Apparatus for diagnosing growth of crop with function for controlling automatic transportation robot and camera to transporting among crop

摘要

The present invention relates to a crop body growth diagnosing apparatus including an inter-crop conveying robot and an automatic camera control function. The crop body growth diagnosing apparatus includes: an image sensing unit extracting crop organ images from recorded images of a camera mounted on the inter-crop conveying robot; a growth diagnosing module which diagnoses the growth state of the corresponding crop body based on the extracted crop organ image; a control unit controlling individual units; and an automatic control unit which automatically controls the recording angle and location of the camera and the movement location of the conveying robot when extracting the crop images under the control of the control unit. The automatic control unit can automatically control the movement location of the inter-crop conveying robot with coordinate values obtained by calculating the x-axis and y-axis coordinate values of the conveying robot to a crop target with respect to the location of the crop target. The automatic control module can also automatically control the recording location and angle of the camera mounted on the inter-crop conveying robot with the coordinate values obtained by calculating the coordinate values of the arm shaft, left and right rotation shafts, and vertical movement shafts of the conveying robot to the crop target location and viewing angle with respect to the crop target location. Accordingly, the crop body growth diagnosing apparatus can automatically control the recording angle of the camera and the location movement of the conveying robot when extracting the characteristics of crops such as tomatoes including a location, size, aging rate of the individual crop organs such as leaves, stems, fruits, and flowers from a crop cluster as images, thereby easily extracting the images of the crops in a crop cluster in the cluster crop body growth diagnosing system while supporting an efficient growth diagnosis.