Hydroponic Plant Automatic Grasping and Photographing Device and 3D Point Cloud Reconstruction Method

Abstract

The present invention provides a hydroponic plant automatic capture and photography device and a three-dimensional point cloud reconstruction method. The first X-axis motion component, the first Y-axis motion component, and the first Z-axis motion component are linked to drive the telescopic component and the gripper component to move. The second X-axis motion component, the second Y-axis motion component, and the second Z-axis motion component are linked to drive the rotational photography component to move. The rotational photography component can perform 360° rotation photography of a single plant captured by the gripper component, and can reconstruct the three-dimensional point cloud data of the single plant through the photograph. The plant in the hydroponic tank can be captured and placed in an unobstructed position for photography, so that the captured plant can be photographed completely from multiple angles, so as to reconstruct the three-dimensional point cloud of the hydroponic plant according to the acquired plant picture.

Description

Technical Field

[0001] The present invention relates to the technical field of plant phenotype platforms for experiments, and particularly relates to a hydroponic plant automatic grasping and photographing device and a three-dimensional point cloud reconstruction method. Background Art

[0002] The existing plant phenotype platforms mainly adopt a structure in which a camera is driven by X-axis, Y-axis, and Z-axis linear motion mechanisms to photograph plants located directly below it. Specifically, as disclosed in a Chinese utility model patent with the publication number CN212107611U, a laboratory-type full-automatic high-throughput plant phenotype platform includes an X-direction rack track, an X-direction gear walking mechanism, a Y-direction cross beam, a Y-direction moving part, a Z-direction moving part, a camera device, and a seedbed. Two X-direction rack tracks are arranged in parallel and are respectively fixed on the cross beam of the truss. An X-direction gear walking mechanism is fixed at each end of the Y-direction cross beam. One end of the X-direction gear walking mechanism is fixed on the Y-direction cross beam, and the other end is connected to the X-direction rack track. The X-direction gear walking mechanism can drive the Y-direction cross beam to move in the X direction along the X-direction rack track. The Y-direction moving part is fixed at the lower end of the Y-direction cross beam. The Z-direction moving part is installed on the Y-direction moving part. The camera device is installed on the Z-direction moving part. The seedbed is arranged below the Y-direction cross beam. The Y-direction moving part drives the Z-direction moving part to move in the Y direction, and the Z-direction moving part drives the camera device to move in the Z direction. This structure can collect the phenotype data of plant samples on the lower seedbed with high throughput, but it can only collect the top view plan of the plants captured by the camera device located above the plants, cannot take multi-angle photos of hydroponic plants in three-dimensional space, and cannot realize the three-dimensional reconstruction of hydroponic plants in the later stage using a single top view plan of the plants.

[0003] If the plants located on the phenotypic platform are grasped and photographed, more complete plant image information can be obtained. The Chinese utility model patent with the publication number CN214055306U discloses a gantry manipulator and an automated production line for a plant factory, which realizes the handling of plants through a manipulator assembly. Specifically, it discloses that the robotic arm of the manipulator assembly includes two grippers. The plants are planted in a planting basket. When the two grippers move to both sides of the planting basket, the planting basket is grasped by driving the two grippers to move relative to each other, and then it is driven to move. When the planting basket is driven to the designated position, the two grippers move towards each other to release the planting basket. Each gripper includes two clamping parts, and the two clamping parts grasp the planting basket from different parts of the planting basket respectively, making the grasped planting basket more firmly fixed. The clamping part has a semi-circular arc structure, and the clamping parts of the two grippers form a complete circular structure when grasping, which matches the outer shape structure of the planting basket, enabling the clamping part to better grasp the planting basket. Although the gripper disclosed in this patent is for grasping the planting basket to handle hydroponic plants, it can also be used to grasp the plants located in the planting basket. If the gripper in the patent with the publication number CN214055306U is applied to the plant phenotypic platform in the patent with the publication number CN212107611U, although the plants can be grasped, a part of the grasped plants is blocked by the Z-axis moving mechanism, and the grasped plants cannot be photographed from multiple angles.

[0004] The Chinese invention patent with the publication number CN114084526A discloses a plant automatic sampling and storage device and its usage method, which discloses that an outer sliding sleeve is slidably connected with a first sliding rod, the first sliding rod is connected with a first rack, the first rack meshes with a second gear, a cavity is opened in the first sliding rod, a second sliding rod is slidably connected in the cavity, the second sliding rod is connected with a second rack, the second rack meshes with a third gear, the left end of the first sliding rod is arranged in the box body and is hinged with a gripper, the left end of the second sliding rod is arranged in the box body and is hinged with a connecting rod, and the other end of the connecting rod is hinged with the gripper. The gripper can rotate around the first sliding rod, and the connecting rod can rotate around the second sliding rod. Therefore, when the connecting rod rotates, it can drive the gripper to open or close to realize the picking and placing of plants. This patent discloses a gripper for grasping plants, which realizes the opening and closing process driven by a first sliding rod, a first gear, a second sliding rod, a second gear, a third gear, and a connecting rod. However, this structure requires a relatively long space for the gripper to open and close, and is not suitable for use between multi-row hydroponic troughs. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: to provide an automatic grasping and photographing device for hydroponic plants and a three-dimensional point cloud reconstruction method, which can grasp the plants in the hydroponic tank and place them in an unobstructed position for photographing, facilitating complete multi-angle photographing of the grasped plants, so as to perform three-dimensional point cloud reconstruction on the hydroponic plants based on the obtained plant pictures, and facilitating subsequent growth data analysis of the hydroponic plants.

[0006] In order to solve the above technical problem, the technical solution adopted by the present invention is:

[0007] An automatic grasping and photographing device for hydroponic plants, comprising a frame, a first X-axis movement component, a first Y-axis movement component, a first Z-axis movement component, a telescopic component, a gripper component, a second X-axis movement component, a second Y-axis movement component, a second Z-axis movement component and a rotating photographing component. The first X-axis movement component is installed on the frame, the first Y-axis movement component is installed on the first X-axis movement component, the first Z-axis movement component is installed on the first Y-axis movement component, the telescopic component is fixedly connected to the first Z-axis movement component, and the gripper component is fixed to the front end of the telescopic component. The gripper component is used for grasping a single hydroponic plant.

[0008] The second X-axis movement component is installed on the frame, the second X-axis movement component is arranged higher than the first X-axis movement component, the second Y-axis movement component is installed on the second X-axis movement component, the second Z-axis movement component is installed on the second Y-axis movement component, and the rotating photographing component is fixedly connected to the second Z-axis movement component.

