A phenotypic platform all-around self-adaptive acquisition device and method

Abstract

A phenotypic platform all-around adaptive acquisition device and method, the device comprises: a pipeline phenotypic platform, including a platform frame and a conveying belt, the platform frame is provided with a platform entrance, a platform exit and a detection area, the conveying belt penetrates and is located below the platform frame;Plant feature recognition mechanism, set in the detection area and located on the side opposite to the conveying belt;All-around adaptive acquisition mechanism, set in the detection area, including all-around rotating component, acquisition height adjusting component and phenotypic adaptive acquisition component, the all-around rotating component is installed on the top of the platform frame corresponding to the plant feature recognition mechanism, the acquisition height adjusting component is connected with the all-around rotating component and the phenotypic adaptive acquisition component respectively;And automatic control mechanism is connected with the pipeline phenotypic platform, plant feature recognition mechanism and all-around adaptive acquisition mechanism respectively.The present application also discloses a phenotypic platform all-around adaptive acquisition method.

Description

Technical Field

[0001] This invention relates to plant phenotypic information acquisition technology, and in particular to a streamlined phenotypic platform with an all-around adaptive acquisition device and method. Background Technology

[0002] Phenotypic analysis is a crucial step in understanding gene function and environmental effects in breeding and agricultural management. In recent years, plant genomics has developed rapidly, and phenotypic monitoring can guide indoor germplasm screening in the early stages of breeding and evaluate the field performance of varieties during later-stage promotion and planting. Existing plant phenotypic information collection methods suffer from drawbacks such as small sample size, low efficiency, large errors, and poor adaptability (mostly targeting single plants), failing to meet the requirements of large-scale, rapid, accurate, and non-destructive phenotypic measurements, thus becoming a significant factor restricting plant biological research. With the increasing demands of scientific research and the development of imaging sensor technology, high-throughput, high-efficiency, high-precision, low-error, and low-cost automated phenotypic information collection has become possible. Data monitored by imaging sensors is objective and allows for real-time monitoring and analysis of plants; therefore, automated phenotypic information collection technology has begun to be used in plant phenotypic information collection platforms.

[0003] Existing phenotyping platforms mainly fall into two categories: pipelined and stationary. However, they suffer from limitations such as extracting only partial biomass information and providing basic phenotypic parameters through analysis software, failing to customize image analysis software and data mining tools to meet users' specific phenotypic extraction needs. Furthermore, most platforms cannot handle the parallel detection of multiple phenotypic parameters, resulting in low operating efficiency and the ability to extract only simple, primary plant phenotypes, thus failing to meet the demands for high-throughput, multi-functional phenotyping analysis of plants and specific organs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies of the prior art by providing a streamlined phenotyping platform omnidirectional adaptive acquisition device and method, which can complete the processes of automatic plant transport, automatic operation of the streamlined phenotyping platform, intelligent identification of plant characteristics, autonomous positioning of acquisition location, adaptive adjustment of sensor attitude, and omnidirectional parallel acquisition of phenotyping information, thereby realizing parallel omnidirectional adaptive phenotyping detection of plants.

[0005] To achieve the above objectives, the present invention provides an omnidirectional adaptive acquisition device for a phenotypic platform, comprising:

[0006] A production line-type phenotyping platform includes a platform frame and a conveyor belt. The platform frame is provided with a platform inlet, a platform outlet and a detection area. The conveyor belt passes through the platform inlet, the detection area and the platform outlet and is located below the platform frame for automatic transport of plants to be inspected.

[0007] A plant feature recognition mechanism is set in the detection area and located on the side directly opposite the conveyor belt, for detecting the arrival of the plant to be inspected and recognizing the plant outline features;

[0008] An omnidirectional adaptive acquisition mechanism is used to adaptively adjust and synchronously acquire phenotypic information of plants at specific locations. The omnidirectional adaptive acquisition mechanism is disposed within the platform frame and includes an omnidirectional rotating component, an acquisition height adjustment component, and a phenotypic adaptive acquisition component. The omnidirectional rotating component is mounted on the top of the platform frame, corresponding to the plant feature recognition mechanism. The acquisition height adjustment component is connected to the omnidirectional rotating component, and the phenotypic adaptive acquisition component is mounted on the acquisition height adjustment component.

