Mobile phenotypic information collection platform and method for the entire plant growth cycle

Abstract

The present invention discloses a mobile phenotypic information collection platform and method for the whole growth cycle of plants, comprising a foldable telescopic mechanical arm device, wherein the foldable telescopic mechanical arm device comprises a self-propelled chassis device and a plant phenotypic information collection device, wherein the plant phenotypic information collection device is arranged on the self-propelled chassis device; the present invention adopts the self-propelled chassis device as a carrier for the movement of the platform, so that the platform has better flexibility; the platform adopts the foldable telescopic mechanical arm, and through the multiple state transformations of the foldable telescopic mechanical arm, the phenotypic information collection needs of the whole growth cycle of plants in various scenarios are met, the state of the foldable telescopic mechanical arm is automatically judged and accurately adjusted according to the growth stage of the plant, phenotypic information is collected, manpower is reduced, work efficiency is improved, and in-situ non-destructive collection of plant phenotypes is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of plant phenotypic imaging equipment, and more specifically, to a mobile phenotypic information collection platform and method for the entire plant growth cycle. Background Art

[0002] Plant phenotype refers to complex plant traits determined or influenced by genes and environment, including morphological structure and physiological and biochemical parameters of growth, development, tolerance, resistance, physiology, structure, yield, etc. Measurable morphological and structural phenotypic parameters include plant crown width, base diameter, leaf characteristics, branch characteristics, fruit characteristics, etc. Phenotype is a systematic measurement and characterization of the morphological, structural, physical, chemical and biological characteristics of plants from macro to micro.

[0003] In view of the complex phenotypic characteristics of plants, we are required to integrate automated platform equipment and information technology to systematically and efficiently obtain plant phenotypic information, and to collaboratively collect plant phenotypic data through environmental sensors, non-destructive imaging, spectral analysis, machine vision, and lidar. The plant phenotyping platform integrates multiple sensors to analyze genomic information and quantitatively study complex traits related to growth, yield, and adaptation to biotic or abiotic stresses. It is an important way to collect high-dimensional and rich phenotypic data sets for plants, meeting the need to fill the gap between genomic information and plant phenotypic plasticity.

[0004] Currently, the plant phenotyping platforms on the market include greenhouse conveyor plant phenotyping platforms, track-type plant phenotyping platforms, and drone plant phenotyping platforms. The greenhouse conveyor plant phenotyping platform integrates optoelectronic technology, automatic control, and computer graphics processing technology, and can collect greenhouse plant phenotyping parameters. The greenhouse conveyor-type plant phenotyping platform adopts a mode of moving plants and fixed sensors. Potted plants are transported to the imaging darkroom by a conveyor belt, and the sensors collect phenotypic information. However, mechanical vibration will inevitably occur during the conveyor belt transportation, which will cause irreversible damage to the plants and seriously affect the normal development and growth of the plants. The track-type plant phenotyping platform can be equipped with a variety of imaging sensors for fully automatic measurement, and directly scan the plants planted in the field or greenhouse to collect phenotypic information. However, the track-type plant phenotyping platform occupies a large area, has low flexibility, high maintenance costs, and is not easy to adjust the collection position. The drone plant phenotyping platform collects plant phenotypic information through the flight area by carrying imaging sensors, and has good flexibility and expandability. However, the drone's endurance time and load weight greatly limit its use. In addition, when the drone plant phenotyping platform collects plant phenotypic information at low altitude, the rotation of the rotor will generate great turbulence, which will affect the plant canopy structure, thereby reducing the image acquisition quality and making the phenotypic information collection accuracy low.

[0005] Plants are living organisms with special randomness and variability. Their growth and development are affected by various random factors such as genetic genes and external environment. The phenotype of plants is diverse, complex, and dynamically changing. According to the different genetic genes of the father and mother and the different cultivation measures such as irrigation and fertilizer, the daily increase of corn plant height is 3-8 cm, and the daily increase of sorghum plant height is 2.7-3.1 cm. Therefore, for the collection of phenotypic information of different growth stages of the same plant, especially plant height information, it is necessary to achieve height regulation of the whole growth cycle of plants (seedling stage, development stage, maturity stage, etc.). Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a mobile phenotypic information collection platform and method for the entire plant growth cycle in response to the deficiencies of the above-mentioned prior art. The mobile phenotypic information collection platform and method for the entire plant growth cycle adopt a self-propelled chassis device as a carrier for the platform to move, so that the platform has better flexibility; the platform adopts a foldable telescopic robotic arm, and through the various state changes of the foldable telescopic robotic arm, it can meet the phenotypic information collection needs of the entire plant growth cycle (seedling stage, development stage, maturity stage) in various scenarios, and automatically judge and accurately adjust the state of the foldable telescopic robotic arm according to the growth stage of the plant to collect phenotypic information, reduce manpower, improve work efficiency, and realize in situ non-destructive collection of plant phenotypes.

[0007] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0008] A mobile phenotypic information collection platform for the entire plant growth cycle, comprising a foldable and telescopic mechanical arm device, the foldable and telescopic mechanical arm device comprising a self-propelled chassis device and a plant phenotypic information collection device, the plant phenotypic information collection device being arranged on the self-propelled chassis device;

[0009] The plant phenotype information collection device comprises a bracket, a height-adjustable electric push rod, a visible light camera, a portable computer and a foldable telescopic mechanical arm, wherein the bracket is connected to a self-propelled chassis device, the visible light camera, the height-adjustable electric push rod and the portable computer are all connected to the bracket, and the telescopic end of the height-adjustable electric push rod is connected to the foldable telescopic mechanical arm;

[0010] The foldable telescopic mechanical arm comprises a support rod, a mechanical arm, a mechanical arm, a horizontal electric push rod, a rotating motor, a mechanical arm track and a depth camera, the telescopic end of the height adjustment electric push rod is connected to the support rod, the mechanical arm and the horizontal electric push rod are rotatably connected to the support rod, the mechanical arm is rotatably connected to the mechanical arm, and the rotation connection position of the mechanical arm and the mechanical arm is provided with a rotating motor for driving the mechanical arm to rotate around the mechanical arm, the mechanical arm is rotatably connected to the telescopic end of the horizontal electric push rod, the mechanical arm track comprises a mechanical arm track and a mechanical arm track, the mechanical arm is connected to the mechanical arm track below, the mechanical arm is connected to the mechanical arm track below, the mechanical arm is provided with a depth camera on the mechanical arm track, the depth camera is rotatably connected to the camera connecting piece, the camera connecting piece is connected to the mechanical arm track through a roller, and a micro-motor is provided on the roller, and the micro-motor is used to drive the roller to move on the mechanical arm track and thereby drive the depth camera to move;

[0011] When the mechanical arm is perpendicular to the mechanical arm, the mechanical arm track and the mechanical arm track are in contact with each other, and the depth camera can switch and move on the mechanical arm track and the mechanical arm track driven by the micro-motor;

[0012] The height-adjusting electric push rod, the horizontal electric push rod, the rotating motor and the micro-motor are all connected to the portable computer.

