Rice high-throughput phenotyping platform device based on dual-mode fusion and use method

Abstract

The present invention relates to a rice high-throughput phenotyping group platform device based on dual-mode fusion and a method for using the same. The platform device realizes high-throughput compatible detection of canopy phenotypes of potted rice at a top-view angle and plant phenotypes at a side-view angle. The track-type phenotyping group acquisition module can be used to obtain top-view images and phenotypic parameters of potted rice. The assembly-line phenotyping group acquisition module is adjacent to the track-type phenotyping group acquisition module and can be used to obtain side-view images and phenotypic parameters of a single potted rice plant. The lifting and transportation module is used to complete the transportation of plants between the track-type phenotyping group acquisition module and the assembly-line phenotyping group acquisition module. The present invention can not only acquire high-throughput phenotypic parameters of potted plants through the track-type acquisition mode and the assembly-line acquisition mode, but also realizes timely activation of the full-automatic acquisition mode through regular detection of target cells and judgment of key thresholds, so as to comprehensively and accurately acquire phenotypic parameters of crops during key growth periods, thereby greatly improving automation efficiency.

Description

Technical Field

[0001] The present invention relates to the field of agricultural automation and informatization, and in particular to a rice high-throughput phenotyping group platform device based on dual-mode fusion and a use method thereof. Background Art

[0002] The acquisition and analysis of rice plant growth information is an important part of my country's modern rice breeding system and functional genomics research, and is also the key technology for rice breeding and functional gene research. The measurement and quantitative analysis of various phenotypic growth information of rice plants throughout their growth period is a direct manifestation of rice growth and development, physiological research, genetic variation and other life processes, and is also a direct manifestation of digital agriculture.

[0003] In recent years, the contradiction between traditional crop phenotyping methods and accelerated breeding has become increasingly prominent, and with the rapid development and application of computers and phenomics, the research on automated plant phenotyping technology has also developed rapidly at home and abroad. The image acquisition system TraitMill was first designed and developed by CropDesign in Belgium, applying optical measurement technology to the measurement of plant phenotypes; Lemna Tec in Germany used three-dimensional imaging technology to design and build a "fully automatic high-throughput plant 3D imaging system" that can perform high-efficiency, high-throughput, and automated fine phenotypic analysis of plants. In recent years, there has been some development in the domestic automated analysis and measurement system of plant phenotypes. In 2013, my country introduced Lemna Tec's plant phenotyping detection platform for the first time and settled it in Langfang. In 2015, the Institute of Botany, Chinese Academy of Sciences developed Crop 3D, a high-throughput crop phenotyping platform based on lidar technology, to provide data support for phenomics research. In 2017, the Institute of Genetics and Developmental Biology, Chinese Academy of Sciences built a plant phenomics analysis platform (PPAP), which integrates multiple imaging units and can be applied to crop breeding and stress research.

[0004] The above existing technologies are limited to the research directions of each research institution, with a single detection mode, supporting only one mode of in-situ canopy scanning of plants or side view image scanning of single pots. The design architecture is not compatible with complete field plots and high-throughput automated acquisition in darkrooms, and it is not possible to achieve multi-scale image acquisition of plants, which is not conducive to the comprehensive and accurate phenotypic trait acquisition of plants. When the above existing technologies are used for regular detection, only phenotypic parameters at fixed time points can be obtained, resulting in the loss of key phenotypic trait parameters in the key growth period of some plants. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In order to solve the technical problems that the existing technology is difficult to adapt to complete field plots and darkroom collection, the degree of automation is not high, and the key phenotypic shape parameters in the key growth period are not accurate, the present invention proposes a rice high-throughput phenotyping group platform device based on dual-mode fusion and a method of use.

[0007] (II) Technical solution

[0008] In order to solve the technical problem, the present invention provides a rice high-throughput phenotyping platform device based on dual-mode fusion and a method of use, and the specific technical solution is as follows.

