Automatic rail changing type plant phenotype measuring platform and rail changing method

Abstract

The invention provides an automatic rail changing type plant phenotype measurement platform and a rail changing method, and the platform comprises a measurement rail group which comprises at least two measurement rails arranged in a first direction, and the measurement rails extend in a second direction; the rail changing rail is arranged on at least one side of the measuring rail set in the second direction, and the rail changing rail extends in the first direction; the rail changing carrier is arranged on the rail changing track, and a carrier track extending in the second direction is arranged on the rail changing carrier; the measuring platform main body comprises a main frame body and a collecting and measuring unit arranged on the main frame body; the measuring platform main body has a switchable measuring state and a switchable rail switching state; when the measuring platform main body is in a rail changing state, the main frame body is located on the carrier rail, and the rail changing carrier can drive the measuring platform main body to move along the rail changing rail. According to the automatic rail changing type plant phenotype measuring platform and the rail changing method, the manual participation degree in the rail changing process is reduced, and the rail changing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of plant measurement, and particularly relates to an automatic rail changing type plant phenotype measurement platform and a rail changing method. BACKGROUND

[0002] Plant phenotype data is of great significance to agricultural production, and the measurement of field plant phenotype data is particularly crucial.

[0003] In an experimental field or in a greenhouse, multiple independent small spaces are usually divided, and plants are planted in the multiple small spaces according to categories or varieties. For the above environment, an independent plant phenotype measurement platform cannot cover the entire greenhouse or experimental field, and the platform needs to be moved between multiple small spaces.

[0004] In the related art, multiple measurement rails are arranged side by side in an experimental field or a greenhouse, and the multiple measurement rails each correspond to a different small space. A plant phenotype measurement platform can slide along the measurement rails and measure plants in the small space corresponding to the measurement rail. However, if the plants in all small spaces are to be measured, the plant phenotype measurement platform needs to be changed between multiple measurement rails. The existing rail changing process needs to be completed with the participation of manual work, and the degree of automation is poor, which leads to low efficiency of plant phenotype measurement in the above environment. SUMMARY

[0005] Therefore, the present application aims to provide an automatic rail changing type plant phenotype measurement platform and a rail changing method to at least partially solve the problem of low degree of automation and low efficiency of the rail changing process of the plant phenotype measurement platform.

[0006] To achieve the above object, the first aspect of the present application provides an automatic rail-changing plant phenotype measurement platform, comprising: a measurement rail group, comprising at least two measurement rails arranged along a first direction, the measurement rails extending along a second direction; the second direction is perpendicular to the first direction; a rail-changing rail, arranged on at least one side of the measurement rail group along the second direction, and the rail-changing rail extends along the first direction; a rail-changing carrier, arranged on the rail-changing rail, the rail-changing carrier is provided with a carrier rail extending along the second direction, and the carrier rail can move back and forth along the second direction; a measurement platform main body, comprising a main frame body and a collection and measurement unit arranged on the main frame body; wherein the measurement platform main body has a switchable measurement state and a rail-changing state; when the measurement platform main body is in the measurement state, the main frame body is located on the measurement rail and can move along the measurement rail, and the collection and measurement unit is at least configured to collect phenotype information of a plant; when the measurement platform main body is in the rail-changing state, the main frame body is located on the carrier rail, and the rail-changing carrier can drive the measurement platform main body to move along the rail-changing rail; when the measurement platform main body is in the rail-changing state, the carrier rail and the measurement rail are separated from each other; when the measurement platform main body switches between the measurement state and the rail-changing state, the end of the carrier rail moves to abut against the end of the measurement rail, so that the measurement platform main body moves between the carrier rail and the measurement rail.

[0007] Based on the same inventive concept, the second aspect of the present application further provides a rail-changing method, which uses the automatic rail-changing plant phenotype measurement platform as described in the first aspect, and the rail-changing method comprises: controlling the carrier rail to move along the second direction to abut against a current measurement rail; wherein the current measurement rail is a measurement rail where the measurement platform main body is currently located; controlling the measurement platform main body to move from the current measurement rail to the carrier rail; controlling the carrier rail to move along the second direction away from the current measurement rail until the carrier rail and the current measurement rail are separated from each other; controlling the rail-changing carrier to move along the rail-changing rail to a preset position corresponding to a target measurement rail; controlling the carrier rail to move along the second direction to abut against the target measurement rail; controlling the measurement platform main body to move from the carrier rail to the target measurement rail.

[0008] As can be seen from the above, the automatic track-changing plant phenotyping platform and track-changing method provided in this application have the same extension direction of the measuring track and the vehicle track. When changing tracks, the main body of the measuring platform can move between the measuring track and the vehicle track in the same direction, thereby eliminating the need for manual operation to change wheels in different directions. This helps to reduce the degree of human intervention in the track-changing process, improve track-changing efficiency, and also reduce the risk of safety accidents caused by human error.

[0009] Because the vehicle track can reciprocate along the second direction, it can either dock with the measurement track to form a relatively continuous track, so that the main body of the measurement platform can move smoothly and safely between the measurement track and the vehicle track, or it can separate from the measurement track so that the track-changing vehicle can move smoothly along the first direction on the track-changing track, preventing interference with the measurement track.