[0013] As a further improved technical solution of the present invention, there are two mechanical arms, two mechanical arms and two horizontal electric push rods, both ends of the support rod are rotatably connected to the mechanical arms, and each mechanical arm is rotatably connected to a horizontal electric push rod.

[0014] As a further improved technical solution of the present invention, it also includes an autonomous positioning and navigation control system, which is installed on the self-propelled chassis device and is used to control the travel speed and steering angle of the self-propelled chassis device.

[0015] As a further improved technical solution of the present invention, the lens of the visible light camera is in a vertical state with the ground, and the lens of the depth camera is in a parallel state with the ground.

[0016] In order to achieve the above technical purpose, another technical solution adopted by the present invention is:

[0017] A collection method of a mobile phenotypic information collection platform for the entire plant growth cycle, comprising:

[0018] Step 1: Control the extension and retraction of the height-adjusting electric push rod through a portable computer, and then accurately adjust the height of the foldable and telescopic mechanical arm from the ground to meet the height requirement of plant phenotypic information collection; when the height-adjusting electric push rod cannot meet the collection height requirement at the maximum stroke, control the folding state of the foldable and telescopic mechanical arm through the portable computer to meet the collection requirement;

[0019] Step 2: Inputting commands through the autonomous positioning navigation control system to control the travel speed and steering angle of the self-propelled chassis device to achieve travel and steering;

[0020] Step 3: Collecting plant phenotypic information through a depth camera in the foldable telescopic robotic arm and a visible light camera on the plant phenotypic information collection device;

[0021] Step 4: The information collected by the depth camera and the visible light camera is transmitted to the portable computer. The portable computer analyzes the received information and automatically stores the analysis results. The analysis results are displayed on the portable computer in the form of dynamic charts and three-dimensional structure visualization.

[0022] As a further improved technical solution of the present invention, the step 1 specifically includes:

[0023] S11. First, the mechanical arm is driven to move by rotating the motor, and the mechanical arm and the mechanical arm are unfolded to the same level, and the mechanical arm and the mechanical arm are locked and connected with locking bolts;

[0024] S12, the depth camera collects the depth image of the target plant and sends the depth image to the portable computer, and the portable computer determines: if the distance between the target plant and the depth camera is less than the minimum imaging distance, that is, the depth camera cannot collect the depth image of the target plant, then the height of the foldable telescopic mechanical arm from the ground needs to be adjusted to meet the collection height requirement; otherwise, no height adjustment is required;

[0025] S13, if adjustment is required according to the judgment result of S12, an adjustment instruction is input through the portable computer, and the instruction is transmitted to the height adjustment electric push rod, and the extension and retraction of the height adjustment electric push rod realizes the adjustment and change of the height of the foldable and telescopic mechanical arm from the ground;

[0026] S14. If the distance between the target plant and the depth camera is still less than the minimum imaging distance of the depth camera when the height adjustment electric push rod in the above S13 reaches the maximum stroke, the locking bolt is loosened, and the adjustment command is input through the portable computer, and the command is transmitted to the horizontal electric push rod and the rotating motor in the foldable telescopic mechanical arm, and the expansion angle of the mechanical arm in the foldable telescopic mechanical arm is adjusted by the extension and contraction of the horizontal electric push rod and the angle between the mechanical arm and the mechanical arm on the foldable telescopic mechanical arm is adjusted by the rotation of the rotating motor, thereby realizing the adjustment of the folding state of the foldable telescopic mechanical arm to meet the collection requirements;

[0027] S15. According to the acquisition requirements, if the depth camera needs to be switched between the mechanical arm track and the mechanical arm track, the adjustment command is input through the portable computer, and the command is transmitted to the rotating motor. The angle between the mechanical arm and the mechanical arm is adjusted by rotating the rotating motor to make the angle 90 degrees. At this time, the mechanical arm track is in contact with the mechanical arm track, and the camera connector can move from the mechanical arm track to the mechanical arm track, or can move from the mechanical arm track to the mechanical arm track.

[0028] As a further improved technical solution of the present invention, the adjustment of the folding state of the foldable telescopic mechanical arm specifically includes:

[0029] A1. Horizontal collection state: The mechanical arm and the mechanical arm of the foldable telescopic mechanical arm are in a horizontal state, thereby meeting the collection height requirements when the plants are in the seedling stage and meeting the requirements of large-scale scanning collection;

[0030] A2, variable height acquisition state: The mechanical arm in the foldable telescopic mechanical arm is rotated and adjusted by a horizontal electric push rod, and the mechanical arm is rotated and adjusted by a rotating motor, thereby meeting the acquisition height requirements when the plant is in the growth stage and the acquisition requirements of different scanning modes;

[0031] A3, ultra-wide-angle acquisition state: The angle between the mechanical arm and the mechanical arm in the foldable telescopic mechanical arm is a right angle. The depth camera takes pictures when it is located at the junction of the mechanical arm and the mechanical arm, so that the depth camera is located at the widest angle position, and the depth camera is at the maximum distance from the ground, achieving the maximum acquisition height and the best acquisition angle, thereby meeting the acquisition height requirements when the plants are in the mature stage.

[0032] As a further improved technical solution of the present invention, the step three specifically includes:

[0033] S31, collecting a top-down depth information image through a depth sensor in a depth camera;

[0034] S32, collecting a bird's-eye view plant color image through a depth camera;

[0035] S33, collecting a side-view plant color image through a visible light camera.

