JP7409647B2 - Target device for three-dimensional measurement of crops and three-dimensional photographic measurement method of crops - Google Patents

Description

The present invention relates to a technology for three-dimensional photographic measurement of crops such as vegetables and fruits.

2. Description of the Related Art There is a known technique for photographing crops and acquiring information such as their growth status through image analysis (for example, see Patent Document 1).

JP 2019-165658 Publication

When performing three-dimensional photographic measurements of crops grown in greenhouses, the problem is how to simply and accurately determine the position and orientation of the camera. In order to determine the position and attitude of the camera, the problem is the installation of orientation targets, but the installation of orientation targets suitable for growing crops in greenhouses has not been studied so far. This also applies to growing crops outdoors.

Against this background, the present invention aims to provide a technique for installing a target suitable for three-dimensional photographic measurement in crop cultivation.

The present invention comprises a flexible elongated member and a plurality of individually identifiable coded targets arranged at known intervals along the length of the elongated member, the coded targets is a target device for three-dimensional photographic measurement of crops , which has a structure in which a two-dimensional code is displayed on the front and back of a board .

Further, the present invention includes a longitudinal member and a plurality of coded targets that are arranged at known intervals along the longitudinal direction of the longitudinal member and are individually identifiable, and the coded targets are made of a plate material. has a structure in which a two-dimensional code is displayed on the front and back sides of the crop, and a hook is provided at at least one end of the longitudinal member for hooking and fixing the longitudinal member to a mating member. It is a target device for

In the present invention, it is preferable that three or more encoded targets are arranged. In the present invention, it is preferable that at least one end of the elongated member is provided with a hook for fixing the elongated member. In the present invention, it is preferable that the longitudinal members have a pair arranged in parallel, and the plurality of coded targets are held between the pair of longitudinal members.

Further, the present invention provides a three-dimensional photographic measurement of the crop, in which a plurality of target devices for three-dimensional measurement of crops having the above-mentioned configuration are installed vertically and horizontally with respect to the crop, which is the measurement target. This is the original photo measurement method.

Further, the present invention provides a method for measuring a crop on which three-dimensional photographic measurement of the measurement object is performed in a state in which a plurality of target devices for three-dimensional measurement of crops having the above-mentioned configuration are arranged so as to surround the crop, which is the measurement object. This is a three-dimensional photographic measurement method.

Further, the present invention provides a three-dimensional measurement target device for crops having the above-mentioned configuration, which is bent and installed so as to surround the crop, which is the object to be measured, and then a three-dimensional photographic measurement of the object to be measured is carried out. This is a photographic measurement method.

Further, in the present invention, a three-dimensional shape is formed with the target device for three-dimensional measurement of crops having the above-mentioned configuration as a side, and the crop, which is the measurement object, is placed inside the three-dimensional shape. This is a three-dimensional photo measurement method for crops in which three-dimensional photo measurement is performed.

Further, the present invention provides a three-dimensional photographic measurement of a crop as a measurement object in which a target device for three-dimensional measurement of crops having the above-mentioned configuration is arranged along three axes that intersect with each other. This is a photographic measurement method. Here, the three axes are preferably orthogonal to each other, but do not necessarily need to be orthogonal. Further, it is preferable that the target device for three-dimensional measurement of crops having the above-mentioned configuration be arranged along four or more intersecting axes.

According to the present invention, a technique related to setting a target suitable for three-dimensional photographic measurement in crop cultivation is provided.

FIG. 2 is a schematic diagram of an embodiment. It is a front view of a wire target. It is a front view of a wire target. It is a perspective view of a wire target. They are (A) and (B) diagrams of the principle of three-dimensional photographic measurement. This is a diagram of the principle of the backward intersection method. This is a diagram of the principle of the forward intersection method. It is a front view (A) and (B) of a tape-shaped target. It is a perspective view showing an example of the case where a wire target is bent and arranged. FIG. 1 is a conceptual diagram of an imaging device according to an embodiment.