[0009] The rotating photographing component includes a rotating stepper motor, a rotating shaft, a first angle stepper motor, a first angle swing rod, a first rotating photographing camera, a second angle stepper motor, a second angle swing rod and a second rotating photographing camera. The rotating stepper motor is fixed on the second Z-axis movement component, and the output shaft of the rotating stepper motor is arranged downward. The output shaft of the rotating stepper motor is coaxially connected to the rotating shaft. The first angle stepper motor is fixed to the lower part of the rotating shaft, and the output shaft of the first angle stepper motor is fixedly connected to the upper end of the first angle swing rod. The lower end of the first angle swing rod is fixed with the first rotating photographing camera and the second angle stepper motor. The output shaft of the second angle stepper motor is fixedly connected to the upper end of the second angle swing rod. The lower end of the second angle swing rod is fixed with the second rotating photographing camera. Both the first rotating photographing camera and the second rotating photographing camera face the axis where the output shaft of the rotating stepper motor is located, and the rotation center axis of the rotating stepper motor, the lens center axis of the first rotating photographing camera and the lens center axis of the second rotating photographing camera are in the same plane.

[0010] The beneficial effects of the present invention are as follows: The first X-axis movement component, the first Y-axis movement component, and the first Z-axis movement component are linked to drive the telescopic component and the gripper component to move in space. When it is necessary to grasp a hydroponic plant, the telescopic component retracts, and the telescopic component and the gripper component move to a low position. The telescopic component extends a certain distance, and the gripper component grasps a single hydroponic plant. The telescopic component retracts, and the telescopic component and the gripper component rise to a high position. The telescopic component fully extends, and the single hydroponic plant grasped by the gripper component is placed under the rotary photographing component for 360° photographing. A telescopic component is arranged between the first Z-axis movement component and the gripper component, so that when the gripper component moves to a low position, it is not easy to touch the plant or the hydroponic tank, and when the gripper component moves to a high position, it can take multi-angle photographs of the plant on the gripper, and the rotary photographing component and the first Z-axis movement component will not collide. In addition, the rotation center axis of the rotary stepping motor on the rotary photographing component, the lens center axis of the first rotary photographing camera, and the lens center axis of the second rotary photographing camera are in the same plane. According to the rotation angles of the first angle stepping motor and the second angle stepping motor, the lengths of the first angle swing rod and the second angle swing rod, the actual coordinates of the special points in the photo can be quickly calculated, and then the actual coordinates of all points in the photo can be quickly calculated, which is convenient for subsequent three-dimensional point cloud reconstruction and plant data analysis.

[0011] A three-dimensional point cloud reconstruction method based on the above hydroponic plant automatic grasping and photographing device, the method is as follows:

[0012] Step S1: The first X-axis movement component, the first Y-axis movement component, and the first Z-axis movement component are linked to drive the telescopic component and the gripper component to grasp the root of a single hydroponic plant in the hydroponic tank, and then move to the periphery of the rotary photographing component. The telescopic component drives the gripper component to extend forward, and finally the single hydroponic plant grasped by the gripper component is located under the rotary stepping motor;

[0013] Step S2: The first angle stepping motor and the second angle stepping motor rotate to adjust the first rotary photographing camera and the second rotary photographing camera to appropriate positions, and record the rotation angle of the first angle stepping motor, the rotation angle of the second angle stepping motor, the installation angle of the first rotary photographing camera relative to the length direction of the first angle swing rod, and the installation angle of the second rotary photographing camera relative to the length direction of the second angle swing rod;

[0014] Step S3: After the rotary stepping motor rotates one indexing angle each time and stops, the first rotary photographing camera and the second rotary photographing camera take a photo once. After taking the photo, continue to repeat the actions of the rotary stepping motor rotating one indexing angle and taking a photo once until the rotary stepping motor rotates 360°; Combine all the photos of the same single plant in this process into a plant photo group according to the photo-taking order;

[0015] Step S4 takes the position where the gripper assembly grasps a single hydroponic plant as the coordinate origin. Based on the rotation angles of the first angle stepping motor, the second angle stepping motor, the installation angle of the first rotating camera relative to the length direction of the first angle swing rod, the installation angle of the second rotating camera relative to the length direction of the second angle swing rod, the lengths of the first angle swing rod and the second angle swing rod, and the distance from the gripper assembly to the rotating shaft of the first angle stepping motor, combined with a set of plant photos, calculates the actual coordinates of each initial 3D point cloud data, and forms a calibrated 3D point cloud data set;

[0016] Step S5 removes the noise points from the initial 3D point cloud data set, and uses the remaining 3D point cloud data to reconstruct the 3D point cloud model of the plant.

[0017] The beneficial effects of the present invention are as follows: The gripper assembly is used to grab a single hydroponic plant and place the grabbed single hydroponic plant under the rotating stepping motor. Since the telescopic assembly extends the gripper assembly to a position away from the first Z-axis moving assembly, the first rotating camera and the second rotating camera can take comprehensive photos of the plant during the 360° rotating photo shooting process, and the taken photos are relatively comprehensive; in addition, the central axes of the first angle stepping motor and the second angle stepping motor and the rotating stepping motor are in the same plane. After the angles of the first angle stepping motor and the second angle stepping motor are adjusted, the rotation angle data of the two are returned to the computer, and the computer can quickly calculate the actual coordinates of the 3D point cloud data in the photo based on the taken photos, and then can quickly reconstruct the true 3D point cloud module of the plant. Description of the Drawings

[0018] Figure 1 It is a three-dimensional view of the hydroponic plant automatic grasping and photographing device according to an embodiment of the present invention;

[0019] Figure 2 It is a three-dimensional view of the assembled gripper assembly, telescopic assembly and first Z-axis moving assembly when the telescopic assembly is in the extended state according to an embodiment of the present invention;

[0020] Figure 3 It is a three-dimensional view of the telescopic assembly in the retracted state according to an embodiment of the present invention;

[0021] Figure 4 It is a cross-sectional view of the telescopic assembly in the extended state according to an embodiment of the present invention;

[0022] Figure 5 It is a three-dimensional view of the gripper assembly according to an embodiment of the present invention;

[0023] Figure 6 It is a three-dimensional view of an embodiment of the rotating photo shooting assembly according to an embodiment of the present invention;

[0024] Figure 7Schematic diagram of the camera shooting angle and length of an embodiment of the rotating photographing assembly according to an embodiment of the present invention;

[0025] Figure 8 Flowchart of the three-dimensional point cloud reconstruction method of the automatic grasping and photographing device for hydroponic plants according to an embodiment of the present invention.