[0036] As a further improved technical solution of the present invention, the portable computer in step 4 analyzes the received information specifically including:

[0037] S41, converting the collected top-view plant color image into a single-band image, and converting the single-band image into a binary image to obtain a top-view binary image; converting the collected side-view plant color images into single-band images, and converting the single-band images into binary images to obtain a side-view binary image, and calculating the area occupied by the plant in the side-view binary image, recorded as PF;

[0038] S42, denoising the side view binary image converted in S41 by an open operation image processing algorithm, obtaining the contour of the plant in the side view plant image by a contour search image processing algorithm, and obtaining the minimum rectangular bounding box of the side view plant image, wherein the length of the minimum rectangular bounding box is L c , high is H c , respectively calculate the minimum rectangular bounding box area PS of the side-view plant image, the side-view plant perimeter PP and the side-view plant density PC;

[0039] The expressions of the minimum rectangular bounding box area PS of the side-view plant, the perimeter PP of the side-view plant, and the density PC of the side-view plant are as follows:

[0040] PS=L C ×H C (1);

[0041] PP=2×(L C +H C ) (2);

[0042]

[0043] S43, denoising the overhead binary image converted in S41 by an open operation image processing algorithm, obtaining the contour of the plant in the side view plant image by a contour search image processing algorithm, and obtaining the minimum enclosing circle and the minimum rectangular enclosing frame of the overhead plant image, wherein the radius of the minimum enclosing circle is r, and the length of the minimum rectangular enclosing frame is L f , high is H f , respectively calculate the minimum enclosing circle diameter D of the top view plant image tree , minimum rectangular bounding box area S boundingRect , poles, convex hull area S convex , the diameter L of the ellipse along the X axis in the ellipse fitting gx And the diameter L of the ellipse along the Y axis in the ellipse fitting gy ;

[0044] The minimum enclosing circle diameter D of the top view of the plant image tree and the minimum rectangular bounding box area S boundingRect的 The calculation expression is as follows:

[0045] D tree =2×r (4);

[0046] S boundingRect =L f ×H f (5);

[0047] S44, analyzing the top-down depth image collected by the depth camera, and calculating the minimum depth value H min and the maximum depth H max , where the minimum depth H min As the distance from the top of the plant to the depth camera, the maximum depth H max As the distance from the bottom of the plant to the depth camera, the minimum depth value H min and the maximum depth H max The difference in plant height H tree , and its calculation expression is as follows:

[0048] H tree =H max -H min (6);

[0049] S45, calculating plant phenotypic parameters, wherein the plant phenotypic parameters include plant equivalent crown diameter D d_tree and the ratio of plant equivalent crown diameter to plant height R D / H , the calculation expression is as follows:

[0050] D d_tree =2×sqrt(S convex ) (7);

[0051]

[0052] S46, fusing the top-view depth information image obtained by the depth camera with the top-view plant color image to obtain a three-dimensional point cloud structure of the plant with color information, and obtaining the number of plant canopy leaves and the angle of the plant canopy leaves through the DBSCAN clustering algorithm.

[0053] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0054] (1) The present invention realizes the in-situ multi-dimensional spatial morphological structure phenotypic information collection of plants at different growth stages and heights through a foldable and telescopic mechanical arm device. The mobile phenotypic information collection platform for the entire plant growth cycle of the present invention has a fast collection speed and a large amount of phenotypic information data. During the collection process, it realizes the functions of in-situ collection of plant phenotypic information and continuous monitoring of plant growth.

[0055] (2) The present invention has the characteristics of compact structure, strong adaptability and comprehensive functions. By adopting four independent brushless hub motor wheels of the self-propelled chassis device, it can adapt to uneven indoor and outdoor environments, even terrain with loose soil and rough road surface, and has the advantages of high load and low energy consumption.

[0056] (3) The present invention integrates different sensors and collects top-view and side-view images of plants through visible light cameras and depth cameras, solving the problems of incomplete phenotypic information collection and large measurement errors caused by factors such as light during the sensor collection process, thereby realizing in-situ non-destructive, high-throughput collection and real-time intelligent processing and analysis of plant phenotypes.

[0057] (4) The present invention adopts a mode in which plants are fixed and sensors (i.e., cameras) are moved to achieve in-situ non-destructive phenotypic information collection of plants; the present invention adopts a self-propelled chassis device as a carrier for platform movement, so that the platform has better flexibility; the platform adopts a foldable telescopic mechanical arm, and through the foldable telescopic mechanical arm The various state changes meet the needs of phenotypic information collection during the entire growth cycle of plants (seedling stage, development stage, and maturity stage) in various scenarios, and automatically judges and accurately adjusts the state of the device according to the growth stage of the plant to collect phenotypic information, reducing manpower and improving work efficiency.

[0058] (5) The segmented design and foldable and retractable phenotypic information collection platform of the present invention fully considers the differences in the morphological structure and physiological and biochemical phenotypic characteristics of individual agricultural and forestry plants throughout the growth cycle of the same plant, and selects the optimal structural parameters according to the differences in phenotypic characteristics such as plant height and crown width. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a stereogram of the overall structure of the present invention.

[0060] Figure 2 It is a plan view of the overall structure of the present invention.

[0061] Figure 3 (a) is a schematic diagram of the collection of the plant of the present invention when it is in the seedling stage.

[0062] Figure 3 (b) is a schematic diagram of the collection of the plant of the present invention when it is in the development stage.

[0063] Figure 3Middle (c) is a schematic diagram of the collection of the plant of the present invention when it is in the mature stage.

[0064] Figure 4 It is a schematic diagram of the foldable telescopic mechanical arm of the present invention.

[0065] Figure 5 It is a detailed schematic diagram of the foldable telescopic mechanical arm of the present invention.

[0066] Figure 6 (a) is a schematic diagram of the folding state of the foldable telescopic mechanical arm of the present invention Figure 1 .

[0067] Figure 6 (b) is a schematic diagram of the folded state of the foldable telescopic mechanical arm of the present invention Figure 2 .

[0068] Figure 7 Schematic diagram of the camera connector of the present invention.

[0069] Figure 8 (a) is a schematic diagram of the minimum rectangular bounding box of the side-view plant image obtained after the side-view plant color image is processed according to the present invention.

[0070] Figure 8 (b) is a schematic diagram of the convex hull of the side-view plant image obtained after the side-view plant color image is processed according to the present invention.

[0071] Figure 8 (c) is a schematic diagram of the side-view plant image contour obtained after the side-view plant color image processing of the present invention.

[0072] Figure 8 (d) is a schematic diagram of the projection area of ​​the side-view plant image obtained after the side-view plant color image processing of the present invention.

[0073] Fig. 9 (a) is a schematic diagram of the minimum enclosing circle of the canopy of the overhead plant image obtained after the overhead plant color image processing of the present invention.

[0074] Fig. 9 (b) is a schematic diagram of the minimum rectangular bounding box of the canopy of the overhead plant image obtained after the overhead plant color image processing of the present invention.

[0075] Fig. 9 (c) is a schematic diagram of the canopy poles of the overhead plant image obtained after the overhead plant color image processing of the present invention.

[0076] Fig. 9 (d) is a schematic diagram of the canopy convex hull of the overhead plant image obtained after the overhead plant color image processing of the present invention.

[0077] Fig.10It is a schematic diagram of ellipse fitting obtained after processing the top-down plant color image of the present invention.

[0078] Fig.11 (a) is a schematic diagram of the number of canopy leaves in the three-dimensional morphology of the plant.

[0079] Fig.11 (b) is a schematic diagram of the canopy leaf angle in the three-dimensional morphology of the plant.