[0009] An automatic control mechanism is connected to the automated phenotyping platform, the plant feature recognition mechanism, and the omnidirectional adaptive acquisition mechanism, respectively, and is used to control the parallel omnidirectional adaptive acquisition process of plant phenotyping.

[0010] The aforementioned phenotypic platform omnidirectional adaptive acquisition device includes an automatic door at the platform entrance and an automatic door at the platform exit. Photoelectric sensors are installed on the conveying brackets near the platform entrance and exit to identify whether a plant to be inspected is entering or exiting. The photoelectric sensors and the automatic doors are connected to the automatic control mechanism, which controls the corresponding automatic doors to open or close based on the signals from the photoelectric sensors.

[0011] The aforementioned phenotypic platform omnidirectional adaptive acquisition device includes a plant feature recognition mechanism comprising a sensor bracket, a plant feature recognition sensor, and a acquisition photoelectric sensor. The acquisition photoelectric sensor and the plant feature recognition sensor are respectively connected to the automatic control mechanism. The sensor bracket is installed on the platform frame within the detection area and located on one side of the conveyor belt. The acquisition photoelectric sensor is installed inside the sensor bracket, and the plant feature recognition sensor is installed at the top of the sensor bracket. The acquisition photoelectric sensor detects whether the plant to be inspected has reached the acquisition position in the detection area. The plant feature recognition sensor acquires the outline and organ point cloud feature information of the plant to be inspected and uploads it to the automatic control mechanism. The automatic control mechanism processes the point cloud data of the plant to be inspected and determines the location information of the acquired features.

[0012] The aforementioned omnidirectional adaptive acquisition device for a phenotypic platform includes an omnidirectional rotating component comprising a gimbal base, a gimbal servo drive component, a rotary table, and a rotating arm. The gimbal base is mounted on the top of the platform frame in the detection area; the gimbal servo drive component is mounted on the gimbal base and connected to the automatic control mechanism; the rotary table is mounted on the bottom of the gimbal base and connected to the gimbal servo drive component; the rotating arm is connected to the rotary table, and the gimbal servo drive component drives the rotary table to drive the rotating arm to achieve circumferential rotation.

[0013] The aforementioned phenotypic platform omnidirectional adaptive acquisition device includes a rotating arm comprising a horizontal section, an inclined section, and a vertical section connected in sequence. The horizontal section is connected to the rotating table, and the acquisition height adjustment component is mounted on the vertical section.

[0014] The aforementioned phenotypic platform omnidirectional adaptive acquisition device includes an acquisition height adjustment component comprising a height adjustment base, a drive motor, and a moving stage. The height adjustment base is mounted on the vertical section and located on the outer side of the vertical section. The drive motor is mounted on the top of the height adjustment base. The moving stage is mounted on the height adjustment base and moves up and down along the height adjustment base under the drive of the drive motor.

[0015] The aforementioned phenotypic platform omnidirectional adaptive acquisition device includes a height adjustment base comprising a linear guide rail and a ball screw. The linear guide rail is mounted on the vertical section, and the ball screw is connected to the drive motor and arranged parallel to the linear guide rail. The moving stage is mounted on the linear guide rail and connected to the ball screw.

[0016] The aforementioned phenotypic platform omnidirectional adaptive acquisition device includes a servo motor, a position adjustment component, an RGB acquisition sensor, a light source, and a multispectral imaging module. The servo motor, RGB acquisition sensor, light source, and multispectral imaging module are respectively mounted on the position adjustment component and connected to the automatic control mechanism. The position adjustment component is mounted on the moving platform, and the light source is connected to the servo motor via a transmission component.

[0017] The aforementioned phenotypic platform omnidirectional adaptive acquisition device includes a position adjustment component comprising a U-shaped base, a miniature turntable, a servo motor, a sensor support frame, an illumination adjustment frame, and a multispectral support. The U-shaped base is mounted on the moving platform, the miniature turntable is mounted on the U-shaped base, the servo motor is connected to the miniature turntable, the sensor support frame is mounted on the rotating platform of the miniature turntable, and the RGB acquisition sensor is mounted on the sensor support frame. The illumination adjustment frame is mounted on the U-shaped base, and the servo motor and transmission components are mounted on the outside of the illumination adjustment frame. The multispectral support is mounted on the U-shaped base, and the multispectral imaging module is mounted on the multispectral support.