[0026] Label description:

[0027] 1. Frame; 2. First X-axis movement component; 3. First Y-axis movement component; 4. First Z-axis movement component; 5. Second X-axis movement component; 6. Second Y-axis movement component; 7. Second Z-axis movement component; 8. Slide block; 9. Fixed seat; 10. Cable motor; 11. Cable winding pulley; 12. Cable; 13. Fixed pulley; 14. Spring; 15. Claw; 16. Screw; 17. Left screw sleeve; 18. Right screw sleeve; 19. Guide rod; 20. Left connecting rod; 21. Right connecting rod; 22. Gear set; 23. Claw motor; 24. Claw fixing plate; 25. Width camera; 26. Rotary stepping motor; 27. Rotary shaft; 28. First angle stepping motor; 29. First angle swing rod; 30. First rotary photographing camera; 31. Second angle stepping motor; 32. Second angle swing rod; 33. Second rotary photographing camera; 34. U-shaped frame; 35. Photographing positioning disc; 351. Triangular mark; 36. Third Z-axis movement component;

[0028] 81. Inner edge; 82. Outer edge; 83. Limit protrusion;

[0029] 151. Semi-circular segment; 152. Straight segment; 153. Rear bending segment;

[0030] 101. Four vertical rods; 102. Placing cross beam; 103. First X-axis cross beam; 104. Second X-axis cross beam. Detailed implementation manners

[0031] To describe in detail the technical content, achieved objectives and effects of the present invention, the following is described in conjunction with the embodiments and with reference to the accompanying drawings.

[0032] Please refer to Figures 1 to 7 , the embodiments provided by the present invention are:

[0033] An automatic grasping and photographing device for hydroponic plants, please refer to Figure 1, including a frame 1, a first X-axis movement component 2, a first Y-axis movement component 3, a first Z-axis movement component 4, a telescopic component, a gripper component, a second X-axis movement component 5, a second Y-axis movement component 6, a second Z-axis movement component 7, and a rotating photographing component. The first X-axis movement component 2 is installed on the frame 1, the first Y-axis movement component 3 is installed on the first X-axis movement component 2, the first Z-axis movement component 4 is installed on the first Y-axis movement component 3, the telescopic component is fixedly connected to the first Z-axis movement component 4, and the gripper component is fixed to the front end of the telescopic component. The gripper component is used for grasping single-plant hydroponic plants.

[0034] The second X-axis movement component 5 is installed on the frame 1, the second X-axis movement component 5 is arranged higher than the first X-axis movement component 2, the second Y-axis movement component 6 is installed on the second X-axis movement component 5, the second Z-axis movement component 7 is installed on the second Y-axis movement component 6, and the rotating photographing component is fixedly connected to the second Z-axis movement component 7.

[0035] The rotating photographing component includes a rotating stepper motor 26, a rotating shaft 27, a first angle stepper motor 28, a first angle swing rod 29, a first rotating photographing camera 30, a second angle stepper motor 31, a second angle swing rod 32, and a second rotating photographing camera 33. The rotating stepper motor 26 is fixed on the second Z-axis movement component 7, and the output shaft of the rotating stepper motor 26 is arranged downward. The output shaft of the rotating stepper motor 26 is coaxially connected to the rotating shaft 27. The first angle stepper motor 28 is fixed to the lower part of the rotating shaft 27, and the output shaft of the first angle stepper motor 28 is fixedly connected to the upper end of the first angle swing rod 29. The lower end of the first angle swing rod 29 is fixed with the first rotating photographing camera 30 and the second angle stepper motor 31. The output shaft of the second angle stepper motor 31 is fixedly connected to the upper end of the second angle swing rod 32. The lower end of the second angle swing rod 32 is fixed with the second rotating photographing camera 33. Both the first rotating photographing camera 30 and the second rotating photographing camera 33 face the axis where the output shaft of the rotating stepper motor 26 is located, and the rotation center axis of the rotating stepper motor 26, the lens center axis of the first rotating photographing camera 30, and the lens center axis of the second rotating photographing camera 33 are in the same plane.

[0036] One row of hydroponic plants is arranged on each hydroponic tank, and multiple hydroponic tanks are placed on the rack 1 at a certain interval. When it is necessary to take pictures of the plants in the hydroponic tank, the gripper assembly grabs one plant at a time, grabs the plant above the hydroponic tank for photo scanning. After the photo scanning is completed, the gripper assembly then puts the grabbed plant back to its original position on the hydroponic tank. After the photographing action of one plant is completed in this way, the gripper assembly then grabs another plant from the hydroponic tank in sequence, repeats the previous action to take a picture of the plant, and puts it back after the photographing is completed. This process realizes the automatic and sequential photographing of all the plants in the hydroponic tanks placed on the rack 1. Combined with the telescopic assembly and the rotary photographing assembly of the present application, it realizes the complete automatic photographing of all the plants planted in the hydroponic tanks on the rack 1. The whole process does not require manual intervention, and the operator only needs to receive the data transmitted back by the device in the computer background.

