Plant phenotype collection system and method based on bidirectional multi-angle adjustable darkroom

Abstract

The present invention discloses a plant phenotypic acquisition system and method based on a bidirectional, multi-angle adjustable darkroom, comprising a walking chassis, a main support, an acquisition device, and a controller. The acquisition device comprises a lifting mechanism for driving the darkroom up and down, a translation mechanism for driving the darkroom horizontally, the darkroom, and a shading mechanism. The darkroom is provided with an image acquisition device, and the opening of the darkroom is provided with a shading mechanism. The shading mechanism comprises a driving mechanism and a folding shading plate. The driving mechanism drives the folding shading plate to expand around the main trunk of the plant until a circular shading plate is formed to close the opening of the darkroom and avoid the main trunk of the plant. The present invention does not require destroying the plant. By expanding around the plant to form a circular shading plate that closes the opening of the darkroom and fits the main trunk (or stem) of the plant, a stable imaging environment is provided for in-situ and in-vivo measurement of plant phenotypic parameters, thereby improving the accuracy of phenotypic parameter measurement.

Description

Technical Field

[0001] The present invention specifically relates to a plant phenotypic acquisition system and method based on a bidirectional, multi-angle, controllable darkroom, belonging to the field of plant phenotypic information acquisition equipment. More specifically, it belongs to the field of equipment for acquiring phenotypic information of individual plants and plant organ parts. Background Art

[0002] Plant phenotype refers to the measurable characteristics and traits of a plant that are affected by the interaction of its own gene expression and environmental influences. It is also an important factor in determining plant traits such as quality and stress resistance.

[0003] Traditional phenotyping relies heavily on manual measurement, such as measuring plant height with a tape measure or measuring plant diameter at ground level with a vernier caliper. These methods are not only technically backward but also inefficient and subject to significant errors. Furthermore, with the rapid development of genomics research, traditional plant phenotyping methods are no longer sufficient for further research in many areas.

[0004] In recent years, the rapid development of digital imaging technology has provided new approaches for measuring plant phenotypes. Using various imaging sensors to capture plant images in both indoor and field environments and analyzing plant phenotypic information through image processing and other techniques has become a leading approach in plant phenotyping research. However, imaging sensors are susceptible to interference from external light during image acquisition, resulting in poor image quality and affecting the accuracy of phenotypic parameter measurements. For example, the depth stream of the Intel RealSense 515 series RGB-D camera is susceptible to interference from external infrared light, which can severely distort the image and affect the accuracy of phenotypic parameter measurements. Therefore, establishing a continuous, stable, and unchanging imaging environment is crucial. Darkroom imaging effectively addresses this issue by creating a light-tight darkroom for the plant. Using the darkroom's built-in light source, the target object is imaged, shielding the image from interference from external light.

[0005] For collecting phenotypic information on individual plants, existing imaging darkrooms in phenotypic information collection systems typically control plant entry and exit and the imaging environment by controlling the opening and closing of the darkroom door. Typical examples include conveyor-belt imaging darkrooms and tabletop imaging darkrooms based on plant growth chambers. Conveyor-belt imaging darkrooms typically first transport plants to the darkroom using a conveyor belt or other transport mechanism. A control mechanism then opens a door at one end of the darkroom, allowing the plants to enter. Once the plants reach the designated position within the imaging darkroom, the door closes, creating a closed, stable imaging environment for subsequent phenotypic information collection. Tabletop imaging darkrooms based on plant growth chambers, on the other hand, require manual control of the door to maintain the imaging environment within the chamber. Conveyor-belt imaging darkrooms require multiple control and transmission mechanisms, increasing acquisition costs. While simple in structure, tabletop imaging darkrooms based on plant growth chambers require manual intervention to open and close the door, resulting in a low level of automation. Furthermore, these two types of darkrooms are primarily used to collect plant phenotypic information in greenhouse environments, where their use is relatively fixed. Consequently, they are not portable and cannot provide a darkroom imaging environment for plants grown outdoors, such as in the field. Furthermore, when performing in situ and in vivo plant phenotyping, the presence of plant stems prevents the darkroom from completely enclosing the plant. Specifically, one side of the cubic darkroom cannot be easily closed like a door, making the imaging process susceptible to interference from external light, affecting the accuracy of phenotypic parameter measurements.

[0006] To collect phenotypic information on plant organs, an in vitro method is generally used. Leaves, flowers, fruits and other plant organs are removed from the plant by manual cutting and picking, and then sent to an imaging darkroom. This destructive sampling method affects the normal growth and development of the plant. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a plant phenotypic acquisition system and method based on a bidirectional, multi-angle adjustable darkroom in response to the above-mentioned deficiencies in the prior art. The plant phenotypic acquisition system and method based on a bidirectional, multi-angle adjustable darkroom do not require destruction of the plant. By expanding around the main trunk (or stem) of the plant to form a circular light shielding plate for closing the opening of the darkroom and fitting the main trunk (or stem) of the plant, a stable imaging environment is provided for in situ and in vivo measurement of plant phenotypic parameters, thereby improving the accuracy of phenotypic parameter measurement.

[0008] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0009] A plant phenotype collection system based on a bidirectional, multi-angle, adjustable darkroom comprises a walking chassis, a main support, a collection device 1, and a controller. The main support is connected to the walking chassis, and the collection device 1 and the controller are both connected to the main support.

[0010] The acquisition device includes a lifting mechanism, a translation mechanism, a dark box, and a light-shielding mechanism. The lifting mechanism is connected to the main support. The lifting mechanism is connected to the translation mechanism, and the lifting mechanism is used to drive the translation mechanism to move up and down. The translation mechanism is connected to the dark box, and the translation mechanism is used to drive the dark box to move horizontally. The image acquisition device is provided inside the dark box. The bottom of the dark box is open, and the light-shielding mechanism is provided near the opening of the dark box.

[0011] The shading mechanism in the collecting device includes a driving mechanism and a foldable shading plate. The driving mechanism is used to drive the foldable shading plate to unfold around the plant trunk until a circular shading plate is formed to close the opening of the dark box and avoid the plant trunk.

[0012] The lifting mechanism 1, the translation mechanism 1, the driving mechanism 1 in the shading mechanism 1 and the image acquisition device 1 are all electrically connected to the controller.

[0013] As a further improved technical solution of the present invention, it also includes a second collecting device, which is connected to the main bracket;

[0014] The second acquisition device includes a second lifting mechanism, a second translation mechanism, a rotating mechanism, a second dark box and a second shading mechanism. The second lifting mechanism is connected to the main bracket, the second lifting mechanism is connected to the second translation mechanism, and the second lifting mechanism is used to drive the second translation mechanism to move up and down. The second translation mechanism is rotationally connected to the second dark box through the rotating mechanism, and the second translation mechanism is used to drive the rotating mechanism and the second dark box to move horizontally. The rotating mechanism is used to drive the second dark box to rotate. The second image acquisition device is provided inside the second dark box. One end of the second dark box is open, and a second shading mechanism is provided near the opening of the second dark box.

[0015] The second shading mechanism in the second collecting device includes a second driving mechanism and a second folding shading plate. The second driving mechanism is used to drive the second folding shading plate to unfold around the plant stem until a circular shading plate is formed to close the opening of the second dark box and avoid the plant stem.

[0016] The second lifting mechanism, the second translation mechanism, the rotation mechanism, the second driving mechanism in the second shading mechanism and the second image acquisition device are all electrically connected to the controller.

[0017] As a further improved technical solution of the present invention, the foldable sunshade plate in the sunshade mechanism comprises a plurality of fan-shaped sheets of the same size, each fan-shaped sheet being rotated end to end and connected to each other so that two adjacent fan-shaped sheets can be stacked or unfolded, and the end of each fan-shaped sheet is a telescopic structure;

[0018] The driving mechanism includes a circular rack, a rotating module, a gear drive motor and a gear. The rotating module includes a stepping motor, a bevel gear set, a connecting shaft, a fixed block and a ball bearing. The stepping motor is installed on the fixed block through a motor connecting seat. The fixed block is fixedly connected to the inner wall of the dark box. The shaft end of the stepping motor is connected to the driving wheel of the bevel gear set, and the driven wheel of the bevel gear set is connected with a connecting shaft. The connecting shaft is rotatably connected to the fixed block through a ball bearing. The bottom end of the connecting shaft is fixedly connected to the fan-shaped thin sheet at the top of the foldable sunshade. The gear drive motor and the fan-shaped thin sheet at the bottom of the foldable sunshade are rotatably connected through a thrust ball bearing. The shaft of the gear drive motor is connected to the gear, and the gear is meshed with the circular rack. The circular rack is connected to the dark box through a rack fixing member.

[0019] The stepper motor and the gear drive motor are both electrically connected to the controller;

[0020] The structure of the second shading mechanism is the same as that of the first shading mechanism. The fixed block in the second shading mechanism is fixedly connected to the inner wall of the second dark box. The circular rack in the second shading mechanism is connected to the second dark box through a rack fixing member.

[0021] As a further improved technical solution of the present invention, the telescopic structure of the end of each fan-shaped thin sheet is the same, and each includes multiple sections of thin sheets, which can slide between two adjacent thin sheets, one end of a section of thin sheet extends into the interior of another adjacent section of thin sheet, and a spring is provided between the two adjacent thin sheets; the end of each fan-shaped thin sheet is provided with a rubber roller.

[0022] As a further improved technical solution of the present invention, the lifting mechanism 1 includes a lifting motor, a connecting piece, a second gear, a strip-shaped rack, a first slide rail, a first slider and a first fixed plate, the strip-shaped rack is fixedly connected to the main bracket, the two first slide rails are fixedly connected to the main bracket in parallel with each other, the lifting motor is connected to the first fixed plate through the connecting piece, the shaft end of the lifting motor is connected to the second gear, the second gear and the strip-shaped rack are meshed with each other; one side of the first fixed plate is connected to the first slider, and the first slider is slidably connected to the first slide rail; the other side of the first fixed plate is connected to the first translation mechanism;

[0023] The translation mechanism 1 includes an electric cylinder 1 and a dark box connecting plate 1, wherein the flange-type electric cylinder base of the electric cylinder 1 is connected to the other side of the fixed plate 1, and the flange-type electric cylinder base is embedded with an electric cylinder telescopic rod, and the electric cylinder telescopic rod of the electric cylinder 1 is connected to the dark box 1 through the dark box connecting plate 1;

[0024] The image acquisition device 1 in the dark box 1 includes a top camera 1, a side camera, a matrix light source 1 and a roller moving mechanism. The top of the dark box 1 is connected to the top camera 1, the side wall of the dark box 1 is connected to a symmetrical matrix light source 1, the side wall of the dark box 1 is connected to a circle of roller guide grooves, the roller moving mechanism is in rolling connection with the roller guide grooves, the roller moving mechanism is connected to the side camera, and the roller moving mechanism is used to drive the side camera to move along the roller guide grooves;

[0025] The lifting motor, electric cylinder 1, top camera 1, side camera 1, matrix light source 1 and roller moving mechanism are all electrically connected to the controller.

