Phenotype platform omnibearing adaptive acquisition device and method

Abstract

The invention discloses a phenotype platform omnibearing self-adaptive acquisition device and method, and the device comprises an assembly line type phenotype platform which comprises a platform frame and a conveying belt, the platform frame is provided with a platform inlet, a platform outlet and a detection area, and the conveying belt penetrates through and is located below the platform frame; the plant feature recognition mechanism is arranged in the detection area and located on the side directly facing the conveying belt; the omni-directional self-adaptive acquisition mechanism is arranged in the detection area and comprises an omni-directional rotary part, an acquisition height adjusting part and a phenotype self-adaptive acquisition part, and the omni-directional rotary part corresponds to the plant feature recognition mechanism and is mounted at the top of the platform frame; the acquisition height adjusting component is respectively connected with the all-directional rotary component and the phenotype self-adaptive acquisition component; and the automatic control mechanism is respectively connected with the assembly line type phenotype platform, the plant feature recognition mechanism and the all-dimensional self-adaptive acquisition mechanism. The invention also discloses a phenotype platform omnibearing adaptive acquisition method.

Description

Technical Field

[0001] The present invention relates to a plant phenotypic information collection technology, and in particular to an assembly line type phenotypic platform omnidirectional adaptive collection device and method. Background Art

[0002] Phenotypic analysis is a key link in understanding gene function and environmental effects in breeding and agricultural management. In recent years, plant genomes have developed rapidly. Phenotypic monitoring can not only guide indoor germplasm screening in the early stage of breeding, but also evaluate the field performance of varieties in the later promotion and planting. The existing plant phenotypic information collection methods have the disadvantages of small sample size, low efficiency, large error, poor adaptability (mostly for a single plant), etc., and cannot adapt to the requirements of large-scale, fast, accurate, and non-destructive phenotypic measurement, which has become an important factor restricting plant biology research. With the growth of scientific research needs and the development of imaging sensor technology, it has become possible to carry out high-throughput, high-efficiency, high-precision, low-error, and low-cost automatic phenotypic information collection. The data monitored by imaging sensors is objective, and plants can be monitored and analyzed in real time. Therefore, automatic phenotypic information collection technology has begun to be used in plant phenotypic information collection platforms.

[0003] The types of existing phenotyping platforms mainly include assembly line and fixed types. However, there are problems such as extracting some biomass information and providing basic phenotypic trait parameters through analysis software, and being unable to customize image analysis software and data mining analysis tools according to the user's trait extraction needs. Moreover, most of them cannot take into account the parallel detection of multiple phenotypic parameters, have low operating efficiency, can only extract simple primary phenotypes of plants, and cannot meet the needs of high-throughput and multi-performance phenotypic analysis of plants and specific organs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a pipeline phenotyping platform all-round adaptive collection device and method in response to the above-mentioned defects of the prior art, which can complete the automatic transportation of plants, automatic operation of the pipeline phenotyping platform, intelligent identification of plant characteristics, autonomous positioning of the collection position, adaptive adjustment of the sensor posture and all-round parallel collection of phenotypic information, thereby realizing parallel all-round adaptive phenotyping detection operations of plants.

[0005] In order to achieve the above-mentioned object, the present invention provides a phenotypic platform all-round adaptive collection device, which includes:

[0006] An assembly line phenotyping platform comprises a platform frame and a conveyor belt, wherein the platform frame is provided with a platform entrance, a platform exit and a detection area, and the conveyor belt passes through the platform entrance, the detection area and the platform exit and is located below the platform frame, and is used for automatically conveying plants to be detected;

[0007] A plant feature recognition mechanism is arranged in the detection area and located on a side facing the conveyor belt, and is used for detecting the presence of plants to be detected and identifying the contour features of plants;

[0008] An omnidirectional adaptive collection mechanism, used for adaptively adjusting and synchronously collecting phenotypic information of specific positions of plants, the omnidirectional adaptive collection mechanism is arranged in the platform frame, and comprises an omnidirectional rotating component, a collecting height adjusting component and a phenotype adaptive collection component, the omnidirectional rotating component is installed on the top of the platform frame corresponding to the plant feature recognition mechanism, the collecting height adjusting component is connected to the omnidirectional rotating component, and the phenotype adaptive collection component is installed on the collecting height adjusting component; and

[0009] The automatic control mechanism is respectively connected to the assembly line phenotyping platform, the plant feature recognition mechanism and the omnidirectional adaptive collection mechanism, and is used to control the parallel omnidirectional adaptive collection operation process of the plant phenotype.