[0018] To better achieve the above objectives, the present invention also provides a holistic adaptive acquisition method for phenotypic platforms, comprising the following steps:

[0019] S100. Place the potted plant to be inspected on the conveyor belt. The plant to be inspected moves at a low speed towards the platform entrance under the drive of the conveyor belt. When it passes the entrance photoelectric sensor, the automatic control mechanism determines that a plant has entered and opens the automatic door of the assembly line phenotyping platform, and the plant to be inspected enters the inspection area.

[0020] S200: The plant to be inspected continues to move to the collection position, and the automatic control mechanism controls the conveyor belt to stop moving after detecting that there is a plant to be inspected.

[0021] S300. The side profile point cloud information of the plant to be inspected is collected by the plant feature recognition sensor and sent to the automatic control mechanism. The automatic control mechanism determines the position and optimal collection posture of the plant to be inspected according to the collection requirements and sends the data information to the omnidirectional adaptive collection mechanism, and controls the omnidirectional adaptive collection mechanism to reach the corresponding position and posture in real time.

[0022] The S400 omnidirectional adaptive acquisition mechanism's omnidirectional rotating component begins operation, the rotating arm completes one revolution, and multiple sets of sensors in the phenotypic adaptive acquisition component simultaneously and in parallel acquire phenotypic information of specific locations on the plant, which is then transmitted in high throughput to the backend for storage or display via an automatic control mechanism; and

[0023] S500 After the data collection is completed, the automatic door at the exit of the control platform of the automatic control mechanism opens. After the exit photoelectric sensor detects the plant to be inspected, the automatic control mechanism controls the conveyor belt to stop moving and removes the inspected plant, thus completing the automatic phenotypic information collection operation of one plant to be inspected.

[0024] The technical advantages of this invention are as follows:

[0025] This invention provides a high-throughput, automated, omnidirectional adaptive, and high-resolution platform for the synchronous acquisition and analysis of plant phenotypic information. This platform meets the needs of the rapid development of gene breeding and provides technical support for accelerating plant improvement and breeding, increasing yield, and enhancing disease and pest resistance. High-throughput phenotypic monitoring can accelerate the entire breeding process, expedite the development and application of new agricultural varieties and technologies, and improve grain production capacity through green yield-increasing technologies.

[0026] 1) The automatic control mechanism uses two sets of photoelectric sensors, which can determine in real time whether there are plants to be inspected entering or leaving, and set the opening time of the detection area door according to the set parameters such as distance and speed, so that the plants to be inspected can pass through smoothly; this detection method can realize the automation of the operation process of automatic entry, inspection and exit of plants, and improve the efficiency of phenotypic detection.

[0027] 2) The plant feature recognition mechanism can determine in real time whether the plant has reached the detection position. It uses a lidar sensor to collect point cloud information of the plant to be tested, and identifies the position and posture of the plant's outline and features through point cloud features, providing data support for plant adaptive acquisition, thereby improving the efficiency and quality of phenotypic detection.

[0028] 3) The phenotypic adaptive acquisition mechanism can adjust the position and height of the acquisition sensors and the angle and orientation of each sensor according to the specific needs of plant phenotypic analysis, thereby improving the accuracy and performance of phenotypic acquisition information and thus greatly improving the efficiency of phenotypic analysis.

[0029] 4) The phenotypic parallel detection device can be equipped with multiple sets of different types of acquisition sensors according to the specific needs of plant phenotypic analysis, so as to realize the simultaneous acquisition of multiple performance parameters during the operation process, which greatly improves the detection performance and efficiency of phenotypic acquisition.

[0030] 5) The use of omnidirectional rotating components enables circumferential phenotypic data collection of plants, effectively solving the defects of plant data collection obstruction and incomplete information.

[0031] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the entry point of a pipeline-type phenotyping platform according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the outlet of a pipeline-type phenotyping platform according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of a structure according to an embodiment of the present invention;

[0035] Figure 4 for Figure 3 Side view;

[0036] Figure 5 This is a schematic diagram of an omnidirectional adaptive acquisition mechanism according to an embodiment of the present invention;

[0037] Figure 6 for Figure 5 A schematic diagram of the structure from another direction;

[0038] Figure 7 This is a schematic diagram illustrating the working principle of an embodiment of the present invention.