(overview)
FIG. 1 shows the inside of an agricultural house 100 using the invention. In order to make the diagram easier to read, the framework, walls, ceiling, etc. of the agricultural house 100 are omitted from illustration. Figure 1 shows wire targets 300, 400, 500 and 600 having essentially the same structure. The wire target 400 includes a wire 410 that is a flexible, elongated member, and a plurality of coded targets 401 to 404 that are arranged at known intervals along the length of the wire 410 and that can be individually identified. . Wire targets 300, 400, 500, and 600 are installed so as to surround crops 201 to 203, which are objects to be measured.

(detail)
In the agricultural house 100, crops 201, 202, and 203 are grown. The types of crops to be grown are not particularly limited. Examples of crops include vegetables such as eggplants and cucumbers, fruits such as strawberries, and ornamental plants. Note that the growth stage of the crop is not particularly limited.

In the example of FIG. 1, the crops 201, 202, and 203 are tomato seedlings, which are bound to an attraction wire (not shown) hanging from above, and grow upward along the attraction wire (not shown). This point is the same as in the case of tomatoes grown in normal greenhouses. Note that the direction of the attracting wire may be an obliquely upward direction or a horizontal direction. Note that the number of crops is not limited to the illustrated example, and may be two or less, or three or more.

The agricultural house 100 shown in FIG. 1 includes a mobile camera 150 placed on a side wall and a mobile camera 160 placed on the ceiling. Three-dimensional photographic measurements of crops 201, 202, 203 are performed by mobile cameras 150 and 160. The camera 150 is movable on the rails 151, and while moving on the rails 151, continuously takes pictures from diagonally above the sides of the crops 201 to 203. The camera 160 is movable on the rails 161 and continuously takes pictures of the crops 201, 202, 203 from above while moving on the rails 161.

Support wires 101 and 102 are stretched horizontally on the ceiling of the agricultural house 100, and the support wires 101 and 102 are made of natural fibers, chemical fibers, metals, or a composite of two or more of these materials. It is a wire rod. Instead of the support wire 101, a configuration in which a longitudinal member such as a resin pipe, a metal pipe, a wooden stick, a bamboo stick, etc. is used as a support member and is disposed above is also possible.

Wire targets 300, 400, 500, 600, 700, 800, and 900 are arranged so as to surround the crops 201, 202, and 203. The wire targets 300, 400, and 500 are arranged to extend in the vertical direction. The wire targets 700, 800, and 900 are arranged to extend in the horizontal direction.

(Structure of wire target)
The wire targets 300, 400, 500, and 600 will be explained below. Wire targets 300, 400, 500, 600 have the same structure. However, the coded targets included in each wire target can be individually identified. Further, the content of the code of the coded target is different for each wire target.

The wire target 400 will be explained below. The wire target 400 has a structure in which coded targets 401, 402, 403, 404 and a random dot target 405 are attached to a wire 410. The wire 410 is a flexible wire, such as a commercially available gardening wire or rope. As the wire 410, various ropes, strings, coated metal wires, or composite wires of these can be used.

The coding targets 401 to 404 are made of rectangular plastic plates. The same is true for other encoded targets. On the front and back sides of this plastic board, a two-dimensional code is displayed, which consists of digital information made up of a combination of figures. Various types of two-dimensional codes are known, such as matrix displays and two-dimensional barcodes, among which those suitable for image reading are used. Note that a configuration in which the code is displayed not on the front and back but only on one side is also possible.

Here, the coded targets 401, 402, 403, and 404 are set to different code information so that they can be individually identified. Moreover, all the coded targets shown in FIG. 1 are set to different code information so that they can be individually identified.

The random dot target 405 is made of a rectangular plastic plate. A dot pattern composed of randomly arranged dots is formed (printed) on the front and back sides of this plastic plate. This also applies to other random dot targets.

Random dots make it easy to identify correspondences when matching stereo photographic images (identifying correspondences). Taking advantage of this fact, the random dot target 405 is used to identify the correspondence between stereo photographic images.

FIG. 2 is an enlarged view of the wire target 400. Hook-shaped hooks 411 and 412 are fixed to both ends of the wire 410. The hook 411 is hooked on a mating hook (not shown) installed on the ground side, and the hook 412 is hooked on the support wire 102. Thereby, the wire target 400 is expanded in the vertical direction in the state shown in FIG.

