Crop three-dimensional imaging platform and crop three-dimensional imaging method

Abstract

The invention discloses a crop three-dimensional imaging platform and a crop three-dimensional imaging method. Comprising an imaging module, a conveying link and a feeding unit, the conveying link is connected with the imaging module and the feeding unit. The feeding unit comprises identification equipment, and the identification equipment is used for identifying the unique identification code on the carrier carrying the to-be-tested crops and binding the unique identification code with the to-be-tested crops corresponding to the carrier; wherein the to-be-detected crops and the carriers are in one-to-one correspondence; the imaging module is used for identifying the unique identification code of the to-be-detected crop and performing imaging processing on the to-be-detected crop, and the imaging processing comprises 3D imaging processing; and the transmission link is used for transmitting the crops to be detected. By adopting the method, the data detected by the three-dimensional imaging platform can be bound with the corresponding to-be-detected crop, so that the detection data of the to-be-detected crop can be traced. Moreover, through the imaging module on the transmission link, 3D imaging processing of each crop to be detected can be completed.

Description

Technical Field

[0001] The present application relates to the technical field of high-throughput three-dimensional phenotyping systems for greenhouse crops, and in particular to a three-dimensional crop imaging platform and a three-dimensional crop imaging method. Background Art

[0002] Plant phenotyping is the study of the observable morphological characteristics such as structure and function of plants under specific conditions and their changing laws. It is becoming one of the core research and application fields recognized by academia and industry, and is one of the core technical fields for solving future agricultural challenges (food security, environmental sustainability, bioenergy, population aging, etc.). Breakthroughs in plant phenotyping can provide big data decision support for breeding, cultivation and agricultural practice. Plant phenotyping research platforms can accelerate the research process, conduct non-destructive analysis of plants under high-throughput conditions, and plants are imaged multiple times throughout their life cycle. Data that can only be obtained in the past few years can be accumulated in a few months. All countries are increasing the construction of major scientific research platforms for plant phenotyping research. For example, the Netherlands Phenotyping Research Center and the UK National Phenotyping Research Center have successively invested in the construction of scientific research platforms to increase research on phenotypes. Chinese researchers should also actively participate in relevant meetings on plant phenotyping research, and pay close attention to and track the dynamics of plant phenotyping research.

[0003] In the existing technology, the research on plant phenotype mostly adopts the XYZ three-axis acquisition platform, so as to achieve the image capture of the plant planting area with a longer XYZ three-axis range, and increase the shooting area range of the plant phenotype platform. However, it still has some disadvantages, such as the inability to accurately trace the growth status of each plant and the inability to accurately record the relevant parameters of each plant.

[0004] At present, there is no effective solution to the problem that in the existing technology of plant phenotyping research, it is impossible to accurately trace each plant and record the relevant data and image data of each plant. Summary of the invention

[0005] Based on this, it is necessary to provide a crop 3D imaging platform and a crop 3D imaging method to address the above technical issues.

[0006] In the first aspect, the present application provides a crop three-dimensional imaging platform, including an imaging module, a transmission link and a loading unit; the transmission link is respectively connected to the imaging module and the loading unit;

[0007] The loading unit includes an identification device, which is used to identify the unique identification code on the carrier carrying the crop to be tested, and bind the unique identification code to the crop to be tested corresponding to the carrier; wherein the crop to be tested and the carrier are in a one-to-one correspondence;

[0008] An imaging module is used to identify the unique identification code of the crop to be tested and perform imaging processing on the crop to be tested, wherein the imaging processing includes 3D imaging processing;

[0009] The transmission link is used to transmit the crops to be tested.

[0010] In one of the embodiments, the transmission link is a closed-loop structure, and the identification device is further used to identify the unique identification code when the crop to be tested is in a feeding state, and then unbind the unique identification code from the crop to be tested.

[0011] In one embodiment, the crop 3D imaging platform further comprises a functional module; the functional module is arranged on the transmission link;

[0012] The functional module is used to identify the unique identification code of the crop to be tested and perform corresponding functional processing on the crop to be tested when it detects that the crop to be tested on the transmission link is transmitted to the corresponding functional processing point. The functional processing includes: watering processing and weighing processing.

[0013] In one embodiment, the imaging module includes a mobile servo and a mobile camera. The mobile servo and the mobile camera are correspondingly arranged. The mobile servo is used to drive the mobile camera to move around the crop to be measured so that the mobile camera can complete 3D imaging of the crop to be measured.

[0014] In one embodiment, the imaging module includes a visible light imaging module; the visible light imaging module includes a box, a plurality of lateral shift cameras, a plurality of lateral shift servos, a lifting camera, a lifting servo, a turntable servo and a lifting servo;

[0015] Each lateral shift servo is set in one-to-one correspondence with each lateral shift camera. The lateral shift cameras and lateral shift servos are arranged in a vertical order from bottom to top on the box. The lateral shift servos are used to drive the corresponding lateral shift cameras to move horizontally around the crop to be measured.

[0016] The lifting camera and the lifting servo are set in one-to-one correspondence, and the lifting servo is used to drive the lifting camera to move vertically along the box based on the crop to be measured;

[0017] The turntable servo is located on the top of the box. The turntable servo is used to drive the carrier carrying the crop to be tested to rotate;

[0018] The lifting servo is located at the bottom of the box and is used to lift the crop to be tested.