[0010] Meanwhile, the process of the main body of the measurement platform moving from the current measurement track to the target measurement track is achieved by moving the track-changing vehicle. The main body of the measurement platform remains stationary relative to the track-changing vehicle. The track-changing vehicle acts as the main structural support, rather than the main frame, which helps to reduce the risk of deformation of the main frame when moving along the track-changing track. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a top-view schematic diagram of the plant phenotyping platform located on the measuring track in the first track-changing method of this application embodiment; Figure 2 This is a top view of the plant phenotyping platform located on the track in the first track-changing method of this application embodiment; Figure 3 This is a top view schematic diagram of the plant phenotyping platform located on another measuring track in the first track-changing method of this application embodiment; Figure 4 This is a schematic diagram of the main body of the measurement platform located on the current measurement track in the automatic track-changing plant phenotyping platform according to an embodiment of this application; Figure 4a for Figure 4 An enlarged schematic diagram of part A in the diagram; Figure 5This is a schematic diagram showing the main body of the measurement platform located at the speed change position of the current measurement track in the automatic track-changing plant phenotyping platform according to an embodiment of this application. Figure 6 This is a schematic diagram of the main body of the measurement platform located on the vehicle track in the automatic track-changing plant phenotyping platform according to an embodiment of this application; Figure 7 This is a schematic diagram of the track-changing vehicle moving along the track-changing track in the automatic track-changing plant phenotyping platform according to an embodiment of this application. Figure 8 This is a schematic diagram showing the position of the main body of the measurement platform at the speed change position of the target measurement track in the automatic track-changing plant phenotyping platform according to an embodiment of this application. Figure 9 This is a schematic diagram of the main body of the measurement platform located on the target measurement track in the automatic track-changing plant phenotyping platform according to an embodiment of this application; Figure 10a This is a partial side view of the automatic track-changing plant phenotyping platform according to an embodiment of this application when the vehicle track and the measurement track are separated. Figure 10b for Figure 10a Enlarged schematic diagram of part B; Figure 10c This is a partial side view of the automatic track-changing plant phenotyping platform according to an embodiment of this application when the vehicle track and the measurement track are in contact. Figure 10d for Figure 10c An enlarged schematic diagram of section C; Figure 11 This is a top view of the main body of the measurement platform located on the current measurement track in the automatic track-changing plant phenotyping platform according to an embodiment of this application. Figure 11a for Figure 11 An enlarged schematic diagram of part D in the diagram; Figure 11b When the vehicle track and the measuring track are not aligned Figure 11 An enlarged schematic diagram of part D in the diagram; Figure 12 This is a flowchart illustrating the track-changing method according to an embodiment of this application; Figure 13 This is a partial logic diagram of the track-changing method according to an embodiment of this application; Figure 14 This is a schematic diagram of an electronic device according to an embodiment of this application.

[0013] Explanation of reference numerals in the attached figures: 100. Measuring track assembly; 110. Measuring track; 200. Track replacement; 300, rail-changing carrier; 310, carrier main body; 320, carrier rail; 330, carrier drive unit; 340, first power supply assembly; 341, first power distribution device; 342, first cable reel; 350, rail drive unit; 351, roller; 400, measurement platform main body; 410, main frame body; 420, acquisition measurement unit; 430, main frame drive unit; 431, gear; 440, second power supply assembly; 441, second power distribution device; 442, second cable reel; 450, visual recognition unit; 500, pin column; 600, insertion hole; 700, rail-changing rail; 800, plant phenotype measurement platform. DETAILED DESCRIPTION

[0014] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and in conjunction with the specific embodiments.

[0015] It should be noted that the relative arrangement of the components, numerical expressions and values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship for the purpose of description. The following description of at least one exemplary embodiment is actually merely illustrative and by no means any limitation on the present application and its applications or uses.

[0016] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be understood as the usual meaning understood by those skilled in the art to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Include" or "contain" and similar words mean that the elements or objects before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to represent relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0017] As Figure 1In some embodiments, in order to realize the track switching of the plant phenotype measurement platform 800, a variable track 700 intersecting with multiple measurement tracks 110 at the same time needs to be arranged, and two sets of wheels are arranged on the plant phenotype measurement platform 800, one set of wheels (hereinafter referred to as measurement wheels) is used to cooperate with the measurement track 110, and the other set of wheels (hereinafter referred to as variable track wheels) is used to cooperate with the variable track 700.

[0018] It should be noted that the center axis of the measurement wheel and the center axis of the variable track wheel intersect, and at least during the track switching process, the center axis of the measurement wheel and the center axis of the variable track wheel cannot be in the same horizontal plane. For example, when the plant phenotype measurement platform 800 moves on the measurement track 110 to the variable track 700, if the center axis of the measurement wheel and the center axis of the variable track wheel are in the same horizontal plane, the variable track wheel may collide with the variable track 700.

[0019] In order to avoid interference between the variable track wheel and the variable track 700, the variable track wheel needs to be raised by an electrical or hydraulic mechanism when the plant phenotype measurement platform 800 moves along the measurement track 110. At this time, the center axis of the variable track wheel is higher than the center axis of the measurement wheel.

[0020] As Figure 2 When the plant phenotype measurement platform 800 needs to be switched, the plant phenotype measurement platform 800 needs to be moved along the measurement track 110 to a position corresponding to the variable track 700 first, and then the variable track wheel is manually controlled to be lowered, so that the variable track wheel cooperates with the variable track 700, and the plant phenotype measurement platform 800 is jacked up, so that the measurement wheel is separated from the measurement track 110.

[0021] As Figure 3 The plant phenotype measurement platform 800 is controlled to move along the variable track 700 to align with another measurement track 110, and then the variable track wheel is manually controlled to be raised, so that the measurement wheel cooperates with the measurement track 110.

[0022] It can be known from the foregoing that, by the above-mentioned track switching method, the variable track wheel needs to be manually raised and lowered, which leads to low track switching efficiency and safety risks caused by misoperation during track switching. Meanwhile, the measurement track 110 and the variable track 700 intersect with each other and have different extension directions. During the track switching process, the plant phenotype measurement platform 800 needs to move in different directions, and the plant phenotype measurement platform 800 (especially when the plant phenotype measurement platform 800 is in a double-gantry structure) has a risk of structural deformation caused by uneven stress.

[0023] In order to solve the above-mentioned problems, the present embodiment provides an automatic track switching type plant phenotype measurement platform.

[0024] As Figure 4 and Figure 4aIn some embodiments, the automatic track-changing plant phenotyping platform includes: a measurement track group 100, including tracks along a first direction (e.g., Figure 4 At least two measuring tracks 110 arranged in the Y direction (as shown in the second direction) extend along the second direction (e.g., ...). Figure 4 The measurement platform body 400 includes a main frame 410 and a measurement acquisition and measurement unit 420 disposed on the main frame 410. The measurement platform body 400 has a switchable measurement state and a track-changing state. When the measurement platform body 400 is in the measurement state, the main frame 410 is located on the measurement track. 110, and is capable of moving along the measurement track 110, the measurement unit 420 is configured at least to collect phenotypic information of plants; when the measurement platform body 400 is in the track-changing state, the main frame 410 is located on the carrier track 320, and the track-changing carrier 300 can drive the measurement platform body 400 to move along the track-changing track 200; when the measurement platform body 400 is in the track-changing state, the carrier track 320 is separated from the measurement track 110; when the measurement platform body 400 switches between the measurement state and the track-changing state, the end of the carrier track 320 moves to abut against the end of the measurement track 110, so that the measurement platform body 400 moves between the carrier track 320 and the measurement track 110.