[0039] Among them, the attached figures are labeled

[0040] 1. Streamlined phenotyping platform

[0041] 11 Platform Framework

[0042] 12 Conveyor Supports

[0043] 13 Conveyor Belts

[0044] 131 Conveyor Bar

[0045] 14 Automatic Doors

[0046] 15 Platform Shell

[0047] 2 Automatic control mechanism

[0048] 21 Inlet photoelectric sensor

[0049] 22-outlet photoelectric sensor

[0050] 23 Automatic door drive mechanism

[0051] 24 Conveying Control Mechanism

[0052] 3 Plant Feature Identification Agencies

[0053] 31 Plant Feature Recognition Sensor

[0054] 32 photoelectric sensor

[0055] 33 Sensor Bracket

[0056] 4. All-around adaptive acquisition mechanism

[0057] 41 All-around rotating components

[0058] 411 Gimbal Base

[0059] 412 Gimbal Servo Drive Component

[0060] 413 Rotary Table

[0061] 414 Rotary Arm

[0062] 42. Height adjustment component

[0063] 421 Height Adjustable Base

[0064] 422 drive motor

[0065] 423 mobile station

[0066] 43 Phenotypic Adaptive Acquisition Component

[0067] 431 servo

[0068] 432 Position Adjustment Part

[0069] 4321 U-shaped base

[0070] 4322 Miniature Turntable

[0071] 4323 servo motor

[0072] 4324 sensor support frame

[0073] 4325 Lighting Adjustment Mount

[0074] 4326 Multispectral Stent

[0075] 433RGB Acquisition Sensor

[0076] 434 light source

[0077] 435 Multispectral Imaging Module

[0078] 5 plants to be tested Detailed Implementation

[0079] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0080] See Figures 1-4 , Figure 1 This is a schematic diagram of the entrance to a pipeline-type phenotyping platform 1 according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the outlet of a streamlined phenotyping platform 1 according to an embodiment of the present invention. Figure 3 This is a schematic diagram of a structure according to an embodiment of the present invention. Figure 4 for Figure 3The side view of the phenotyping platform of the present invention includes: a streamlined phenotyping platform 1, comprising a platform frame 11 and a conveyor belt 13, wherein the platform frame 11 is provided with a platform inlet, a platform outlet and a detection area, and the conveyor belt 13 passes through the platform inlet, the detection area and the platform outlet and is located below the platform frame 11 for automatic transport of the plant to be inspected; conveyor baffles 131 are uniformly provided on the upper surface of the conveyor belt 13 to prevent relative sliding between the plant to be inspected 5 and the conveyor belt; the streamlined phenotyping platform 1 may also be provided with a platform shell 15, which covers the platform frame 11, and automatic doors 14 are respectively installed on the platform shell 15; the detection area is located in the enclosed space jointly enclosed by the platform shell 15 and the automatic doors 14; a plant feature recognition mechanism 3, which is disposed in the detection area and located on the side facing the conveyor belt 13, for detecting the arrival of the plant to be inspected 5 and recognizing the plant outline features; and an omnidirectional adaptive acquisition mechanism. 4. An all-around adaptive acquisition mechanism 4 is used to adaptively adjust and synchronously acquire phenotypic information of plants at specific locations. This mechanism is located within the detection area and includes an all-around rotating component 41, an acquisition height adjustment component 42, and a phenotypic adaptive acquisition component 43. The all-around rotating component 41 is mounted on the top of the platform frame 11, corresponding to the plant feature recognition mechanism 3. The acquisition height adjustment component 42 is connected to the all-around rotating component 41, and the phenotypic adaptive acquisition component 43 is mounted on the acquisition height adjustment component 42. An automatic control mechanism 2 is also included, connected to the assembly line phenotyping platform 1, the plant feature recognition mechanism 3, and the all-around adaptive acquisition mechanism 4. This mechanism controls the parallel all-around adaptive acquisition process of plant phenotypic information. The automatic control mechanism 2 may include an inlet photoelectric sensor 21, an outlet photoelectric sensor 22, a conveying control mechanism 24, an automatic door drive mechanism 23, and an identification and positioning module.