Note that an elastic body (such as a coil spring or rubber) is placed between at least one of the hooks 411 and 412 and the end of the wire 410 in order to maintain the stretched state and apply a certain amount of tension to prevent loosening. The wire 102 may be placed under tension. This also applies to other wire targets.

The intervals between the encoded targets 401, 402, 403, and 404 are set to specific values in advance. In this example, the coded targets 401, 402, 403, and 404 are set to be lined up at equal intervals when the wire 410 is stretched. The spacing between coded targets may not be evenly spaced. However, information on the distance between two specific coded targets is obtained in advance and is kept as known information. Note that the center position of each coded target can be specified from within the photographed image, and information on the distance between two coded targets is acquired based on this center position.

Instead of the wire 410, a rigid longitudinal member (metal pipe, resin pipe, bamboo or wood stick) may be used. In this case as well, a hook is provided at one end of at least one of the longitudinal members, and by hooking the hooks on the support wires 101 and 102, the structure is such that the longitudinal members can be hung from the support wires 101 and 102. The ground side may have a structure in which the elongated member is stuck into the ground, or a dedicated base is prepared and supported on the ground.

Moreover, when a rigid longitudinal member is used instead of the wire 410, the same arrangement as the wire targets 300, 400, 500, and 600 can be achieved by leaning this longitudinal member.

Next, wire targets 700 and 800 will be explained. Wire targets 700 and 800 have the same structure. However, each coded target can be individually identified, and the code content of the coded targets is different between wire targets 700 and 800.

FIG. 3 shows an outline of the wire target 700. The wire target 700 has a structure in which coded targets 701, 703, 705 and random dot targets 702, 704 are attached to a wire 706. The structure of the coded targets 701, 703, 705 other than the code contents is the same as that of the coded target 400 of FIG. 2. The structure of random dot targets 702 and 704 is also the same as that in coded target 400 of FIG.

Hooks 710 and 711 are attached to both ends of the wire 706. By hooking the hook 710 to the support wire 101 and hooking the hook 712 to the support wire 102, the wire target 700 is stretched horizontally between the support wires 101 and 102. Further, in a similar manner, a wire target 800 is spread horizontally between support wires 101 and 102. The wire targets 700 and 800 are arranged so that the display surface of each target is vertical so that each target can be effectively seen when viewed from the horizontal direction.

Next, the wire target 900 will be explained. FIG. 4 is a perspective view of the wire target 900. The wire target 900 is arranged with the two-dimensional code displayed facing upward so that it can be easily seen from above.

The wire target 900 has a structure in which coded targets 901, 902, 903, 904 are arranged between two wires 910, 920 arranged in parallel. Hooks 911 and 912 are fixed to both ends of the wire 910, and hooks 921 and 922 are fixed to both ends of the wire 920.

By hooking the hook 911 to the support wire 101, hooking the hook 912 to the support wire 102, hooking the hook 921 to the support wire 101, and hooking the hook 922 to the support wire 102, the wire target 900 is placed above the crops 201 to 203. Fixed. It is also possible to use two rods or pipes instead of the two wires 910, 920. It is also possible to arrange the wire target 900 at a position lower than the upper ends of the crops 201 to 203.

Reference points 131 and 132 are arranged on the ground (floor) of the agricultural house 100. The reference points 131 and 132 are constructed using coded targets, can be identified by images, and their positions have been obtained in advance. The position data is described in a local coordinate system or an absolute coordinate system set in the agricultural house 100. The absolute coordinate system is a coordinate system used in GNSS and map information. The installation position of the reference point may be any position that can be seen from the cameras 150 and 160.

(Superiority)
In the example of FIG. 1, wire targets 300, 400, 500, 600 are arranged vertically and wire targets 700, 800, 900 are arranged horizontally so as to surround the crops 201, 202, 203.

By arranging wire targets vertically and horizontally so as to surround the crops 201, 202, and 203 that are the objects of three-dimensional photogrammetry, the accuracy of the three-dimensional photogrammetry of the crops 201, 202, and 203 can be improved. The reason for this will be explained below.

The plurality of coded targets shown in FIG. 1 are utilized to orient cameras 150, 160 to perform three-dimensional photogrammetry. In three-dimensional photogrammetry, the accuracy of external orientation elements (position and orientation) of the camera during photography is important. The process of obtaining this exterior orientation element is orientation (orientation processing).