[0026] As a further improved technical solution of the present invention, the second lifting mechanism includes a screw drive motor, a coupling, a screw, a screw moving mechanism, a second slider, a second slide rail and a second fixed plate, the screw drive motor is connected to the main bracket through a motor mounting seat, the screw drive motor is connected to the screw through a coupling, a screw moving mechanism is threadedly connected to the screw, the screw is rotatably connected to the main bracket through a screw fixed support seat, the screw moving mechanism is connected to the middle part of one side of the second fixed plate, the second fixed plate is also connected to the second slider, the second slider is slidably connected to the second slide rail, the second slide rail is fixedly connected to the main bracket, and the other side of the second fixed plate is connected to the second translation mechanism;

[0027] The second translation mechanism includes a second electric cylinder and a second dark box connecting plate. The flange-type electric cylinder base of the second electric cylinder is connected to the other side of the second fixed plate. The electric cylinder telescopic rod of the second electric cylinder is connected to the second dark box connecting plate.

[0028] The rotating mechanism includes a steering motor and a gear set. The steering motor is connected to the second dark box connecting plate through a motor fixing seat. The shaft end of the steering motor is connected to the driving wheel in the gear set. The driven wheel in the gear set is connected to a connecting shaft. The connecting shaft is rotatably connected to the second dark box connecting plate through a ball bearing. The end of the connecting shaft is connected to the second dark box through a dark box fixing flange.

[0029] The second image acquisition device in the second dark box includes a second top camera and a second matrix light source. The top of the second dark box is connected to the second top camera, and the side wall of the second dark box is connected to the second symmetrical matrix light source.

[0030] The screw drive motor, the second electric cylinder, the steering motor, the second top camera and the second matrix light source are all electrically connected to the controller.

[0031] As a further improved technical solution of the present invention, it also includes a power supply and a trolley remote control, the trolley remote control is wirelessly connected to the controller, the controller is provided with a display screen, the controller is electrically connected to the wheel drive motor in the walking chassis, the wheel drive motor is used to drive the wheel to rotate, and the power supply is electrically connected to the controller, wheel drive motor, screw drive motor, electric cylinder 2, steering motor, top camera 2, matrix light source 2, lifting motor, electric cylinder 1, top camera 1, side camera, matrix light source 1, roller moving mechanism, stepper motor and gear drive motor respectively.

[0032] In order to achieve the above technical objectives, another technical solution adopted by the present invention is:

[0033] A collection method of a plant phenotype collection system with a bidirectional, multi-angle, and adjustable darkroom, comprising:

[0034] 1. When it is necessary to collect images of a single plant using the collection device:

[0035] (1.1) Adjust the vertical position of the dark box 1 according to the vertical distance between the dark box 1 and the single plant, that is, the lifting mechanism 1 is powered on and drives the translation mechanism 1 and the dark box 1 to move up and down. When the vertical position adjustment of the dark box 1 is completed, the lifting mechanism 1 stops running;

[0036] (1.2) Adjust the horizontal position of the dark box 1 in the left and right directions according to the left and right horizontal distance between the dark box 1 and the single plant, that is, the translation mechanism 1 is powered on and drives the dark box 1 to move horizontally in the left and right directions. When the horizontal position adjustment of the dark box 1 in the left and right directions is completed, the translation mechanism 1 stops running;

[0037] (1.3) Adjusting the horizontal position of the dark box 1 in the front-to-back direction according to the front-to-back horizontal distance between the dark box 1 and the single plant, that is, the wheel drive motor in the walking chassis is powered on to drive the walking chassis to move forward and backward, thereby driving the dark box 1 to move horizontally in the front-to-back direction. When the horizontal position adjustment of the dark box 1 in the front-to-back direction is completed, the wheel drive motor in the walking chassis stops running;

[0038] (1.4) The dark box has reached the top of the single plant, and the image acquisition device inside the dark box collects the plant image in real time and displays it on the display screen through the controller. The position of the plant trunk of the single plant in the dark box is observed through the display screen. If the display screen shows that the plant trunk is not at the center of the bottom surface of the dark box, execute steps (1.1), (1.2) and / or (1.3) until the display screen shows that the plant trunk is at the center of the bottom surface of the dark box; when the display screen shows that the plant trunk is at the center of the bottom surface of the dark box, the lifting mechanism is powered on and the lifting mechanism drives the dark box downward. When the dark box covers After surrounding the plant, the lifting mechanism stops running; the stepper motor in the rotating module on the dark box is powered on and starts working, driving the vertical connecting shaft to rotate through the bevel gear set, and the connecting shaft drives the folding sunshade to rotate. When the telescopic structure at one end of the folding sunshade fits tightly with the main trunk of the plant, the stepper motor stops running; then, the gear drive motor on the dark box is powered on and starts working, and the gear drive motor and gear one rotate along the circular rack, thereby driving the fan-shaped thin sheets in the folding sunshade to fully unfold, forming a circular sunshade that closes the opening of the dark box and can fit the main trunk of the plant, and the gear drive motor stops running;

[0039] (1.5) The image acquisition device inside the dark box collects plant images and sends the plant images to the controller, which processes and analyzes the images, extracts the phenotypic information of individual plants, and displays it on the display screen in real time;

[0040] 2. When it is necessary to collect images of plant organs through the second collection device:

[0041] (2.1) Adjust the vertical position of the second dark box according to the vertical distance between the second dark box and the plant organ, that is, the second lifting mechanism is powered on and drives the second translation mechanism, the rotation mechanism and the second dark box to move up and down. When the vertical position of the second dark box is adjusted, the second lifting mechanism stops.

[0042] (2.2) Adjust the horizontal position of the second dark box in the left and right directions according to the left and right horizontal distance between the second dark box and the plant organ, that is, the second translation mechanism is powered on and drives the second dark box to move horizontally in the left and right directions. When the horizontal position adjustment of the second dark box in the left and right directions is completed, the second translation mechanism stops operating;

[0043] (2.3) Adjust the angle of the second dark box according to the angular position between the second dark box and the plant organ, that is, the rotating mechanism is powered on to drive the second dark box to rotate; when the angular position adjustment of the second dark box is completed, the rotating mechanism stops running;

[0044] (2.4) The image acquisition device 2 inside the dark box 2 acquires the image of the plant organ part in real time and displays it on the display screen through the controller. The position of the plant organ part in the dark box 2 is observed through the display screen. If the display screen shows that the plant organ part is not at the center of the bottom surface of the dark box 2, steps (2.1), (2.2) and / or (2.3) are executed until the display screen shows that the plant organ part is at the center of the bottom surface of the dark box 2; when the display screen shows that the plant organ part is at the center of the bottom surface of the dark box 2, the wheel drive motor in the walking chassis is powered on and drives the dark box 2 to move horizontally in the front and rear directions. At the same time, the lifting mechanism 2 is powered on and drives the dark box 2 to move downward. When the dark box 2 covers and surrounds the plant organ, the wheel drive motor in the walking chassis is powered on and drives the dark box 2 to move horizontally in the front and rear directions. When the part and the plant organ part are still displayed at the center of the bottom surface of the second dark box, the wheel drive motor and the lifting mechanism 2 stop running; the stepper motor in the rotating module on the second dark box is powered on and starts to work, and drives the vertical connecting shaft to rotate through the bevel gear set, and the connecting shaft drives the folding light shielding plate 2 to rotate. When the telescopic structure at the two ends of the folding light shielding plate is tightly fitted with the stems in the plant organ part, the stepper motor stops running; then, the gear drive motor on the second dark box is powered on and starts to work, and the gear drive motor and gear 1 rotate along the circular rack, thereby driving the fan-shaped thin sheets in the second folding light shielding plate to fully unfold, forming a circular light shielding plate that closes the opening of the second dark box and can fit the plant stems, and the gear drive motor stops running;

[0045] (2.5) The image acquisition device 2 inside the darkroom 2 acquires images of plant organ parts and sends the images of plant organ parts to the controller. The controller processes and analyzes the images, extracts phenotypic information of the plant organ parts, and displays it on the display screen in real time.

[0046] In order to achieve the above technical objectives, another technical solution adopted by the present invention is:

[0047] A collection method of a plant phenotype collection system with a bidirectional, multi-angle, and adjustable darkroom, comprising:

[0048] a. Use the remote control to control the chassis to move to the target area;

[0049] b. If it is necessary to collect images of a single plant using the collection device:

[0050] (b.1) Adjusting the vertical position of darkroom 1 based on the vertical distance between darkroom 1 and the individual plant, that is, energizing the lifting motor in lifting mechanism 1 to drive gear 2 to move up and down on the bar-shaped rack, causing fixed plate 1 connected to the lifting motor to move up and down on slide rail 1, and also causing translation mechanism 1 and darkroom 1 connected to fixed plate 1 to move up and down; when the vertical position of darkroom 1 is adjusted, the lifting motor stops;

[0051] (b.2) Adjust the horizontal position of dark box one in the left-right direction according to the horizontal distance between dark box one and the individual plant. That is, when electric cylinder one in translation mechanism one is powered on, the electric cylinder telescopic rod in electric cylinder one drives dark box one to move horizontally in the left-right direction via dark box connecting plate one. When the horizontal position adjustment of dark box one in the left-right direction is completed, the electric cylinder telescopic rod stops operating.