[0009] A high-throughput rice phenotyping group platform device based on dual-mode fusion is characterized in that the platform device includes a track-type phenotyping group acquisition module, an assembly-line phenotyping group acquisition module and a lifting and transportation module; wherein the track-type phenotyping group acquisition module is used to obtain top-view images and phenotypic parameters of rice potted plants, so as to realize rapid positioning and real-time monitoring of rice plants; the assembly-line phenotyping group acquisition module is arranged adjacent to the track-type phenotyping group acquisition module, so as to obtain side-view images and phenotypic parameters of single-pot rice potted plants, so as to realize high-throughput and automated detection of phenotypic parameters throughout the growth period; the lifting and transportation module is installed on the track-type phenotyping group acquisition module, so as to complete the transportation of plants between the track-type phenotyping group acquisition module and the assembly-line phenotyping group acquisition module.

[0010] Preferably, the track-type phenotype group acquisition module includes a planting area, an image acquisition module, an image processing module and a hardware control module; the planting area includes N independent planting units, N≥1; each planting unit includes two mutually parallel X-axis tracks, a rack, a Y-axis track perpendicular to the X-axis track, and multiple rows of brackets and a number of potted plants located between the two X-axis tracks; the Y-axis track spans across the two X-axis tracks through the rack and can move along the X-axis direction; the multiple rows of brackets are arranged in sequence, each bracket is designed to be long and parallel to the Y-axis track, and a row of potted plants is placed on the bracket; the image acquisition module includes a mobile trolley and a sensor module carried by it, the mobile trolley is placed on the Y-axis track, can move along the Y-axis direction, and can move as a whole on the X-axis track along the X-axis direction together with the Y-axis track, thereby driving the sensor module to move above the plant to be tested; the image processing module and the hardware control module are mounted on the mobile trolley, and are used to process the image collected by the sensor and hardware control respectively.

[0011] Preferably, the mobile cart is equipped with an X-axis photoelectric switch and a Y-axis photoelectric switch, which are used for precise positioning of the coordinates of the mobile cart in the X direction and the Y direction respectively; the sensor module carried on the mobile cart includes one or more of an RGB camera, a hyperspectral camera, a thermal infrared camera and a lidar scanner.

[0012] Preferably, the assembly line phenotypic group acquisition module includes a roller conveyor line, a collection darkroom and N chain conveyor lines; the roller conveyor line and the N chain conveyor lines are connected in series and are flush in height, together forming a conveying closed loop; each chain conveyor line is designed to be long and has a length that matches the bracket of the planting unit, and is aligned parallel to the multiple rows of brackets in the Y-axis direction. The chain conveyor line is adjacent to the outer side of the area of ​​the corresponding planting unit, and is used to receive the entire row of potted plants lifted and transported from the track-type phenotypic group acquisition module, and then transport each potted plant to the roller conveyor line; the roller conveyor line is used to transport the potted plants to be tested to the collection darkroom, and to transport the tested potted plants back to the original position of the chain conveyor line; the collection darkroom is used to collect, process and analyze the phenotypic data of the plants.

[0013] Preferably, the potted plant data collected and processed in the acquisition darkroom include one or more of visible light images, hyperspectral images and CT images.

[0014] Preferably, the lifting and transporting module is used to realize the lifting and transporting of potted plants between the planting area and the chain conveyor line, and specifically includes a roller sliding structure, a manipulator grasping structure, a winch structure and an electric control structure; the roller sliding structure includes an upper and lower part, the first part is installed at the bottom of the frame and connected to the X-axis track, and its function is to move and position the frame, and the second part is installed on both sides of the top of the frame, and its function is to guide and support, and is connected to the manipulator through one end of the wire rope, and the other end is wound on the winch; the manipulator grasping structure is used to lift and lower the bracket, and is fixedly connected to the second part of the roller sliding structure by bolts to perform vertical lifting movement; under the traction of the winch structure, the wire rope pulls the manipulator to perform vertical movement to lift or lower the bracket; the encoder in the electric control structure can accurately locate the bracket position, and calculate the lifting height of the manipulator to complete the lifting and transport of the potted plants.