[0010] The above-mentioned phenotyping platform omnidirectional adaptive collection device, wherein the platform entrance and platform exit are respectively provided with automatic doors, and the conveying brackets near the platform entrance and platform exit are respectively provided with photoelectric sensors for identifying whether there are plants to be inspected entering or exiting; the photoelectric sensors and automatic doors are respectively connected to the automatic control mechanism, and the automatic control mechanism controls the corresponding automatic door to open or close according to the signal of the photoelectric sensor.

[0011] The above-mentioned phenotyping platform omnidirectional adaptive acquisition device, wherein the plant feature recognition mechanism includes a sensor bracket, a plant feature recognition sensor and a collection photoelectric sensor, and the collection photoelectric sensor and the plant feature recognition sensor are respectively connected to the automatic control mechanism; the sensor bracket is installed on the platform frame in the detection area and is located on one side of the conveyor belt; the collection photoelectric sensor is installed in the sensor bracket, and the plant feature recognition sensor is installed on the top of the sensor bracket; the collection photoelectric sensor is used to detect whether the plant to be inspected has reached the collection position of the detection area, and the plant feature recognition sensor is used to obtain the contour and organ point cloud feature information of the plant to be inspected, and upload it to the automatic control mechanism; the automatic control mechanism processes the point cloud data of the plant to be inspected and determines the location information of the collection feature.

[0012] The above-mentioned phenotypic platform omnidirectional adaptive acquisition device, wherein the omnidirectional rotating component includes a pan-tilt base, a pan-tilt servo drive component, a rotating table and a rotating arm, the pan-tilt base is installed on the top of the platform frame of the detection area; the pan-tilt servo drive component is installed on the pan-tilt base and connected to the automatic control mechanism; the rotating table is installed at the bottom of the pan-tilt base and connected to the pan-tilt servo drive component; the rotating arm is connected to the rotating table, and the pan-tilt servo drive component drives the rotating table to drive the rotating arm to realize circumferential rotation.

[0013] The above-mentioned phenotypic platform omnidirectional adaptive collection device, wherein the rotating arm includes a horizontal section, an inclined section and a vertical section connected in sequence, the horizontal section is connected to the rotating table, and the collection height adjustment component is installed on the vertical section.

[0014] The above-mentioned phenotypic platform omnidirectional adaptive collection device, wherein the collection height adjustment component includes a height adjustment base, a drive motor and a moving platform, the height adjustment base is installed on the vertical section and is located on the outer side of the vertical section, and the drive motor is installed on the top of the height adjustment base; the moving platform is installed on the height adjustment base and is raised and lowered along the height adjustment base under the drive of the drive motor.

[0015] The above-mentioned phenotypic platform omnidirectional adaptive acquisition device, wherein the height adjustment base includes a linear guide rail and a ball screw, the linear guide rail is installed on the vertical section, the ball screw is connected to the drive motor and is arranged parallel to the linear guide rail; the moving platform is installed on the linear guide rail and connected to the ball screw.

[0016] The above-mentioned phenotypic platform omnidirectional adaptive acquisition device, wherein the phenotypic adaptive acquisition component includes a servo, a position adjustment member, an RGB acquisition sensor, a light source and a multi-spectral imaging module, and the servo, RGB acquisition sensor, light source and multi-spectral imaging module are respectively installed on the position adjustment member and are respectively connected to the automatic control mechanism; the position adjustment member is installed on the mobile platform, and the light source is connected to the servo through a transmission member.

[0017] The above-mentioned phenotypic platform omnidirectional adaptive acquisition device, wherein the position adjustment component includes a U-shaped base, a micro turntable, a servo motor, a sensor support frame, a lighting adjustment frame and a multi-spectral bracket, the U-shaped base is installed on the mobile platform, the micro turntable is installed on the U-shaped base, the servo motor is connected to the micro turntable, the sensor support frame is installed on the rotating platform of the micro turntable, and the RGB acquisition sensor is installed on the sensor support frame; the lighting adjustment frame is installed on the U-shaped base, the servo motor and the transmission member are installed on the outside of the lighting adjustment frame; the multi-spectral bracket is installed on the U-shaped base, and the multi-spectral imaging module is installed on the multi-spectral bracket.