[0037] Specifically, the complete action process of taking a photo of a plant on a hydroponic tank is as follows: initially, the telescopic component retracts; the first X-axis motion component 2, the first Y-axis motion component 3, and the first Z-axis motion component 4 jointly drive the telescopic component and the gripper component to move downward until they reach the side of the plant to be grasped, the gripper component opens, and the telescopic component extends forward for a distance until the front end of the gripper component is located on the side of the plant to be grasped, and the gripper component closes to grasp the thick stem at the bottom of the plant to be grasped, and at this time, the gripper component completes grasping the single plant ... Component 3 and the first Z-axis motion component 4 jointly drive the telescopic component and the gripper component to move upward until they reach the vicinity of the rotating camera component. The telescopic component is fully extended until the gripper component places the single plant directly under the rotating stepper motor 26. At this time, the captured plant is placed in the photographing position and waits to be photographed; the first angle stepper motor 28 and the second angle stepper motor 31 rotate to adjust the angle of the first rotating camera 30 and the second rotating camera 33, and the rotation angle of the first angle stepper motor 28 and the second angle stepper motor 31 is transmitted to the computer to calculate the actual shooting angle of the first rotating camera 30 and the second rotating camera 33. The rotating stepper motor 26 is preset to rotate by degrees. For example, the rotating stepper motor 26 rotates 20° each time, and a full circle of 360° needs to be rotated 18 times. Each time the rotating stepper motor 26 rotates one degree, the first rotating camera 30 and the second rotating camera 33 take a photo once, until the rotating stepper motor 26 rotates one circle, the first rotating camera 30 and the second rotating camera 33 take photos 18 times, and the first rotating camera 30 and the second rotating camera 33 are adjusted. The photos taken by the camera 33 are transmitted to the computer in sequence, and the action of taking photos of the plant grabbed by the gripper assembly is now completed; the telescopic assembly retracts a distance, and the first X-axis motion assembly 2, the first Y-axis motion assembly 3, and the first Z-axis motion assembly 4 are linked to drive the telescopic assembly and the gripper assembly to move downward until the gripper assembly puts the grabbed plant back to its original position in the hydroponic tank, the gripper assembly opens, the telescopic assembly is completely retracted, and the gripper assembly is closed, and the action of grabbing the plant and putting it back to its original position in the hydroponic tank is now completed; in summary, the complete action of taking photos of a plant is realized. Next, if you want to continue to grab the next plant for taking photos, the first X-axis motion assembly 2, the first Y-axis motion assembly 3, and the first Z-axis motion assembly 4 are linked to drive the telescopic assembly and the gripper assembly to translate in the horizontal plane to the side of the next plant, grab the next plant, take photos, and put it back. Repeat the above actions of grabbing plants, taking photos of the grabbed plants, and putting the photographed plants back into the hydroponic tank until all the plants in the hydroponic tank have been photographed. The hydroponic plants placed in the hydroponic tank on the rack 1 can be automatically captured, photographed and put back. This process does not require human intervention, has a high degree of automation, and has complete photographic angles and relatively comprehensive photographic data. All photographs taken are transmitted to the computer and wait for use.

[0038] For further information, please refer toFigures 2 to 4 The telescopic assembly includes a slider group composed of a plurality of sliders 8 arranged in sequence of decreasing thickness and sleeved on each other slidably, a fixed seat 9, a cable pulling motor 10, a wire winding pulley 11, a cable 12, a plurality of fixed pulleys 13 and a spring 14. In the slider group, a limiting component is provided at the end between adjacent sliders 8. The thinnest slider 8 is located at the front end of the slider group and is fixed with the gripper assembly. The rear end of the slider group is fixed on the fixed seat 9. The thickest slider 8 is located at the rear end of the slider group and is fixed on the fixed seat 9. The fixed seat 9 is fixed on the first Z-axis moving assembly 4. The cable pulling motor 10 is fixed on the thickest slider 8. The cable pulling motor 10 is coaxially connected with the wire winding pulley 11. The rear end of the cable 12 is wound on the wire winding pulley 11. The front end of the cable 12 is connected to the front end of the thinnest slider 8. A plurality of the fixed pulleys 13 are fixed on the fixed seat 9. The cable 12 is wound around the fixed pulleys 13. A spring 14 is connected between the rear end of the thickest slider 8 and the front end of the thinnest slider 8.

[0039] In the slider group, all the sliders 8 are arranged in sequence from thick to thin. The thinner slider 8 among two adjacent sliders 8 can slide into the inner hole of the thicker slider 8 and can also slide out of the inner hole of the thicker slider 8. In order to prevent the adjacent sliders 8 from separating from each other, a limiting component is provided between the adjacent sliders 8. Specifically, if in the slider group, the plurality of sliders 8 arranged in sequence of decreasing thickness are all rectangular tubes, then one of the two adjacent sliders 8 is a thicker rectangular tube and the other is a thinner rectangular tube. During use, the thinner rectangular tube is slidably sleeved in the cavity of the thicker rectangular tube. The limiting component when the telescopic assembly extends is: an inner retaining edge 81 extending inward is provided at the front end of the thicker rectangular tube, and an outer retaining edge 82 extending outward is provided at the rear end of the thinner rectangular tube. When the outer retaining edge 82 touches the inner retaining edge 81, the thinner rectangular tube stops the action of extending forward relative to the thicker rectangular tube. The limiting component when the telescopic assembly retracts is: a limiting protrusion 83 is provided on the outer wall of the front end of the thinner rectangular tube. When the limiting protrusion 83 touches the front end face of the thicker rectangular tube, the thinner rectangular tube stops the action of retracting inward relative to the thicker rectangular tube. Of course, specifically, the slider 8 can also be a circular tube.

[0040] In the telescopic assembly, the plurality of sliders 8 are shortened by the pull rope 12 and elongated by the spring 14. The pull rope 12 is wound or lengthened by the pull rope motor 10, and the pull rope 12 is guided by a plurality of fixed pulleys 13. In the telescopic assembly, the telescopic process of the telescopic assembly is as follows: the pull rope motor 10 rotates to drive the pull rope 12 to wind on the winding pulley 11. When the pull rope 12 winds, the telescopic assembly starts to retract, and the slider 8 at the front end slides towards the slider 8 at the rear end until the overall width of the slider group is the smallest. At this time, the telescopic assembly is completely retracted, and the spring 14 is compressed during this process. When the pulling motor rotates in the reverse direction to release the pull rope 12 on the winding pulley 11, under the pressing action of the spring 14, the telescopic assembly starts to extend, and the slider 8 at the front end slowly extends forward to the farthest distance from the slider 8 at the rear end. At this time, the telescopic assembly is completely extended.

[0041] Further, please refer to Figure 2 and Figure 5 The gripper assembly includes two symmetrically arranged and centrally hinged jaws 15, a screw 16, a left screw sleeve 17, a right screw sleeve 18, a guide rod 19, a left connecting rod 20, a right connecting rod 21, a gear set 22, a jaw motor 23 and a jaw fixing plate 24. The jaws 15 open or close in the left-right direction. The screw 16 is arranged in the rear of the jaws 15 in the left-right direction. The screw 16 is provided with a left threaded section and a right threaded section, and the threads on the left threaded section and the right threaded section have opposite helix directions. The left screw sleeve 17 is screwed to the left threaded section, and the right screw sleeve 18 is screwed to the right threaded section. The guide rod 19 is arranged parallel to the screw 16, and the guide rod 19 slidably passes through the two screw sleeves 16. One end of the left connecting rod 20 is hinged to the left screw sleeve 17, and the other end is hinged to the rear end of one of the jaws 15. One end of the right connecting rod 21 is hinged to the right screw sleeve 18, and the other end is hinged to the rear end of the other jaw 15. The output end of the gear set 22 is coaxially connected to one end of the screw 16, and the input end of the gear set 22 is coaxially connected to the output shaft of the jaw motor 23. The jaw motor 23, the end of the screw 16, the end of the guide rod 19, and the hinged part of the jaws 15 are all installed on the jaw fixing plate 24, and the jaw fixing plate 24 is fixed to the front end of the telescopic assembly.

