight sensing module, where the weight sensing module is configured to detect a weight carried by the second ventilation pipe 200, the weight sensing module is a micro pressure sensor, the micro pressure sensor is disposed on the second ventilation pipe 200, and the controller is configured to receive a weight value carried by the second ventilation pipe 200, calculate a variation of the weight value within a specified duration, and when the duration of continuous inward inhalation of the second ventilation pipe 200 reaches a third preset duration, if the variation of the weight value within the specified duration is non-zero, extend the first preset duration, and the third preset duration is equal to the first preset duration minus the specified duration.
The imaging pretreatment component is in the first working mode, the amount of water accumulated in the area where the central line of the length direction of the vegetable blade is located gradually increases along with the increase of time, if the water on the upper surface of the vegetable blade is fully converged to the area where the central line of the length direction of the vegetable blade is located, the amount of water in the area where the central line of the length direction of the vegetable blade is located in a specified time period is not continuously increased, so that whether the water on the upper surface of the vegetable blade is fully converged can be judged by calculating the change amount of the weight value in the specified time period, and the water is prevented from remaining on the upper surface of the vegetable blade. Specifically, the weight of the second ventilation pipe 200 is detected by the weight sensing module, the weight value of the second ventilation pipe 200 is received by the controller, the change amount of the weight value in the specified time period is calculated, when the time period of the second ventilation pipe 200 continuously sucking air inwards reaches the third preset time period (the third preset time period is equal to the first preset time period minus the specified time period), the controller starts to detect whether the change amount of the weight value of the second ventilation pipe 200 is zero or not in the time period from the start of the third preset time period to the end of the first preset time period, if so, the water on the upper surface of the vegetable blade is all gathered together, if not, the water drops are still continuously gathered, the first preset time period needs to be prolonged, for example, the first preset time period is prolonged by two minutes, if the first preset time period is still left for one minute, whether the change amount of the weight value of the second ventilation pipe 200 is zero or not is detected again, if so, the water drops are continuously prolonged until all the water drops are gathered together.
In a further embodiment, the imaging preprocessing assembly further includes a frame and three-axis mechanical arms, the three-axis mechanical arms are all independently disposed on the frame, and the ends of the three-axis mechanical arms are respectively connected with one ends of the first communication pipe, the second communication pipe and the third communication pipe, for driving the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300 to move in the three-dimensional space.
After the controller receives the position information of the vegetable blade 400 to be detected acquired by the second acquisition module, the controller sends a control instruction to the three-axis mechanical arm, so that the three-axis mechanical arm drives the first ventilation pipe 100, the second ventilation pipe 200 and the third ventilation pipe 300 to move to a required position in the three-dimensional space.
In a further embodiment, the mobile assembly comprises a drone and a third vision sensor disposed on the drone, the third vision sensor for navigating the drone.
The unmanned aerial vehicle has the advantages that the unmanned aerial vehicle can fly at the top of the unmanned vegetable greenhouse, so that the unmanned aerial vehicle can move to the position above any vegetable to be sampled, in addition, the rotation of the rotor wing can drive the air flow to flow when the unmanned aerial vehicle flies, so that the visibility can be improved, and the navigation of the third test paper sensor is more accurate.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of the invention should be assessed as that of the appended claims.
Claims (10)
1. Vegetable greenhouse plants environment detection device, its characterized in that includes:
A near infrared imaging module;
the near infrared imaging module is arranged on the moving assembly, and the moving assembly is used for adjusting the position and the imaging angle of the near infrared imaging module;
The first acquisition module is used for acquiring the length, the width and the length-width ratio of the vegetable leaves to be detected;
the imaging pretreatment component is arranged on the moving component and is used for removing water drops on the surface of the vegetable blade to be detected, and the imaging pretreatment component is provided with a first working mode and a second working mode;
The imaging pretreatment component is in a first working mode, so that the section of the vegetable blade to be detected is in a V shape, and in a second working mode, the imaging pretreatment component blows air to two sides of the upper surface of the vegetable blade to be detected, so that the section of the vegetable blade to be detected is in an inverted V shape;
The controller is configured to receive the length-width ratio of the vegetable leaves to be detected, which is acquired by the first acquisition module;
If the length-width ratio of the vegetable leaf to be detected, which is received by the controller, is larger than a first preset value, the controller controls the imaging preprocessing component to remove water drops on the surface of the vegetable leaf to be detected in a first working mode; if the length-width ratio of the vegetable leaf to be detected, which is received by the controller, is smaller than or equal to a first preset value, the controller controls the imaging pretreatment component to remove water drops on the surface of the vegetable leaf to be detected in a second working mode.