[0018] In order to better achieve the above-mentioned purpose, the present invention also provides a phenotypic platform all-round adaptive collection method, which includes the following steps:

[0019] S100, placing the potted plants to be inspected on the conveyor belt, and the plants to be inspected move toward the platform entrance at a low speed under the drive of the conveyor belt. When passing the entrance photoelectric sensor, the automatic control mechanism determines that there are plants entering, and opens the automatic door of the assembly line phenotyping platform, and the plants to be inspected enter the detection area;

[0020] S200, the plant to be inspected continues to move to the collection position, and the automatic control mechanism controls the conveyor belt to stop moving after detecting the presence of the plant to be inspected;

[0021] S300, collecting the side contour point cloud information of the plant to be inspected through the plant feature recognition sensor, and sending the information to the automatic control mechanism, the automatic control mechanism determines the position and the best collection posture of the plant to be inspected according to the collection requirements, and sends the data information to the omnidirectional adaptive collection mechanism, and controls the omnidirectional adaptive collection mechanism to reach the corresponding position and posture in real time;

[0022] S400, the omnidirectional rotating component of the omnidirectional adaptive collection mechanism starts to move, the rotating arm rotates one circle, and the multiple groups of sensors of the phenotypic adaptive collection component collect the phenotypic information of the specific position of the plant in parallel and synchronously, and transmit it to the background through the automatic control mechanism for high-throughput storage or display; and

[0023] S500, after the collection is completed, the automatic control mechanism controls the automatic door at the platform exit to open, and after the exit photoelectric sensor detects the plant to be inspected, the automatic control mechanism controls the conveyor belt to stop moving, takes away the inspected plant to be inspected, and completes the automatic phenotypic information collection operation of the plant to be inspected.

[0024] The technical effects of the present invention are:

[0025] The high-throughput, automated, fully adaptive, high-resolution plant phenotypic information synchronous collection and analysis platform of the present invention meets the needs of rapid development of genetic breeding, and provides technical support for accelerating plant improvement and breeding, increasing yield and pest resistance. High-throughput phenotypic monitoring can accelerate the entire breeding process, accelerate the development and application of new agricultural varieties and technologies, and improve food production capacity through green yield-increasing technologies, including:

[0026] 1) The automatic control mechanism uses two sets of photoelectric sensors to determine in real time whether there are plants to be inspected entering or exiting, and set the time for the door of the inspection area to open according to the set distance, speed and other parameters, so that the plants to be inspected can pass smoothly; this detection method can realize the automation of the operation process of automatic entry, detection and exit of plants, and improve the efficiency of phenotypic detection;

[0027] 2) The plant feature recognition mechanism can determine in real time whether the plant has reached the detection position, use the laser radar sensor to collect the point cloud information of the plant to be detected, and identify the position and posture of the contour and features of the plant to be detected through the point cloud features, providing data support for plant adaptive collection, thereby improving the efficiency and quality of phenotypic detection;

[0028] 3) The phenotypic adaptive acquisition mechanism can adjust the position height of the acquisition sensor and the angle posture of each sensor according to the specific needs of plant phenotyping analysis, thereby improving the accuracy and performance of phenotypic acquisition information, thereby greatly improving the efficiency of phenotyping analysis;

[0029] 4) The omnidirectional parallel phenotypic detection device can be equipped with multiple sets of acquisition sensors of different types according to the specific needs of plant phenotypic analysis, thereby realizing the simultaneous acquisition of multiple performance parameters and greatly improving the detection performance and efficiency of phenotypic acquisition;

[0030] 5) The use of omnidirectional rotating components can realize the circumferential phenotyping of plants, effectively solving the defects of plant collection obstruction and incomplete information.

[0031] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the entrance of the assembly line phenotyping platform according to one embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of an outlet of a pipeline phenotyping platform according to an embodiment of the present invention;

[0034] Figure 3 It is a structural schematic diagram of an embodiment of the present invention;

[0035] Figure 4 for Figure 3 Side view of

[0036] Figure 5 This is a schematic diagram of the structure of an omni-directional adaptive acquisition mechanism according to an embodiment of the present invention;

[0037] Figure 6 for Figure 5 Schematic diagram of the structure in another direction;

[0038] Figure 7 FIG. 1 is a diagram showing the working principle of an embodiment of the present invention.