[0052] (b.3) Adjusting the horizontal position of the dark box 1 in the front-to-back direction based on the front-to-back horizontal distance between the dark box 1 and the individual plant, that is, energizing the wheel drive motors in the traveling chassis to drive the traveling chassis to move back and forth, thereby driving the dark box 1 to move horizontally in the front-to-back direction. Once the adjustment of the horizontal position of the dark box 1 in the front-to-back direction is completed, the wheel drive motors in the traveling chassis stop operating.

[0053] (b.4) Dark box 1 has reached above the single plant, and the top camera 1 inside the dark box 1 collects the plant image in real time and displays it on the display screen through the controller. The position of the plant in the dark box 1 is observed through the display screen. If the display screen shows that the trunk of the single plant is not at the center position of the bottom surface of the dark box 1, execute steps (b.1), (b.2) and / or (b.3) until the display screen shows that the trunk of the plant is at the center position of the bottom surface of the dark box 1; when the display screen shows that the trunk of the plant is at the center position of the bottom surface of the dark box 1, the lifting motor in the lifting mechanism 1 is powered on and the lifting motor drives the dark box 1 to move downward. When the dark box 1 cage After the cover surrounds the plant, the lifting motor stops running; the stepper motor in the rotating module on the dark box is powered on and starts working, driving the vertical connecting shaft to rotate through the bevel gear set, and the connecting shaft drives the folding sunshade to rotate. When the telescopic structure at one end of the folding sunshade fits tightly with the main trunk of the plant, the stepper motor stops working; then, the gear drive motor on the dark box is powered on and starts working, and the gear drive motor and gear one rotate along the circular rack, thereby driving the fan-shaped thin sheets in the folding sunshade to fully unfold, forming a circular sunshade that closes the opening of the dark box and can fit the main trunk of the plant, and the gear drive motor stops working;

[0054] (b.5) Matrix light source 1 in darkroom 1 is powered on to illuminate the plant, top camera 1 captures plant images, and the roller movement mechanism is powered on to operate, driving the side cameras to move at a constant speed along the roller guide grooves. The side cameras capture multiple side images of the plants. Top camera 1 and the side cameras transmit the multiple plant images to the controller, which processes and analyzes the images, extracts phenotypic information of the individual plants, and displays it in real time on the display screen.

[0055] c. If it is necessary to collect images of plant organs through the second collection device:

[0056] (c.1) Adjust the vertical position of the second darkroom according to the vertical distance between the second darkroom and the plant organ. Specifically, the screw drive motor in the second lifting mechanism is powered on and drives the screw to perform circular motion through a coupling. The screw moving mechanism, which is threadedly connected to the screw, performs linear lifting motion on the screw. The second fixed plate, which is connected to the screw moving mechanism, performs lifting motion on the second slide rail. The second translation mechanism, which is connected to the second fixed plate, and the second darkroom also perform lifting motion. Once the vertical position of the second darkroom is adjusted, the screw drive motor stops.

[0057] (c.2) Adjust the horizontal position of the second dark box in the left-right direction according to the horizontal distance between the second dark box and the plant organ. That is, the second electric cylinder in the second translation mechanism is powered on, and the electric cylinder telescopic rod in the second electric cylinder drives the second dark box to move horizontally in the left-right direction through the second dark box connecting plate. When the horizontal position adjustment of the second dark box is completed, the electric cylinder telescopic rod stops.

[0058] (c.3) adjusting the angle of the second dark box according to the angular position between the second dark box and the plant organ, that is, turning on the steering motor in the rotating mechanism to drive the second dark box to rotate via the gear set and the connecting shaft; when the angular position of the second dark box is adjusted, the steering motor stops running;

[0059] (c.4) The top camera 2 inside the dark box 2 collects the image of the plant organ part in real time and displays it on the display screen through the controller. The position of the plant organ part in the dark box 2 is observed through the display screen. If the display screen shows that the plant organ part is not at the center of the bottom surface of the dark box 2, execute steps (c.1), (c.2) and / or (c.3) until the display screen shows that the plant organ part is at the center of the bottom surface of the dark box 2; when the display screen shows that the plant organ part is at the center of the bottom surface of the dark box 2, the wheel drive motor in the walking chassis is powered on and drives the dark box 2 to move horizontally in the front and rear directions. At the same time, the screw drive motor in the lifting mechanism 2 is powered on and drives the dark box 2 to move downward. When the dark box 2 covers and surrounds the plant organ, When the plant organ part and the plant organ part are still displayed at the center position of the bottom surface of the dark box two, the wheel drive motor and the screw drive motor stop running; the stepper motor in the rotating module on the dark box two is powered on and starts to work, and drives the vertical connecting shaft to rotate through the bevel gear set, and the connecting shaft drives the foldable light shielding plate two to rotate. When the telescopic structure at the two ends of the foldable light shielding plate is tightly fitted with the stem of the plant organ part, the stepper motor stops running; then, the gear drive motor on the dark box two is powered on and starts to work, and the gear drive motor and gear one rotate along the circular rack, thereby driving the fan-shaped thin sheets in the foldable light shielding plate two to fully unfold, forming a circular light shielding plate that closes the opening of the dark box two and can fit the plant stem, and the gear drive motor stops running;

[0060] (c.5) The matrix light source 2 in the darkroom 2 is powered on for illumination, and the top camera 2 collects images of plant organ parts and sends the images of plant organ parts to the controller. The controller processes and analyzes the images, extracts phenotypic information of the plant organ parts, and displays it on the display screen in real time.

[0061] The beneficial effects of the present invention are:

[0062] The present invention designs a plant phenotypic acquisition system and method based on a bidirectional, multi-angle adjustable darkroom. The present invention is equipped with two darkrooms, darkroom 1 and darkroom 2, which can acquire phenotypic information of single plants and phenotypic information of plant organ parts, meeting the imaging requirements of different scales from single plants to organs. When acquiring phenotypic information of single plants, darkroom 1 can cover and surround the plant from top to bottom, automatically adjusting its vertical height and horizontal distance to obtain phenotypic information of single plants with different plant heights and different growth positions. When acquiring phenotypic information of plant organ parts, darkroom 2 can cover and surround the plant or a part of the plant from any angle, automatically adjusting its vertical height, horizontal distance and rotation angle to acquire phenotypic information of different organs (such as stems, leaves, flowers, and fruits). The first and second darkrooms of the present invention are equipped with foldable visors (first and second), respectively. Both can be deployed around the surface of a plant's trunk (stem) without damaging it, providing a stable imaging environment for in situ, in vivo measurements of plant phenotypic parameters and improving the accuracy of phenotypic parameter measurements. The present invention also features wheels and a display screen, enabling precise and flexible control of the acquisition system's position and real-time display of collected plant phenotypic parameters, facilitating operator operation and observation. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A schematic diagram of the present invention.

[0064] Figure 2 for Figure 1 Enlarged view of a.

[0065] Figure 3 It is the front view of the present invention.

[0066] Figure 4 It is a left view of the present invention.

[0067] Figure 5 It is a top view of the present invention.

[0068] Figure 6 It is a structural diagram of the lifting mechanism 1 of the present invention.

[0069] Figure 7 This is a structural diagram of the translation mechanism 1 of the present invention.

[0070] Figure 8 It is a structural diagram of the dark box of the present invention.

[0071] Figure 9 This is a diagram of the foldable sunshade of the present invention moving to fit together with the trunk of a plant.

[0072] Figure 10 FIG. 1 is a schematic diagram of the unfolding process of the foldable sunshade of the present invention.

[0073] Figure 11 This is a perspective structural diagram of the foldable sunshade of the present invention after it is fully unfolded.

[0074] Figure 12 This is a diagram of the foldable sunshade and its rotation module according to the present invention.

[0075] Figure 13 for Figure 12 Enlarged view of middle b.

[0076] Figure 14 for Figure 12 Enlarged view of c.

[0077] Figure 15 This is a diagram of the fan-shaped sheet connection structure of the present invention.

[0078] Figure 16 for Figure 15 Magnified view of middle d.

[0079] Figure 17 This is a structural diagram of a single fan-shaped sheet of the present invention.

[0080] Figure 18 This is a cross-sectional view of the telescopic structure of a fan-shaped slice.

[0081] Figure 19 for Figure 18 Schematic diagram of the structure of e.

[0082] Figure 20 This is a diagram showing the connection structure between the circular rack and gear 1 of the present invention.

[0083] Figure 21 FIG. 1 is a diagram showing the connection structure between the gear drive motor and the foldable sunshade of the present invention.

[0084] Figure 22 for Figure 21 Magnified view of middle f.

[0085] Figure 23 FIG. 1 is a diagram of a thrust ball bearing according to the present invention.

[0086] Figure 24 FIG. 1 is a diagram showing the gap between the telescopic structures of the foldable sunshade of the present invention after it is unfolded.

[0087] Figure 25 for Figure 24 Enlarged view of middle g.

[0088] Figure 26 This is a structural diagram of the connection between the roller moving mechanism and the roller guide groove of the present invention.

[0089] Figure 27 It is a structural diagram of the roller moving mechanism of the present invention.

[0090] Figure 28 It is a structural diagram of the lifting mechanism 2 of the present invention.

[0091] Figure 29 It is a structural diagram of the rotating mechanism of the present invention.

[0092] Figure 30 It is a structural diagram of the second dark box of the present invention.

[0093] Figure 31 Schematic diagram of the operation process of the present invention.