[0042] A left connecting rod 20 and a left screw sleeve 17 are arranged between one jaw 15 and the left section of the screw rod 16, and a right connecting rod 21 and a right screw sleeve 18 are arranged between the other jaw 15 and the right section of the screw rod 16. The end of the screw rod 16 is hinged to the jaw fixing plate 24, so that the jaw fixing plate 24 supports the end of the screw rod 16 but does not affect the rotation of the screw rod 16. The hinged parts of the two jaws 15 are also fixed on the jaw fixing plate 24; the guide rod 19 is parallel to the screw rod 16 and plays a guiding role in the left and right movement of the left screw sleeve 17 and the right screw sleeve 18. The thread directions of the left section and the right section of the screw rod 16 are opposite. Then, when the screw rod 16 rotates, the moving directions of the left screw sleeve 17 and the right screw sleeve 18 relative to the screw rod 16 are opposite. By the forward and reverse rotation of the jaw motor 23, the two jaws 15 can be controlled to move symmetrically outward and inward to realize the opening and closing actions, and the speed and torque output by the jaw motor 23 are adjusted by the gear set 22.

[0043] Further, the gripper assembly further includes a width camera 25. The width camera 25 is fixed on the jaw fixing plate 24, and the width camera 25 faces the front ends of the two jaws 15. The width camera 25 takes pictures of the hydroponic plants facing the jaws 15, so that the width when the jaws 15 are closed can be calculated. By controlling the number of rotation turns of the jaw motor 23, the actual width when the jaws 15 are closed can be controlled, that is, the closing width of the jaws 15 can be controlled according to the widths of different plants, and the plants can be prevented from being damaged by the jaws 15.

[0044] Further, the jaw fixing plate 24 is located above the telescopic assembly. Preferably, the front end of the jaw fixing plate 24 is fixed to the front end of the telescopic assembly. This structure enables the gripper assembly and the telescopic assembly to share a certain width in the front-rear direction. Thus, after the telescopic assembly retracts, the distance from the gripper assembly to the first Z-axis movement assembly 4 is shorter, so that the gripper assembly is less likely to touch the hydroponic tank and the hydroponic plants, and the distance between adjacent hydroponic tanks can be placed closer, improving the overall one-time operation volume of the device.

[0045] Further, the jaw 15 sequentially includes a semi-circular arc section 151, a straight section 152, and a rear bending section 153 from the front end to the rear end. The rear bending section 153 bends outward. The semi-circular arc section 151 at the front end facilitates grasping the plants, and the straight section 152 pulls the distance between the semi-circular arc section 151 and the jaw fixing plate 24, so that the jaw fixing plate 24 is not likely to touch the hydroponic plants and the hydroponic tank, making full and reasonable use of the space.

[0046] Further, the gripper assembly further includes a foam pad. The foam pad is arranged on the inner side surface of the semi-circular arc section of the jaw 15, and the foam pad is used to contact the hydroponic plants to further prevent the hydroponic plants from being damaged.

[0047] Further, the rack 1 includes four vertical rods 101, two storage crossbeams 102, two first X-axis crossbeams 103, and two second X-axis crossbeams 104. The four vertical rods 101 are connected by the storage crossbeams 102, the first X-axis crossbeams 103, and the second X-axis crossbeams 104. The externally provided hydroponic tanks are placed on the storage crossbeams 102. A plurality of equally spaced hydroponic holes are formed in each hydroponic tank, and one hydroponic plant is cultivated in each hydroponic hole. Hydroponic nutrient solution flows through the hydroponic tanks. At this time, the nutrients in the nutrient solution are absorbed by the roots of the hydroponic plants, and the hydroponic plants grow slowly. The first X-axis motion assembly 2 is fixed on the first X-axis crossbeam 103, and the second X-axis motion assembly 5 is fixed on the second X-axis crossbeam 104. Specifically, the height of the second X-axis crossbeam 104 is higher than that of the first X-axis crossbeam 103, and the height of the first X-axis crossbeam 103 is higher than that of the storage crossbeam 102.

[0048] Further, please refer to Figure 6 , and it further includes a photographing and positioning assembly. The photographing and positioning assembly includes a U-shaped frame 34 and a photographing and positioning disk 35. The upper end of the U-shaped frame 34 is fixed on the second Z-axis motion assembly 7. The U-shaped frame 34 extends from above one of the second X-axis crossbeams 104 to its outside and then to its below. The photographing and positioning disk 35 is fixed at the lower end of the U-shaped frame 34. A plurality of circumferentially evenly distributed triangular marks 351 are fixed at the edge of the photographing and positioning disk 35. During the process of photographing the plant grasped by the gripper assembly, the photographing and positioning disk 35 and the plurality of triangular marks 351 thereon are stationary. Through the triangular marks 351, the actual coordinates of the point cloud data in the photographed photo can be quickly calculated, making the obtained point cloud data more accurate. Preferably, the number of the triangular marks 351 is 12 - 36.

[0049] Further, the photographing and positioning assembly further includes a third Z-axis motion assembly 36. The third Z-axis motion assembly 36 is fixed on the second Z-axis motion assembly 7, and the U-shaped frame 34 is fixed on the third Z-axis motion assembly 36. The setting of the third Z-axis motion assembly 36 enables the adjustment of the height of the photographing and positioning disk 35, so that the positions of the photographing and positioning disk 35, the first rotating photographing camera 30, and the second rotating photographing camera 33 can all be adjusted. The three cooperate to photograph the plants within a certain height range, and different positions of the photographing and positioning disk 35, the first rotating photographing camera 30, and the second rotating photographing camera 33 can be configured according to plants of different heights.

[0050] Please refer to Figure 8 , the present invention also provides a three-dimensional point cloud reconstruction method based on the above hydroponic plant automatic grasping and photographing device. The method is as follows:

[0051] In step S1, the first X-axis motion component, the first Y-axis motion component, and the first Z-axis motion component are linked to drive the telescopic component and the gripper component to grasp the roots of a single hydroponic plant in the hydroponic tank, and then move to the vicinity of the rotary photographing component. The telescopic component drives the gripper component to extend forward, and finally the single hydroponic plant grasped by the gripper component is located below the rotary stepping motor.