[0039] Among them, the reference numerals

[0040] 1. Pipeline phenotyping platform

[0041] 11Platform Framework

[0042] 12 Delivery stent

[0043] 13Conveyor belt

[0044] 131 conveyor stop bar

[0045] 14Automatic door

[0046] 15 platform shell

[0047] 2 Automatic control mechanism

[0048] 21 Entrance photoelectric sensor

[0049] 22 Exit photoelectric sensor

[0050] 23 Automatic door drive control mechanism

[0051] 24Conveying control mechanism

[0052] 3 Plant feature identification mechanism

[0053] 31 Plant feature recognition sensor

[0054] 32 Photoelectric sensor

[0055] 33 sensor bracket

[0056] 4 All-round adaptive collection mechanism

[0057] 41 All-round rotating parts

[0058] 411 PTZ Base

[0059] 412 PTZ servo drive components

[0060] 413 Rotating Table

[0061] 414 Rotating Arm

[0062] 42 Collection height adjustment components

[0063] 421 Height Adjustable Base

[0064] 422 drive motor

[0065] 423 Mobile Station

[0066] 43 Phenotype Adaptive Collection Components

[0067] 431 servo

[0068] 432 Position adjustment parts

[0069] 4321U base

[0070] 4322 Micro Turntable

[0071] 4323 Servo Motor

[0072] 4324 sensor support

[0073] 4325 Lighting Adjustment Stand

[0074] 4326 Multi-spectral Bracket

[0075] 433RGB acquisition sensor

[0076] 434 Light Source

[0077] 435 Multispectral Imaging Module

[0078] 5 Plants to be inspected DETAILED DESCRIPTION

[0079] The structural principle and working principle of the present invention are described in detail below in conjunction with the accompanying drawings:

[0080] See also Figure 1-Figure 4 , Figure 1 This is a schematic diagram of the entrance of the pipeline phenotyping platform 1 according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the outlet of the assembly line phenotyping platform 1 according to an embodiment of the present invention. Figure 3 is a schematic structural diagram of an embodiment of the present invention, Figure 4 for Figure 3Side view. The omnidirectional adaptive acquisition device of the phenotyping platform of the present invention comprises: an assembly line phenotyping platform 1, comprising a platform frame 11 and a conveyor belt 13, the platform frame 11 is provided with a platform entrance, a platform exit and a detection area, the conveyor belt 13 passes through the platform entrance, the detection area and the platform exit and is located below the platform frame 11, and is used for automatic transportation of plants to be inspected, and the upper surface of the conveyor belt 13 is evenly provided with conveying baffles 131 to avoid relative sliding between the plants 5 to be inspected and the conveyor belt; the assembly line phenotyping platform 1 can also be provided with a platform shell 15, which is covered on the platform frame 11, and the automatic doors 14 are respectively installed on the platform shell 15, and the detection area is located in a closed space enclosed by the platform shell 15 and the automatic door 14; a plant feature recognition mechanism 3 is arranged in the detection area and on the side facing the conveyor belt 13, and is used for in-place detection of the plants 5 to be inspected and identification of plant contour features; an omnidirectional adaptive acquisition mechanism 4, used for adaptively adjusting and synchronously collecting phenotypic information of specific positions of plants, the omnidirectional adaptive collecting mechanism 4 is arranged in the detection area, including an omnidirectional rotating component 41, a collecting height adjusting component 42 and a phenotype adaptive collecting component 43, the omnidirectional rotating component 41 is installed on the top of the platform frame 11 corresponding to the plant feature recognition mechanism 3, the collecting height adjusting component 42 is connected to the omnidirectional rotating component 41, and the phenotype adaptive collecting component 43 is installed on the collecting height adjusting component 42; and an automatic control mechanism 2, which is respectively connected to the assembly line phenotyping platform 1, the plant feature recognition mechanism 3 and the omnidirectional adaptive collecting mechanism 4, and is used to control the parallel omnidirectional adaptive collecting operation process of plant phenotypes, and the automatic control mechanism 2 may include an entrance photoelectric sensor 21, an exit photoelectric sensor 22, a conveying control mechanism 24, an automatic door drive control mechanism 23 and an identification and positioning module, etc.