[0080] Fig.11 (c) is a schematic diagram of the spatial morphological structure parameters of the plant in three-dimensional form.

[0081] Fig.11 (d) is a schematic diagram of the convex hull volume of the plant in three-dimensional form. DETAILED DESCRIPTION

[0082] The specific embodiments of the present invention are further described below according to the accompanying drawings:

[0083] This embodiment provides a mobile phenotypic information collection platform and method for the entire plant growth cycle. The segmented foldable telescopic mechanical arm device is used to meet the needs of plant phenotypic information collection at various periods and stages, and the self-propelled chassis can recognize the surrounding environment and automatically drive. The foldable telescopic mechanical arm device is combined with the self-propelled chassis to realize the rapid collection of phenotypic information of the entire plant growth cycle. The collected color images and depth information are analyzed by the phenotypic information analysis module on the portable computer 1, and displayed in a three-dimensional structure visualization, so that the speed and accuracy of plant phenotypic information collection are significantly improved.

[0084] like Figure 1 and Figure 2 As shown, a mobile phenotypic information collection platform for the entire plant growth cycle includes a foldable telescopic robotic arm device, the foldable telescopic robotic arm device includes a self-propelled chassis device 8 and a plant phenotypic information collection device 5, and the plant phenotypic information collection device 5 is arranged on the self-propelled chassis device 8.

[0085] The plant phenotypic information collection device 5 includes a bracket, a height-adjustable electric push rod 4, a visible light camera 6, a portable computer 1 and a foldable telescopic mechanical arm 3. The bracket is connected to a self-propelled chassis device 8. The visible light camera 6, the height-adjustable electric push rod 4 and the portable computer 1 are all connected to the bracket. The telescopic end of the height-adjustable electric push rod 4 is connected to the foldable telescopic mechanical arm 3. The visible light camera 6 is installed at the front end of the plant phenotypic information collection device 5, with the lens facing the plant side, for collecting plant phenotypic information from the side. The height-adjustable electric push rod 4 is connected to the foldable telescopic mechanical arm 3 in a vertical direction to the ground, and is used to adjust the height of the foldable telescopic mechanical arm 3 from the ground.

[0086] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the foldable telescopic mechanical arm 3 includes a support rod (cross bar), a mechanical arm 10, a mechanical arm 16, a horizontal electric push rod 2, a rotating motor 11, a mechanical arm track and a depth camera 14, the telescopic end of the height adjustment electric push rod 4 is connected to the support rod, the mechanical arm 10 and the horizontal electric push rod 2 are rotatably connected to the support rod, the mechanical arm 10 is rotatably connected to the mechanical arm 16, and the rotation connection position of the mechanical arm 10 and the mechanical arm 16 is provided with a for driving the mechanical arm 16 to rotate around the mechanical The rotating motor 11 rotates the big arm 10, and the mechanical big arm 10 is rotatably connected to the telescopic end of the horizontal electric push rod 2. The mechanical arm track includes a mechanical big arm track 9 and a mechanical small arm track 15. The mechanical big arm 10 is connected to the mechanical big arm track 9 below, and the mechanical small arm 16 is connected to the mechanical small arm track 15 below. A depth camera 14 is arranged on the mechanical arm track, and the depth camera 14 is rotatably connected to the camera connecting member 13. The camera connecting member 13 is connected to the mechanical arm track through a roller 19 (such as Figure 7 ) and a micro motor is provided on the roller 19, which is used to drive the roller 19 to move on the robot rail and then drive the depth camera 14 to move. Figure 4 and Figure 5 As shown in FIG. 1 , the mechanical arm track 15 and the mechanical arm track 9 are in contact with each other, and the depth camera 14 can switch and move on the mechanical arm track 15 and the mechanical arm track 9 driven by the micro-motor. The foldable telescopic mechanical arm 3 can realize various form changes of the foldable telescopic mechanical arm 3 through the combination of the above parts, which can meet the needs of various acquisition heights and acquisition positions.

[0087] The height adjustment electric push rod 4, the horizontal electric push rod 2, the rotary motor 11 and the micro-motor are all connected to the portable computer 1, and the portable computer 1 is used to analyze the collected plant phenotypic information in real time and present it in a visual form.

[0088] The depth camera 14 on the foldable and telescopic robotic arm 3 is on the robotic arm track, and collects the phenotypic information of the plant in the form of a picture from top to bottom.

[0089] In this embodiment, there are two mechanical arms 10, two mechanical arms 16 and two horizontal electric push rods 2. Both ends of the support rod are rotatably connected to the mechanical arms 10, and each mechanical arm 10 is rotatably connected to the horizontal electric push rod 2.

[0090] In this embodiment, an autonomous positioning navigation control system 7 is also included. The autonomous positioning navigation control system 7 is installed on the self-propelled chassis device 8. The autonomous positioning navigation control system 7 is used to control the travel speed and steering angle of the self-propelled chassis device 8. Through the autonomous positioning navigation control system 7, path planning, automatic driving, and automatic obstacle avoidance are realized. The position information and surrounding environment information of the mobile phenotypic information collection platform for the entire plant growth cycle can be output efficiently and accurately, thereby realizing the automatic driving function.

[0091] In this embodiment, the lens of the visible light camera 6 is in a vertical state with the ground, and the lens of the depth camera 14 is in a parallel state with the ground.

[0092] In this embodiment, Figure 4 and Figure 5 As shown, one end of the mechanical arm 10 is fixedly connected to a rotating connection piece 20, one end of the mechanical arm 16 is fixedly connected to a rotating connection piece 2 12, the rotating motor 11 is fixedly connected to the rotating connection piece 20, and the output shaft of the rotating motor 11 is fixedly connected to a rotating pin 17, the rotating pin 17 passes through the rotating connection piece 2 12, when the rotating motor 11 drives the rotating pin 17 to rotate, it will drive the rotating connection piece 2 12 to rotate (the rotating connection piece 2 12 and the rotating pin 17 are fixed circumferentially, but not axially). Circular arc holes are provided on the rotating connection piece 20 and the rotating connection piece 2 12, and the bolt 18 passes through the circular arc holes on the rotating connection piece 20 and the rotating connection piece 2 12 in turn to connect the two. When the nut on the bolt 18 is not tightened, the rotating motor 11 can drive the rotating connection piece 2 12 to rotate, and at this time, the bolt 18 slides in the circular arc hole of the rotating connection piece 20, which does not affect the angle adjustment of the mechanical arm during normal use. When the nut on the bolt 18 locks the rotating connection piece 1 20 and the rotating connection piece 2 12, the position between the rotating connection piece 1 20 and the rotating connection piece 2 12 is fixed, and the rotating motor 11 cannot drive the rotating connection piece 2 12 to rotate. When the acquisition platform is not needed, the nut on the bolt 18 can be removed, the rotating connection piece 2 12 can slide horizontally on the rotating pin 17, and then the mechanical arm 10 and the mechanical arm 16 can be folded into Figure 6 (a) and Figure 6 As shown in (b).