[0015] Preferably, the bracket adopts an internal hollow design, and two inward-facing, parallel side protrusions are provided on the inner side of the bracket, so that it can just accommodate the iron support used to carry a whole row of potted plants; the interval width between the two side protrusions is slightly larger than the width of the chain conveyor line, so that when the lifting and transfer module transfers the bracket from the planting area to the top of the chain conveyor line and then lowers it, the bracket can be sleeved on the chain conveyor line, so that the iron support and the potted plants are lifted up by the chain conveyor line, thereby completing the transfer of the plants from the planting area to the chain conveyor line; when the lifting mechanism drives the bracket to perform a lifting operation at the chain conveyor line position, the side protrusions on the inner side of the bracket lift the iron support and the potted plants, completing the removal and transfer of the plants from the chain conveyor line.

[0016] A method for using a rice high-throughput phenotyping platform based on dual-mode fusion, which uses the aforementioned rice high-throughput phenotyping platform device based on dual-mode fusion for data collection, and the method of use includes a track collection mode, a pipeline collection mode, and a fully automatic collection mode;

[0017] Among them, the specific steps of the orbital acquisition mode are as follows:

[0018] Step 1A, the user sets the coordinates of the target cell to be measured;

[0019] Step 1B, the mobile car starts the automatic positioning function, first automatically moves on the Y-axis track to retrieve the Y-direction coordinate, then automatically moves on the X-axis track to retrieve the X-direction coordinate, and adjusts the camera position and field of view by adjusting the Z-axis lifting structure to determine the coverage of the target cell;

[0020] Step 1C, turning on the sensor module to collect an in-situ top view image of the plant;

[0021] Step 1D, data storage, processing, display and upload of the collected images.

[0022] Preferably, the specific steps of the pipeline acquisition mode are as follows:

[0023] Step 2A, the user sets the coordinates of the target row to be measured;

[0024] Step 2B, the mobile car starts the automatic positioning function, automatically moves on the X-axis track to retrieve the coordinates, determines the target row, and completes the positioning;

[0025] Step 2C, start the lifting and transporting module through the wireless control terminal, transport the bracket to the chain conveyor line, and the whole row of plants enters the assembly line circulation;

[0026] Step 2D, controlling the chain conveyor line and the roller conveyor line through the computer system to send the potted plants into the collection darkroom, and remotely controlling the image collection;

[0027] Step 2E, after the collection is completed, the potted plants are transported back to the chain conveyor line through the roller conveyor line, and the entire row of plants is reset to the original position in the planting area through the lifting and transfer module;

[0028] Step 2F, store, process, display and upload the collected images.

[0029] Preferably, the specific steps of the fully automatic acquisition mode are as follows:

[0030] Step 3A, the user sets the automatic collection time interval, sets the long-term monitoring target plot in the planting area, and sets the key threshold of the phenotypic trait;

[0031] Step 3B, using the orbital acquisition mode to conduct long-term monitoring of the target plot in the planting area, and regularly acquiring the plant growth phenotypic parameters of the target plot according to the set automatic acquisition time interval;

[0032] Step 3C: after judging that the detected trait of the target plot reaches the critical threshold, that is, after the rice enters the critical growth period, the assembly line phenotype group acquisition module is automatically started, and the side view images of the single potted plants are comprehensively collected and analyzed through the assembly line acquisition mode to obtain the phenotypic information of the single potted plants covering the entire planting area;

[0033] Step 3D, data storage, processing, display and upload of the collected images.

[0034] (III) Beneficial effects

[0035] Compared with the prior art, the beneficial effects of the present invention are at least reflected in the following aspects.

