田间作物表型检测平台设计与试验
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国家自然科学基金面上项目(31770397);华中农业大学新教师科研启动专项(2662019QD053)


Design and experiment of a platform for detecting phenotype of field crop
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    摘要:

    为高灵活度、稳定有效地获取田间作物表型信息,设计了一种四轮独立驱动、独立转向的田间作物表型检测平台,该平台主要包括行走系统、控制系统和表型信息采集系统,采用Creo软件对平台进行结构设计并对主体框架不同工况进行有限元仿真分析。以西门子1200系列PLC为主控制器开发了一套控制系统,实现平台的原地转向、横向移动和阿克曼转向模式控制,采用基于模糊PID的四轮协同控制方法实现了四轮同步运动。设计的检测平台可根据检测需求挂载RGB相机、热红外相机、高光谱相机等不同传感器进行表型信息采集,并在采集过程中形成移动暗室,有效降低外界环境对表型信息采集效果的影响。田间试验结果显示:设计的检测平台在满电量状况下单次不间断作业可达6 h;四轮协同运动试验结果显示,车轮转速最大偏差率为1%,在水泥地面和田间直线行驶时平均偏移率分别为2.14%和2.57%,具有良好的移动稳定性;挂载RGB和热红外相机进行作物表型信息获取时,每小时可检测120个田间育种小区;在不同时间段,分别采集非暗室环境与暗室环境下棉花RGB图像并提取叶面积,结果表明平台所采集RGB图像更加稳定可靠;对暗室环境下RGB图像、热红外和高光谱图像进行采集分析,结果表明该平台所采集图像均质量良好且可获得有效信息。

    Abstract:

    An independently driven and steered four-wheel platform for detecting phenotype of field crop was designed to stably and effectively obtain phenotype information of field crop with high flexibility. It mainly consists of the walking system,the control system and the acquisition system of phenotype information. Creo software is used to design the structure of the platform and perform finite element simulation analysis under different working conditions of the main frame. A control system is developed with Siemens 1200 series PLC as the main controller to realize the platform’s in-situ steering,lateral movement and Ackerman steering mode control. The four-wheel coordinated control method based on fuzzy PID was used to realize the synchronous movement of four-wheel. This platform can load RGB cameras,thermal infrared cameras,hyperspectral cameras and other sensors for phenotypic information collection according to the requirements of detection,and form a mobile darkroom during the collection process,effectively reduce the impact of the external environment on the effect of collecting phenotypic information. The results of field test showed that a single uninterrupted operation was up to 6 hours under full power. The results of four-wheel coordinated motion test showed that the maximum deviation rate of the wheel speed was 1%,and the average deviation rate of the platform driving straight on cement ground and in the field was 2.14 % and 2.57%,with good mobile stability. When RGB and thermal infrared cameras were loaded for the acquisition of crop phenotypic information,120 breeding plots in field were detected per hour. The RGB images of cotton under the non-dark room environment and the dark room environment in different time periods were collected separately and the leaf area was extracted. The results showed that the RGB images collected by the platform were more stable and reliable. The results of collecting and analyzing RGB images,thermal infrared and hyperspectral images under the dark room environment showed that the images collected by the platform had good quality and effective information.

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卢少志,杨蒙,杨万能,叶军立,李为坤,宋鹏.田间作物表型检测平台设计与试验[J].华中农业大学学报,2021,40(4):209-218

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  • 收稿日期:2021-05-12
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  • 在线发布日期: 2021-07-22
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