[0093] This embodiment also provides a collection method of a mobile phenotypic information collection platform for the entire plant growth cycle, including:

[0094] Step 1: Control the height-adjusting electric push rod 4 through the portable computer 1 to determine whether the target plant has reached the collection range, and then accurately adjust the height of the foldable telescopic mechanical arm 3 from the ground to meet the height requirement for collecting plant phenotypic information; when the height-adjusting electric push rod 4 cannot meet the collection height requirement at the maximum stroke, control the folding state of the foldable telescopic mechanical arm 3 through the portable computer 1 to meet the collection requirement.

[0095] Step 2: Input commands through the autonomous positioning navigation control system 7 to control the travel speed and steering angle of the self-propelled chassis device 8 to achieve travel and steering; the self-propelled chassis device 8 includes four independent brushless hub motor wheels, which are driven by four independent brushless hub motor wheels, and the mobile phenotypic information collection platform for the entire plant growth cycle can be steered through the differential steering principle.

[0096] Step three: collect plant phenotypic information through the depth camera 14 in the foldable and telescopic mechanical arm 3 and the visible light camera 6 on the plant phenotypic information collection device 5.

[0097] Step 4: The information collected by the depth camera 14 and the visible light camera 6 is transmitted to the portable computer 1, and the phenotypic data is obtained and analyzed through the automatic measurement program. The obtained data and the analysis results are automatically stored, and the analysis results are displayed on the portable computer 1 in the form of dynamic charts and three-dimensional structure visualization.

[0098] The step 1 specifically includes:

[0099] S11. During the initialization work, the mechanical arm 10 and the mechanical arm 16 are unfolded to the same level, and the mechanical arm 10 and the mechanical arm 16 are locked and connected with the locking bolt 18, that is, the locking bolt 18 locks the rotating connection part 2 12 on the mechanical arm 16 with the rotating connection part 1 20 at the front end of the mechanical arm 10.

[0100] S12, the depth camera 14 collects the depth image of the target plant and sends the depth image to the portable computer 1, and the portable computer 1 determines: if the distance between the target plant and the depth camera 14 is less than the minimum imaging distance, that is, the depth camera 14 cannot collect the depth image of the target plant, then the height of the foldable telescopic robotic arm 3 from the ground needs to be adjusted to meet the collection height requirement; if the distance between the target plant and the depth camera 14 is greater than the minimum imaging distance, the depth image of the target plant can be collected without height adjustment.

[0101] S13. According to the judgment result of S12 above, if adjustment is required, the adjustment command is input through the portable computer 1, and the command is transmitted to the height adjustment electric push rod 4. The motor on the height adjustment electric push rod 4 drives a pair of screw nuts after gear reduction, and the nuts are connected to the push rod, so that the rotational motion of the motor is converted into the linear motion of the push rod. The electric push rod movement is completed by the forward and reverse rotation of the motor to adjust the height of the foldable telescopic mechanical arm 3 from the ground.

[0102] S14. If the height adjustment electric push rod 4 in the above S13 reaches the maximum stroke and still cannot satisfy the requirement that the acquisition target is within the focal length range of the depth camera 14, and the photosensitive components of the depth camera 14 cannot obtain a complete and clear imaging effect, then loosen the nut on the locking bolt 18, and then input the adjustment command through the portable computer 1, and the command is transmitted to the horizontal electric push rod 2 and the rotating motor 11 in the foldable telescopic mechanical arm 3. The expansion angle of the mechanical arm 10 in the foldable telescopic mechanical arm 3 is adjusted by the extension and contraction of the horizontal electric push rod 2, and the angle between the mechanical arm 10 and the mechanical arm 16 on the foldable telescopic mechanical arm 3 is adjusted by the rotation of the rotating motor 11, thereby realizing the adjustment of the folding state of the foldable telescopic mechanical arm 3 to meet the acquisition requirements; the horizontal electric push rod 2 and the rotating motor 11 realize the continuous operation of the motor by keeping the normally open auxiliary point of the running contactor closed, and realize self-locking to maintain the current state.

[0103] S15. The depth camera 14 is switched between the two arms through the tracks on the mechanical arm 10 and the mechanical arm 16. When switching is required, an adjustment instruction is input through the portable computer 1, and the instruction is transmitted to the rotating motor 11. The angle between the mechanical arm 10 and the mechanical arm 16 is adjusted by rotating the rotating motor 11 to make the angle 90 degrees. At this time, the mechanical arm track 9 is in contact with the mechanical arm track 15, and the camera connector 13 can slide from the mechanical arm track 9 to the mechanical arm track 15, or can slide from the mechanical arm track 15 to the mechanical arm track 9, so as to realize the switching of the depth camera 14 between different tracks.

[0104] The adjustment of the folding state of the foldable telescopic mechanical arm 3 specifically includes:

[0105] A1. Horizontal acquisition status: Figure 3 As shown in (a), the mechanical arm 10 and the mechanical arm 16 in the foldable and telescopic mechanical arm 3 are in a horizontal state. The horizontal collection state can meet the collection height requirements when the plants are in the seedling stage and meet the needs of large-scale scanning collection.

[0106] A2, variable height acquisition state: Figure 3As shown in (b), the mechanical arm 10 in the foldable telescopic mechanical arm 3 is rotated and adjusted by the horizontal electric push rod 2, and the mechanical arm 16 is rotated and adjusted by the rotating motor 11, thereby meeting the collection height requirements when the plants are in the growth stage and the collection requirements of different scanning modes. The depth camera 14 can switch from the mechanical arm track 9 to the mechanical arm track 15, and the mechanical arm 16 is rotated and adjusted by the rotating motor 11 to collect the plants directly below the mechanical arm 16.

[0107] A3, Ultra-wide-angle acquisition status: Figure 3 As shown in (c), the angle between the mechanical arm 10 and the mechanical arm 16 in the foldable and telescopic mechanical arm 3 is a right angle. The depth camera 14 takes pictures when it is located at the junction of the mechanical arm 10 and the mechanical arm 16, so that the depth camera 14 is located at a widest angle position, and the depth camera 14 is at the maximum distance from the ground, achieving the maximum collection height and the best collection angle, thereby meeting the collection height requirements when the plants are in the mature stage.