[0036] First, the present invention realizes the compatibility of the assembly-line phenotype group acquisition module and the track-type phenotype group acquisition module for the first time, realizes the fusion design of the two detection methods, makes up for the lack of image acquisition scale in a single mode, and improves the automation level and detection efficiency of the platform device.

[0037] Secondly, the present invention has made an original design for the two collection modules and the lifting and transfer modules. The chain conveyor line, the bracket, the iron support and the lifting and lowering components cooperate with each other in a unique way, so that the two collection modules and the lifting and transfer modules can achieve seamless connection in terms of mechanics, control, communication and test group information, and can automatically and quickly transport a whole row of plants from the planting area to the assembly line and from the assembly line back to the planting area, thereby realizing the smooth switching transition between the two detection methods and ensuring high throughput and high efficiency.

[0038] In addition, the present invention is provided with an automated monitoring and collection program. After the track-type phenotypic group determines that the detection trait of the target plot has reached a key threshold, that is, after the rice enters the critical growth period, the assembly-line phenotypic group collection module is automatically started to obtain the phenotypic information of a single pot plant covering the entire planting area, thereby realizing fully automatic phenotypic information collection. Compared with the traditional manually defined detection time points, the automated monitoring and collection program can effectively reduce human errors, unify monitoring standards, and ensure the accurate collection of key phenotypic parameters in the critical growth period.

[0039] Finally, the platform device provided by the present invention is modular in design, relatively low in cost, convenient and quick to operate, and has the potential for large-scale promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The overall structure diagram of the platform device embodiment is as follows

[0041] Figure 2 It is a partial enlarged schematic diagram of an embodiment of a platform device

[0042] Figure 3 This is a schematic diagram of the structure of the orbital phenotype collection module.

[0043] Figure 4 It is a schematic diagram of the image acquisition module of the track phenotype group acquisition module

[0044] Figure 5 It is a schematic diagram of the bracket structure of the planting area of ​​the track phenotype group acquisition module

[0045] Figure 6 This is a schematic diagram of the lifting and transfer module structure. DETAILED DESCRIPTION

[0046] In order to solve the technical problem, the present invention provides a rice high-throughput phenotyping platform device based on dual-mode fusion and a method for using the same. The technical solution of the present invention is further explained in conjunction with the accompanying drawings of the specification.

[0047] The present invention provides a high-throughput phenotyping platform device based on dual-mode fusion, wherein the overall structure diagram of one embodiment is as Figure 1 As shown, the local enlarged schematic diagram is as follows Figure 2 The platform device includes a track phenotype group acquisition module, a line phenotype group acquisition module and a lifting and transport module.

[0048] Specifically, the orbital phenotype group acquisition module is as follows Figure 3 As shown, including:

[0049] The planting area 10 is used to place rice pots, including two independent planting units; each planting unit includes two mutually parallel X-axis rails 6, a frame 1, a Y-axis rail 8 perpendicular to the X-axis rail 6, and multiple rows of brackets 13 and a plurality of potted plants located between the two X-axis rails 6; the multiple rows of brackets are arranged in sequence, each bracket 13 is designed to be long and parallel to the Y-axis rail 8, and the brackets 13 are as shown in FIG. Figure 5 As shown, a row of potted plants are placed, wherein the bracket adopts an internal hollow design, and the inner side of the bracket is provided with two inwardly facing, mutually parallel side bar protrusions, so that it can just place the iron bracket 25 used to carry the entire row of potted plants 24;

[0050] Image acquisition module: Figure 4As shown, it includes a mobile car 2 and a sensor module such as a hyperspectral camera 19, a thermal infrared camera 20, an RGB camera 21, and a laser radar 22. The mobile car is placed on a Y-axis track 8 and can move along the Y-axis direction. At the same time, it can move as a whole on the X-axis track 6 along the X-axis direction together with the Y-axis track, thereby driving the sensor module to move above the plant to be tested. In addition, the mobile car 2 can move in the direction of the Z-axis track 23 to adjust the sensor height and field of view;

[0051] Image processing module: including a computer and its program algorithm, which is mounted on a mobile vehicle. It performs image segmentation and reconstruction through processing methods such as the hyper-G algorithm, threshold segmentation, and deep learning algorithm. It also processes the reconstructed image to obtain phenotypic parameters such as color-related, biomass-related, morphological structure-related, growth rate-related, temperature-related, and optical-related, and completes the image processing work collected by the sensor.