[0052] In step S2, the first angle stepping motor and the second angle stepping motor rotate to adjust the first rotary photographing camera and the second rotary photographing camera to appropriate positions, and record the rotation angles of the first angle stepping motor, the rotation angles of the second angle stepping motor, the installation angle of the first rotary photographing camera relative to the length direction of the first angle swing rod, and the installation angle of the second rotary photographing camera relative to the length direction of the second angle swing rod.

[0053] In step S3, the rotary stepping motor stops after rotating by one indexing angle each time. The first rotary photographing camera and the second rotary photographing camera take a photo once. After taking the photo, the actions of the rotary stepping motor rotating by one indexing angle and taking a photo once are repeated until the rotary stepping motor rotates 360°. All the photos of the same single plant during this process are combined into a plant photo group in the order of taking photos.

[0054] In step S4, taking the position where the gripper component grasps the single hydroponic plant as the coordinate origin, based on the rotation angles of the first angle stepping motor, the rotation angles of the second angle stepping motor, the installation angle of the first rotary photographing camera relative to the length direction of the first angle swing rod, the installation angle of the second rotary photographing camera relative to the length direction of the second angle swing rod, the lengths of the first angle swing rod and the second angle swing rod, and the distance from the gripper component to the rotating shaft of the first angle stepping motor, combined with a plant photo group, calculate the actual coordinates of each initial three-dimensional point cloud data and form a calibrated three-dimensional point cloud data set.

[0055] In step S5, remove the noise points from the initial three-dimensional point cloud data set, and use the remaining three-dimensional point cloud data to reconstruct the three-dimensional point cloud model of the plant.

[0056] The above method can achieve the automatic grasping and moving of a single hydroponic plant, the automatic 360° range rotary photographing, the automatic calibration of the initial three-dimensional point cloud data, and the automatic three-dimensional point cloud reconstruction of a single hydroponic plant.

[0057] Furthermore, the following steps are added to the method:

[0058] In step S3, add: Step S30 The indexing angle by which the rotary stepping motor rotates is equal to the sector angle between adjacent triangular marks.

[0059] Add at the end of step S4: Step S41 calculates the actual coordinates of each 3D point cloud data. According to the three corner coordinates of the triangular markers on each photo, the actual coordinates of the corresponding initial 3D point cloud data on each photo are corrected to obtain the corrected 3D point cloud data, and a set of corrected 3D point cloud data is formed.

[0060] The added step S41 is specifically as follows: Calculate the actual coordinates of each 3D point cloud data, calculate the deviation 3D normal vector of the triangular markers on each photo, and then correct the actual coordinates of the initial 3D point cloud data on each photo according to the deviation 3D normal vector to obtain the corrected 3D point cloud data, and form a set of corrected 3D point cloud data. Through multiple triangular markers, the initial 3D point cloud data can be corrected more accurately, making the set of corrected 3D point cloud data more accurate.

[0061] Further, in step S2, "the first angle stepping motor and the second angle stepping motor rotate to adjust the first rotating camera and the second rotating camera to appropriate positions", specifically:

[0062] The first rotating camera and the second rotating camera take a photo once to obtain a set of sample photos. According to the vertical occupancy of the single plant in the sample photos, the height of the gripper assembly, the height of the photo-taking positioning disc, and the angular positions of the first rotating camera and the second rotating camera are adjusted.

[0063] By first obtaining a photo, the positions of the first rotating camera and the second rotating camera and the height of the photo-taking positioning disc are adjusted. The adjustment of the height direction of the photo-taking positioning disc is realized by the third Z-axis motion component, and the adjustment of the positions of the first rotating camera and the second rotating camera is realized by the first angle stepping motor and the second angle stepping motor.

[0064] Further, according to the vertical occupancy of the single plant in the sample photos, the height of the gripper assembly, the height of the photo-taking positioning disc, and the angular positions of the first rotating camera and the second rotating camera are adjusted, specifically:

[0065] If the single plant is overall lower in the sample photo, the first rotating camera and the second rotating camera move up some distance;

[0066] If the single plant is overall higher in the sample photo, the first rotating camera and the second rotating camera move down some distance;

[0067] If the upper part of the single plant is higher in the sample photo, the first rotating camera moves down some distance;

[0068] If a single plant is in the lower upper part of the sample photo, the first rotating camera moves up a certain distance;

[0069] If a single plant is in the upper lower part of the sample photo, the second rotating camera moves down a certain distance;

[0070] If a single plant is in the lower lower part of the sample photo, the first rotating camera moves up a certain distance;

[0071] If the triangular mark is not in the sample photo, the photographing positioning disc rises a certain distance;

[0072] If the triangular mark is in the upper part of the sample photo, the photographing positioning disc descends a certain distance;

[0073] If the triangular mark is in the lower part of the sample photo, the photographing positioning disc rises a certain distance.

[0074] Further, please refer to Figure 7 In the figure, the dashed line represents the shooting angle of the first rotating camera, and the dash-dotted line represents the shooting angle of the second rotating camera. In step S4, "taking the position where the gripper assembly grasps a single hydroponic plant as the coordinate origin, according to the rotation angle of the first angle stepping motor, the rotation angle of the second angle stepping motor, the installation angle of the first rotating camera relative to the length direction of the first angle swing rod, the installation angle of the second rotating camera relative to the length direction of the second angle swing rod, the length of the first angle swing rod, the length of the second angle swing rod, and the distance from the gripper assembly to the rotating shaft of the first angle stepping motor, combined with a group of plant photos, calculate the actual coordinates of each three-dimensional point cloud data", specifically:

[0075] Taking the position where the gripper assembly grasps a single hydroponic plant as the coordinate origin O;

[0076] According to the rotation angle of the first angle stepping motor, the rotation angle of the second angle stepping motor, the installation angle of the first rotating camera relative to the length direction of the first angle swing rod, and the installation angle of the second rotating camera relative to the length direction of the second angle swing rod, the α angle, β angle, γ angle in the figure can be calculated;

[0077] According to the α angle in the figure, combined with the length of the first angle swing rod and the distance from the gripper assembly to the rotating shaft of the first angle stepping motor, calculate the height h, the actual coordinates of point A on each photo taken by the first rotating camera are calculated, and thus the actual coordinates of all 3D point cloud data in each photo taken by the first rotating camera can be calculated;

[0078] According to the α angle, β angle, γ angle, combined with the lengths of the first angle swing rod, the second angle swing rod, and the distance from the gripper assembly to the rotating shaft of the first angle stepping motor, the length from the midpoint B of the edge of the photo taken by the second rotating camera to the central axis of the rotating stepping motor is calculated l , and then the actual coordinates of point B on each photo taken by the second rotating camera can be calculated, and thus the actual coordinates of all 3D point cloud data in each photo taken by the second rotating camera can be calculated.