[0108] The switching of the depth camera 14 between different tracks in S15 is specifically as follows:

[0109] A1. The top of the depth camera 14 is rotatably connected to the bottom of the camera connector 13. The depth camera 14 always keeps its lens parallel to the ground under the action of its own gravity. The top of the camera connector 13 is two rollers 19 each with a micro motor. The movement of the micro motor is controlled by the portable computer 1 to realize that the camera connector 13 drives the depth camera 14 to move on the track, and by keeping the normally open auxiliary point of the running contactor closed, the two micro motors are continuously operated to achieve self-locking to maintain the current state.

[0110] In step 2, the specific steps of using four independent brushless hub motor wheels to drive the self-propelled chassis of the mobile phenotypic information collection platform for the entire plant growth cycle are as follows:

[0111] The four independent brushless hub motor wheels of the S21 self-propelled chassis use high-speed, high-torque, reversible DC motors and are equipped with high-resolution optical encoders for precise positioning, speed measurement, and more advanced calculations. The motor drive server uses a proportional-differential-integral (PID) control system to adjust the pulse width of the motor driver (Pulse Width Modulation, PWM) to smooth the movement of the motor.

[0112] S22. When the self-propelled chassis is turning, the brushless hub motor wheels on the same side move forward at the same speed, and the brushless hub motor wheels on the other side move backward at the same speed, so that the mobile phenotypic information collection platform for the entire plant growth cycle rotates around the center to achieve differential steering, and the minimum rotation radius is 0.

[0113] The step three specifically includes:

[0114] S31, collecting a top-view depth information image (Deep Image, DI) through a depth sensor in the depth camera 14, wherein the depth sensor uses the time of flight (Time of Flight, ToF) principle to calculate the depth, and the depth distance function is as follows:

[0115]

[0116] Where d is the depth value, S 1 represents the charge collected by the delayed shutter, S 0 represents the charge collected by the earlier shutter, t p is the duration of the light pulse and c is the speed of light.

[0117] S32 , collecting a bird's-eye view plant color image (Color Image, CI) through the depth camera 14 .

[0118] S33, collecting a side-view plant color image (Color Image, CI) through the visible light camera 6.

[0119] In the fourth step, the portable computer 1 analyzes the received information, specifically including:

[0120] S41, converting the collected top-view plant color image into a single-band image by using the index 2G / (R+B), and converting the single-band image into a binary image to obtain a top-view binary image; converting the collected side-view plant color images into single-band images by using the index 2G / (R+B), and converting the single-band image into a binary image to obtain a side-view binary image, and calculating the area occupied by the plant in the side-view binary image, which is recorded as PF;

[0121] The binary image conversion function is as follows:

[0122]

[0123] Among them, I is the gray value, f x (i,j) is the value of row i and column j under channel x.

[0124] S42, denoising the side view binary image converted in S41 by an open operation image processing algorithm, obtaining the contour of the plant in the side view plant image by a contour search image processing algorithm, and obtaining the minimum rectangular bounding box of the side view plant image, wherein the length of the minimum rectangular bounding box is L c , high is H c , respectively calculate the minimum rectangular bounding box area PS of the side-view plant image, the side-view plant perimeter PP and the side-view plant density PC; Figure 8 This is the analysis result of the side view plant image. Figure 8 (a) is a schematic diagram of the minimum rectangular bounding box of the side-view plant image. Figure 8 (b) is a schematic diagram of the convex hull of a plant image viewed from the side. Figure 8 (c) is a schematic diagram of the side view of the plant image outline. Figure 8 (d) in the figure is a schematic diagram of the projection area of ​​the plant image from the side.

[0125] The expressions of the minimum rectangular bounding box area PS of the side-view plant, the perimeter PP of the side-view plant, and the density PC of the side-view plant are as follows:

[0126] PS=L C ×H C (3);

[0127] PP=2×(L C +H C ) (4);

[0128]

[0129] S43, denoising the overhead binary image converted in S41 by an open operation image processing algorithm, obtaining the contour of the plant in the side view plant image by a contour search image processing algorithm, and obtaining the minimum enclosing circle and the minimum rectangular enclosing frame of the overhead plant image, wherein the radius of the minimum enclosing circle is r, and the length of the minimum rectangular enclosing frame is L f , high is H f , respectively calculate the minimum enclosing circle diameter D of the top view plant image tree , minimum rectangular bounding box area S boundingRect , poles, convex hull area S convex , the diameter L of the ellipse along the X axis in the ellipse fitting gx And the diameter L of the ellipse along the Y axis in the ellipse fitting gy (like Fig.10 The diameter L along the X axis is shown gx , Y-axis diameter L gy ).like Fig. 9 As shown, Fig. 9 (a) is a schematic diagram of the minimum enclosing circle of the plant canopy when viewed from above. Fig. 9(b) is a schematic diagram of the minimum rectangular bounding box of the plant canopy when viewed from above. Fig. 9 (c) is a schematic diagram of the top points of the plant canopy image when viewed from above. Fig. 9 (d) is a schematic diagram of the convex hull of the plant canopy image when viewed from above.

[0130] The minimum enclosing circle diameter D of the top view of the plant image tree and the minimum rectangular bounding box area S boundingRect的 The calculation expression is as follows:

[0131] D tree =2×r (6);

[0132] S boundingRect =L f ×H f (7).

[0133] S44, analyzing the top-view depth information image collected by the depth camera 14, and calculating the minimum depth value H min As the distance from the plant top to the depth camera 14, the maximum depth H max As the distance from the bottom of the plant to the depth camera 14, the difference between the maximum and minimum depths is taken as the plant height H tree , and its calculation expression is as follows:

[0134] H tree =H max -H min (8).

[0135] S45, calculating plant phenotypic parameters, wherein the plant phenotypic parameters include plant equivalent crown diameter D d_tree and the ratio of plant equivalent crown diameter to plant height R D / H , the calculation expression is as follows:

[0136] D d_tree =2×sqrt(S convex ) (9);

[0137]

[0138] S46, the top-view depth information image DI obtained by the depth camera 14 is fused with the top-view plant color image CI to obtain a plant three-dimensional point cloud structure with color information, and the number of plant canopy leaves and the angle of plant canopy leaves are obtained through the DBSCAN (Density-Based Spatial Clustering of Applications with Noise) clustering algorithm, and the three-dimensional morphology of the plant is intuitively displayed, such as Fig.11 The figure shows the schematic diagram of phenotypic parameters of plants in three-dimensional form. Fig.11(a) is a schematic diagram of the number of canopy leaves in the three-dimensional form of the plant. Fig.11 (b) is a schematic diagram of the canopy leaf angle in the three-dimensional morphology of the plant. Fig.11 (c) is a schematic diagram of the spatial morphological structure parameters of the plant in three-dimensional form. Fig.11 (d) is a schematic diagram of the convex hull volume of the plant in three-dimensional form.