[0025] It should be noted that, in the embodiments of this application, a measurement track 110 refers to a track capable of supporting the movement of the measurement platform body 400. Specifically, when the measurement platform body 400 can move on a single track, a measurement track 110 may consist of only one track extending along the first direction; when the measurement platform body 400 requires two parallel tracks to move, a measurement track 110 includes two parallel tracks extending along the first direction, and so on.

[0026] It should also be noted that when a measuring track 110 includes two parallel tracks, three parallel tracks can be constructed into two measuring tracks 110. That is, the middle track of the three tracks can be used as a track shared by the two measuring tracks 110.

[0027] For example, when the measurement platform body 400 is in the measurement state, the vehicle track 320 and the measurement track 110 are separated from each other.

[0028] Exemplarily, the rail-changing rail 200 is arranged close to and spaced from the end of the measurement rail 110, so as to provide more sufficient moving space for the rail-changing carrier 300.

[0029] Exemplarily, the specification of the carrier rail 320 can be the same as or different from that of the measurement rail 110. It should be noted that, in the embodiments of the present application, taking the measurement rail 110 as an example, when one measurement rail 110 includes only one rail, the specification of the measurement rail 110 can include the cross-sectional (perpendicular to the extending direction) shape and size of the single rail; when one measurement rail 110 includes two rails, the specification of the measurement rail 110 can include the spacing distance between the two rails, as well as the cross-sectional shape and size of the single rail. However, the specification of the measurement rail 110 does not include the extending length of the measurement rail 110.

[0030] Exemplarily, the main frame body 410 can include at least one of a gantry structure, a vertical rod structure, a horizontal rod structure, and a box structure, without limitation.

[0031] Exemplarily, the acquisition and measurement unit 420 can include at least one of a visible light sensor, a thermal infrared sensor, a three-dimensional laser sensor, a hyperspectral sensor, and a photosynthetic fluorescence sensor, for acquiring comprehensive plant phenotype parameters such as plant morphological structure (e.g., plant height, biomass, or leaf area, etc.), physiological state (e.g., photosynthetic efficiency and stress resistance index, etc.), temperature distribution, and spectral characteristics, to support dynamic measurement of single plants and population plants in the whole growth period.

[0032] Exemplarily, the acquisition and measurement unit 420 can be fixedly connected to the main frame body 410, or can also move along the rail arranged on the main frame body 410. The acquisition and measurement unit 420 can also rotate and move on the main frame body 410.

[0033] Exemplarily, the surface (e.g., the top surface) of the measurement rail 110 that cooperates with the main frame body 410 is at the same height as the surface of the carrier rail 320 that cooperates with the main frame body 410, so that the main frame body 410 can translate between the measurement rail 110 and the carrier rail 320.

[0034] As Figure 4 , when the measurement platform body 400 is in the measurement state, the measurement platform body 400 is located on the measurement rail 110 and can move along the measurement rail 110 to collect and measure plants one by one in the region of the measurement rail 110, so as to obtain the phenotype information of the plants. Figure 10a At this time, the carrier rail 320 is separated from the end of the measurement rail 110 where the measurement platform body 400 is located.

[0035] It should be noted that when one measurement track 110 includes two tracks, the area corresponding to the measurement track 110 is located between the two tracks; when one measurement track 110 includes only one track, the area corresponding to the measurement track 110 is located on at least one side of the track along the second direction.

[0036] When it is necessary to collect and measure plants in the area corresponding to other measurement tracks 110, the carrier track 320 can be controlled to move in the second direction towards the measurement track 110 until the end of the carrier track 320 abuts the end of the measurement track 110 to achieve butt joint. At this time, the carrier track 320 and the measurement track 110 can be constructed into a relatively continuous track to ensure that the measurement platform body 400 moves smoothly between the carrier track 320 and the measurement track 110. Figure 10c

[0037] After that, the measurement platform body 400 can be controlled to move from the current measurement track 110 to the track-changing carrier 300 along the second direction. At this time, the measurement platform body 400 is parked on the carrier track 320 of the track-changing carrier 300. After the measurement platform body 400 is completely parked on the carrier track 320, the carrier track 320 is controlled to move in the second direction away from the measurement track 110, so that the carrier track 320 and the measurement track 110 are separated from each other to facilitate subsequent movement of the track-changing carrier 300. Figure 6

[0038] After the carrier track 320 and the measurement track 110 are separated from each other, the track-changing carrier 300 is controlled to move along the track-changing track 200 to carry the measurement platform body 400 to a preset position corresponding to the target measurement track. Figure 7 It should be noted that the preset position corresponding to the measurement track 110 can be a position where the carrier track 320 of the track-changing carrier 300 and the measurement track 110 meet the preset requirements (for example, the carrier track 320 and the measurement track 110 are aligned).

[0039]

[0040] After the track-changing carrier 300 moves to the preset position corresponding to the target measurement track, the carrier track 320 is controlled to move in the second direction towards the measurement track 110 to achieve butt joint of the carrier track 320 and the target measurement track. After that, the measurement platform body 400 is controlled to move from the track-changing carrier 300 to the target measurement track along the second direction. Figure 8

[0041] ​​​​The automatic rail changing plant phenotype measurement platform provided by the embodiments of the present application has the same extension direction of the measurement rail 110 and the carrier rail 320, and the measurement platform body 400 can move between the measurement rail 110 and the carrier rail 320 in the same direction when changing rails, so that the process of manually changing wheels in different directions is omitted, the degree of manual participation in the rail changing process is reduced, the rail changing efficiency is improved, and the risk of safety accidents caused by manual operation errors can be reduced.

[0042] Since the carrier rail 320 can reciprocate along the second direction, the carrier rail 320 can be connected with the measurement rail 110 to form a relatively continuous rail, so that the measurement platform body 400 can move between the measurement rail 110 and the carrier rail 320 stably and safely, and the carrier rail 320 can be separated from the measurement rail 110, so that the rail changing carrier 300 can move along the first direction on the rail changing rail 200 smoothly and prevent interference with the measurement rail 110.

[0043] Meanwhile, the process of moving the measurement platform body 400 from the current measurement rail to the target measurement rail is realized by the movement of the rail changing carrier 300, the measurement platform body 400 is always stationary relative to the rail changing carrier 300, the rail changing carrier 300 serves as a structural support body, and the main frame body 410 serves as a support body, which helps to reduce the risk of deformation of the main frame body 410 when moving along the rail changing rail 200.