[0081] In this embodiment, automatic doors 14 are respectively provided at the platform entrance and platform exit to perform the opening and closing function of the detection area. A set of photoelectric sensors, namely entrance photoelectric sensor 21 and exit photoelectric sensor 22, are respectively provided on the conveying bracket 12 near the platform entrance and platform exit to identify whether the plant to be inspected 5 enters or leaves the detection area. The entrance photoelectric sensor 21 and exit photoelectric sensor 22 and the automatic door 14 are respectively connected to the automatic control mechanism 2. The automatic control mechanism 2 controls the corresponding automatic door 14 to open or close through the automatic door drive mechanism 23 according to the signals of the entrance photoelectric sensor 21 and exit photoelectric sensor 22.

[0082] The plant feature recognition mechanism 3 in this embodiment includes a sensor bracket 33, a plant feature recognition sensor 31, and a photoelectric sensor 32. The photoelectric sensor 32 and the plant feature recognition sensor 31 are respectively connected to the automatic control mechanism 2. The sensor bracket 33 is installed on the platform frame 11 in the detection area and located on one side of the conveyor belt 13. The photoelectric sensor 32 is installed inside the sensor bracket 33, and the plant feature recognition sensor 31 is installed at the top of the sensor bracket 33. The photoelectric sensor 32 is used to detect whether the plant to be inspected 5 has reached the collection position in the detection area. The plant feature recognition sensor 31 is preferably a lidar, used to acquire the outline and organ point cloud feature information of the plant to be inspected 5 and upload it to the automatic control mechanism 2. The automatic control mechanism 2 processes the point cloud data of the plant to be inspected 5 and determines the location information of the collected features.

[0083] See Figure 5 and Figure 6 , Figure 5 This is a schematic diagram of the omnidirectional adaptive acquisition mechanism 4 according to an embodiment of the present invention. Figure 6 for Figure 5 Another structural diagram. The omnidirectional rotating component 41 in this embodiment includes a gimbal base 411, a gimbal servo drive component 412, a rotating platform 413, and a rotating arm 414. The gimbal base 411 is installed on the top of the platform frame 11 of the detection area; the gimbal servo drive component 412 is installed on the gimbal base 411 and connected to the automatic control mechanism 2; the rotating platform 413 is installed at the bottom of the gimbal base 411 and connected to the gimbal servo drive component 412; the rotating arm 414 is connected to the rotating platform 413, that is, after the gimbal base 411 and the gimbal servo drive component 412 are integrated, they can be fixed as a whole in the top middle position inside the platform frame 11, and the rotating arm 414 is installed on the rotating platform 413. The gimbal servo drive component 412 drives the rotating platform 413 to drive the rotating arm 414 to achieve circumferential rotation. The rotating arm 414 includes a horizontal section, an inclined section and a vertical section connected in sequence. The horizontal section is connected to the rotating table 413, and the acquisition height adjustment component 42 is installed on the vertical section.

[0084] The height adjustment component 42 in this embodiment includes a height adjustment base 421, a drive motor 422, and a moving stage 423. The height adjustment base 421 is mounted on the vertical section and located on the outer side of the vertical section. The drive motor 422 is mounted on a corresponding interface at the top of the height adjustment base 421, and is preferably a high-precision servo motor. The moving stage 423 is mounted on the height adjustment base 421 and moves up and down along the height adjustment base 421 under the drive of the drive motor 422. The height adjustment base 421 includes a linear guide rail and a ball screw. The linear guide rail is mounted on the vertical section, and the ball screw is connected to the drive motor 422 and arranged parallel to the linear guide rail. The moving stage 423 is mounted on the linear guide rail and connected to the ball screw.

[0085] The phenotypic adaptive acquisition component 43 in this embodiment includes a servo motor 431, a position adjustment component 432, an RGB acquisition sensor 433, a light source 434, and a multispectral imaging module 435. The servo motor 431, the RGB acquisition sensor 433, the light source 434, and the multispectral imaging module 435 are respectively mounted on the position adjustment component 432 and respectively connected to the automatic control mechanism 2. The position adjustment component 432 is mounted on the moving stage 423, and the light source 434 is connected to the servo motor 431 through a transmission component. The position adjustment component 432 includes a U-shaped base 4321, a miniature turntable 4322, a servo motor 4323, a sensor support frame 4324, an illumination adjustment frame 4325, and a multispectral support 4326. The U-shaped base 4321 is fixedly mounted on the moving platform 423, the miniature turntable 4322 is mounted on the U-shaped base 4321, and the servo motor 4323 is connected to the miniature turntable 4322. That is, after assembly, the servo motor 4323 and the miniature turntable 4322 are fixed to the U-shaped base 4321. The sensor support frame 4324 is mounted on the rotating platform of the miniature turntable 4322, and the RGB acquisition sensor 433 is mounted on the sensor support frame 4324. The lighting adjustment frame 4325 is mounted on the U-shaped base 4321, and the servo motor 431 and transmission components are mounted on the outside of the lighting adjustment frame 4325 to adjust the spotlight posture. The multispectral bracket 4326 is mounted on the U-shaped base 4321, and the multispectral imaging module 435 is mounted on the multispectral bracket 4326. By changing the size and structure of the U-shaped base 4321, multiple miniature turntables 4322, sensor support frames 4324, and multiple sets of sensors can be fixed.