[0139] The step S46 of fusing the top-view depth information image DI obtained by the depth camera 14 with the top-view plant color image CI to obtain a plant three-dimensional point cloud structure with color information includes:

[0140] A1. Conversion between depth map and point cloud. In the top-view depth information image DI obtained by the depth camera 14, each pixel value represents the distance d from the object to the XY plane of the depth camera 14. The coordinate system point in the depth image is recorded as (u, v), and the point in the world coordinate system is recorded as (x, y, z). The focal length of the depth camera 14 in the X-axis and Y-axis directions multiplied by the resolution value of the photosensitive component is recorded as f. x 、f y , the depth map DI is converted into a point cloud through a conversion function, and the conversion function expression is as follows:

[0141]

[0142] A2. The pixel coordinate points in the overhead plant color image CI correspond to the overhead depth information image DI. The color information contained in the overhead plant color image CI is assigned to the point cloud, that is, the point cloud coordinates are converted to (x, y, z, r, g, b), and fused to obtain the point cloud fusion data MD.

[0143] A3. Cluster the point cloud fusion data MD obtained in A2 above using the DBSCAN clustering algorithm. The DBSCAN algorithm defines a cluster as the largest set of density-connected points. It can divide areas with sufficiently high density into clusters and find clusters of any shape in a noisy spatial database to obtain the number of plant canopy leaves. The leaf point cloud vector after clustering is calculated to obtain the leaf angle of the plant canopy.

[0144] The depth camera 14 and the visible light camera 6 automatically collect plant phenotypic information according to the set sampling time.

[0145] This embodiment realizes in-situ multi-dimensional spatial morphological structure phenotypic information collection of plants at different growth stages and heights through the foldable telescopic mechanical arm 3. The mobile phenotypic information collection platform for the entire plant growth cycle of the present invention has a fast collection speed and a large amount of phenotypic information data, and realizes the functions of in-situ collection of plant phenotypic information and continuous monitoring of plant growth during the collection process.

[0146] This embodiment has the characteristics of compact structure, strong adaptability and comprehensive functions. By adopting four independent brushless hub motor wheels, it can adapt to uneven indoor and outdoor environments, even terrains with loose soil and rough roads, and has the advantages of high load and low energy consumption.

[0147] Multispectral cameras and hyperspectral cameras analyze plant phenotypic information by obtaining multi-band information of plants, but they are mostly used for large-scale remote sensing measurements and cannot collect phenotypic information of individual plants; plant fluorescence imaging sensors can realize plant fluorescence image acquisition, but the acquisition process is greatly affected by light, and image acquisition must be performed in a dark box, etc. This embodiment integrates different sensors (i.e., photoelectric coupling sensors) and collects top-down and side-view images of plants through visible light cameras 6 and depth cameras 14, solving the problems of incomplete phenotypic information collection caused by factors such as light during the sensor acquisition process, as well as large measurement errors, and realizes in-situ non-destructive, high-throughput acquisition and real-time intelligent processing and analysis of plant phenotypes.

[0148] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention shall be based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by technicians in this field shall fall within the protection scope of the present invention.

Claims

1. A collection method for a mobile phenotypic information collection platform for the entire plant growth cycle, Features: in, The mobile phenotypic information collection platform for the entire plant growth cycle includes a foldable telescopic mechanical arm device, the foldable telescopic mechanical arm device includes a self-propelled chassis device and a plant phenotypic information collection device, and the plant phenotypic information collection device is arranged on the self-propelled chassis device; The plant phenotype information collection device comprises a bracket, a height-adjustable electric push rod, a visible light camera, a portable computer and a foldable telescopic mechanical arm, wherein the bracket is connected to a self-propelled chassis device, the visible light camera, the height-adjustable electric push rod and the portable computer are all connected to the bracket, and the telescopic end of the height-adjustable electric push rod is connected to the foldable telescopic mechanical arm; The foldable telescopic mechanical arm comprises a support rod, a mechanical arm, a mechanical arm, a horizontal electric push rod, a rotating motor, a mechanical arm track and a depth camera, the telescopic end of the height adjustment electric push rod is connected to the support rod, the mechanical arm and the horizontal electric push rod are rotatably connected to the support rod, the mechanical arm is rotatably connected to the mechanical arm, and the rotation connection position of the mechanical arm and the mechanical arm is provided with a rotating motor for driving the mechanical arm to rotate around the mechanical arm, the mechanical arm is rotatably connected to the telescopic end of the horizontal electric push rod, the mechanical arm track comprises a mechanical arm track and a mechanical arm track, the mechanical arm is connected to the mechanical arm track below, the mechanical arm is connected to the mechanical arm track below, the mechanical arm is provided with a depth camera on the mechanical arm track, the depth camera is rotatably connected to the camera connecting piece, the camera connecting piece is connected to the mechanical arm track through a roller, and a micro-motor is provided on the roller, and the micro-motor is used to drive the roller to move on the mechanical arm track and thereby drive the depth camera to move; When the mechanical arm is perpendicular to the mechanical arm, the mechanical arm track and the mechanical arm track are in contact with each other, and the depth camera can switch and move on the mechanical arm track and the mechanical arm track driven by the micro-motor; The height adjustment electric push rod, the horizontal electric push rod, the rotary motor and the micro motor are all connected to the portable computer; Collection methods include: Step 1: Control the extension and retraction of the height-adjusting electric push rod through a portable computer, and then accurately adjust the height of the foldable and telescopic mechanical arm from the ground to meet the height requirement of plant phenotypic information collection; when the height-adjusting electric push rod cannot meet the collection height requirement at the maximum stroke, control the folding state of the foldable and telescopic mechanical arm through the portable computer to meet the collection requirement; The step 1 specifically includes: S11. First, the mechanical arm is driven to move by rotating the motor, and the mechanical arm and the mechanical arm are unfolded to the same level, and the mechanical arm and the mechanical arm are locked and connected with locking bolts; S12, the depth camera collects the depth image of the target plant and sends the depth image to the portable computer, and the portable computer determines: if the distance between the target plant and the depth camera is less than the minimum imaging distance, that is, the depth camera cannot collect the depth image of the target plant, then the height of the foldable telescopic mechanical arm from the ground needs to be adjusted to meet the collection height requirement; otherwise, no height adjustment is required; S13, if adjustment is required according to the judgment result of S12, an adjustment instruction is input through the portable computer, and the instruction is transmitted to the height adjustment electric push rod to adjust the height of the foldable telescopic mechanical arm from the ground; S14. If the distance between the target plant and the depth camera is still less than the minimum imaging distance of the depth camera when the height adjustment electric push rod in the above S13 reaches the maximum stroke, the locking bolt is loosened, and the adjustment command is input through the portable computer, and the command is transmitted to the horizontal electric push rod and the rotating motor in the foldable telescopic mechanical arm, and the expansion angle of the mechanical arm in the foldable telescopic mechanical arm is adjusted by the extension and contraction of the horizontal electric push rod and the angle between the mechanical arm and the mechanical arm on the foldable telescopic mechanical arm is adjusted by the rotation of the rotating motor, thereby realizing the adjustment of the folding state of the foldable telescopic mechanical arm to meet the collection requirements; S15. According to the acquisition requirements, if the depth camera needs to be switched between the mechanical arm track and the mechanical arm track, an adjustment command is input through the portable computer, and the command is transmitted to the rotating motor. The angle between the mechanical arm and the mechanical arm is adjusted by the rotation of the rotating motor to make the angle 90 degrees. At this time, the mechanical arm track is in contact with the mechanical arm track, and the camera connector can move from the mechanical arm track to the mechanical arm track, or from the mechanical arm track to the mechanical arm track; Step 2: Inputting commands through the autonomous positioning navigation control system to control the travel speed and steering angle of the self-propelled chassis device to achieve travel and steering; Step 3: Collecting plant phenotypic information through a depth camera in the foldable telescopic robotic arm and a visible light camera on the plant phenotypic information collection device; Step 4: The information collected by the depth camera and the visible light camera is transmitted to the portable computer. The portable computer analyzes the received information and automatically stores the analysis results. The analysis results are displayed on the portable computer in the form of dynamic charts and three-dimensional structure visualization.