In this example, while the camera 150 is moving on the rail 151, the camera 160 is intermittently continuously taking pictures of the crops 201, 202, and 203 while moving on the rail 151. In the large number of images taken by the same camera obtained in this photography, two images that are adjacent or close to each other on the time axis partially overlap, and the timing of the photography and the movement of the cameras 150 and 160 are adjusted so that they become stereo photographic images. Speed is set.

In each of the camera 150 and the camera 160, two captured images that are adjacent (or close) on the time axis are taken as stereo images, and external orientation elements of each camera at the time of capturing the two captured images that make up the stereo image. (The position and orientation of the camera 150) are calculated. This processing becomes orientation processing.

Here, since the spacing between positionally adjacent coded targets on each wire target is known, a length scale is given and the external orientation factor of the camera 150 on the relative coordinate system is calculated. Further, if the reference points 131 and 132 are shown in the stereo photographic image, absolute orientation is possible, and the absolute value of the external orientation element of the camera 150 in the coordinate system to be used can be determined.

Three-dimensional photogrammetry using photography from a moving camera and orientation processing of the camera at that time are described in, for example, Japanese Patent Application Laid-Open No. 2013-186816.

Here, in the first case, the external orientation elements of the camera 150 are calculated using wire targets 300 and 400, and in the first case, the external orientation elements of the camera 150 are calculated using wire targets 300, 400, 500, and 600. When comparing the second case, higher accuracy can be obtained in the second case. This is because the second case has more information in the depth direction as seen from the camera 150 than the first case.

Further, by further using wire targets 700 and 900 in addition to wire targets 300, 400, 500, and 600, the accuracy of location can be further improved.

Further, from the camera 160, not only the wire target 900 but a portion of the wire targets 300 to 800 can be seen, and the coded targets are also used for location. In this case as well, the number of coded targets that can be used in the three-dimensional direction and the variations in their combinations increase, and the accuracy of calculating the external orientation elements at each camera position of the camera 160 increases.

For the above reasons, by arranging a plurality of wire targets vertically and horizontally to surround the measurement target (crops 201, 202, 203), the calculation accuracy of the external orientation elements of the cameras 150 and 160 can be improved. . By increasing the accuracy of the external orientation elements of the cameras 150 and 160, the accuracy of the three-dimensional information of the crops 201, 202, and 203 obtained using the cameras 150 and 160 can be increased.

In addition, in FIG. 1, a cube with wire targets 300, 400, 500, 600, 700, and 800 as sides is configured, and the objects to be measured (crops 201, 202, and 203) are placed inside this cube. The following configuration is described. By doing this, the objects to be measured (crops 201, 202, 203) are surrounded by the wire targets arranged vertically and horizontally, and the objects to be measured (crops 201, 202, 203) are surrounded by the high-precision cameras 150 and 160 suitable for three-dimensional measurement of the objects to be measured. Exterior orientation elements are obtained.

For example, when viewed from the camera 150, orientation is performed using coded targets placed left and right, front and back, and above and below the objects to be measured (crops 201, 202, 203). , 203) are suppressed in the external orientation factors of the camera 150.

That is, by extending the wire target in three orthogonal axes directions (XYZ directions), the accuracy of the external orientation element of the camera 150 in three-dimensional space can be obtained. Of course, by ensuring more direction of expansion, the accuracy of the exterior orientation elements of camera 150 is further increased. When the extension direction of the wire target changes from three axes to two axes, the accuracy of the external orientation element of the camera 150 is significantly reduced. Therefore, it is necessary to extend the wire target in at least three intersecting axes directions.

As the crops 201 to 203 grow, their leaves become thicker, and some of the encoded targets are hidden by the leaves, potentially making the encoded targets no longer visible to the cameras 150 and 160. Even in such a case, each wire target has three or more coded targets, so if two coded targets are visible, the scale can be obtained.

Further, when the leaves become thick, by shifting the position of the wire target to a position where it can be seen from the cameras 150 and 160, it is possible to suppress the decrease in the number of control points due to the leaves.

For wire targets, the distance between the coded targets is known, so if the number of coded targets arranged in a straight line can be recognized from the photographed image, the extended distance can be obtained. Furthermore, since the coded targets can be identified individually, information such as the distance between the coded targets can also be obtained from the photographed image.