[0044] For example, Figure 4a In some embodiments, the automatic rail changing plant phenotype measurement platform further comprises a control unit, the main frame body 410 is provided with a main frame driving unit 430 electrically connected with the control unit, and the rail changing carrier 300 is provided with a rail driving unit 350 electrically connected with the control unit, the rail driving unit 350 being used to drive the carrier rail 320 to reciprocate, and the control unit is at least configured to control the rail driving unit 350 to drive the carrier rail 320 to move to abut against the end of the measurement rail 110, and then control the main frame driving unit 430 to drive the measurement platform body 400 to move between the carrier rail 320 and the measurement rail 110 when the measurement platform body 400 is switched between the measurement state and the rail changing state.

[0045] For example, the main frame driving unit 430 can include a plurality of wheels arranged at the bottom of the main frame body 410, and a motor in transmission connection with at least part of the wheels, and the control unit can drive the wheels to rotate through the motor, so as to control the movement of the measurement platform body 400 along the measurement rail 110 or the carrier rail 320.

[0046] Exemplarily, the track driving unit 350 can include rollers 351 supporting the carrier track 320, and a motor in driving connection with the rollers 351, which can drive the rollers 351 to rotate, and the rollers 351 can drive the carrier track 320 to reciprocate along the second direction under the action of friction force; or the track driving unit 350 can include an electric cylinder or a pneumatic cylinder or a linear motor, etc., to drive the carrier track 320 to reciprocate along the second direction through the track driving unit 350.

[0047] Exemplarily, the control unit and the main frame driving unit 430 can be in electrical connection through a wired mode such as a cable, or can be in electrical connection through a wireless mode such as Bluetooth. The control unit can send electrical signals to the main frame driving unit 430 to control the start and stop of the main frame driving unit 430, and the direction and speed of the movement of the measurement platform main body 400. The electrical connection mode of the track driving unit 350 and the control unit can be the same as that of the main frame driving unit 430 and the control unit, which will not be described herein.

[0048] During the track changing process, the control unit can control the track driving unit 350 to drive the carrier track 320 to move to the end of the measurement guide rail 110 to complete the butt joint; and then control the measurement platform main body 400 to automatically move from the current measurement track to the track changing carrier 300, or automatically move from the track changing carrier 300 to the target measurement track, which helps to further reduce the degree of human participation in the track changing process, improve the track changing efficiency, realize the rapid movement of the measurement platform main body 400 in different areas of the greenhouse or the test field, and improve the plant collection and measurement efficiency.

[0049] As Figure 10b and Figure 10d In some embodiments, the track driving unit 350 includes rollers 351 arranged below the carrier track 320, which support the carrier track 320 and can drive the carrier track 320 to reciprocate.

[0050] Exemplarily, a plurality of rollers 351 can be arranged corresponding to each carrier track 320, and the plurality of rollers 351 are arranged along the second direction (i.e., the extension direction of the carrier track 320) to make the carrier track 320 more stable.

[0051] Exemplarily, each roller 351 can be in driving connection with a motor, or only part of the rollers 351 can be connected with the motor.

[0052] The rollers 351 not only can support the carrier track 320, but also can drive the carrier track 320 to move along the second direction under the action of friction force, etc., by driving the rollers 351 to rotate when the carrier track 320 needs to move.

[0053] It should be noted that the use of the roller 351 to drive the carrier track 320 to move can make the maximum moving distance of the carrier track 320 not be limited by the track driving unit 350, and can make the versatility of the track driving unit 350 stronger, which can help to reduce the cost of the track driving unit 350 and improve the service life, and can also ensure that the carrier track 320 and the measurement track 110 can reliably abut, and prevent a gap between the two when they are docked.

[0054] The applicant found that in order to enable the measurement platform body 400 to move smoothly between the measurement track 110 and the carrier track 320, it is necessary to first make the relative position between the measurement track 110 and the carrier track 320 along the first direction meet the preset requirements. For example, as shown in Figure 11 and Figure 11a , it is necessary to first align the measurement track 110 and the carrier track 320, and then control the measurement platform body 400 to move from the measurement track 110 to the carrier track 320.

[0055] However, if the alignment of the measurement track 110 and the carrier track 320 is confirmed by manual confirmation, it not only consumes time and effort, but also easily causes too much error to hinder the movement of the measurement platform body 400.

[0056] In order to solve the above problems, as shown in Figure 4a and Figure 10a , in some embodiments, the main frame body 410 is provided with a visual recognition unit 450, the track-changing carrier 300 includes a carrier body 310 and a carrier driving unit 330 arranged on the carrier body 310, and the visual recognition unit 450 and the carrier driving unit 330 are respectively electrically connected with the control unit; when the measurement platform body 400 is in the track-changing state, the visual recognition unit 450 is configured to send position feedback information to the control unit, and the control unit is configured to control the carrier driving unit 330 to drive the track-changing carrier 300 to move to a preset position corresponding to a target measurement track according to the position feedback information.

[0057] Exemplarily, the main frame body 410 and / or the carrier body 310 can be welded from a profile or a steel plate, and can be subjected to galvanizing or rust-proof treatment.

[0058] Exemplarily, when the main frame body 410 is a gantry structure, the main beam of the gantry structure uses a double-beam structure, and the acquisition measurement unit 420 can be integrally arranged in a suspended cabin, and the suspended cabin can move along the main beam of the gantry structure (i.e., along the first direction).

[0059] It should be noted that the carrier track 320 can be arranged on the top of the carrier body 310.

[0060] For example, the carrier driving unit 330 can include a plurality of wheels arranged at the bottom of the carrier body 310, and a motor (e.g., a servo motor) in driving connection with at least part of the wheels. The control unit can drive the wheels to rotate by the motor, so as to control the rail-changing carrier 300 to move along the rail-changing track 200.

[0061] For example, the control unit and the carrier driving unit 330 can be in electrical connection by a wired mode such as a cable, or can be in electrical connection by a wireless mode such as Bluetooth. The control unit can send an electrical signal to the carrier driving unit 330, so as to control the carrier driving unit 330 to start, stop, and control the direction and speed of the rail-changing carrier 300 when the rail-changing carrier 300 is moved.

[0062] For example, the control unit can be in electrical connection with the visual recognition unit 450 by the wired or wireless mode as described above.

[0063] For example, the control unit can be in electrical connection with the visual recognition unit 450 by the wired or wireless mode as described above. Figure 11a and Figure 11b For example, the control unit can be in electrical connection with the visual recognition unit 450 by the wired or wireless mode as described above. Figure 11a and Figure 11b For example, the control unit can be in electrical connection with the visual recognition unit 450 by the wired or wireless mode as described above. Figure 11b For example, the control unit can be in electrical connection with the visual recognition unit 450 by the wired or wireless mode as described above. Figure 11a .