[0081] In this embodiment, the platform entrance and the platform exit are respectively provided with automatic doors 14 for executing the switch function of the detection area, and a group of photoelectric sensors, namely, an entrance photoelectric sensor 21 and an exit photoelectric sensor 22, are respectively provided on the conveying bracket 12 near the platform entrance and the platform exit, which are respectively used to identify whether there are plants 5 to be inspected entering or being sent out of the detection area; the entrance photoelectric sensor 21, the exit photoelectric sensor 22 and the automatic door 14 are respectively connected to the automatic control mechanism 2, and the automatic control mechanism 2 controls the corresponding automatic door 14 to open or close through the automatic door drive mechanism 22 according to the signals of the entrance photoelectric sensor 21 and the exit photoelectric sensor 22.

[0082] The plant feature recognition mechanism 3 of this embodiment includes a sensor bracket 33, a plant feature recognition sensor 31 and a collection photoelectric sensor 32, and the collection photoelectric sensor 32 and the plant feature recognition sensor 31 are respectively connected to the automatic control mechanism 2; the sensor bracket 33 is installed on the platform frame 11 in the detection area and is located on one side of the conveyor belt 13; the collection photoelectric sensor 32 is installed in the sensor bracket 33, and the plant feature recognition sensor 31 is installed on the top of the sensor bracket 33; the collection photoelectric sensor 32 is used to detect whether the plant 5 to be inspected has reached the collection position of the detection area, and the plant feature recognition sensor 31 is preferably a laser radar, which is used to obtain the contour and organ point cloud feature information of the plant 5 to be inspected, and upload it to the automatic control mechanism 2; the automatic control mechanism 2 processes the point cloud data of the plant 5 to be inspected and determines the location information of the collection feature.

[0083] See also Figure 5 and Figure 6 , Figure 5 This is a structural diagram of an omni-directional adaptive acquisition mechanism 4 according to an embodiment of the present invention. Figure 6 for Figure 5 Schematic diagram of the structure in another direction. The omnidirectional rotating component 41 of this embodiment includes a pan-tilt base 411, a pan-tilt servo drive component 412, a rotating table 413 and a rotating arm 414. The pan-tilt base 411 is installed on the top of the platform frame 11 of the detection area; the pan-tilt servo drive component 412 is installed on the pan-tilt base 411 and connected to the automatic control mechanism 2; the rotating table 413 is installed on the bottom of the pan-tilt base 411 and connected to the pan-tilt servo drive component 412; the rotating arm 414 is connected to the rotating table 413, that is, the pan-tilt base 411 and the pan-tilt servo drive component 412 can be integrally fixed at the top middle position of the platform frame 11 after integration, and the rotating arm 414 is installed on the rotating table 413, and the pan-tilt servo drive component 412 drives the rotating table 413 to drive the rotating arm 414 to achieve circumferential rotation. The rotating arm 414 includes a horizontal section, an inclined section and a vertical section which are connected in sequence. The horizontal section is connected to the rotating platform 413 , and the collection height adjustment component 42 is installed on the vertical section.

[0084] The acquisition height adjustment component 42 of this embodiment includes a height adjustment base 421, a drive motor 422 and a moving platform 423. The height adjustment base 421 is installed on the vertical section and is located on the outer side of the vertical section. The drive motor 422 is installed at the corresponding interface at the top of the height adjustment base 421, and is preferably a high-precision servo motor; the moving platform 423 is installed on the height adjustment base 421, and is lifted and lowered along the height adjustment base 421 under the drive of the drive motor 422. The height adjustment base 421 includes a linear guide and a ball screw. The linear guide is installed on the vertical section, and the ball screw is connected to the drive motor 422 and is arranged parallel to the linear guide; the moving platform 423 is installed on the linear guide and connected to the ball screw.