(Orientation: Calculation of camera external orientation elements)
Camera orientation processing (processing to obtain external orientation elements of the camera) will be described below. FIG. 5 is a diagram showing the principles of orientation and three-dimensional surveying in this embodiment.

In FIG. 5(A), A1 to A7 are photographing positions of the camera. B1-B3 are the positions of the centers of the coding targets in a wire target (eg, wire target 700 in FIG. 1). The camera takes pictures while moving, and takes pictures sequentially from points A1⇒A2⇒A3⇒... (camera position (photographing viewpoint)) as time passes. Here, it is assumed that points B1 to B3 appear in common in the image taken from camera position A1 and the image taken from camera position A2.

The spacing of B1-B3 is known as described in connection with FIG. 1 (the spacing of the coded targets in the wire target is known as described in connection with FIG. 1). Here, first, the camera position A and the attitude of the camera at that position are determined by the backward intersection method.

FIG. 6 is a diagram showing the principle of the Backward Public Consortium Law. In this case, P1, P2, and P3 in FIG. 6 correspond to B1, B2, and B3 in FIG. 5. p1, p2, and p3 in FIG. 6 are screen coordinate positions of points P1, P2, and P3 in the photographic screen.

At this stage, the position of A1, which is the camera position (optical origin (projection origin) of the camera), and the attitude of the camera at A1 are unknown. First, the camera position A1 is determined. Here, direction lines connecting P1 and p1, P2 and p2, and P3 and p3 are set. Then, the intersection O of these direction lines is determined as the camera position A1. Further, a direction line connecting point O and the center point of the photographic screen is set, and the direction of the direction line is determined as the direction of the camera at camera position A1. In the manner described above, the external orientation elements (position and orientation) of the camera at the camera position A1 are determined. In the same way, external orientation elements after camera position A2 are determined.

By making two or more coded targets between different wire targets appear in one photographed image, orientation across wire targets becomes possible, and the external orientation elements of the camera at all camera positions are They are requested one after another.

Here, although the relative positional relationship of the coded targets in one wire target is known, the absolute position thereof is unknown. Therefore, the absolute value of the external orientation factor of the camera at each camera position obtained is unknown (the coordinate system is not specified). Here, by using the reference points 131 and 132 whose positions in the coordinate system to be used are known, a coordinate value is given to at least one point in the three-dimensional positional relationship in FIG. 6, and the value of the external orientation element in the coordinate system to be used is can get. Note that if the obtained three-dimensional data is in the local coordinate system, the reference points 131 and 132 are unnecessary. In this case, absolute position information cannot be obtained, but since a scale is provided by the wire target, the size and growth amount of the crop (for example, how many centimeters it has grown compared to 10 days ago) can be obtained.

(Creation of three-dimensional model)
In FIG. 5B, it is assumed that A1 and A2 are adjacent camera positions, and B3 is a common point between the image taken from camera position A1 and the image taken from camera position A2. Common points can be obtained by determining the correspondence between feature points extracted from two images. It is also assumed that the camera positions of A1 and A2 are determined in advance during orientation.

In this case, the position of point B3 is calculated by the forward intersection method shown in FIG. Here, camera position A1 in FIG. 5(B) corresponds to O1 in FIG. 7, and camera position A2 in FIG. 5(B) corresponds to O2 in FIG. In this case, a direction line connecting the camera position O1 (A1) and the screen coordinate position p1 of the point P in the photographing screen, and a direction line connecting the camera position O2 (A2) and the screen coordinate position p2 of the point P in the photographing screen. The position of the intersection P is calculated as the position of point B3.

At this stage, since the positions and orientations of the cameras at camera positions O1 (A1) and O2 (A2) are known, the coordinates of the point P (B3) at the intersection of the above two direction lines are determined. If the camera positions and camera orientations in all captured images are known, the three-dimensional coordinate positions of all feature points extracted from the images can be determined based on the above principle.