[0052] Hardware control module: Use the wireless control terminal 11 to communicate remotely to realize the movement of the mobile cart 2 on the planting area 10, wherein the mobile cart 2 is installed with an X-axis photoelectric switch 3 and a Y-axis photoelectric switch 4, the X-axis track 6 is installed with an X-axis photoelectric switch sensor 5, the Y-axis track 8 is installed with a Y-axis photoelectric switch sensor 7, the XY-axis photoelectric switch is connected to the controller 9, and the position of the mobile cart 2 in the planting area is judged by sensing the state of the XY-axis photoelectric switch sensor, and finally the movement of the mobile cart 2 in the three directions of X, Y, and Z is controlled to achieve the purpose of precise positioning and image acquisition.

[0053] Specifically, the assembly line phenotype group acquisition module includes:

[0054] Roller conveyor line: The roller conveyor line 15 is used to transport the potted plants to be tested to the darkroom for collecting, and to transport the tested potted plants back to the original position of the chain conveyor line 14, and is connected in series with the two chain conveyor lines at the same height, together forming a closed-loop conveying circuit;

[0055] 2 chain conveyor lines; each chain conveyor line 14 is designed to be long, the length of which matches the bracket 13 of the planting unit, and is aligned parallel to the multiple rows of brackets 13 in the Y-axis direction. The chain conveyor line 14 is adjacent to the outer side of the area of ​​the corresponding planting unit, and is used to receive the entire row of potted plants lifted and transported from the track-type phenotyping group collection module, and then transport each potted plant to the roller conveyor line 15;

[0056] Collection darkroom: including hyperspectral darkroom 16, RGB darkroom 17, CT scanning darkroom 18. Whenever the roller conveyor line 15 accurately transports the rice potted plants to the collection darkroom, the potted plants stop on the rotating table and rotate 360° to take pictures, collect the side RGB image, spectral image and internal CT image of the single potted rice plant, and extract the phenotypic traits.

[0057] Specifically, the lifting and transporting module is as follows: Figure 6 As shown, including:

[0058] Roller sliding structure: The roller sliding structure includes two parts, the first part is installed at the bottom of the frame and connected to the X-axis track 6, and its function is to move and position the frame 1 in the X-axis direction. The second part 26 is located above the column 27 and installed on both sides of the top of the frame. Its function is to guide and support. One end of the wire rope is connected to the manipulator 29, and the other end is wound on the winch 28;

[0059] Manipulator grabbing structure: The manipulator 29 is the executive component for extracting or lowering the bracket, and is fixedly connected to the second part of the roller sliding structure by bolts for vertical lifting movement. The manipulator 29 is designed as an inner V-shaped structure, and the two sides of the bracket are designed as an outer V-shaped structure, which is convenient for the manipulator to grab and perform the lifting and lowering of the bracket 13;

[0060] Hoist structure: The hoist 28 is composed of a drum, a reduction motor, and a coupling. One side of the drum is connected to the reduction motor shaft, and the other side of the drum is connected to the encoder through a coupling. The frame structure 1 first moves to the target line and stops, and the hoist 28 starts to work. Under the traction of the hoist 28, the wire rope traction manipulator 29 moves vertically to complete the lifting or lowering of the bracket;