[0085] The phenotype adaptive acquisition component 43 of this embodiment includes a servo 431, a position adjustment member 432, an RGB acquisition sensor 433, a light source 434 and a multi-spectral imaging module 435. The servo 431, the RGB acquisition sensor 433, the light source 434 and the multi-spectral imaging module 435 are respectively installed on the position adjustment member 432 and are respectively connected to the automatic control mechanism 2; the position adjustment member 432 is installed on the moving platform 423, and the light source 434 is connected to the servo 431 through a transmission member. The position adjustment member 432 includes a U-shaped base 4321, a micro-turntable 4322, a servo motor 4323, a sensor support frame 4324, an illumination adjustment frame 4325 and a multi-spectrum support 4326. The U-shaped base 4321 is fixedly mounted on the mobile platform 423, the micro-turntable 4322 is mounted on the U-shaped base 4321, and the servo motor 4323 is connected to the micro-turntable 4322, that is, the servo motor 4323 and the micro-turntable 4322 are assembled and fixed to the U-shaped base 4321. The sensor support frame 4324 is installed on the rotating platform of the micro-turntable 4322, and the RGB acquisition sensor 433 is installed on the sensor support frame 4324; the lighting adjustment frame 4325 is installed on the U-shaped base 4321, and the steering gear 431 and the transmission parts are installed on the outside of the lighting adjustment frame 4325 to adjust the spotlight posture; the multi-spectral support 4326 is installed on the U-shaped base 4321, and the multi-spectral imaging module 435 is installed on the multi-spectral support 4326. By changing the size and structure of the U-shaped base 4321, multiple micro-turntables 4322, sensor support frames 4324 and multiple groups of sensors can be fixed.

[0086] See also Figure 7 , Figure 7 The phenotypic platform omni-directional adaptive acquisition method of the present invention comprises the following steps:

[0087] Step S100, placing the potted plant 5 to be inspected on the conveyor belt 13, the plant 5 to be inspected moves at a low speed toward the platform entrance driven by the conveyor belt 13, and when passing the entrance photoelectric sensor 21, the automatic control mechanism 2 determines that a plant has entered, and opens the automatic door 14 of the assembly line phenotyping platform 1, and the plant 5 to be inspected enters the detection area;

[0088] Step S200: the plant to be inspected 5 continues to move to the collection position, and the automatic control mechanism 2 controls the conveyor belt 13 to stop moving after detecting the presence of the plant to be inspected;

[0089] Step S300, the side contour point cloud information of the plant to be inspected 5 is collected by the plant feature recognition sensor 31, and the information is sent to the automatic control mechanism 2, the automatic control mechanism 2 determines the position and the best collection posture of the plant to be inspected 5 according to the collection requirements, and sends the data information to the omnidirectional adaptive collection mechanism 4, and controls the omnidirectional adaptive collection mechanism 4 to reach the corresponding position and posture in real time;

[0090] Step S400, the omnidirectional rotating part 41 of the omnidirectional adaptive collection mechanism 4 starts to move, the rotating arm 414 rotates one circle, and the multiple groups of sensors of the phenotypic adaptive collection part 43 collect the phenotypic information of the specific position of the plant in parallel and synchronously, and transmit it to the background for storage or display through the automatic control mechanism 2 with high throughput; and

[0091] Step S500, after the collection is completed, the automatic control mechanism 2 controls the automatic door 14 at the platform exit to open. After the exit photoelectric sensor 22 detects the plant 5 to be inspected, the automatic control mechanism 2 controls the conveyor belt 13 to stop moving, takes away the inspected plant 5, and completes the automatic phenotypic information collection operation of the plant 5 to be inspected.

[0092] In this embodiment, the AGV trolley with loading and unloading function places the plant 5 to be inspected on the conveyor belt 13. The plant 5 to be inspected moves at a low speed toward the assembly line phenotyping platform 1 under the drive of the conveyor belt 13. When passing the entrance photoelectric sensor 21, the automatic control mechanism 2 determines that a plant has entered, opens the automatic door 14, and allows the plant 5 to enter the detection area; when the plant 5 to be inspected continues to move to the collection position, the automatic control mechanism 2 immediately sends a signal to the conveying control mechanism 24 after detecting the plant 5 to be inspected, and the conveyor belt 13 stops moving; then the plant feature recognition sensor 31 (such as a laser radar) is used to collect the side contour point cloud information of the plant 5 to be inspected, and the information is sent to the automatic control mechanism 2 in time. The automatic control mechanism 2 determines the position and the best collection posture of the plant 5 to be inspected in time according to the collection requirements, and sends the data information to the omnidirectional adaptive collection mechanism 4 for real-time control. The driving motor 422 of the height adjustment component 42 and the servo motor 4323 of the position adjustment component 432 in the phenotypic adaptive collection mechanism are activated to reach the corresponding position posture; the pan-tilt servo drive component 412 performs the corresponding action, drives the omnidirectional rotation component 41 to start the action, and the rotating arm 414 starts to rotate one circle, and the multiple groups of sensors of the phenotypic adaptive collection component 43 collect the phenotypic information of the specific position of the plant 5 to be inspected in parallel and synchronously, and transmit it to the background storage and display component through the automatic control mechanism 2 with high throughput; after the collection is completed, the automatic control mechanism 2 sends a signal to open the automatic door 14 at the platform exit, and the exit photoelectric sensor 22 detects that there is a plant 5 to be inspected, and then sends a signal to the conveying control mechanism 24 and the AGV loading and unloading trolley, the conveyor belt 13 stops moving, and the AGV trolley takes away the inspected plant 5 to be inspected, completing the automatic phenotypic information collection operation of one plant 5 to be inspected. The above process can be continuously repeated until the phenotypic information collection operation of all plants 5 to be inspected is completed.