[0086] See Figure 7 , Figure 7 This is a schematic diagram illustrating the working principle of an embodiment of the present invention. The omnidirectional adaptive acquisition method for phenotypic platforms of the present invention includes the following steps:

[0087] Step S100: Place the potted plant 5 to be inspected on the conveyor belt 13. The plant 5 to be inspected moves slowly toward the platform entrance under the drive of the conveyor belt 13. When it passes the entrance photoelectric sensor 21, the automatic control mechanism 2 determines that a plant has entered and opens the automatic door 14 of the assembly line phenotyping platform 1, and the plant 5 to be inspected enters the inspection area.

[0088] Step S200: The plant to be inspected 5 continues to move to the collection position. After the automatic control mechanism 2 detects that there is a plant to be inspected, it controls the conveyor belt 13 to stop moving.

[0089] Step S300: Collect the side profile point cloud information of the plant to be inspected 5 through the plant feature recognition sensor 31, and send the information to the automatic control mechanism 2. The automatic control mechanism 2 determines the position and optimal acquisition posture of the plant to be inspected 5 according to the acquisition requirements, and sends the data information to the omnidirectional adaptive acquisition mechanism 4, and controls the omnidirectional adaptive acquisition mechanism 4 to reach the corresponding position and posture in real time.

[0090] In step S400, the omnidirectional adaptive acquisition mechanism 4's omnidirectional rotating component 41 begins operation, the rotating arm 414 rotates one revolution, and multiple sets of sensors in the phenotypic adaptive acquisition component 43 synchronously and in parallel acquire phenotypic information of specific locations on the plant, which is then transmitted in high throughput to the background for storage or display via the automatic control mechanism 2; and

[0091] Step S500: After the data collection is completed, the automatic control mechanism 2 controls the automatic door 14 at the exit of the control platform to open. After the exit photoelectric sensor 22 detects the plant to be inspected 5, the automatic control mechanism 2 controls the conveyor belt 13 to stop moving and removes the inspected plant 5, thus completing the automatic phenotypic information collection operation of one plant to be inspected 5.

[0092] In this embodiment, an AGV trolley with loading and unloading function places the plant to be inspected 5 on the conveyor belt 13. Driven by the conveyor belt 13, the plant 5 moves at a low speed towards the assembly line phenotyping platform 1. When it passes the entrance photoelectric sensor 21, the automatic control mechanism 2 determines that a plant has entered and opens the automatic door 14, allowing the plant 5 to enter the detection area. When the plant 5 continues to move to the collection position, the automatic control mechanism 2 detects the presence of the plant 5 and immediately sends a signal to the conveyor control mechanism 24, stopping the conveyor belt 13. Then, the plant feature recognition sensor 31 (such as a lidar) collects the side profile point cloud information of the plant 5 and promptly sends this information to the automatic control mechanism 2. The automatic control mechanism 2 determines the position and optimal collection posture of the plant 5 according to the collection requirements and sends this data to the omnidirectional adaptive collection mechanism 4 for real-time control. In the phenotypic adaptive acquisition mechanism, the drive motor 422 of the height adjustment component 42 and the servo motor 4323 of the position adjustment component 432 are activated to reach the corresponding position and posture. The gimbal servo drive component 412 executes the corresponding action, driving the omnidirectional rotation component 41 to start moving, and the rotating arm 414 to start rotating one revolution. Multiple sets of sensors of the phenotypic adaptive acquisition component 43 collect phenotypic information of the plant under inspection 5 at specific positions in parallel and synchronously, and transmit it to the background storage and display component through the automatic control mechanism 2 with high throughput. After the acquisition is completed, the automatic control mechanism 2 sends a signal to open the automatic door 14 at the platform exit. After the exit photoelectric sensor 22 detects the presence of the plant under inspection 5, it sends a signal to the conveyor control mechanism 24 and the AGV loading and unloading trolley. The conveyor belt 13 stops moving, and the AGV trolley picks up the inspected plant under inspection 5, completing the automatic phenotypic information acquisition operation of one plant under inspection 5. The above process can be repeated continuously until the phenotypic information acquisition operation of all plants under inspection 5 is completed.