[0061] Electric control structure: The function of the electric control structure is to control the encoder to accurately locate the target row position of the bracket through the wireless control terminal 11, and calculate the lifting height of the manipulator 29 to complete the lifting and transportation of potted plants. At the same time, it is connected to the computer system 12 through one end of the PLC controller, and communicates through the serial port to control the stable operation of the conveyor line and the uniform rotation of the image acquisition rotating table;

[0062] Specifically, the massive phenotypic images and data collected by the dual-mode fusion rice high-throughput phenotyping platform are stored in the database management module, which mainly includes the following functions: login management of different types of users, system background management, massive data query of rice crops with multiple traits, graphical display of data analysis results, file download and other functions, integrating images and phenotypic data related to rice visible light, hyperspectral, CT, infrared, laser radar, etc., so that users can search and analyze massive experimental data according to conditions such as year, number, environmental factors, growth period, research traits, etc. Provide a visual analysis interface, display the data retrieval results in a graphical way, and present them to users more intuitively according to the rules.

[0063] A rice high-throughput phenotyping group platform device based on dual-mode fusion and a method of use, using the aforementioned track-type phenotyping group acquisition module, assembly-line phenotyping group acquisition module, and lifting and transporting module, characterized in that the method of use includes a track-type acquisition mode, an assembly-line acquisition mode, and a fully automatic acquisition mode, and the measurement method includes the following steps:

[0064] Among them, the specific steps of the orbital acquisition mode are as follows:

[0065] Step 1A, the user sets the coordinates of the target cell to be measured;

[0066] Step 1B, the mobile vehicle 2 starts the automatic positioning function, first automatically moves on the X-axis track 6 to retrieve the X-direction coordinate, and then automatically moves on the Y-axis track 8 to retrieve the Y-direction coordinate, and adjusts the camera position and field of view by adjusting the Z-axis lifting structure 23 to determine the coverage of the target cell;

[0067] Step 1C, turning on the sensor module to collect an in-situ top view image of the plant;

[0068] Step 1D, data storage, processing, display and upload of the collected images.

[0069] Preferably, the specific steps of the pipeline acquisition mode are as follows:

[0070] Step 2A, the user sets the coordinates of the target row to be measured;

[0071] Step 2B, the moving car 2 activates the automatic positioning function, automatically moves the search coordinates on the X-axis track, determines the target row, and completes the positioning;

[0072] Step 2C: The lifting and transport module is activated through the wireless control terminal, and the bracket 13 is transported to the chain conveying line 14, and the entire row of plants enters the assembly line cycle;

[0073] Step 2D, the chain conveying line 14 and the roller conveying line 15 are controlled by the computer system 12, and the potted plants are sent into the acquisition dark room, and image acquisition is remotely controlled;

[0074] Step 2E, complete the collection, the potted plants are transported back to the chain conveying line 14 through the roller conveying line 15, and the entire row of plants is reset to the original position of the planting area through the lifting and transport module;

[0075] Step 2F, store, process, display and upload the collected images.

[0076] Preferably, the specific steps of the fully automatic acquisition mode are as follows:

[0077] Step 3A, the user sets the automatic collection time interval, sets the long-term monitoring target plot in the planting area, and sets the key threshold of the phenotypic trait;

[0078] Step 3B, using the orbital acquisition mode to conduct long-term monitoring of the target plot in the planting area, and regularly acquiring the plant growth phenotypic parameters of the target plot according to the set automatic acquisition time interval;

[0079] Step 3C: after judging that the detected trait of the target plot reaches the critical threshold, that is, after the rice enters the critical growth period, the assembly line phenotype group acquisition module is automatically started, and the side view images of the single potted plants are comprehensively collected and analyzed through the assembly line acquisition mode to obtain the phenotypic information of the single potted plants covering the entire planting area;

[0080] Step 3D, data storage, processing, display and upload of the collected images.