[0093] The conveyor belt 13 of the present invention can transport the plants 5 to be inspected in and out of the inspection area of ​​the assembly line phenotyping platform 1. Two sets of photoelectric sensors can identify whether there are plants entering or leaving the inspection area, and control the automatic door 14 to open or close according to the inspection process requirements; the plant feature recognition mechanism 3 can realize the detection of the presence of plants, the recognition and processing of the contours and specific organs of the plants 5 to be inspected; the omnidirectional adaptive collection mechanism 4 is used for information collection of the plants to be inspected 5. It can complete the automatic transportation of the plants 5 to be inspected, the automatic opening and closing of the automatic door 14, the intelligent identification of plant features, the autonomous positioning of the collection position, the adaptive adjustment of the sensor posture, and the synchronous collection of phenotypic information, thereby realizing the parallel omnidirectional adaptive collection operation process of plant phenotypes.

[0094] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A phenotypic platform all-round adaptive collection device, characterized in that: include: An assembly line phenotyping platform comprises a platform frame and a conveyor belt, wherein the platform frame is provided with a platform entrance, a platform exit and a detection area, and the conveyor belt passes through the platform entrance, the detection area and the platform exit and is located below the platform frame, and is used for automatically conveying plants to be detected; A plant feature recognition mechanism is arranged in the detection area and located on a side facing the conveyor belt, and is used for detecting the presence of plants to be detected and identifying the contour features of plants; An omnidirectional adaptive collection mechanism, used for adaptively adjusting and synchronously collecting phenotypic information of specific positions of plants, the omnidirectional adaptive collection mechanism is arranged in the platform frame, and comprises an omnidirectional rotating component, a collecting height adjusting component and a phenotype adaptive collection component, the omnidirectional rotating component is installed on the top of the platform frame corresponding to the plant feature recognition mechanism, the collecting height adjusting component is connected to the omnidirectional rotating component, and the phenotype adaptive collection component is installed on the collecting height adjusting component; as well as The automatic control mechanism is respectively connected to the assembly line phenotyping platform, the plant feature recognition mechanism and the omnidirectional adaptive collection mechanism, and is used to control the parallel omnidirectional adaptive collection operation process of the plant phenotype.

2. The omnidirectional adaptive acquisition device for phenotypic platform according to claim 1, characterized in that: The platform entrance and platform exit are respectively provided with automatic doors, and the conveying brackets near the platform entrance and platform exit are respectively provided with photoelectric sensors for identifying whether there are plants to be inspected entering or exiting; the photoelectric sensors and automatic doors are respectively connected to the automatic control mechanism, and the automatic control mechanism controls the corresponding automatic door to open or close according to the signal of the photoelectric sensor.

3. The omnidirectional adaptive acquisition device for phenotypic platform according to claim 1 or 2, characterized in that: The plant feature recognition mechanism includes a sensor bracket, a plant feature recognition sensor and a collection photoelectric sensor, and the collection photoelectric sensor and the plant feature recognition sensor are respectively connected to the automatic control mechanism; the sensor bracket is installed on the platform frame in the detection area and is located on one side of the conveyor belt; the collection photoelectric sensor is installed in the sensor bracket, and the plant feature recognition sensor is installed on the top of the sensor bracket; the collection photoelectric sensor is used to detect whether the plant to be inspected has reached the collection position of the detection area, and the plant feature recognition sensor is used to obtain the outline and organ point cloud feature information of the plant to be inspected, and upload it to the automatic control mechanism; the automatic control mechanism processes the point cloud data of the plant to be inspected and determines the location information of the collection feature.