[0094] 1. Screw drive motor; 2. Motor mounting base; 3. Coupling; 4. Rack fixing; 5. Dark box 2; 6. Screw; 7. Electric cylinder telescopic rod; 8A. Dark box connecting plate 2; 8B. Dark box connecting plate 1; 9. Flange type electric cylinder base; 10. Gear set; 11. Steering motor; 12. Motor mounting base; 13. Circular rack; 14. Screw moving mechanism; 15A. Slider 2; 15B. Slider 1; 16A. Fixing plate 2; 16B. Fixing plate 1; 17. Rotating module; 17-1. Connecting shaft; 17-2. Bevel gear set; 17-3. Ball bearing; 17-4. Fixing block; 17-5. Stepping motor; 17-6. Motor connecting base; 18. Gear drive motor; 19. Gear 1; 20A. Folding sunshade 2; 20B. Folding sunshade 1; 20-1 , fan-shaped sheet; 20-1-1, top fan-shaped sheet; 20-1-2, bottom fan-shaped sheet; 20-1-3, telescopic structure; 20-1-3-1, pressure sensor; 20-1-3-2, spring; 20-1-4, rubber roller; 21A, slide rail two; 21B, slide rail one; 22, rack; 23, display screen; 24, darkroom one; 25, connector; 26, gear two; 27, lifting motor; 28, walking chassis; 29, wheel; 30, screw rod fixing support seat; 31A, matrix light source two; 31B, matrix light source one; 32, darkroom fixing flange; 33A, top camera two; 33B, top camera one; 34, roller moving mechanism; 35, roller guide groove; 36, plant model; 37, side camera; 38, thrust ball bearing; 39, main bracket. DETAILED DESCRIPTION

[0095] The specific embodiments of the present invention are further described below with reference to the accompanying drawings:

[0096] A plant phenotypic acquisition system based on a two-way, multi-angle, adjustable darkroom, such as Figure 1 、 Figure 3-5 As shown, it includes a traveling chassis 28, a main support 39, a collection device 1, a collection device 2, a controller and a display screen 23 (the controller and display screen 23 are such as a PC). The main support 39 is connected to the traveling chassis 28, and the collection device 1, the collection device 2, the controller and the display screen 23 are all connected to the main support 39. The main support 39 is made of hollow square steel.

[0097] This embodiment provides a first collecting device and a second collecting device, which respectively collect phenotypic information of individual plants and phenotypic information of plant organs and parts. The structures of these two devices are described below.

[0098] The collecting device mainly collects the phenotypic information of individual plants and can obtain the phenotypic parameters of the plants such as plant height, crown width, and projected area. Figure 1 、 Figure 3-5 As shown, the acquisition device 1 includes a lifting mechanism 1, a translation mechanism 1, a dark box 24 and a shading mechanism 1. The lifting mechanism 1 is connected to the main bracket 39, the lifting mechanism 1 is connected to the translation mechanism 1, and the lifting mechanism 1 is used to drive the translation mechanism 1 to move up and down; the translation mechanism 1 is connected to the dark box 24, and the translation mechanism 1 is used to drive the dark box 24 to move horizontally; the interior of the dark box 24 is provided with an image acquisition device 1, the bottom of the dark box 24 is an opening, and a shading mechanism 1 is provided near the opening of the dark box 24.

[0099] The specific structure of the lifting mechanism is as follows: Figure 1 、 Figure 3-6 As shown, it includes a lifting motor 27, a connecting piece 25, a second gear 26, a strip-shaped rack 22, a slide rail 21B, a slider 15B and a fixed plate 16B. The strip-shaped rack 22 is fixedly connected to the main bracket 39, and the two slide rails 21B are fixedly connected to the main bracket 39 in parallel with each other. The lifting motor 27 is connected to the fixed plate 16B through the connecting piece 25. The shaft end of the lifting motor 27 is covered with a second gear 26, and the second gear 26 and the strip-shaped rack 22 are meshed with each other; one side of the fixed plate 16B is connected to the slider 15B, and the slider 15B is slidably connected to the slide rail 21B; the other side of the fixed plate 16B is connected to the translation mechanism 1.

[0100] The specific structure of the translation mechanism is as follows: Figure 1 、 Figure 3-5 、 Figure 7 As shown, it includes an electric cylinder 1 and a dark box connecting plate 18B. The flange-type electric cylinder base 9 of the electric cylinder 1 is connected to the other side of the fixed plate 16B. The flange-type electric cylinder base 9 is embedded with an electric cylinder telescopic rod 7. The electric cylinder telescopic rod 7 of the electric cylinder 1 is connected to the dark box 1 24 through the dark box connecting plate 18B by screws.

[0101] like Figure 8-11 As shown, the image acquisition device in the dark box 24 includes a top camera 33B, a side camera 37, a matrix light source 31B, and a roller moving mechanism 34. The top camera 33B and the side camera 37 are both RGB-D cameras. The top of the dark box 24 is connected to the top camera 33B, and the side walls of the dark box 24 are connected to symmetrical matrix light sources 31B. To achieve multi-angle imaging, the dark box 24 is equipped with a roller guide module, such as Figure 26 As shown, the roller guide module is composed of a roller moving mechanism 34 (such as Figure 27 The side wall of the dark box 24 is fixedly connected to the outer wall of a circle of roller guide groove 35, the roller end of the roller moving mechanism 34 is connected to the roller guide groove 35 in a rolling manner, and the other end of the roller moving mechanism 34 is connected to the side camera 37 through the camera fixing plate. A motor is provided in the roller moving mechanism 34, and the motor is used to drive the roller to roll in the roller guide groove 35, thereby driving the side camera 37 to move along the roller guide groove 35. The specific structure of the roller moving mechanism 34 is not described in detail, and the existing commonly used structure is adopted.

[0102] A shading mechanism is installed at the lower right corner of the dark box 24. Figure 8-11 As shown, the shading mechanism 1 includes a driving mechanism 1 and a folding shading plate 20B, wherein the driving mechanism 1 is used to drive the folding shading plate 20B to unfold around the main trunk of the plant until a circular shading plate is formed for closing the opening of the dark box 24 and avoiding the main trunk of the plant.

[0103] like Figure 15-17 As shown, the foldable sunshade 20B in the sunshade mechanism comprises a plurality of fan-shaped sheets 20-1 of the same size (the fan-shaped sheets 20-1 comprise a top fan-shaped sheet 20-1-1, a bottom fan-shaped sheet 20-1-2 and a plurality of intermediate fan-shaped sheets, Figure 15 and Figure 16 Only a few fan-shaped thin slices 20-1 are shown in the figure. In fact, there are multiple fan-shaped thin slices 20-1 connected in this way. Each fan-shaped thin slice 20-1 is connected by its upper half (such as Figure 15 As an example, the fan-shaped slices 20-1 shown in the figure are connected to each other by rotating the radius of the telescopic structures 20-1-3 of the adjacent fan-shaped slices 20-1 end to end so that the adjacent two fan-shaped slices 20-1 can be stacked or unfolded, and a "V" shape is formed between the two fan-shaped slices 20-1 (such as Figure 16As shown, in order to facilitate the observation of the structure of the foldable sunshade 20B, the two connected fan-shaped sheets 20-1 are shown in a "V" shape in the figure. In fact, the fan-shaped sheets 20-1 are attached to each other in pairs); the connected parts have a certain degree of flexibility and can be stacked and unfolded into a fixed shape as a whole; the end of each fan-shaped sheet 20-1 is a telescopic structure 20-1-3 (such as Figure 17 As shown, taking one of the fan-shaped thin slices 20-1 as an example), the radius of the entire fan-shaped thin slice 20-1 can be adjusted within a certain range to meet the shading requirements of plant trunks of different thicknesses; the telescopic structure 20-1-3 at the end of each fan-shaped thin slice 20-1 is the same, such as Figure 18 and Figure 19 As shown, each comprises multiple thin sections, each capable of sliding between adjacent sections. One end of a thin section extends into the interior of another adjacent thin section, and a spring 20-1-3-2 is provided between the two adjacent thin sections. A spring 20-1-3-2 in the telescopic structure 20-1-3 of one of the sector-shaped thin sections 20-1 is connected to a pressure sensor 20-1-3-1 within the thin section. The pressure sensor 20-1-3-1 is a pressure sensor with a wireless transmission module, and the pressure sensor 20-1-3-1 is wirelessly connected to the controller (wired connection is also possible, but wiring is more difficult). A rubber roller 20-1-4 is provided at the end of each sector-shaped thin section 20-1. The rubber roller 20-1-4 is embedded inside the end of the sector-shaped thin section 20-1, and the surface of the rubber roller 20-1-4 is slightly higher than the surface of the end of the sector-shaped thin section 20-1. There is a gap between the end surface of the sector-shaped thin section 20-1 and the surface of the plant trunk. The distance between the gaps is below the submillimeter level, which does not affect the imaging environment in the darkroom. The soft rubber roller 20-1-4 rolls on the plant trunk and, when in contact, protects the trunk and reduces damage. When the end of the foldable sunshade 20B first contacts the plant trunk, the rubber roller 20-1-4 fits snugly against the trunk. As the entire foldable sunshade 20B rotates, the rubber roller 20-1-4 rotates around the plant trunk, gradually compressing the spring 20-1-3-2, causing it to deform and exert greater force. A pressure sensor 20-1-3-1, equipped with a wireless transmission module, is installed within the spring 20-1-3-2, capable of measuring the pressure applied to the spring in real time. The wireless transmission module transmits the measured pressure value to a display screen connected to the controller for display. When the pressure value reaches a maximum and begins to decrease, the stepper motor 17-5 stops rotating. This position represents the position where the foldable sunshade 20B fits snugly against the plant trunk, enabling automatic control.

[0104] like Figure 2 、 Figure 12-14 、 Figure 20-22 As shown, the driving mechanism 1 includes a circular rack 13, a rotating module 17, a gear drive motor 18 and a gear 19, as shown in FIG. Figure 13 As shown, the rotating module 17 includes a stepper motor 17-5, a bevel gear set 17-2, a connecting shaft 17-1, a fixed block 17-4 and a ball bearing 17-3. The stepper motor 17-5 is mounted on the fixed block 17-4 through a motor connecting seat 17-6. The fixed block 17-4 is fixedly connected to the inner wall of the dark box 24 at the corner. The shaft end of the stepper motor 17-5 is sleeved with the driving wheel of the bevel gear set 17-2, and the driven wheel of the bevel gear set 17-2 is connected to the inner wall of the dark box 24. The connecting shaft 17-1 is connected to the fixed block 17-4 through a ball bearing 17-3, and the bottom end of the connecting shaft 17-1 is fixedly connected to the fan-shaped thin slice 20-1 at the top of the foldable sunshade 20B (referred to as the top fan-shaped thin slice 20-1-1). The gear drive motor 18 is connected to the fan-shaped thin slice 20-1 at the bottom of the foldable sunshade 20B (referred to as the bottom fan-shaped thin slice 20-1-2) through a thrust ball bearing 38. Figure 21-23 As shown, the upper and lower surfaces of the thrust ball bearing 38 can rotate to avoid interference with the gear drive motor 18 during the rotation of the foldable sunshade 20B). The gear drive motor 18 has a gear 19 on the shaft end. The gear 19 is meshed with the circular rack 13. The circular rack 13 is connected to the bottom of the dark box 24 through the rack 22 fixing member 4.