[0064] For example, the control unit can be in electrical connection with the visual recognition unit 450 by the wired or wireless mode as described above.

[0065] For example, the control unit can be in electrical connection with the visual recognition unit 450 by the wired or wireless mode as described above. Figure 10a 、 Figure 11 and Figure 11a For example, the control unit can be in electrical connection with the visual recognition unit 450 by the wired or wireless mode as described above.

[0066] In the embodiment, the main frame body 410 can be matched with the measuring track 110 and the carrier track 320 respectively through the same set of wheels, which helps to reduce the manufacturing and maintenance costs of the main frame body 410.

[0067] Meanwhile, the carrier track 320 can be aligned with each measuring track 110, that is, the surface of the carrier track 320 matched with the measuring platform body 400 can be in the same horizontal plane with the surface of the measuring track 110 matched with the measuring platform body 400, and there is no height difference between the two, so that the movement of the measuring platform body 400 between the carrier track 320 and the measuring track 110 can be ensured to be in the same horizontal plane, which can make the movement more stable, help to reduce the safety hazards in the track changing process, and also help to improve the service life of the main frame body 410.

[0068] In combination with the foregoing, it can be known that the carrier track 320 is arranged on the top of the carrier body 310, and the track changing track 200 is below the carrier body 310, so that in order to align the carrier track 320 with the measuring track 110, the height of the track changing track 200 needs to be designed.

[0069] Specifically, as shown in FIG. 2, the track changing track 200 is lower than the measuring track 110. Figure 10a In some embodiments, the track changing track 200 is lower than the measuring track 110.

[0070] There are at least two ways to realize the structure in the embodiment: One way is to arrange the measuring track 110 on the ground, arrange a pit at the position of the track changing track 200, and arrange the track changing track 200 in the pit, so that the track changing track 200 is lower than the measuring track 110 on the ground.

[0071] Another way is to arrange the track changing track 200 on the ground, arrange a base on the ground at the position of the measuring track 110, and arrange the measuring track 110 on the base, so that the measuring track 110 is higher than the track changing track 200 on the ground.

[0072] It should be noted that in the process of plant growth, the plant needs to be watered. The way of arranging the base on the bottom surface can facilitate drainage, help to prevent water accumulation near the measuring track 110 and the track changing track 200, and help to improve the service life of the measuring track 110 and the track changing track 200.

[0073] As shown in FIG. 2, the carrier track 320 and the measuring track 110 are rack tracks, and the main frame driving unit 430 includes a gear 431 engaged with the rack tracks. Figure 10b And Figure 10d In some embodiments, the carrier track 320 and the measuring track 110 are rack tracks, and the main frame driving unit 430 includes a gear 431 engaged with the rack tracks.

[0074] The carrier track 320 and the measurement track 110 adopt rack tracks, and the measurement platform body 400 moves on the rack tracks through gears 431, which has high transmission efficiency and strong positioning accuracy, can accurately control the position of the measurement platform body 400 on the measurement track 110 and the carrier track 320, and helps to ensure that the measurement platform body 400 can smoothly and safely realize rail switching.

[0075] Meanwhile, the cooperation of the gears 431 and the rack tracks can break the ice and snow cover and avoid the measurement platform body 400 from slipping and losing stability on the carrier track 320 and the measurement track 110, so that the measurement platform body 400 can still stably operate and maintain high position accuracy in extremely harsh environments such as rain, snow and ice.

[0076] For example, Figure 10b and Figure 10d In some embodiments, one of the ends of the carrier track 320 and the measurement track 110 opposite to each other is provided with a protruding pin 500, and the other is provided with a socket 600; when the carrier track 320 and the measurement track 110 abut, the pin 500 and the socket 600 are inserted and matched.

[0077] For example, the end of the pin 500 facing the measurement track 110 can be provided with a rounded or beveled corner.

[0078] For example, Figure 10b The pin 500 is arranged at the end of the carrier track 320 close to the measurement track 110, and the socket 600 is arranged at the end of the measurement track 110 close to the carrier track 320. When the carrier track 320 and the measurement track 110 are separated from each other, the pin 500 is located outside the socket 600, and the two are not inserted and matched.

[0079] During the movement of the carrier track 320 along the second direction towards the measurement track 110, the pin 500 gradually inserts into the socket 600 to guide the movement of the carrier track 320. When the pin 500 is completely inserted into the socket 600, the end of the carrier track 320 can abut the end of the measurement track 110, and the carrier track 320 and the measurement track 110 are docked.

[0080] When the carrier track 320 and the measurement track 110 are docked, the insertion and matching of the pin 500 and the socket 600 can also limit the carrier track 320 in the vertical and horizontal directions, so that the end of the carrier track 320 and the end of the measurement track 110 can always be aligned, and the measurement platform body 400 can smoothly move between the carrier track 320 and the measurement track 110, avoiding the carrier track 320 from tilting up and down due to gravity at one end when the measurement platform body 400 just moves onto the carrier track 320.

[0081] It can be understood that the normal operation of the control unit, the main frame driving unit 430, the carrier driving unit 330, the visual recognition unit 450 and the like all depend on electric energy.

[0082] In combination Figure 4 In the measurement track group 100, the measurement track 110 at the head end and the measurement track 110 at the tail end have a large distance in the first direction. If the measurement platform body 400 is electrically connected to the power supply arranged at a fixed position in the test field or the greenhouse, in order to adapt to the moving range of the measurement platform body 400, a power cable with a relatively long length needs to be arranged between the measurement platform body 400 and the power supply. On the one hand, the material cost is relatively high, and on the other hand, the power cable may be crushed when the measurement platform body 400 moves or the track-changing carrier 300 moves, causing a safety accident.

[0083] In order to solve the above problems, one way is to arrange a power supply near each measurement track 110. When the measurement platform body 400 is changed from the previous measurement track 110 to the target measurement track, the power supply position of the measurement platform body 400 needs to be manually changed, that is, the power supply near the previous measurement track 110 is changed to the power supply near the target measurement track.

[0084] Although this way can reduce the length of the power cable between the measurement platform body 400 and the power supply, it is laborious and low in efficiency to manually change the power supply.

[0085] In order to further optimize the power supply mode of the measurement platform body 400, for example, Figure 4a In some embodiments, the track-changing carrier 300 is provided with a first power supply assembly 340, and the main frame body 410 is provided with a second power supply assembly 440. The first power supply assembly 340 is electrically connected to the second power supply assembly 440.