4. The omnidirectional adaptive acquisition device for phenotypic platform according to claim 1 or 2, characterized in that: The omnidirectional rotating component includes a pan-tilt base, a pan-tilt servo drive component, a rotating table and a rotating arm. The pan-tilt base is installed on the top of the platform frame of the detection area; the pan-tilt servo drive component is installed on the pan-tilt base and connected to the automatic control mechanism; the rotating table is installed at the bottom of the pan-tilt base and connected to the pan-tilt servo drive component; the rotating arm is connected to the rotating table, and the pan-tilt servo drive component drives the rotating table to drive the rotating arm to realize circumferential rotation.

5. The omnidirectional adaptive acquisition device for phenotypic platform according to claim 4, characterized in that: The rotating arm comprises a horizontal section, an inclined section and a vertical section which are connected in sequence. The horizontal section is connected to the rotating platform, and the collecting height adjusting component is installed on the vertical section.

6. The omnidirectional adaptive acquisition device for phenotypic platform according to claim 5, characterized in that: The collection height adjustment component includes a height adjustment base, a drive motor and a moving platform. The height adjustment base is installed on the vertical section and is located on the outer side of the vertical section. The drive motor is installed on the top of the height adjustment base. The moving platform is installed on the height adjustment base and is lifted and lowered along the height adjustment base under the drive of the drive motor.

7. The omnidirectional adaptive acquisition device for phenotypic platform according to claim 6, characterized in that: The height adjustment base includes a linear guide rail and a ball screw, wherein the linear guide rail is installed on the vertical section, and the ball screw is connected to the drive motor and arranged parallel to the linear guide rail; the moving platform is installed on the linear guide rail and connected to the ball screw.

8. The omnidirectional adaptive acquisition device for phenotypic platform according to claim 6, characterized in that: The phenotype adaptive acquisition component includes a steering gear, a position adjustment member, an RGB acquisition sensor, a light source and a multi-spectral imaging module. The steering gear, RGB acquisition sensor, light source and multi-spectral imaging module are respectively installed on the position adjustment member and are respectively connected to the automatic control mechanism; the position adjustment member is installed on the mobile platform, and the light source is connected to the steering gear through a transmission member.

9. The omnidirectional adaptive acquisition device for phenotypic platform according to claim 8, characterized in that: The position adjustment component includes a U-shaped base, a micro turntable, a servo motor, a sensor support frame, a lighting adjustment frame and a multi-spectral support. The U-shaped base is installed on the mobile platform, the micro turntable is installed on the U-shaped base, the servo motor is connected to the micro turntable, the sensor support frame is installed on the rotating platform of the micro turntable, and the RGB acquisition sensor is installed on the sensor support frame; the lighting adjustment frame is installed on the U-shaped base, the steering gear and the transmission member are installed on the outside of the lighting adjustment frame; the multi-spectral support is installed on the U-shaped base, and the multi-spectral imaging module is installed on the multi-spectral support.

10. A phenotypic platform all-round adaptive collection method, characterized in that: The steps include: S100, placing the potted plants to be inspected on the conveyor belt, and the plants to be inspected move toward the platform entrance at a low speed under the drive of the conveyor belt. When passing the entrance photoelectric sensor, the automatic control mechanism determines that there are plants entering, and opens the automatic door of the assembly line phenotyping platform, and the plants to be inspected enter the detection area; S200, the plant to be inspected continues to move to the collection position, and the automatic control mechanism controls the conveyor belt to stop moving after detecting the presence of the plant to be inspected; S300, collecting the side contour point cloud information of the plant to be inspected through the plant feature recognition sensor, and sending the information to the automatic control mechanism, the automatic control mechanism determines the position and the best collection posture of the plant to be inspected according to the collection requirements, and sends the data information to the omnidirectional adaptive collection mechanism, and controls the omnidirectional adaptive collection mechanism to reach the corresponding position and posture in real time; S400, the omnidirectional rotating component of the omnidirectional adaptive collection mechanism starts to move, the rotating arm rotates one circle, and the multiple groups of sensors of the phenotypic adaptive collection component collect the phenotypic information of the specific position of the plant in parallel and synchronously, and transmit it to the background through the automatic control mechanism for high-throughput storage or display; and S500, after the collection is completed, the automatic control mechanism controls the automatic door at the platform exit to open, and after the exit photoelectric sensor detects the plant to be inspected, the automatic control mechanism controls the conveyor belt to stop moving, takes away the inspected plant to be inspected, and completes the automatic phenotypic information collection operation of the plant to be inspected.

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