[0093] The conveyor belt 13 of this invention can transport the plant to be inspected 5 in and out of the inspection area of ​​the assembly line phenotyping platform 1. Two sets of photoelectric sensors can identify whether a plant has entered or exited the inspection area, and control the automatic door 14 to open or close according to the inspection process requirements. The plant feature recognition mechanism 3 can realize the detection of plant arrival, the recognition and processing of the outline and specific organs of the plant to be inspected 5. The omnidirectional adaptive acquisition mechanism 4 is used for information acquisition of the plant to be inspected 5. It can complete the automatic transport of the plant to be inspected 5, the automatic opening and closing of the automatic door 14, the intelligent recognition of plant features, the autonomous positioning of the acquisition position, the adaptive adjustment of the sensor posture, and the synchronous acquisition of phenotypic information, thereby realizing the parallel omnidirectional adaptive acquisition process of plant phenotyping.

[0094] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A phenotypic platform omnidirectional adaptive acquisition device, characterized in that, include: A production line-type phenotyping platform includes a platform frame and a conveyor belt. The platform frame is provided with a platform inlet, a platform outlet and a detection area. The conveyor belt passes through the platform inlet, the detection area and the platform outlet and is located below the platform frame for automatic transport of plants to be inspected. A plant feature recognition mechanism is set in the detection area and located on the side directly opposite the conveyor belt, for detecting the arrival of the plant to be inspected and recognizing the plant outline features; An omnidirectional adaptive acquisition mechanism is used to adaptively adjust and synchronously acquire phenotypic information of plants at specific locations. The omnidirectional adaptive acquisition mechanism is set within the platform frame and includes an omnidirectional rotating component, an acquisition height adjustment component, and a phenotypic adaptive acquisition component. The omnidirectional rotating component is installed at the top of the platform frame corresponding to the plant feature recognition mechanism. The acquisition height adjustment component is connected to the omnidirectional rotating component, and the phenotypic adaptive acquisition component is installed on the acquisition height adjustment component. as well as An automatic control mechanism is connected to the automated phenotyping platform, the plant feature recognition mechanism, and the omnidirectional adaptive acquisition mechanism, respectively, and is used to control the parallel omnidirectional adaptive acquisition process of plant phenotyping. The omnidirectional rotating component includes a gimbal base, a gimbal servo drive component, a rotary table, and a rotating arm. The rotating arm includes a horizontal section, an inclined section, and a vertical section connected in sequence. The horizontal section is connected to the rotary table, and the acquisition height adjustment component is installed on the vertical section. The height adjustment component includes a height adjustment base, a drive motor, and a moving platform. The height adjustment base is installed on the vertical section and located on the outer side of the vertical section. The drive motor is installed on the top of the height adjustment base. The moving platform is installed on the height adjustment base and moves up and down along the height adjustment base under the drive of the drive motor. The phenotypic adaptive acquisition component includes a servo motor, a position adjustment component, an RGB acquisition sensor, a light source, and a multispectral imaging module. The servo motor, RGB acquisition sensor, light source, and multispectral imaging module are respectively mounted on the position adjustment component and connected to the automatic control mechanism. The position adjustment component is mounted on the moving platform, and the light source is connected to the servo motor through a transmission component.

2. The phenotypic platform omnidirectional adaptive acquisition device according to claim 1, characterized in that, The platform entrance and platform exit are each equipped with an automatic door. Photoelectric sensors are installed on the conveyor supports near the platform entrance and platform exit to identify whether there are plants to be inspected entering or exiting. The photoelectric sensors and automatic doors are respectively connected to the automatic control mechanism, which controls the corresponding automatic doors to open or close according to the signals from the photoelectric sensors.