[0105] When collecting phenotypic information of a single plant, the stepper motor 17-5 is powered on, and the vertical connecting shaft 17-1 is driven to rotate in the inner ring of the ball bearing 17-3 through the engagement of the bevel gear set 17-2; the bottom surface of the connecting shaft 17-1 is fixedly connected to the fan-shaped thin sheet 20-1 at the top of the foldable sunshade 20B, which can drive the entire foldable sunshade 20B to rotate freely in its plane; when the end of the foldable sunshade 20B with the telescopic structure 20-1-3 is tightly attached to the main body of the plant, the foldable sunshade 20B can rotate freely in its plane. When the foldable sunshade 20B is fitted (the telescopic structure 20-1-3 of the foldable sunshade 20B can be adjusted to fit the plant trunks of different thicknesses), the rotation stops; then the gear drive motor 18 is powered on, driving itself and the gear 19 to make circular motion in the circular rack 13 (the size of the circular rack 13 is equivalent to the circumscribed circle of the dark box); the bottom of the gear drive motor 18 is connected to the fan-shaped thin plate 20-1 at the bottom of the foldable sunshade 20B through the thrust ball bearing 38 ( Figure 21 As shown), the fan-shaped sheet 20-1 can be driven to make a circular motion around the surface of the plant trunk; and the folding sunshade 20B is composed of a plurality of fan-shaped sheets 20-1 connected end to end with their radius, so the entire folding sunshade 20B can be driven to unfold around the trunk of the plant until a complete circle is formed (refer to Figures 9-11The circular light shielding plate formed closes the dark box, providing a continuous and stable imaging environment for the acquisition system (after the folding light shielding plate 20B is fully unfolded, there will be a certain gap between the telescopic structure 20-1-3 at the end of the fan-shaped sheet 20-1, such as Figure 24 and Figure 25 As shown, the distance between the gaps is below the sub-millimeter level and does not affect the imaging environment in the darkroom).

[0106] The lifting motor 27, electric cylinder 1, top camera 1 33B, side camera 37, matrix light source 1 31B, roller moving mechanism 34, stepping motor 17-5 in shading mechanism 1 and gear drive motor 18 in acquisition device 1 are all electrically connected to the controller.

[0107] The second collecting device mainly collects phenotypic information of plant organs and parts, and can obtain phenotypic parameters such as size, color, shape, texture, quantity, distribution, etc. of plant stems, leaves, flowers, and fruits. Figure 1 、 Figure 3-5 As shown, the acquisition device 2 includes a lifting mechanism 2, a translation mechanism 2, a rotation mechanism, a dark box 2 5 and a shading mechanism 2; the lifting mechanism 2 is connected to the main bracket 39, the lifting mechanism 2 is connected to the translation mechanism 2, and the lifting mechanism 2 is used to drive the translation mechanism 2 to move up and down; the translation mechanism 2 is rotationally connected to the dark box 2 5 through the rotation mechanism, and the translation mechanism 2 is used to drive the rotation mechanism and the dark box 2 5 to move horizontally; the rotation mechanism is used to drive the dark box 2 5 to rotate; the image acquisition device 2 is provided inside the dark box 2 5, one end of the dark box 2 5 is open, and a shading mechanism 2 is provided near the opening of the dark box 2 5.

[0108] The specific structure of the lifting mechanism 2 is as follows: Figure 1 、 Figure 3-5 、 Figure 28 As shown, it includes a screw drive motor 1, a coupling 3, a screw 6, a screw moving mechanism 14, a second slider 15A, a second slide rail 21A, and a second fixed plate 16A. The screw drive motor 1 is connected to the main bracket 39 through the motor mounting base 2. The screw drive motor 1 is connected to the screw 6 through the coupling 3. The middle part of the screw 6 is threadedly connected to the screw moving mechanism 14. The screw 6 is rotatably connected to the main bracket 39 through a screw fixed support base 30 (such as a bearing seat). The screw moving mechanism 14 is connected to the middle part of one side of the second fixed plate 16A. The second slider 15A is also connected to the second fixed plate 16A. The second slider 15A is slidably connected to the second slide rail 21A. The second slide rail 21A is fixedly connected to the main bracket 39. The other side of the second fixed plate 16A is connected to the second translation mechanism. The rotation of the screw 6 drives the screw moving mechanism 14 to move up and down, and the fixed plate connected to it performs the same movement on the second slide rail 21A through the second slide rail 21A.

[0109] The specific structure of the second translation mechanism is as follows: Figure 1、 Figure 3-5 As shown, it includes an electric cylinder 2 and a dark box connecting plate 2 8A. The flange-type electric cylinder base 9 of the electric cylinder 2 is connected to the other side of the fixed plate 2 16A. The flange-type electric cylinder base 9 is embedded with an electric cylinder telescopic rod 7. The electric cylinder telescopic rod 7 of the electric cylinder 2 is connected to the dark box connecting plate 2 8A by screws.

[0110] The specific structure of the rotating mechanism is as follows: Figure 1 、 Figure 3-5 、 Figure 29 As shown, it includes a steering motor 11 and a gear set 10. The steering motor 11 is connected to the dark box connecting plate 2 8A through a motor fixing base 12. The shaft end of the steering motor 11 is connected to the driving wheel in the gear set 10. The driven wheel in the gear set 10 is connected to a connecting shaft 17-1. The connecting shaft 17-1 is rotatably connected to the dark box connecting plate 2 8A through a ball bearing 17-3. The end of the connecting shaft 17-1 is connected to the dark box 2 5 through a dark box fixing flange 32.

[0111] like Figure 30 As shown, the image acquisition device 2 in the dark box 2 5 includes a top camera 2 33A and a matrix light source 2 31A. The top camera 2 33A adopts an RGB-D camera. The top of the dark box 2 5 is connected to the top camera 2 33A, and the side wall of the dark box 2 5 is connected to a symmetrical matrix light source 2 31A.

[0112] A shading mechanism 2 is installed at the corner of the dark box 2 5. The shading mechanism 2 includes a driving mechanism 2 and a folding shading plate 20A. The driving mechanism 2 is used to drive the folding shading plate 20A to unfold around the plant stems until a circular shading plate is formed to close the opening of the dark box 2 5 and avoid the plant stems.

[0113] The structure of the second shading mechanism is the same as that of the first shading mechanism. The fixed block 17-4 in the second shading mechanism is fixedly connected to the inner wall of the second dark box 5. The circular rack 13 in the second shading mechanism is connected to the second dark box 5 through the rack 22 fixing member 4.

[0114] The screw drive motor 1, the electric cylinder 2, the steering motor 11, the top camera 2 33A, the matrix light source 2 31A, the stepping motor 17 - 5 in the shading mechanism 2 and the gear drive motor 18 are all electrically connected to the controller.

[0115] This embodiment also includes a power supply and a trolley remote control, which is wirelessly connected to the controller. The trolley remote control can remotely control the forward, backward, and turning movements of the walking chassis 28, as well as the operation of the motors, electric cylinders, cameras, and light sources on the main support 39. The controller on the walking chassis 28 is connected to a display screen 23, which is fixed to the main support 39 and can display the collected phenotypic parameters in real time. The bottom of the walking chassis 28 is equipped with wheels 29 and wheel drive motors. The controller is electrically connected to the wheel drive motors in the walking chassis 28, which are used to drive the wheels 29 to rotate, enabling the walking chassis 28 to move forward, backward, and turn, etc., to meet the needs of phenotypic information collection in various scenarios.

[0116] The power supply is electrically connected to the controller, wheel drive motor, screw drive motor 1, electric cylinder 2, steering motor 11, top camera 2 33A, matrix light source 2 31A, lifting motor 27, electric cylinder 1, top camera 1 33B, side camera 37, matrix light source 1 31B, roller moving mechanism 34, stepper motor 17-5 and gear drive motor 18 to supply power to the above devices.

[0117] This embodiment also provides a method for collecting plant phenotypes using a bidirectional, multi-angle, and controllable darkroom system. Figure 31 As shown, including:

[0118] 1. Use the remote control to control the traveling chassis 28 to move to the target area;

[0119] 2. Determine the type of phenotypic information to be collected, whether it is phenotypic information of a single plant or phenotypic information of plant organs and parts.

[0120] 3. If the phenotypic information of a single plant is being collected and the trunk of the plant is roughly vertical, the first collection device can be used to collect the plant image; if the phenotypic information of a single plant with an inclined trunk or the phenotypic information of a plant organ is being collected, the second collection device can be used to collect the plant image.

[0121] 4. If it is necessary to use the acquisition device 1 to capture an image of a single plant with its trunk in a vertical position:

[0122] (4.1) Adjust the vertical position of the dark box 1 24 according to the vertical distance between the dark box 1 24 and the individual plant. Specifically, the lifting motor 27 in the lifting mechanism 1 is powered on, driving the gear 2 26 to move up and down on the bar-shaped rack 22. The fixed plate 16B connected to the lifting motor 27 moves up and down on the slide rail 1 21B. The translation mechanism 1 and the dark box 1 24 connected to the fixed plate 16B also move up and down. When the vertical position of the dark box 1 24 is adjusted, the lifting motor 27 stops.

[0123] (4.2) Adjust the horizontal position of the dark box 24 in the left and right directions according to the horizontal distance between the dark box 24 and the individual plants. That is, the electric cylinder 1 in the translation mechanism 1 is powered on and the electric cylinder telescopic rod 7 in the electric cylinder 1 drives the dark box 24 to move horizontally in the left and right directions through the dark box connecting plate 1 8B. When the horizontal position adjustment of the dark box 24 in the left and right directions is completed, the electric cylinder telescopic rod 7 stops operating.

[0124] (4.3) Adjust the horizontal position of the dark box 1 24 in the front-to-back direction according to the front-to-back horizontal distance between the dark box 1 24 and the individual plant. That is, the wheel drive motor in the traveling chassis 28 is powered on to drive the traveling chassis 28 to move back and forth, thereby driving the dark box 1 24 to move horizontally in the front-to-back direction. When the horizontal position adjustment of the dark box 1 24 in the front-to-back direction is completed, the wheel drive motor in the traveling chassis 28 stops running.