[0081] The specific embodiments described in this application are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A rice high-throughput phenotyping platform device based on dual-mode fusion, characterized in that: The platform device includes a track-type phenotypic group acquisition module, an assembly-line phenotypic group acquisition module and a lifting and transporting module; wherein the track-type phenotypic group acquisition module is used to obtain top-view images and phenotypic parameters of rice pot plants, so as to realize rapid positioning and real-time monitoring of rice plants; the assembly-line phenotypic group acquisition module is arranged adjacent to the track-type phenotypic group acquisition module, so as to obtain side-view images and phenotypic parameters of single-pot rice pot plants, so as to realize high-throughput and automated detection of phenotypic parameters during the whole growth period; the lifting and transporting module is installed on the track-type phenotypic group acquisition module, so as to complete the transport of plants between the track-type phenotypic group acquisition module and the assembly-line phenotypic group acquisition module; The track-type phenotype group acquisition module includes a planting area, an image acquisition module, an image processing module and a hardware control module; the planting area includes N independent planting units, N≥1; each planting unit includes two mutually parallel X-axis tracks, a rack, a Y-axis track perpendicular to the X-axis track, and multiple rows of brackets and a number of potted plants located between the two X-axis tracks; the Y-axis track spans across the two X-axis tracks through the rack and can move along the X-axis direction; the multiple rows of brackets are arranged in sequence, each bracket is designed to be long and parallel to the Y-axis track, and a row of potted plants is placed on the bracket; the image acquisition module includes a mobile trolley and a sensor module carried by it, the mobile trolley is placed on the Y-axis track, can move along the Y-axis direction, and can move as a whole on the X-axis track along the X-axis direction together with the Y-axis track, thereby driving the sensor module to move above the plant to be tested; the image processing module and the hardware control module are mounted on the mobile trolley, and are used to process the image collected by the sensor and hardware control respectively; The assembly line phenotypic group acquisition module includes a roller conveyor line, a collection darkroom and N chain conveyor lines; the roller conveyor line and the N chain conveyor lines are connected in series and are flush with each other in height, forming a conveying closed loop together; each chain conveyor line is designed to be long, the length of which matches the bracket of the planting unit, and is aligned parallel to the multiple rows of brackets in the Y-axis direction, and the chain conveyor line is adjacent to the outer side of the area of ​​the corresponding planting unit, and is used to receive the whole row of potted plants lifted and transported from the track-type phenotypic group acquisition module, and then transport each potted plant to the roller conveyor line; the roller conveyor line is used to transport the potted plants to be tested to the collection darkroom, and transport the tested potted plants back to the original position of the chain conveyor line; the collection darkroom is used to collect and process the phenotypic data of the plants; The platform device can collect data in a fully automatic collection mode. The specific steps of the fully automatic collection mode are as follows: Step 3A, the user sets the automatic collection time interval, sets the long-term monitoring target plot in the planting area, and sets the key threshold of the phenotypic trait; Step 3B, using the orbital acquisition mode to conduct long-term monitoring of the target plot in the planting area, and regularly acquiring the plant growth phenotypic parameters of the target plot according to the set automatic acquisition time interval; Step 3C: after judging that the detected trait of the target plot reaches the critical threshold, that is, after the rice enters the critical growth period, the assembly line phenotype group acquisition module is automatically started, and the side view images of the single potted plants are comprehensively collected and analyzed through the assembly line acquisition mode to obtain the phenotypic information of the single potted plants covering the entire planting area; Step 3D, data storage, processing, display and upload of the collected images.

2. The rice high-throughput phenotyping platform device based on dual-mode fusion according to claim 1, characterized in that: The mobile cart is equipped with an X-axis photoelectric switch and a Y-axis photoelectric switch, which are used for precise positioning of the coordinates of the mobile cart in the X direction and the Y direction respectively; the sensor module carried on the mobile cart includes one or more of an RGB camera, a hyperspectral camera, a thermal infrared camera and a lidar scanner.