3. The omnidirectional adaptive acquisition device for phenotypic platforms according to claim 1 or 2, characterized in that, The plant feature recognition mechanism includes a sensor bracket, a plant feature recognition sensor, and a photoelectric sensor for data acquisition. The photoelectric sensor for data acquisition and the plant feature recognition sensor are respectively connected to the automatic control mechanism. The sensor bracket is installed on the platform frame within the detection area and located on one side of the conveyor belt. The photoelectric sensor for data acquisition is installed inside the sensor bracket, and the plant feature recognition sensor is installed at the top of the sensor bracket. The photoelectric sensor for data acquisition is used to detect whether the plant to be inspected has reached the acquisition position in the detection area. The plant feature recognition sensor is used to acquire the outline and organ point cloud feature information of the plant to be inspected and upload it to the automatic control mechanism. The automatic control mechanism processes the point cloud data of the plant to be inspected and determines the location information of the acquired features.

4. The omnidirectional adaptive acquisition device for phenotypic platforms according to claim 1 or 2, characterized in that, The gimbal base is installed on the top of the platform frame of the detection area; the gimbal servo drive component is installed on the gimbal base and connected to the automatic control mechanism; the rotary table is installed at the bottom of the gimbal base and connected to the gimbal servo drive component; the rotating arm is connected to the rotary table, and the gimbal servo drive component drives the rotary table to drive the rotating arm to achieve circumferential rotation.

5. The omnidirectional adaptive acquisition device for phenotypic platforms according to claim 1, characterized in that, The height adjustment base includes a linear guide rail and a ball screw. The linear guide rail is installed on the vertical section, and the ball screw is connected to the drive motor and arranged parallel to the linear guide rail. The moving platform is installed on the linear guide rail and connected to the ball screw.

6. The omnidirectional adaptive acquisition device for phenotypic platforms according to claim 1, characterized in that, The position adjustment component includes a U-shaped base, a miniature turntable, a servo motor, a sensor support frame, an illumination adjustment frame, and a multispectral bracket. The U-shaped base is mounted on the moving platform, the miniature turntable is mounted on the U-shaped base, the servo motor is connected to the miniature turntable, the sensor support frame is mounted on the rotating platform of the miniature turntable, and the RGB acquisition sensor is mounted on the sensor support frame. The illumination adjustment frame is mounted on the U-shaped base, and the servo motor and transmission components are mounted on the outside of the illumination adjustment frame. The multispectral bracket is mounted on the U-shaped base, and the multispectral imaging module is mounted on the multispectral bracket.

7. A phenotypic platform omnidirectional adaptive data acquisition method, characterized in that, The phenotypic platform omnidirectional adaptive acquisition device according to any one of claims 1-6 is used to achieve this, comprising the following steps: S100. Place the potted plant to be inspected on the conveyor belt. The plant to be inspected moves at a low speed towards the platform entrance under the drive of the conveyor belt. When it passes the entrance photoelectric sensor, the automatic control mechanism determines that a plant has entered and opens the automatic door of the assembly line phenotyping platform, and the plant to be inspected enters the inspection area. S200: The plant to be inspected continues to move to the collection position, and the automatic control mechanism controls the conveyor belt to stop moving after detecting that there is a plant to be inspected. S300. The side profile point cloud information of the plant to be inspected is collected by the plant feature recognition sensor and sent to the automatic control mechanism. The automatic control mechanism determines the position and optimal collection posture of the plant to be inspected according to the collection requirements and sends the data information to the omnidirectional adaptive collection mechanism, and controls the omnidirectional adaptive collection mechanism to reach the corresponding position and posture in real time. The S400 omnidirectional adaptive acquisition mechanism's omnidirectional rotating component begins operation, the rotating arm completes one revolution, and multiple sets of sensors in the phenotypic adaptive acquisition component simultaneously and in parallel acquire phenotypic information of specific locations on the plant, which is then transmitted in high throughput to the backend for storage or display via an automatic control mechanism; and S500 After the data collection is completed, the automatic door at the exit of the control platform of the automatic control mechanism opens. After the exit photoelectric sensor detects the plant to be inspected, the automatic control mechanism controls the conveyor belt to stop moving and removes the inspected plant, thus completing the automatic phenotypic information collection operation of one plant to be inspected.

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