[0125] (4.4) The dark box 24 has reached the top of the single plant, and the top camera 33B inside the dark box 24 collects the image of the single plant in real time and displays it on the display screen 23 through the controller. The position of the single plant in the dark box 24 is observed through the display screen 23. If the display screen 23 shows that the trunk of the single plant is not at the center of the bottom surface of the dark box 24, steps (41), (4.2) and / or (4.3) are executed until the display screen 23 shows that the trunk of the plant is at the center of the bottom surface of the dark box 24; when the display screen 23 shows that the trunk of the plant is at the center of the bottom surface of the dark box 24, the lifting motor 27 in the lifting mechanism 1 is powered on and the lifting motor 27 drives the dark box 24 to move downward. When the dark box 24 covers the plant (i.e., Figure 9 After the plant model 36 is formed, the lifting motor 27 stops running; Figures 9-11As shown, the stepper motor 17-5 in the rotating module 17 on the dark box 24 is powered on and starts working, and drives the vertical connecting shaft 17-1 to rotate in the inner ring of the ball bearing 17-3 through the bevel gear set 17-2, and the connecting shaft 17-1 drives the folding sunshade 20B to rotate. When the telescopic structure 20-1-3 at the end of the folding sunshade 20B fits tightly with the trunk of the plant, the stepper motor 17-5 stops working (the elastic telescopic structure 20-1-3 of the folding sunshade 20B can automatically expand and contract according to the thickness of the plant trunk, so that the rubber roller 20-1-4 can fit with the trunks of plants of different thicknesses); then, the dark box 24 The gear drive motor 18 is powered on and works, and the gear drive motor 18 and the gear 19 make circular motion along the circular rack 13 (the design size of the circular rack 13 is equivalent to the circumscribed circle of the darkroom 24). The bottom of the gear drive motor 18 is connected to the fan-shaped thin slice 20-1 in the folding sunshade 20B through the thrust ball bearing 38, which can drive the fan-shaped thin slice 20-1 in the folding sunshade 20B to make circular motion around the surface of the plant trunk. The folding sunshade 20B is composed of multiple fan-shaped thin slices 20-1 connected end to end with their radius, so it can drive the entire folding sunshade 20B to unfold around the trunk of the plant until it finally forms a complete circle. The circular light shield formed can fit the plant trunk and thus seal the darkroom 24, providing a continuous and stable imaging environment for the acquisition system (after the foldable light shield 20B is fully unfolded, there will be a certain gap between the telescopic structures 20-1-3 at the end of each fan-shaped sheet 20-1. The distance between the gaps is below the sub-millimeter level and does not affect the imaging environment in the darkroom). The gear drive motor 18 stops working;

[0126] (4.5) The matrix light source 31B in the darkroom 24 is powered on for illumination, and the two RGB-D cameras start working. The top camera 33B collects plant canopy images to obtain plant canopy information, and the depth image can obtain plant height information. The roller moving mechanism 34 is powered on and drives the side camera 37 to move at a constant speed along the roller guide groove 35. The side camera 37 collects multiple side images of the plant to obtain multiple image information such as the plant projection area, leaf angle, and number of leaves; the top camera 33B and the side camera 37 send multiple plant images to the controller, which extracts plant phenotypic parameters from multi-angle side views through image processing and other technologies, calculates the average value to improve the accuracy of phenotypic parameter measurement, and displays them on the display screen 23 in real time. The display screen 23 can display the collected phenotypic parameters in real time to facilitate the operator to operate and observe;

[0127] 5. If it is necessary to use the second acquisition device to acquire an image of a single plant with a tilted trunk or an image of a plant organ, the following is an example of acquiring an image of a plant organ:

[0128] (5.1) According to the vertical distance between the darkroom 2 5 and the plant organ part, the vertical position of the darkroom 2 5 is adjusted, that is, the screw drive motor 1 in the lifting mechanism 2 is powered on and starts to work. The screw drive motor 1 drives the screw 6 to perform circular motion around its axis through the coupling 3. The screw moving mechanism 14, which is threadedly engaged with the screw 6, performs linear lifting motion on the screw 6. The fixed plate 2 16A connected to the screw moving mechanism 14 performs lifting motion on the slide rail 21A. The translation mechanism 2 connected to the fixed plate 2 16A and the darkroom 2 5 also perform lifting motion, thereby achieving the purpose of adjusting the height of the darkroom 2 5. After the vertical position adjustment of the darkroom 2 5 is completed, the screw drive motor 1 stops running.

[0129] (5.2) Adjust the horizontal position of the second dark box 5 in the left and right directions according to the horizontal distance between the second dark box 5 and the plant organ. That is, the second electric cylinder in the second translation mechanism is powered on and the electric cylinder telescopic rod 7 in the second electric cylinder drives the second dark box 5 to move horizontally in the left and right directions through the second dark box connecting plate 8A. When the horizontal position adjustment of the second dark box 5 in the left and right directions is completed, the electric cylinder telescopic rod 7 stops operating.

[0130] (5.3) Adjust the angle of the dark box 2 5 according to the angular position between the dark box 2 5 and the plant organ part so that the plant organ part is displayed at the center of the bottom surface of the dark box 2 5. That is, the steering motor 11 in the rotating mechanism is powered on and drives the dark box 2 5 to rotate through the gear set 10 and the connecting shaft 17-1, thereby achieving the angle adjustment of the dark box 2 5;

[0131] (5.4) The top camera 233A inside the dark box 25 collects images of the plant organ parts in real time and displays them on the display screen 23 through the controller. The position of the plant organ parts in the dark box 25 is observed through the display screen 23. If the display screen 23 shows that the plant organ parts are not at the center of the bottom surface of the dark box 25, steps (5.1), (5.2) and / or (5.3) are executed until the display screen 23 shows that the plant organ parts are at the center of the bottom surface of the dark box 25. When the display screen 23 shows that the plant organ parts are at the center of the bottom surface of the dark box 25, the vehicle in the walking chassis 28 is moved. The wheel drive motor is powered on to drive the dark box 2 5 to make horizontal movement in the front and back directions. At the same time, the screw drive motor 1 in the lifting mechanism 2 is powered on to drive the dark box 2 5 to make a downward movement. When the dark box 2 5 covers the plant organ part and the plant organ part is still displayed at the center of the bottom surface of the dark box 2 5, the wheel drive motor and the screw drive motor 1 stop running; the stepper motor 17-5 in the rotating module 17 on the dark box 2 5 is powered on to drive the vertical connecting shaft 17-1 to rotate in the inner ring of the ball bearing 17-3 through the bevel gear set 17-2, and the connecting shaft 17-1 drives the foldable light shielding plate 20A to rotate freely in its plane. When the telescopic structure 20-1-3 at the end of the foldable light shielding plate 20A is tightly fitted with the stem of the plant organ, the stepper motor 17-5 stops running (the elastic telescopic structure 20-1-3 of the foldable light shielding plate 20A can be automatically adjusted to fit the thickness of the plant stem, so that the rubber roller 20-1-4 can fit the plant stems of different thicknesses); then, the gear drive motor 18 on the dark box 2 5 is powered on and the gear drive motor 18 and gear 1 19 move along the circular gear. The rack 13 performs circular motion (the size of the circular rack 13 is designed to be equivalent to the circumscribed circle of the darkroom 24); the bottom of the gear drive motor 18 is connected to the fan-shaped thin slices 20-1 in the foldable light shield 20A through the thrust ball bearing 38, so it can drive the fan-shaped thin slices 20-1 in the foldable light shield 20A to perform circular motion around the plant stem. The foldable light shield 20A is composed of multiple fan-shaped thin slices 20-1 connected end to end at their radius, so it can drive the entire foldable light shield 20A to unfold around the plant stem until it finally forms a complete circle. The circular light shield formed can fit the plant stem and then seal the darkroom 2 5, providing a continuous and stable imaging environment for the acquisition system (after the foldable light shield 20A is fully unfolded, there will be a certain gap between the telescopic structures 20-1-3 at the ends of the fan-shaped thin slices 20-1. The distance between the gaps is below the sub-millimeter level and does not affect the imaging environment inside the darkroom). The gear drive motor 18 stops running;

[0132] (5.5) The matrix light source 2 31A in the darkroom 2 5 is powered on, the RGB-D camera starts working, and the top camera 2 33A collects images of plant organ parts and sends the images to the controller. The controller processes and analyzes the images, extracts phenotypic information of the plant organ parts, and obtains phenotypic information such as the size, color, shape, texture, quantity, and distribution of leaves and fruits; and displays the information in real time on the display screen 23. The display screen 23 can display the collected phenotypic parameters in real time for the operator to observe.

[0133] Among them, when the telescopic structure 20-1-3 at the end of the foldable sunshade 20B is tightly fitted with the main trunk of the plant, the stepper motor 17-5 in the rotating module 17 of the darkroom 24 stops working. Specifically, when the telescopic structure 20-1-3 at the end of the foldable sunshade 20B is in contact with the main trunk of the plant, the main trunk of the plant exerts pressure on the telescopic structure 20-1-3 at the end of the foldable sunshade 20B. The pressure sensor 20-1-3-1 in the telescopic structure 20-1-3 at the end of the foldable sunshade 20B detects the pressure in real time and wirelessly sends the pressure information to the controller. When the controller detects that the pressure detected by the pressure sensor 20-1-3-1 reaches the maximum and begins to decrease, the controller controls the stepper motor 17-5 to stop working, which indicates that the telescopic structure 20-1-3 at the end of the foldable sunshade 20B is tightly fitted with the main trunk of the plant.

[0134] Among them, when the telescopic structure 20-1-3 at the end of the folding light shielding plate 20A is tightly fitted with the stem of the plant organ, the stepper motor 17-5 in the rotating module 17 of the darkroom 25 stops running. Specifically, when the telescopic structure 20-1-3 at the end of the folding light shielding plate 20A is in contact with the stem of the plant organ, the stem of the plant organ exerts pressure on the telescopic structure 20-1-3 at the end of the folding light shielding plate 20A. The pressure sensor 20-1-3-1 in the telescopic structure 20-1-3 at the end of the folding light shielding plate 20A detects the pressure in real time and wirelessly sends the pressure information to the controller. When the controller detects that the pressure detected by the pressure sensor 20-1-3-1 reaches the maximum and begins to decrease, the controller controls the stepper motor 17-5 to stop working. At this time, it indicates that the telescopic structure 20-1-3 at the end of the folding light shielding plate 20A is tightly fitted with the stem of the plant organ.