2. The method for collecting mobile phenotypic information for the entire plant growth cycle according to claim 1, characterized in that: The adjustment of the folding state of the foldable telescopic mechanical arm specifically includes: A1. Horizontal collection state: The mechanical arm and the mechanical arm of the foldable telescopic mechanical arm are in a horizontal state, thereby meeting the collection height requirements when the plants are in the seedling stage and meeting the requirements of large-scale scanning collection; A2, variable height acquisition state: The mechanical arm in the foldable telescopic mechanical arm is rotated and adjusted by a horizontal electric push rod, and the mechanical arm is rotated and adjusted by a rotating motor, thereby meeting the acquisition height requirements when the plant is in the growth stage and the acquisition requirements of different scanning modes; A3, ultra-wide-angle acquisition state: The angle between the mechanical arm and the mechanical arm in the foldable telescopic mechanical arm is a right angle. The depth camera takes pictures when it is located at the junction of the mechanical arm and the mechanical arm, so that the depth camera is located at the widest angle position, and the depth camera is at the maximum distance from the ground, achieving the maximum acquisition height and the best acquisition angle, thereby meeting the acquisition height requirements when the plants are in the mature stage.

3. The method for collecting mobile phenotypic information on a plant growth cycle-oriented platform according to claim 1, characterized in that: The step three specifically includes: S31, collecting a top-down depth information image through a depth sensor in a depth camera; S32, collecting a bird's-eye view plant color image through a depth camera; S33, collecting a side-view plant color image through a visible light camera.

4. The method for collecting mobile phenotypic information for the entire plant growth cycle according to claim 3, characterized in that: The portable computer analyzing the received information in step 4 specifically includes: S41, converting the collected top-view plant color image into a single-band image, and converting the single-band image into a binary image to obtain a top-view binary image; converting the collected side-view plant color images into single-band images, and converting the single-band images into binary images to obtain a side-view binary image, and calculating the area occupied by the plant in the side-view binary image, recorded as PF; S42, denoising the side view binary image converted in S41 by an open operation image processing algorithm, obtaining the contour of the plant in the side view plant image by a contour search image processing algorithm, and obtaining the minimum rectangular bounding box of the side view plant image, wherein the length of the minimum rectangular bounding box is L c , high is H c , respectively calculate the minimum rectangular bounding box area PS of the side-view plant image, the side-view plant perimeter PP and the side-view plant density PC; The expressions of the minimum rectangular bounding box area PS of the side-view plant, the perimeter PP of the side-view plant, and the density PC of the side-view plant are as follows: PS=L C × H C (1); PP=2 ×(L C + H C ) (2); S43, denoising the overhead binary image converted in S41 by an open operation image processing algorithm, obtaining the contour of the plant in the side view plant image by a contour search image processing algorithm, and obtaining the minimum enclosing circle and the minimum rectangular enclosing frame of the overhead plant image, wherein the radius of the minimum enclosing circle is r, and the length of the minimum rectangular enclosing frame is L f , high is H f , respectively calculate the minimum enclosing circle diameter D of the top view plant image tree , minimum rectangular bounding box area S boundingRect , poles, convex hull area S convex , the diameter L of the ellipse along the X axis in the ellipse fitting gx And the diameter L of the ellipse along the Y axis in the ellipse fitting gy ; The minimum enclosing circle diameter D of the top view of the plant image tree and the minimum rectangular bounding box area S boundingRect的 The calculation expression is as follows: D tree ＝2 × r (4)； S boundingRect =L f × H f (5); S44, analyzing the top-down depth image collected by the depth camera, and calculating the minimum depth value H min and the maximum depth H max , where the minimum depth H min As the distance from the top of the plant to the depth camera, the maximum depth H max As the distance from the bottom of the plant to the depth camera, the minimum depth H min and the maximum depth H max The difference in plant height H tree , and its calculation expression is as follows: H tree =H max -H min (6); S45, calculating plant phenotypic parameters, wherein the plant phenotypic parameters include plant equivalent crown diameter D d_tree and the ratio of plant equivalent crown diameter to plant height R D / H , the calculation expression is as follows: D d_tree =2×sqrt(S convex ) (7); S46, fusing the top-view depth information image obtained by the depth camera with the top-view plant color image to obtain a three-dimensional point cloud structure of the plant with color information, and obtaining the number of plant canopy leaves and the angle of the plant canopy leaves through the DBSCAN clustering algorithm.

5. The method for collecting mobile phenotypic information for the entire plant growth cycle according to claim 1, characterized in that: There are two mechanical arms, two mechanical arms and two horizontal electric push rods. Both ends of the support rod are rotatably connected to the mechanical arms, and each mechanical arm is rotatably connected to the horizontal electric push rod.

6. The method for collecting mobile phenotypic information for the entire plant growth cycle according to claim 1, characterized in that: The autonomous positioning navigation control system is installed on the self-propelled chassis device.

7. The method for collecting mobile phenotypic information for the entire plant growth cycle according to claim 1, characterized in that: The lens of the visible light camera is perpendicular to the ground, and the lens of the depth camera is parallel to the ground.

Images