[0086] For example, a fixed power supply can be arranged on the side of the track-changing track 200 away from the measurement track group 100. The first power supply assembly 340 can be electrically connected to the fixed power supply. In other words, the first power supply assembly 340 can take power through the fixed power supply, and the second power supply assembly 440 can take power through the first power supply assembly 340.

[0087] In this embodiment, the track-changing carrier 300 is always located at the position corresponding to the measurement track 110 where the measurement platform body 400 is located. For example, as shown in FIG. 4, when the measurement platform body 400 is located on the measurement track 110 at the head end of the measurement track group 100, the track-changing carrier 300 is located at the end position of the measurement track 110 at the head end. Figure 4 When the measurement platform body 400 is located on the measurement track 110 at the head end of the measurement track group 100, the track-changing carrier 300 is located at the end position of the measurement track 110 at the head end. Figure 8 When the measurement platform body 400 moves to the next measurement track 110, the track-changing carrier 300 stays at the end position of the measurement track 110.

[0088] It can be seen that the first power supply assembly 340 on the rail-changing carrier 300 moves with the measurement platform body 400, the maximum interval distance between the first power supply assembly 340 and the second power supply assembly 440 does not exceed the extension length of the measurement track 110, and thus the cable length between the first power supply assembly 340 and the second power supply assembly 440 is set to be small, which can meet the movement requirement of the measurement platform body 400 and help reduce the material cost.

[0089] Meanwhile, the measurement platform body 400 does not need to change the electrical connection mode of the second power supply assembly 440 during the track changing process of the measurement track 110, and the second power supply assembly 440 is always electrically connected with the first power supply assembly 340, which can save the manual power changing process, save the labor cost, and help improve the track changing efficiency of the measurement platform body 400.

[0090] For example, Figure 4a In some embodiments, the first power supply assembly 340 includes a first power distribution device 341, and the second power supply assembly 440 includes a second power distribution device 441 and a second cable reel 442, and the second power distribution device 441 is electrically connected with the first power distribution device 341 through the second cable reel 442.

[0091] For example, the first power distribution device 341 and / or the second power distribution device 441 can include a cabinet, and electrical devices installed in the cabinet. The control unit can be arranged in the cabinet, or arranged in other local positions, or arranged remotely.

[0092] For example, the carrier driving unit 330 can be electrically connected with the first power distribution device 341 in the first power supply assembly 340 to obtain electrical energy through the first power supply assembly 340.

[0093] For example, the visual recognition unit 450, the measurement collecting unit 420, and the main frame driving unit 430 can be respectively electrically connected with the second power distribution device 441 in the second power supply assembly 440 to obtain electrical energy through the second power supply assembly 440.

[0094] For example, the first power supply assembly 340 can include a first cable reel 342, and the first power distribution device 341 is electrically connected with a fixed power supply in the greenhouse or experimental field through the first cable reel 342.

[0095] It should be noted that the first cable reel 342 and the second cable reel 442 have the same structure, which can include a winding drum, a cable wound on the winding drum, and a driving member (for example, a motor or a spring) for driving the rotation of the winding drum.

[0096] In the embodiment, when the interval distance between the first power distribution device 341 and the second power distribution device 441 becomes larger, the winding drum of the second cable reel 442 rotates, and the cable is drawn out from the winding drum, so that the first power distribution device 341 and the second power distribution device 441 can maintain electrical connection. When the interval distance between the first power distribution device 341 and the second power distribution device 441 becomes smaller, the driving member of the second cable reel 442 drives the winding drum to rotate reversely, so as to rewind the redundant cable back to the winding drum, to prevent the redundant cable from being crushed by the measurement platform body 400 or the track-changing carrier 300, and to help reduce the risk of safety accidents.

[0097] Based on the same inventive concept, the application also provides a track-changing method corresponding to the method of any of the above embodiments.

[0098] As Figure 12 and Figure 13 The track-changing method uses the automatic track-changing plant phenotype measurement platform of any of the above embodiments, and the track-changing method comprises the following steps. Step S100: controlling the carrier track to move to the current measurement track in the second direction; wherein the current measurement track is the measurement track where the measurement platform body is currently located.

[0099] It should be noted that the subject performing the track-changing method of the embodiment can be the control unit described above.

[0100] Before step S100, the position sensor provided on the measurement platform body 400 can be used to determine whether the measurement platform body 400 is located on the carrier track 320 of the track-changing carrier 300. If the determination result is yes, the carrier track does not need to be moved. If the determination result is no, step S100 is performed to make the carrier track 320 and the current measurement track butt joint, to prepare for the movement of the measurement platform body 400 between the current measurement track and the carrier track 320.

[0101] Step S200: controlling the measurement platform body to move from the current measurement track to the carrier track.

[0102] After the carrier track 320 and the current measurement track butt joint, the measurement platform body 400 is driven to move to the carrier track 320 of the track-changing carrier 300.

[0103] Step S300: controlling the carrier track to move away from the current measurement track in the second direction until the carrier track and the current measurement track are separated from each other.

[0104] After determining that the measurement platform body 400 has been positioned on the rail-changing carrier 300, the carrier rail 320 is controlled to move the measurement platform body 400 away from the current measurement rail, so as to separate the carrier rail 320 from the current measurement rail, to facilitate controlling the rail-changing carrier 300 to move the measurement platform body 400 to the target measurement rail.

[0105] In step S400, the rail-changing carrier is controlled to move to a preset position corresponding to the target measurement rail along the rail-changing rail.

[0106] Before step S400, the position sensor provided on the rail-changing carrier 300 can be used to determine whether the current position of the rail-changing carrier 300 is the preset position corresponding to the target measurement rail. If the determination result is yes, the rail-changing carrier 300 does not need to be controlled to move. If the determination result is no, step S400 is performed to move the rail-changing carrier 300 to the preset position corresponding to the target measurement rail.

[0107] In step S500, the carrier rail is controlled to move to the target measurement rail along the second direction.

[0108] Similar to step S100, after the rail-changing carrier 300 moves the measurement platform body 400 to the preset position corresponding to the target measurement rail, the carrier rail 320 is controlled to move towards the target measurement rail, so that the carrier rail 320 and the target measurement rail are docked.

[0109] In step S600, the measurement platform body is controlled to move from the carrier rail to the target measurement rail.