[0079] In summary, the hydroponic plant automatic grasping and photographing device provided by the present invention has the following beneficial effects:

[0080] 1. The telescopic assembly drives the gripper assembly to extend and retract in the horizontal plane. When the gripper assembly extends, there are no obstacles around the plants clamped by the gripper assembly, enabling multi-angle unobstructed photographing of hydroponic plants. After the telescopic assembly retracts, it occupies little space and does not affect the movement space of the gripper assembly between hydroponic tanks;

[0081] 2. The rotating photographing assembly can achieve comprehensive photographing of the space inside the hydroponic plant except for the bottom, making the obtained hydroponic plant picture information more comprehensive and the 3D point cloud reconstruction of the hydroponic plant more complete;

[0082] 3. The triangular marker 351 enables the correction of the initial 3D point cloud data obtained from the photo, obtaining a relatively accurate set of corrected 3D point cloud data, thereby making the 3D point cloud reconstruction more accurate;

[0083] 4. By using the photographing positioning disc 35 that can move up and down, the first rotating camera 30 with adjustable position, and the second rotating camera 33, the device can photograph plants at different heights. This device can be applied to automatic grasping and photographing during the growth cycle of plants, greatly reducing the manual workload and improving the convenience and accuracy of data extraction;

[0084] 5. The width camera 25 is fixed on the gripper assembly, which can calculate the closing width of the two jaws 15 according to the width of the hydroponic plant, thus preventing the situation of damaging the hydroponic plant;

[0085] 6. In the gripper assembly, the gripper 15 is driven by the gripper motor 23, the gear set 22, the screw 16, the left screw sleeve 17, the right screw sleeve 18, the left connecting rod 20, and the right connecting rod 21 to achieve left and right opening and closing. The overall width occupied by the gripper assembly in the front and back is small, which can prevent the gripper assembly from hitting the hydroponic tank or hydroponic plants when moving between hydroponic tanks.

[0086] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. All equivalent transformations made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical fields, are equally included in the patent protection scope of the present invention.

Claims

1. An automatic grasping and photographing device for hydroponic plants, comprising a frame (1), characterized in that, It further includes a first X-axis movement component (2), a first Y-axis movement component (3), a first Z-axis movement component (4), a telescopic component, a gripper component, a second X-axis movement component (5), a second Y-axis movement component (6), a second Z-axis movement component (7) and a rotating photographing component. The first X-axis movement component (2) is installed on the frame (1). The first Y-axis movement component (3) is installed on the first X-axis movement component (2). The first Z-axis movement component (4) is installed on the first Y-axis movement component (3). The telescopic component is fixedly connected to the first Z-axis movement component (4). The front end of the telescopic component is fixed with the gripper component. The gripper component is used for grasping single-plant hydroponic plants; The second X-axis movement component (5) is installed on the frame (1). The second X-axis movement component (5) is arranged higher than the first X-axis movement component (2). The second Y-axis movement component (6) is installed on the second X-axis movement component (5). The second Z-axis movement component (7) is installed on the second Y-axis movement component (6). The rotating photographing component is fixedly connected to the second Z-axis movement component (7); The rotating photographing component includes a rotating stepper motor (26), a rotating shaft (27), a first angle stepper motor (28), a first angle swing rod (29), a first rotating photographing camera (30), a second angle stepper motor (31), a second angle swing rod (32) and a second rotating photographing camera (33). The rotating stepper motor (26) is fixed on the second Z-axis movement component (7), and the output shaft of the rotating stepper motor (26) is arranged downward. The output shaft of the rotating stepper motor (26) is coaxially connected to the rotating shaft (27). The first angle stepper motor (28) is fixed at the lower part of the rotating shaft (27), and the output shaft of the first angle stepper motor (28) is fixedly connected to the upper end of the first angle swing rod (29). The lower end of the first angle swing rod (29) is fixed with the first rotating photographing camera (30) and the second angle stepper motor (31). The output shaft of the second angle stepper motor (31) is fixedly connected to the upper end of the second angle swing rod (32). The lower end of the second angle swing rod (32) is fixed with the second rotating photographing camera (33). Both the first rotating photographing camera (30) and the second rotating photographing camera (33) face the axis where the output shaft of the rotating stepper motor (26) is located, and the rotation center axis of the rotating stepper motor (26), the lens center axis of the first rotating photographing camera (30) and the lens center axis of the second rotating photographing camera (33) are in the same plane; It further includes a photographing and positioning component. The photographing and positioning component includes a U-shaped frame (34) and a photographing and positioning disc (35). The upper end of the U-shaped frame (34) is fixed on the second Z-axis moving component (7). The machine frame (1) includes a second X-axis cross beam (104). The U-shaped frame (34) extends from above one of the second X-axis cross beams (104) to the outside thereof, and then extends below it. The photographing and positioning disc (35) is fixed at the lower end of the U-shaped frame (34). A plurality of circumferentially evenly distributed triangular marks (351) are fixed at the edge of the photographing and positioning disc (35). Taking the position where the gripper component grasps a single hydroponic plant as the coordinate origin, according to the rotation angle of the first angle stepping motor, the rotation angle of the second angle stepping motor, the installation angle of the first rotating photographing camera relative to the length direction of the first angle swing rod, the installation angle of the second rotating photographing camera relative to the length direction of the second angle swing rod, the length of the first angle swing rod, the length of the second angle swing rod, and the distance from the gripper component to the rotating shaft of the first angle stepping motor, combined with a group of plant photos, calculate the actual coordinates of each initial three-dimensional point cloud data, and form a corrected three-dimensional point cloud data set.