Feature points that characterize the appearance of the target crop are extracted from the photographed images, and the correspondence of feature points between images obtained from different camera positions is specified using template matching or the like. These techniques are described in, for example, Japanese Patent Application Publication No. 2013-186816 and Japanese Patent Application Publication No. 2018-197685. Then, the positions of all extracted feature points are calculated using the above principle. In this way, point cloud data is obtained in which the object to be photographed (crops 201 to 203) is converted into data as a collection of points whose positions have been determined.

This point cloud data is data in which the object to be photographed (crops 201 to 203) is understood as a collection of points in a three-dimensional space. A three-dimensional model of the photographed object (crops 201 to 203) is created based on this point cloud data. Creation of a three-dimensional model based on point cloud data is described, for example, in International Publication No. WO2012/070927, Japanese Patent Application Publication No. 2012-230594, Japanese Patent Application Publication No. 2014-35702, and the like.

For example, by photographing the crops 201 to 203 at 12 noon every day and creating a three-dimensional model thereof, it becomes possible to observe the growth process of the crops 201 to 203 using the three-dimensional model in steps of one day.

(When performing orientation using feature points)
Orientation can also be performed using feature points. In this case, the position and orientation of the camera are determined by the backward intersection method shown in FIG. 6, using the identified feature point as a control point. It is also possible to combine orientation using these feature points and orientation using coded targets to determine the position and orientation of the camera.

(tape target)
A tape-like target in which at least one of a plurality of coded targets and random dot targets is provided on a flexible tape-like (ribbon-like) substrate is also possible. A tape-shaped target 250 is shown in FIG. 8(A). The tape-like target 250 has a flat tape-like (ribbon-like) base material 260, coded targets 251, 253, 255 printed on the base material 260, and random dot targets 252, 254.

The base material 260 is a thin, flexible, flat resin film. The coded target and random dot target are the same as in FIG. Further, the distance between the centers of adjacent coded targets is set in advance and is known. The target may be provided on one side or both sides of the base material 260. A structure in which only one of a coded target and a random dot target is provided is also possible.

Both end portions of the base material 260 are adhesive parts having an adhesive layer with a release layer, and the tape-shaped target 250 is installed by attaching and fixing this adhesive part to a support rod or the like. In addition, a configuration in which holes are provided at both ends of the base material and the base material is fixed with a string or wire is also possible.

A tape-shaped target 270 is shown in FIG. 8(B). The tape-shaped target 270 is a flexible tape-shaped (ribbon-shaped) base material on which coded targets are arranged without gaps. The code information for each encoding target is individually set so that no two are the same. Further, the distance between the centers of adjacent coded targets is predetermined as known data. In the tape-shaped target 270, a structure in which a coded target and a random dot target are arranged in combination is also possible. Furthermore, a structure in which only random dot targets are arranged is also possible.

The tape-shaped targets 250 and 270 are obtained in advance as information in which the distance between each individually identifiable coded target is known. Therefore, the scale can be obtained in the orientation process. The tape-shaped targets 250 and 270 can be cut at any position and used as a desired length. It can also be used by folding it as shown in FIG.

The length (developed length) of the tape-shaped target 270 can be detected by counting the number of coded targets lined up in a straight line or from the detected code number. For example, assume that a plurality of coded targets are arranged at equal intervals of a distance L and are assigned code numbers in the order of 1, 2, 3, 4, 5, 6, and so on. In this case, the distance between the detected codes of 1 and 5 is 4L.

(Folded and installed form)
It is also possible to install the wire target by bending it. FIG. 9 shows a wire target 350 that is bent and installed. The wire target 350 has a wire 360, coded targets 351, 353, 355 fixed to the wire 360, and random dot targets 352, 354.

Hooks similar to those in FIG. 3 are provided at both ends of the wire 360. A wire target 350 (wire 360) is stretched between support rods 371 and 373 by this hook. Here, the wire target 350 is bent at an angle of approximately 90 degrees and placed by hooking the middle portion of the wire 360 onto the support rod 372 and bending it. The bending angle can be set arbitrarily. Note that a structure in which only one of the coded target and the random dot target is provided is also possible.

The number of times of bending may be two or more. According to this aspect, by bending and arranging one wire target 350, it can be arranged so as to surround the crop 370 to be measured. Furthermore, by bending and stretching one wire target, it is possible to stretch it in two or more intersecting axes directions. The method of three-dimensional photo measurement is the same as in the case of FIG.