[0110] After the carrier rail 320 and the target measurement rail are docked, the measurement platform body 400 can be controlled to move from the carrier rail 320 of the rail-changing carrier 300 to the target measurement rail. Then, the measurement platform body 400 can be controlled to perform a home operation to reestablish a coordinate system on the target measurement rail, to ensure accurate positioning of the measurement platform body 400 on the target measurement rail. Thus, the measurement platform body 400 completes a rail change.

[0111] It should be noted that there may be errors in controlling the position of the rail-changing carrier 300 by the position sensor on the rail-changing carrier 300. Due to the errors, even if the position sensor on the rail-changing carrier 300 determines that the current coordinate of the rail-changing carrier 300 is the same as the coordinate of the preset position corresponding to the target measurement rail, the carrier rail 320 and the target measurement rail may not be aligned in reality.

[0112] In order to align the carrier rail 320 with the target measurement rail, in some embodiments, the main frame body 410 is provided with a visual recognition unit 450; and step S400 includes: Step S410: Receive position feedback information sent by the visual recognition unit; wherein, in response to the interval distance between the vehicle track and the target measurement track along the first direction being greater than a preset threshold, the position feedback information includes a position compensation value.

[0113] After the position sensor on the track-changing vehicle 300 determines that the current coordinates of the track-changing vehicle 300 are the same as the coordinates of the preset position corresponding to the target measurement track, the control unit can control the vision recognition unit 450 to acquire an image including the target measurement track and the vehicle track 320, and analyze the relative position between the target measurement track and the vehicle track 320 along the first direction based on the image.

[0114] like Figure 11a If the distance between the target measurement track and the vehicle track 320 along the first direction is less than or equal to a preset threshold, it means that the target measurement track and the vehicle track 320 are aligned, and the position feedback information at this time can be OK.

[0115] like Figure 11b If the distance between the target measurement track and the vehicle track 320 along the first direction is greater than a preset threshold, it indicates that the target measurement track and the vehicle track 320 are not yet aligned. The position feedback information at this time includes a position compensation value. For example, the position compensation value can be positive or negative.

[0116] When the position compensation value is positive, it means that the track-changing vehicle 300 needs to be controlled to move along a preset direction, and the moving distance is the absolute value of the positive value, so that the target measurement track and the vehicle track 320 are actually aligned.

[0117] When the position compensation value is negative, it means that the track-changing vehicle 300 needs to be controlled to move in the opposite direction of the preset direction, and the moving distance is the absolute value of the negative value, so that the target measurement track and the vehicle track 320 are actually aligned.

[0118] by Figure 11b Taking the direction shown as an example, the preset direction is the positive direction of the Y direction. At this time, the distance L1 between the target measuring track and the vehicle track 320 along the Y direction is 20mm. Then the position compensation value can be -20, which means that the track changing vehicle 300 needs to be controlled to move 20mm in the opposite direction along the Y direction so that the target measuring track and the vehicle track 320 are actually aligned.

[0119] In step S420, in response to the position feedback information including the position compensation value, the direction information and distance information are determined based on the position compensation value, and the track-changing vehicle 300 is controlled to move to the preset position corresponding to the target measurement track based on the direction information and distance information.

[0120] When the position feedback information received by the control unit is OK, the movement of the track-changing vehicle 300 will no longer be controlled.

[0121] Still taking Figure 11b as an example, when the position feedback information received by the control unit is -20, then the direction information can be determined as reverse (i.e., the reverse of the preset direction) and the distance information is 20 mm according to -20.

[0122] Afterwards, the control rail-changing carrier 300 moves 20 mm in the reverse direction of the preset direction, so that the rail-changing carrier 300 is moved to the preset position corresponding to the target measurement track, i.e., the carrier track 320 is accurately aligned with the target measurement track.

[0123] In some embodiments, the carrier track 320 is provided with a limit switch, and the measurement platform body 400 stops moving when the limit switch is triggered; step S200 comprises: Step S210, controlling the measurement platform body to move to a speed-changing position of the current measurement track at a preset first speed; wherein the speed-changing position is close to the rail-changing track.

[0124] For example, as shown in Figure 4a and Figure 5 , before controlling the measurement platform body 400 to move onto the carrier track 320, the measurement platform body 400 can be controlled to move from the current position (e.g., the position in Figure 4a ) on the current measurement track to the speed-changing position (e.g., the position in Figure 5 ) on the current measurement track.

[0125] Since the movement of the measurement platform body 400 from the current position to the speed-changing position is all on the current measurement track, the risk of safety accidents is very small, so the measurement platform body 400 can be moved quickly, i.e., at a preset first speed, which helps to shorten the time occupied by the rail-changing process.

[0126] Step S220, controlling the measurement platform body to move from the speed-changing position of the current measurement track to the carrier track at a preset second speed until the measurement platform body triggers the limit switch; wherein the second speed is less than the first speed.

[0127] When the measurement platform body 400 moves to the speed-changing position of the current measurement track, the measurement platform body 400 is already close to the carrier track 320 in the second direction. In order to ensure that the measurement platform body 400 can be moved smoothly from the current measurement track to the carrier track 320, the measurement platform body 400 needs to be controlled to move at a low speed, i.e., at a preset second speed.

[0128] When the limit switch is triggered by the measurement platform body 400, it indicates that the measurement platform body 400 has been completely moved onto the carrier track 320, such as Figure 6The control unit can control the measurement platform body 400 to stop moving and remain on the carrier track 320.

[0129] It should be noted that in step S600, as Figure 7 and Figure 8 The measurement platform body 400 can also be controlled to first move from the carrier track 320 on the track-changing carrier 300 to a speed-changing position (for example, a position in Figure 8 on the target measurement track at a second speed, and then control the measurement platform body 400 to move from the speed-changing position on the target measurement track to the target position, as Figure 9 .

[0130] It should be noted that the method of the embodiments of the present application can be executed by a single device, such as a computer or a server, etc. The method of the embodiments of the present application can also be applied to a distributed scenario, and be completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only execute one or more steps in the method of the embodiments of the present application, and the multiple devices can interact with each other to complete the method.

[0131] It should be noted that some embodiments of the present application have been described above. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are possible or advantageous.

[0132] Based on the same inventive concept, the present application also provides an electronic device corresponding to any of the above-mentioned embodiment methods, comprising a memory, a processor and a computer program recorded on the memory and executable on the processor, wherein the processor executes the program to realize the method of any one of the above-mentioned embodiments.

[0133] Figure 14 A more specific hardware structure of an electronic device provided by the present embodiment is shown, which can include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040 and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030 and the communication interface 1040 are connected to each other through the bus 1050 for communication within the device.