2. The hydroponic plant automatic grasping and photographing device according to claim 1, characterized in that The telescopic component includes a slider group composed of a plurality of sliders arranged in sequence in terms of thickness and sleeved on each other slidably, a fixed seat (9), a cable pulling motor (10), a wire winding pulley (11), a cable (12), a plurality of fixed pulleys (13), and a spring (14). In the slider group, a limiting component is provided at the end between adjacent sliders (8). The thinnest slider (8) is located at the front end of the slider group and is fixed with the gripper component. The rear end of the slider group is fixed on the fixed seat (9). The thickest slider (8) is located at the rear end of the slider group and is fixed on the fixed seat (9). The fixed seat (9) is fixed on the first Z-axis moving component (4). The cable pulling motor (10) is fixed on the thickest slider (8). The cable pulling motor (10) is coaxially connected with the wire winding pulley (11). The rear end of the cable (12) is wound on the wire winding pulley (11). The front end of the cable (12) is connected to the front end of the thinnest slider (8). A plurality of the fixed pulleys (13) are fixed on the fixed seat (9). The cable (12) is wound around the fixed pulleys (13). A spring (14) is connected between the rear end of the thickest slider (8) and the front end of the thinnest slider (8).

3. The hydroponic plant automatic grasping and photographing device according to claim 1 or 2, characterized in that, The gripper assembly comprises two symmetrical jaws (15) which are hinged in the middle, a screw (16), a left screw sleeve (17), a right screw sleeve (18), a guide rod (19), a left connecting rod (20), a right connecting rod (21), a gear set (22), a jaw motor (23) and a jaw fixing plate (24); the jaw (15) is opened or closed along the left-right direction; the screw (16) is arranged behind the jaw (15) along the left-right direction; a left threaded section and a right threaded section are provided on the screw (16); the threads on the left threaded section and the right threaded section have opposite rotation directions; the left screw sleeve (17) is screwed to the left threaded section; the right screw sleeve (18) is screwed to the right threaded section; the guide rod (19) is arranged parallel to the screw (16) The guide rod (19) is slidably arranged in the two screw rod (16) sleeves, one end of the left connecting rod (20) is hinged to the left screw rod sleeve (17), and the other end is hinged to the rear end of one of the clamping jaws (15), one end of the right connecting rod (21) is hinged to the right screw rod sleeve (18), and the other end is hinged to the rear end of the other clamping jaw (15), the output end of the gear group (22) is coaxially connected to one end of the screw rod (16), the input end of the gear group (22) is coaxially connected to the output shaft of the clamping jaw motor (23), the clamping jaw motor (23), the end of the screw rod (16), the end of the guide rod (19), and the hinged part of the clamping jaw (15) are all installed on the clamping jaw fixing plate (24), and the clamping jaw fixing plate (24) is fixed to the front end of the telescopic assembly.

4. The hydroponic plant automatic grasping and photographing device according to claim 3, characterized in that, The gripper assembly further comprises a width camera (25), wherein the width camera (25) is fixed on the clamping jaw fixing plate (24), and the width camera (25) faces the front ends of the two clamping jaws (15).

5. The hydroponic plant automatic grasping and photographing device according to claim 1, characterized in that, The frame (1) further comprises four vertical rods (101), a storage beam (102) and a first X-axis beam (103); the four vertical rods (101) are connected via the storage beam (102), the first X-axis beam (103) and the second X-axis beam (104); the first X-axis motion assembly (2) is fixed on the first X-axis beam (103); and the second X-axis motion assembly (5) is fixed on the second X-axis beam (104).

6. The hydroponic plant automatic grasping and photographing device according to claim 1, characterized in that, The photographing and positioning assembly also includes a third Z-axis motion assembly (36), the third Z-axis motion assembly (36) is fixed on the second Z-axis motion assembly (7), and the U-shaped frame (34) is fixed on the third Z-axis motion assembly (36).

7. A three-dimensional point cloud reconstruction method for the hydroponic plant automatic grasping and photographing device according to any one of claims 1-6, characterized in that, The method is: Step S1: The first X-axis motion component, the first Y-axis motion component, and the first Z-axis motion component jointly drive the telescopic component and the gripper component to grab the root of a single hydroponic plant in the hydroponic tank, and then move to the vicinity of the rotating camera component. The telescopic component drives the gripper component to extend forward, and finally the single hydroponic plant grabbed by the gripper component is located below the rotating stepper motor; The first-angle stepping motor and the second-angle stepping motor rotate to adjust the first rotating camera and the second rotating camera to appropriate positions, and record the rotation angle of the first-angle stepping motor, the rotation angle of the second-angle stepping motor, the installation angle of the first rotating camera relative to the length direction of the first-angle swing rod, and the installation angle of the second rotating camera relative to the length direction of the second-angle swing rod; The rotation stepping motor stops after rotating by one indexing angle each time. The first rotating camera and the second rotating camera take a photo once. After taking the photo, the actions of the rotation stepping motor rotating by one indexing angle and taking a photo once are repeated until the rotation stepping motor rotates 360°; all the photos of the same single plant in this process are combined into a plant photo group according to the photo-taking sequence; Taking the position where the gripper assembly grasps the single hydroponic plant as the coordinate origin, according to the rotation angle of the first-angle stepping motor, the rotation angle of the second-angle stepping motor, the installation angle of the first rotating camera relative to the length direction of the first-angle swing rod, the installation angle of the second rotating camera relative to the length direction of the second-angle swing rod, the length of the first-angle swing rod, the length of the second-angle swing rod, and the distance from the gripper assembly to the rotating shaft of the first-angle stepping motor, and combining a plant photo group, calculate the actual coordinates of each initial three-dimensional point cloud data and form a calibrated three-dimensional point cloud data set; Step S5: Remove the noise points in the initial three-dimensional point cloud data set, and use the remaining three-dimensional point cloud data to reconstruct the three-dimensional point cloud model of the plant.

8. The three-dimensional point cloud reconstruction method according to claim 7, wherein The following steps are added to the method: In step S3, add: Step S30: The indexing angle by which the rotation stepping motor rotates is equal to the sector angle between adjacent triangular marks; At the end of step S4, add: Step S41: Calculate the actual coordinates of each three-dimensional point cloud data, and correct the actual coordinates of the corresponding initial three-dimensional point cloud data on each photo according to the three corner coordinates of the triangular marks on each photo to obtain the calibrated three-dimensional point cloud data, and form a calibrated three-dimensional point cloud data set.

9. The three-dimensional point cloud reconstruction method according to claim 7, characterized in that In step S2, "The first-angle stepping motor and the second-angle stepping motor rotate to adjust the first rotating camera and the second rotating camera to appropriate positions" is specifically: The first rotating camera and the second rotating camera take a photo once to obtain a set of sample photos. According to the vertical occupancy of the single plant in the sample photos, adjust the height of the gripper assembly, the height of the photo-taking positioning disc, and the angular positions of the first rotating camera and the second rotating camera.

Images