(Target modification example)
A light reflective target can also be used as the coded target and/or the random dot target. For example, these target displays may be made of a light reflective material, a material that reflects a specific light, a fluorescent material, or a phosphorescent material.

(For outdoor use)
The present invention can also be applied to growing crops outdoors, that is, in outdoor fields.

(Example of other cameras)
A configuration using a ground-based camera is also possible. In this case, one or more cameras are mounted on a stand (support stand) that can be moved on the ground. This frame is movable on the farmland, and the mounted camera continuously photographs the crops while moving it, for example, along the rows (for example, ridges) of the crops. In this configuration, by supporting (holding) the camera using the arm, it is possible to photograph from any arbitrary viewpoint, such as above the crops. This method is suitable for use outdoors or in agricultural greenhouses where there is no mobile camera equipment as shown in FIG. It is also possible to take pictures while transporting the camera while holding it in your hand.

FIG. 10 shows an example of a ground traveling type photographing device. In FIG. 10, a photographing device 530 is shown. The photographing device 530 has a main body 531, and wheels 532 and 533 are attached to the main body 530. The photographing device 530 travels on farmland by driving and rotating the wheels 532 and 533 by a drive device such as a motor. A method of driving the photographing device 530, towing, etc. may also be used. A configuration in which the vehicle travels on a track is also possible.

A plurality of cameras represented by reference numeral 534 are fixed to the main body 531. Further, an arm 535 is fixed above the main body 531, and a camera 536 is attached to the arm 535 for photographing crops (for example, reference numeral 520) from above.

The photographing device 530 travels between the crops 510 and 520 in an agricultural greenhouse or in an outdoor field. A plurality of crops 510 and 520 are planted along the depth direction of the figure, and the photographing device 530 moves along the rows. While performing this movement, the crops 510 and 520 are continuously photographed by a plurality of mounted cameras.

It is also possible to take pictures from the air using an unmanned aerial vehicle (UAV, drone).

Claims (10)

A flexible longitudinal member,
a plurality of individually identifiable coded targets arranged at known intervals along the length of the elongated member;
The coded target is a target device for three-dimensional measurement of crops, and has a structure in which two-dimensional codes are displayed on the front and back sides of a board . a longitudinal member;
a plurality of individually identifiable coded targets arranged at known intervals along the length of the elongated member;
The coded target has a structure in which a two-dimensional code is displayed on the front and back of a plate material,
A target device for three-dimensional measurement of crops, wherein at least one end of the elongated member is provided with a hook for hooking and fixing the elongated member to a mating member. The target device for three-dimensional measurement of crops according to claim 1 or 2, wherein three or more of the coded targets are arranged. The target device for three-dimensional measurement of crops according to claim 1, further comprising a hook at at least one end of the elongated member for fixing the elongated member. The elongated member has a pair arranged in parallel,
The target device for three-dimensional measurement of crops according to any one of claims 1 to 4, wherein the plurality of coded targets are held between the pair of longitudinal members. A plurality of target devices for three-dimensional measurement of crops according to any one of claims 1 to 5 are installed vertically and horizontally with respect to the crop, which is the measurement object, and three-dimensional photographic measurement of the measurement object is performed. 3D photographic measurement method for crops. Three-dimensional photographic measurement of the measurement target is performed with a plurality of target devices for three-dimensional measurement of crops according to any one of claims 1 to 5 arranged so as to surround the crop, which is the measurement target. 3D photo measurement method for crops. A crop in which the target device for three-dimensional measurement of crops according to any one of claims 1 to 5 is bent and installed so as to surround the crop, which is the measurement target, and then the three-dimensional photographic measurement of the measurement target is performed. 3D photo measurement method. A three-dimensional shape whose sides are the target device for three-dimensional measurement of crops according to any one of claims 1 to 5 is formed,
A method for measuring a three-dimensional photograph of a crop, in which three-dimensional photographic measurement of the object to be measured is performed while the crop, which is the object to be measured, is placed inside the three-dimensional shape. A crop on which three-dimensional photographic measurement of a crop as a measurement object is performed with the target device for crop three-dimensional measurement according to any one of claims 1 to 5 arranged along three mutually intersecting axes directions. 3D photo measurement method.

Images