[0135] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention is based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by those skilled in the art fall within the protection scope of the present invention.

Claims

1. A plant phenotyping system based on a bidirectional, multi-angle, adjustable darkroom, characterized by: It includes a walking chassis, a main bracket, a collection device 1, a collection device 2 and a controller, wherein the main bracket is connected to the walking chassis, and the collection device 1, the collection device 2 and the controller are all connected to the main bracket; The acquisition device 1 includes a lifting mechanism 1, a translation mechanism 1, a dark box 1 and a shading mechanism 1. The image acquisition device 1 is arranged inside the dark box 1. The bottom of the dark box 1 is open, and the shading mechanism 1 is arranged near the opening of the dark box 1. The shading mechanism in the collecting device includes a driving mechanism and a foldable shading plate. The driving mechanism is used to drive the foldable shading plate to unfold around the plant trunk until a circular shading plate is formed to close the opening of the dark box and avoid the plant trunk. The foldable shading plate in the shading mechanism includes a plurality of fan-shaped sheets of the same size, each fan-shaped sheet being rotated end to end and connected to each other so that two adjacent fan-shaped sheets can be stacked or unfolded, and the end of each fan-shaped sheet is a telescopic structure; The driving mechanism includes a circular rack, a rotating module, a gear drive motor and a gear. The rotating module includes a stepping motor, a bevel gear set, a connecting shaft, a fixed block and a ball bearing. The stepping motor is installed on the fixed block through a motor connecting seat. The fixed block is fixedly connected to the inner wall of the dark box. The shaft end of the stepping motor is connected to the driving wheel of the bevel gear set, and the driven wheel of the bevel gear set is connected with a connecting shaft. The connecting shaft is rotatably connected to the fixed block through a ball bearing. The bottom end of the connecting shaft is fixedly connected to the fan-shaped thin sheet at the top of the foldable sunshade. The gear drive motor and the fan-shaped thin sheet at the bottom of the foldable sunshade are rotatably connected through a thrust ball bearing. The shaft of the gear drive motor is connected to the gear, and the gear is meshed with the circular rack. The circular rack is connected to the dark box through a rack fixing member. The second collecting device includes a second lifting mechanism, a second translation mechanism, a rotation mechanism, a second dark box, and a second shading mechanism. The second shading mechanism in the second collecting device includes a second driving mechanism and a second foldable shading plate. The second driving mechanism is used to drive the second foldable shading plate to unfold around the plant stem until a circular shading plate is formed to close the opening of the second dark box and avoid the plant stem. The structure of the second shading mechanism is the same as that of the first shading mechanism; The telescopic structure of each fan-shaped thin film end is the same, and includes multiple thin films. Adjacent thin films can slide between each other, one end of a thin film extends into the interior of another adjacent thin film, and a spring is provided between the two adjacent thin films; each fan-shaped thin film end is provided with a rubber roller.

2. The plant phenotype collection system based on a bidirectional, multi-angle, adjustable darkroom according to claim 1, characterized in that: The lifting mechanism 1 is connected to the main bracket, the lifting mechanism 1 is connected to the translation mechanism 1, and the lifting mechanism 1 is used to drive the translation mechanism 1 to move up and down, the translation mechanism 1 is connected to the dark box 1, and the translation mechanism 1 is used to drive the dark box 1 to move horizontally; The second lifting mechanism is connected to the main bracket, the second lifting mechanism is connected to the second translation mechanism, and the second lifting mechanism is used to drive the second translation mechanism to move up and down. The second translation mechanism is rotatably connected to the second dark box through the rotating mechanism, and the second translation mechanism is used to drive the rotating mechanism and the second dark box to move horizontally. The rotating mechanism is used to drive the second dark box to rotate. The second image acquisition device is provided inside the second dark box. One end of the second dark box is open, and a second light shielding mechanism is provided near the opening of the second dark box. The second lifting mechanism, the second translation mechanism, the rotation mechanism, the second driving mechanism in the second shading mechanism and the second image acquisition device are all electrically connected to the controller.

3. The plant phenotype collection system based on a bidirectional, multi-angle, adjustable darkroom according to claim 2, characterized in that: The stepper motor and the gear drive motor are both electrically connected to the controller; The fixing block in the second shading mechanism is fixedly connected to the inner wall of the second dark box, and the circular rack in the second shading mechanism is connected to the second dark box through a rack fixing piece.

4. The plant phenotype collection system based on a bidirectional, multi-angle, controllable darkroom according to claim 3, characterized in that: The lifting mechanism 1 includes a lifting motor, a connecting piece, a second gear, a strip-shaped rack, a first slide rail, a first slider and a first fixed plate. The strip-shaped rack is fixedly connected to the main bracket. The two first slide rails are fixedly connected to the main bracket in parallel with each other. The lifting motor is connected to the first fixed plate through the connecting piece. The shaft end of the lifting motor is connected to the second gear, and the second gear and the strip-shaped rack are meshed with each other. One side of the first fixed plate is connected to the first slider, and the first slider is slidably connected to the first slide rail. The other side of the first fixed plate is connected to the first translation mechanism. The translation mechanism 1 includes an electric cylinder 1 and a dark box connecting plate 1, wherein the flange-type electric cylinder base of the electric cylinder 1 is connected to the other side of the fixed plate 1, and the flange-type electric cylinder base is embedded with an electric cylinder telescopic rod, and the electric cylinder telescopic rod of the electric cylinder 1 is connected to the dark box 1 through the dark box connecting plate 1; The image acquisition device 1 in the dark box 1 includes a top camera 1, a side camera, a matrix light source 1 and a roller moving mechanism. The top of the dark box 1 is connected to the top camera 1, the side wall of the dark box 1 is connected to a symmetrical matrix light source 1, the side wall of the dark box 1 is connected to a circle of roller guide grooves, the roller moving mechanism is in rolling connection with the roller guide grooves, the roller moving mechanism is connected to the side camera, and the roller moving mechanism is used to drive the side camera to move along the roller guide grooves; The lifting motor, electric cylinder 1, top camera 1, side camera 1, matrix light source 1 and roller moving mechanism are all electrically connected to the controller.

5. The plant phenotype collection system based on a bidirectional, multi-angle, adjustable darkroom according to claim 4, characterized in that: The second lifting mechanism includes a screw drive motor, a coupling, a screw, a screw moving mechanism, a slider second, a slide rail second and a fixed plate second, the screw drive motor is connected to the main bracket through a motor mounting seat, the screw drive motor is connected to the screw through a coupling, a screw moving mechanism is threadedly connected to the screw, the screw is rotatably connected to the main bracket through a screw fixed support seat, the screw moving mechanism is connected to the middle part of one side of the fixed plate second, the fixed plate second is also connected to the slider second, the slider second is slidably connected to the slide rail second, the slide rail second is fixedly connected to the main bracket, and the other side of the fixed plate second is connected to the translation mechanism second; The second translation mechanism includes a second electric cylinder and a second dark box connecting plate. The flange-type electric cylinder base of the second electric cylinder is connected to the other side of the second fixed plate. The electric cylinder telescopic rod of the second electric cylinder is connected to the second dark box connecting plate. The rotating mechanism includes a steering motor and a gear set. The steering motor is connected to the second dark box connecting plate through a motor fixing seat. The shaft end of the steering motor is connected to the driving wheel in the gear set. The driven wheel in the gear set is connected to a connecting shaft. The connecting shaft is rotatably connected to the second dark box connecting plate through a ball bearing. The end of the connecting shaft is connected to the second dark box through a dark box fixing flange. The second image acquisition device in the second dark box includes a second top camera and a second matrix light source. The top of the second dark box is connected to the second top camera, and the side wall of the second dark box is connected to the second symmetrical matrix light source. The screw drive motor, the second electric cylinder, the steering motor, the second top camera and the second matrix light source are all electrically connected to the controller.

6. The plant phenotype collection system based on a bidirectional, multi-angle, adjustable darkroom according to claim 5, characterized in that: It also includes a power supply and a trolley remote control, which is wirelessly connected to the controller. The controller is provided with a display screen. The controller is electrically connected to the wheel drive motor in the walking chassis, and the wheel drive motor is used to drive the wheel to rotate. The power supply is electrically connected to the controller, wheel drive motor, screw drive motor, electric cylinder 2, steering motor, top camera 2, matrix light source 2, lifting motor, electric cylinder 1, top camera 1, side camera, matrix light source 1, roller moving mechanism, stepper motor and gear drive motor respectively.