[0134] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, etc., for executing relevant programs to implement the technical solutions provided by the embodiments of the present specification.

[0135] The memory 1020 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the relevant program codes are saved in the memory 1020 and called and executed by the processor 1010.

[0136] The input / output interface 1030 is configured to connect input / output modules to realize information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input devices can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices can include a display, a speaker, a vibrator, an indicator light, etc.

[0137] The communication interface 1040 is configured to connect a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0138] The bus 1050 includes a channel for transmitting information between various components (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[0139] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain the components necessary to implement the solutions of the embodiments of the present specification, and does not have to contain all the components shown in the figure.

[0140] The electronic device of the above embodiments is used to implement the corresponding method in any of the preceding embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here again.

[0141] Based on the same inventive concept, the present application also provides a non-transitory computer readable storage medium, which records computer instructions for causing the computer to perform the method of any of the above embodiments.

[0142] The computer readable medium of the embodiments can include permanent and non-permanent, removable and non-removable media, which can be realized by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, cassette tape, magnetic tape storage, disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0143] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to perform the method of any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which are not described here.

[0144] Those skilled in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present application is limited to these examples; under the idea of the present application, the above embodiments or technical features in different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the embodiments of the present application as described above. In order to be brief, they are not provided in details.

[0145] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0146] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0147] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. An automatic rail-changing plant phenotyping platform, characterized in that, The automatic rail-changing plant phenotype measurement platform comprises: a measurement rail group comprising at least two measurement rails arranged along a first direction, the measurement rails extending along a second direction; the second direction is perpendicular to the first direction; a rail-changing rail provided on at least one side of the measurement rail group along the second direction, the rail-changing rail extending along the first direction; a rail-changing carrier provided on the rail-changing rail, the rail-changing carrier being provided with a carrier rail extending along the second direction, the carrier rail being capable of reciprocating along the second direction; a measurement platform body comprising a main frame body and a collection and measurement unit provided on the main frame body; wherein the measurement platform body has switchable measurement and rail-changing states; when the measurement platform body is in the measurement state, the main frame body is located on the measurement rail and is capable of moving along the measurement rail, and the collection and measurement unit is configured to at least collect phenotype information of a plant; when the measurement platform body is in the rail-changing state, the main frame body is located on the carrier rail, and the rail-changing carrier is capable of driving the measurement platform body to move along the rail-changing rail; when the measurement platform body is in the rail-changing state, the carrier rail and the measurement rail are separated from each other; when the measurement platform body is switched between the measurement state and the rail-changing state, an end portion of the carrier rail is moved to abut against an end portion of the measurement rail, so that the measurement platform body is moved between the carrier rail and the measurement rail.

2. The automatic rail-changing plant phenotyping platform of claim 1, wherein, The automatic rail-changing plant phenotype measurement platform further comprises a control unit, the main frame body is provided with a main frame driving unit electrically connected to the control unit, and the rail-changing carrier is provided with a rail driving unit electrically connected to the control unit, the rail driving unit being used to drive the carrier rail to reciprocate; when the measurement platform body is switched between the measurement state and the rail-changing state, the control unit is configured to at least control the rail driving unit to drive the carrier rail to move to abut against the end portion of the measurement rail, and then control the main frame driving unit to drive the measurement platform body to move between the carrier rail and the measurement rail.

3. The automatic rail-changing plant phenotyping platform of claim 2, wherein, The rail driving unit comprises a roller provided below the carrier rail, the roller supporting the carrier rail and being capable of driving the carrier rail to reciprocate.

4. The automatic rail-changing plant phenotyping platform of claim 2, wherein, The main frame body is provided with a visual recognition unit, the rail-changing carrier comprises a carrier body and a carrier driving unit provided on the carrier body, and the visual recognition unit and the carrier driving unit are electrically connected to the control unit, respectively; when the measurement platform body is in the rail-changing state, the visual recognition unit is configured to send position feedback information to the control unit, and the control unit is configured to control the carrier driving unit to drive the rail-changing carrier to move to a preset position corresponding to a target measurement rail according to the position feedback information.

5. The automatic rail-changing plant phenotyping platform of claim 2, wherein, The carrier rail and the measurement rail are both rack rails, and the main frame driving unit comprises a gear meshing with the rack rail.

6. The automatic rail-changing plant phenotyping platform of claim 1, wherein, One of the end portions of the carrier track and the measurement track is provided with a protruding pin, and the other is provided with a socket; when the carrier track and the measurement track abut, the pin and the socket are inserted into each other.

7. The automatic rail-changing plant phenotyping platform of claim 1, wherein, The rail-changing carrier is provided with a first power supply assembly including a first power distribution device, and the main frame is provided with a second power supply assembly including a second power distribution device and a second cable reel, the second power distribution device being electrically connected to the first power distribution device through the second cable reel.

8. A method of changing a rail, characterized in that The rail-changing method comprises the following steps: controlling the carrier track to move in the second direction to abut against a current measurement track; wherein the current measurement track is a measurement track on which the measurement platform body is currently located; controlling the measurement platform body to move from the current measurement track to the carrier track; controlling the carrier track to move in the second direction away from the current measurement track until the carrier track and the current measurement track are separated from each other; controlling the rail-changing carrier to move along the rail-changing track to a preset position corresponding to a target measurement track; controlling the carrier track to move in the second direction to abut against the target measurement track; controlling the measurement platform body to move from the carrier track to the target measurement track.

9. The method of changing tracks according to claim 8, wherein, The main frame is provided with a visual identification unit; the step of controlling the rail-changing carrier to move along the rail-changing track to a preset position corresponding to a target measurement track comprises: receiving position feedback information sent by the visual identification unit; wherein, in response to the interval distance between the carrier track and the target measurement track in the first direction being greater than a preset threshold, the position feedback information includes a position compensation value; in response to the position feedback information including a position compensation value, determining direction information and distance information according to the position compensation value, and controlling the rail-changing carrier to move to the preset position corresponding to the target measurement track according to the direction information and the distance information.

10. The method of claim 8, wherein, The carrier track is provided with a limit switch, and the measurement platform body stops moving when the limit switch is triggered; the step of controlling the measurement platform body to move from the current measurement track to the carrier track comprises: controlling the measurement platform body to move to a variable speed position of the current measurement track at a preset first speed; wherein the variable speed position is close to the rail-changing track; controlling the measurement platform body to move from the variable speed position of the current measurement track to the carrier track at a preset second speed until the measurement platform body triggers the limit switch; wherein the second speed is less than the first speed.

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