2. The vegetable greenhouse planting environment detection device according to claim 1, wherein the imaging pretreatment component comprises a first ventilation pipe, a second ventilation pipe, a third ventilation pipe and an air driving piece, the first ventilation pipe, the second ventilation pipe and the third ventilation pipe are mutually parallel, vent hole groups are formed in the circumferential direction of the first ventilation pipe, each vent hole group comprises a plurality of vent holes, the plurality of vent holes are arranged at intervals along the axis of the first ventilation pipe, and the second ventilation pipe and the third ventilation pipe are identical in structure with the first ventilation pipe;
the first vent pipe, the second vent pipe and the third vent pipe can all move in a three-dimensional space;
The air driving parts are used for blowing outwards or sucking inwards through the vent holes, three air driving parts are connected with the first vent pipe, the second vent pipe and the third vent pipe in a one-to-one correspondence mode.
3. The vegetable greenhouse planting environment detection device according to claim 2, wherein the imaging preprocessing component further comprises a second acquisition module, and the second acquisition module is used for acquiring position information of vegetable leaves to be detected;
the controller is further configured to receive position information of the vegetable leaves to be measured;
When the imaging pretreatment component is in a first working mode, the controller firstly controls the second ventilation pipe to move to the position of the center line of the lower surface of the vegetable blade to be detected in the length direction, then controls the first ventilation pipe and the third ventilation pipe to move to the lower surface of the vegetable blade to be detected and to be positioned at the positions of preset distances on two sides of the second ventilation pipe, then controls the first ventilation pipe and the third ventilation pipe to move upwards by preset heights, and finally controls the air driving piece to suck air inwards so that the section of the vegetable blade to be detected is in a V shape;
When the imaging pretreatment component is in a second working mode, the controller firstly controls the second ventilation pipe to move to the position where the center line of the length direction of the lower surface of the vegetable blade to be detected is located, then controls the first ventilation pipe and the third ventilation pipe to move to the upper surface of the vegetable blade to be detected and to be located at preset distance positions on two sides of the second ventilation pipe, then controls the air driving piece connected with the second ventilation pipe to inhale inwards, then controls the first ventilation pipe and the third ventilation pipe to move upwards by preset height, and finally controls the air driving piece connected with the first ventilation pipe and the third ventilation pipe to blow outwards, so that the section of the vegetable blade to be detected is in an inverted V shape.
4. A vegetable greenhouse planting environment detection device according to claim 3, wherein the imaging pre-processing assembly further comprises a timing module for recording a time period of the second ventilation pipe suction;
The controller is configured to receive the duration recorded by the timing module;
when the imaging pretreatment component is in a first working mode, after the air suction time of the second ventilation pipe reaches a first preset time, the controller continuously controls the first ventilation pipe, the second ventilation pipe and the third ventilation pipe to incline a preset angle towards a direction away from the leaf neck of the vegetable leaf synchronously and keep a second preset time, and finally controls the first ventilation pipe and the third ventilation pipe to move downwards by a preset height;
When the imaging pretreatment component is in the second working mode, after the duration of continuous inward inhalation of the second ventilation pipe reaches a first preset duration, the controller continuously controls the air driving piece connected with the first ventilation pipe and the third ventilation pipe to stop working, then controls the first ventilation pipe and the third ventilation pipe to move downwards by a preset height, and finally controls the air driving piece connected with the first ventilation pipe and the third ventilation pipe to inhale inwards.
5. The vegetable greenhouse planting environment detection device according to claim 4, wherein the imaging preprocessing component further comprises a weight sensing module, and the weight sensing module is used for detecting the weight borne by the second ventilation pipe;
The controller is configured to receive the weight value carried by the second vent pipe and calculate the change of the weight value in the designated time period;
When the duration of continuous inward inhalation of the second ventilation pipe reaches a third preset duration, if the variation of the weight value in the target duration is non-zero, the first preset duration is prolonged;
the third preset time period is equal to the first preset time period minus the specified time period.
6. The vegetable greenhouse planting environment detection device according to claim 2, wherein the imaging pretreatment assembly further comprises a frame and three-axis mechanical arms, the three-axis mechanical arms are independently arranged on the frame, and the tail ends of the three-axis mechanical arms are respectively connected with one ends of the first communicating pipe, the second communicating pipe and the third communicating pipe and used for driving the first ventilating pipe, the second ventilating pipe and the third ventilating pipe to move in a three-dimensional space.
7. A vegetable greenhouse planting environment detection apparatus as claimed in claim 3, wherein the second acquisition module is a second vision sensor.
8. The vegetable greenhouse planting environment detection device of claim 2, wherein the first acquisition module is a first vision sensor.
9. The vegetable greenhouse planting environment detection device of claim 1, wherein the mobile component comprises an unmanned aerial vehicle and a third vision sensor, the third vision sensor is disposed on the unmanned aerial vehicle, and the third vision sensor is used for navigating the unmanned aerial vehicle.
10. The vegetable greenhouse planting environment detection device of claim 1, wherein the near infrared imaging module is a portable near infrared spectrum imager.
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