7. A method for collecting plant phenotypes based on the bidirectional, multi-angle, controllable darkroom system of claim 3, characterized in that: include: (1) When it is necessary to collect a single plant image through the collection device: (1.1) Adjust the vertical position of the dark box 1 according to the vertical distance between the dark box 1 and the single plant, that is, the lifting mechanism 1 is powered on and drives the translation mechanism 1 and the dark box 1 to move up and down. When the vertical position adjustment of the dark box 1 is completed, the lifting mechanism 1 stops running; (1.2) Adjust the horizontal position of the dark box 1 in the left and right directions according to the left and right horizontal distance between the dark box 1 and the single plant, that is, the translation mechanism 1 is powered on and drives the dark box 1 to move horizontally in the left and right directions. When the horizontal position adjustment of the dark box 1 in the left and right directions is completed, the translation mechanism 1 stops running; (1.3) Adjusting the horizontal position of the dark box 1 in the front-to-back direction according to the front-to-back horizontal distance between the dark box 1 and the single plant, that is, the wheel drive motor in the walking chassis is powered on to drive the walking chassis to move forward and backward, thereby driving the dark box 1 to move horizontally in the front-to-back direction. When the horizontal position adjustment of the dark box 1 in the front-to-back direction is completed, the wheel drive motor in the walking chassis stops running; (1.4) The dark box has reached the top of the single plant, and the image acquisition device inside the dark box collects the plant image in real time and displays it on the display screen through the controller. The position of the plant trunk of the single plant in the dark box is observed through the display screen. If the display screen shows that the plant trunk is not at the center of the bottom surface of the dark box, execute steps (1.1), (1.2) and / or (1.3) until the display screen shows that the plant trunk is at the center of the bottom surface of the dark box; when the display screen shows that the plant trunk is at the center of the bottom surface of the dark box, the lifting mechanism is powered on and the lifting mechanism drives the dark box downward. When the dark box covers After surrounding the plant, the lifting mechanism stops running; the stepper motor in the rotating module on the dark box is powered on and starts working, driving the vertical connecting shaft to rotate through the bevel gear set, and the connecting shaft drives the folding sunshade to rotate. When the telescopic structure at one end of the folding sunshade fits tightly with the main trunk of the plant, the stepper motor stops running; then, the gear drive motor on the dark box is powered on and starts working, and the gear drive motor and gear one rotate along the circular rack, thereby driving the fan-shaped thin sheets in the folding sunshade to fully unfold, forming a circular sunshade that closes the opening of the dark box and can fit the main trunk of the plant, and the gear drive motor stops running; (1.5) The image acquisition device inside the dark box collects plant images and sends the plant images to the controller, which processes and analyzes the images, extracts the phenotypic information of individual plants, and displays it on the display screen in real time; (2) When it is necessary to collect images of plant organ parts through the second collection device: (2.1) Adjust the vertical position of the second dark box according to the vertical distance between the second dark box and the plant organ, that is, the second lifting mechanism is powered on and drives the second translation mechanism, the rotation mechanism and the second dark box to move up and down. When the vertical position of the second dark box is adjusted, the second lifting mechanism stops. (2.2) Adjust the horizontal position of the second dark box in the left and right directions according to the left and right horizontal distance between the second dark box and the plant organ, that is, the second translation mechanism is powered on and drives the second dark box to move horizontally in the left and right directions. When the horizontal position adjustment of the second dark box in the left and right directions is completed, the second translation mechanism stops operating; (2.3) Adjust the angle of the second dark box according to the angular position between the second dark box and the plant organ, that is, the rotating mechanism is powered on to drive the second dark box to rotate; when the angular position adjustment of the second dark box is completed, the rotating mechanism stops running; (2.4) The image acquisition device 2 inside the dark box 2 acquires the image of the plant organ part in real time and displays it on the display screen through the controller. The position of the plant organ part in the dark box 2 is observed through the display screen. If the display screen shows that the plant organ part is not at the center of the bottom surface of the dark box 2, steps (2.1), (2.2) and / or (2.3) are executed until the display screen shows that the plant organ part is at the center of the bottom surface of the dark box 2; when the display screen shows that the plant organ part is at the center of the bottom surface of the dark box 2, the wheel drive motor in the walking chassis is powered on and drives the dark box 2 to move horizontally in the front and rear directions. At the same time, the lifting mechanism 2 is powered on and drives the dark box 2 to move downward. When the dark box 2 covers and surrounds the plant organ, the wheel drive motor in the walking chassis is powered on and drives the dark box 2 to move horizontally in the front and rear directions. When the part and the plant organ part are still displayed at the center of the bottom surface of the second dark box, the wheel drive motor and the lifting mechanism 2 stop running; the stepper motor in the rotating module on the second dark box is powered on and starts to work, and drives the vertical connecting shaft to rotate through the bevel gear set, and the connecting shaft drives the folding light shielding plate 2 to rotate. When the telescopic structure at the two ends of the folding light shielding plate is tightly fitted with the stems in the plant organ part, the stepper motor stops running; then, the gear drive motor on the second dark box is powered on and starts to work, and the gear drive motor and gear 1 rotate along the circular rack, thereby driving the fan-shaped thin sheets in the second folding light shielding plate to fully unfold, forming a circular light shielding plate that closes the opening of the second dark box and can fit the plant stems, and the gear drive motor stops running; (2.5) The image acquisition device 2 inside the darkroom 2 acquires images of plant organ parts and sends the images of plant organ parts to the controller. The controller processes and analyzes the images, extracts phenotypic information of the plant organ parts, and displays it on the display screen in real time.

8. A method for collecting plant phenotypes based on the bidirectional, multi-angle, adjustable darkroom system of claim 6, characterized in that: include: a. Use the remote control to control the chassis to move to the target area; b. If it is necessary to collect images of a single plant using the collection device: (b.1) Adjusting the vertical position of darkroom 1 based on the vertical distance between darkroom 1 and the individual plant, that is, energizing the lifting motor in lifting mechanism 1 to drive gear 2 to move up and down on the bar-shaped rack, causing fixed plate 1 connected to the lifting motor to move up and down on slide rail 1, and also causing translation mechanism 1 and darkroom 1 connected to fixed plate 1 to move up and down; when the vertical position of darkroom 1 is adjusted, the lifting motor stops; (b.2) Adjust the horizontal position of dark box one in the left-right direction according to the horizontal distance between dark box one and the individual plant. That is, when electric cylinder one in translation mechanism one is powered on, the electric cylinder telescopic rod in electric cylinder one drives dark box one to move horizontally in the left-right direction via dark box connecting plate one. When the horizontal position adjustment of dark box one in the left-right direction is completed, the electric cylinder telescopic rod stops operating. (b.3) Adjusting the horizontal position of the dark box 1 in the front-to-back direction based on the front-to-back horizontal distance between the dark box 1 and the individual plant, that is, energizing the wheel drive motors in the traveling chassis to drive the traveling chassis to move back and forth, thereby driving the dark box 1 to move horizontally in the front-to-back direction. Once the adjustment of the horizontal position of the dark box 1 in the front-to-back direction is completed, the wheel drive motors in the traveling chassis stop operating. (b.4) Dark box 1 has reached above the single plant, and the top camera 1 inside the dark box 1 collects the plant image in real time and displays it on the display screen through the controller. The position of the plant in the dark box 1 is observed through the display screen. If the display screen shows that the trunk of the single plant is not at the center position of the bottom surface of the dark box 1, execute steps (b.1), (b.2) and / or (b.3) until the display screen shows that the trunk of the plant is at the center position of the bottom surface of the dark box 1; when the display screen shows that the trunk of the plant is at the center position of the bottom surface of the dark box 1, the lifting motor in the lifting mechanism 1 is powered on and the lifting motor drives the dark box 1 to move downward. When the dark box 1 cage After the cover surrounds the plant, the lifting motor stops running; the stepper motor in the rotating module on the dark box is powered on and starts working, driving the vertical connecting shaft to rotate through the bevel gear set, and the connecting shaft drives the folding sunshade to rotate. When the telescopic structure at one end of the folding sunshade fits tightly with the main trunk of the plant, the stepper motor stops working; then, the gear drive motor on the dark box is powered on and starts working, and the gear drive motor and gear one rotate along the circular rack, thereby driving the fan-shaped thin sheets in the folding sunshade to fully unfold, forming a circular sunshade that closes the opening of the dark box and can fit the main trunk of the plant, and the gear drive motor stops working; (b.5) Matrix light source 1 in darkroom 1 is powered on to illuminate the plant, top camera 1 captures plant images, and the roller movement mechanism is powered on to operate, driving the side cameras to move at a constant speed along the roller guide grooves. The side cameras capture multiple side images of the plants. Top camera 1 and the side cameras transmit the multiple plant images to the controller, which processes and analyzes the images, extracts phenotypic information of the individual plants, and displays it in real time on the display screen. c. If it is necessary to collect images of plant organs through the second collection device: (c.1) Adjust the vertical position of the second darkroom according to the vertical distance between the second darkroom and the plant organ. Specifically, the screw drive motor in the second lifting mechanism is powered on and drives the screw to perform circular motion through a coupling. The screw moving mechanism, which is threadedly connected to the screw, performs linear lifting motion on the screw. The second fixed plate, which is connected to the screw moving mechanism, performs lifting motion on the second slide rail. The second translation mechanism, which is connected to the second fixed plate, and the second darkroom also perform lifting motion. Once the vertical position of the second darkroom is adjusted, the screw drive motor stops. (c.2) Adjust the horizontal position of the second dark box in the left-right direction according to the horizontal distance between the second dark box and the plant organ. That is, the second electric cylinder in the second translation mechanism is powered on, and the electric cylinder telescopic rod in the second electric cylinder drives the second dark box to move horizontally in the left-right direction through the second dark box connecting plate. When the horizontal position adjustment of the second dark box is completed, the electric cylinder telescopic rod stops. (c.3) adjusting the angle of the second dark box according to the angular position between the second dark box and the plant organ, that is, turning on the steering motor in the rotating mechanism to drive the second dark box to rotate via the gear set and the connecting shaft; when the angular position of the second dark box is adjusted, the steering motor stops running; (c.4) The top camera 2 inside the dark box 2 collects the image of the plant organ part in real time and displays it on the display screen through the controller. The position of the plant organ part in the dark box 2 is observed through the display screen. If the display screen shows that the plant organ part is not at the center of the bottom surface of the dark box 2, execute steps (c.1), (c.2) and / or (c.3) until the display screen shows that the plant organ part is at the center of the bottom surface of the dark box 2; when the display screen shows that the plant organ part is at the center of the bottom surface of the dark box 2, the wheel drive motor in the walking chassis is powered on and drives the dark box 2 to move horizontally in the front and rear directions. At the same time, the screw drive motor in the lifting mechanism 2 is powered on and drives the dark box 2 to move downward. When the dark box 2 covers and surrounds the plant organ, When the plant organ part and the plant organ part are still displayed at the center position of the bottom surface of the dark box two, the wheel drive motor and the screw drive motor stop running; the stepper motor in the rotating module on the dark box two is powered on and starts to work, and drives the vertical connecting shaft to rotate through the bevel gear set, and the connecting shaft drives the foldable light shielding plate two to rotate. When the telescopic structure at the two ends of the foldable light shielding plate is tightly fitted with the stem of the plant organ part, the stepper motor stops running; then, the gear drive motor on the dark box two is powered on and starts to work, and the gear drive motor and gear one rotate along the circular rack, thereby driving the fan-shaped thin sheets in the foldable light shielding plate two to fully unfold, forming a circular light shielding plate that closes the opening of the dark box two and can fit the plant stem, and the gear drive motor stops running; (c.5) The matrix light source 2 in the darkroom 2 is powered on for illumination, and the top camera 2 collects images of plant organ parts and sends the images of plant organ parts to the controller. The controller processes and analyzes the images, extracts phenotypic information of the plant organ parts, and displays it on the display screen in real time.

Images