3. The rice high-throughput phenotyping platform device based on dual-mode fusion according to claim 1, characterized in that: The potted plant data collected and processed in the acquisition darkroom include one or more of visible light images, hyperspectral images and CT images.

4. The rice high-throughput phenotyping platform device based on dual-mode fusion according to claim 1, characterized in that: The lifting and transfer module is used to realize the lifting and transfer of potted plants between the planting area and the chain conveyor line, and specifically includes a roller sliding structure, a manipulator grasping structure, a winch structure and an electric control structure; the roller sliding structure includes an upper and lower part, the first part is installed at the bottom of the frame and connected to the X-axis track, and its function is to move and position the frame, and the second part is installed on both sides of the top of the frame, and its function is to guide and support, and is connected to the manipulator through one end of the wire rope, and the other end is wound on the winch; the manipulator grasping structure is used to perform the lifting and lowering of the bracket, and is fixedly connected to the second part of the roller sliding structure by bolts for vertical lifting movement; under the traction of the winch structure, the wire rope pulls the manipulator to move vertically to lift or lower the bracket; the encoder in the electric control structure can accurately locate the bracket position, and calculate the lifting height of the manipulator to complete the lifting and transfer of the potted plants.

5. The rice high-throughput phenotyping platform device based on dual-mode fusion according to claim 4, characterized in that: The bracket adopts an internal hollow design, and two inward-facing, parallel side protrusions are provided on the inner side of the bracket, so that it can just accommodate the iron bracket used to carry a whole row of potted plants; the interval width between the two side protrusions is slightly larger than the width of the chain conveyor line, so that when the lifting and transfer module transfers the bracket from the planting area to the top of the chain conveyor line and then lowers it, the bracket can be put on the chain conveyor line, so that the iron bracket and the potted plants are lifted up by the chain conveyor line, thereby completing the transfer of the plants from the planting area to the chain conveyor line; when the lifting mechanism drives the bracket to perform a lifting operation at the chain conveyor line position, the side protrusions on the inner side of the bracket lift the iron bracket and the potted plants, completing the removal and transfer of the plants from the chain conveyor line.

6. A method for using a rice high-throughput phenotyping platform based on dual-mode fusion, which uses the rice high-throughput phenotyping platform device based on dual-mode fusion as described in any one of claims 1 to 5 for data collection, characterized in that: The use method includes a track-type acquisition mode, an assembly line acquisition mode and a fully automatic acquisition mode; Among them, the specific steps of the orbital acquisition mode are as follows: Step 1A, the user sets the coordinates of the target cell to be measured; Step 1B, the mobile car starts the automatic positioning function, first automatically moves on the Y-axis track to retrieve the Y-direction coordinate, and then automatically moves on the X-axis track to retrieve the X-direction coordinate, and adjusts the camera position and field of view by adjusting the z-axis lifting structure to determine the coverage of the target cell; Step 1C, turning on the sensor module to collect an in-situ top view image of the plant; Step 1D, data storage, processing, display and upload of the collected images.

7. The method for using the rice high-throughput phenotyping platform based on dual-mode fusion according to claim 6, characterized in that: The specific steps of pipeline acquisition mode are as follows: Step 2A, the user sets the coordinates of the target row to be measured; Step 2B, the mobile car starts the automatic positioning function, automatically moves on the X-axis track to retrieve the coordinates, determines the target row, and completes the positioning; Step 2C, start the lifting and transporting module through the wireless control terminal, transport the bracket to the chain conveyor line, and the whole row of plants enters the assembly line circulation; Step 2D, controlling the chain conveyor line and the roller conveyor line through the computer system to send the potted plants into the collection darkroom, and remotely controlling the image collection; Step 2E, after the collection is completed, the potted plants are transported back to the chain conveyor line through the roller conveyor line, and the entire row of plants is reset to the original position in the planting area through the lifting and transfer module; Step 2F, store, process, display and upload the collected images.

Images