[0019] In one embodiment, the imaging module includes a spectral imaging module; the spectral imaging module includes a box, a rotation servo, a lifting servo, a lifting servo, a lateral movement servo, a first spectral camera and a depth camera;

[0020] The rotary servo is located at the bottom of the box, and is used to drive the carrier carrying the crop to be tested to rotate;

[0021] The lifting servo is connected to the bottom of the box and is used to lift the crop to be tested;

[0022] The first spectrum camera and the depth camera are integrated on the lateral movement servo and the lifting servo, and the first spectrum camera and the depth camera are driven to move by the lateral movement servo and the lifting servo.

[0023] In one embodiment, the platform further includes a blocking mechanism, which includes a first blocking mechanism, a second blocking mechanism, and a third blocking mechanism, wherein the first blocking mechanism, the second blocking mechanism, and the third blocking mechanism are sequentially arranged on the conveying link in the order of movement of the crop to be measured, and the first blocking mechanism is adjacent to the functional mechanism and the imaging module:

[0024] The first blocking mechanism is used to intercept the crop to be tested and release the crop to be tested when it is detected through the unique identification code that the crop to be tested needs to be imaged;

[0025] A second blocking mechanism, when the first blocking mechanism detects that the crop to be tested needs to be released, the second blocking mechanism is used to intercept and separate the subsequent crop to be tested on the transmission link;

[0026] The third blocking mechanism includes at least one third sub-blocking mechanism, all of which are arranged in sequence on the conveying link, and the third sub-blocking mechanism is used to separate two adjacent groups of crops to be tested from each other during the conveying process of the crops to be tested.

[0027] In a second aspect, the present application also provides a crop 3D imaging method. Applied to the seat 3D imaging platform as described above, the method comprises:

[0028] After detecting that the carrier on the transmission link arrives at the preset loading unit, the unique identification code on the carrier is identified by the identification device in the loading unit, and the unique identification code is bound to the crop to be tested corresponding to the carrier, wherein the crop to be tested and the carrier are in a one-to-one correspondence;

[0029] The crop to be measured is transmitted through a preset transmission link. After the imaging module completes the recognition of the unique identification code of the crop to be measured, the crop to be measured is imaged based on the preset imaging module, wherein the imaging processing includes 3D imaging processing.

[0030] In one embodiment, after performing imaging processing on the crop to be detected based on a preset imaging module, the method further includes:

[0031] After detecting that the test of the crop to be tested is completed, the crop to be tested is controlled to reach a preset unloading unit through a transmission link;

[0032] The unique identification code on the carrier is identified by the identification device, and the unique identification code is untied from the crop to be tested corresponding to the carrier, so as to control the unloading of the crop to be tested.

[0033] In one embodiment, the imaging module includes a rotating servo, a moving servo and a moving camera, and the moving servo and the moving camera are arranged correspondingly; the imaging module is used to perform imaging processing on the crop to be measured, including:

[0034] The rotation of the crop to be measured is controlled by the rotary servo, and after detecting that the crop to be measured has rotated to a preset angle, the mobile servo is controlled to drive the mobile camera to shoot the crop to be measured until 360-degree 3D imaging of the crop to be measured is completed.

[0035] The above-mentioned crop three-dimensional imaging platform and crop three-dimensional imaging method, the crop three-dimensional imaging platform includes an imaging module, a transmission link and a loading unit, the identification device in the loading unit is used to identify the unique identification code on the carrier carrying the crop to be tested, and bind the unique identification code to the crop to be tested corresponding to the carrier. The imaging module is used to perform imaging processing on the crop to be tested, wherein the imaging processing includes 3D imaging processing; the transmission link is used to transmit the crop to be tested. By binding the unique identification code to the crop to be tested in the present application, the data detected by the three-dimensional imaging platform can be bound to the corresponding crop to be tested, thereby realizing the traceability of the detection data of the crop to be tested. Furthermore, the present application can complete the 3D imaging processing of each crop to be tested through the imaging module on the transmission link. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic structural diagram of a crop three-dimensional imaging platform in one embodiment;

[0037] Figure 2 is a schematic structural diagram of a visible light imaging module in one embodiment;

[0038] Figure 3 is a schematic structural diagram of a visible light imaging module in one embodiment;

[0039] Figure 4 is a schematic structural diagram of a spectral imaging module in one embodiment;

[0040] Figure 5 is a schematic structural diagram of a spectral imaging module in one embodiment;

[0041] Figure 6 This is a schematic diagram of the structure of a crop three-dimensional imaging platform in a preferred embodiment;

[0042] Figure 7 A schematic diagram of a process flow of a crop three-dimensional imaging method in an embodiment;

[0043] Figure 8 It is a schematic flow chart of a loading process in one embodiment;

[0044] Fig. 9 is a schematic flow chart of an imaging process in one embodiment;

[0045] Fig.10 Schematic diagram of the process of material removal in one embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] In one embodiment, Figure 1 As shown, a crop three-dimensional imaging platform is provided, including: an imaging module 12, a transmission link 13 and a loading unit 11; the transmission link is respectively connected to the imaging module and the loading unit;

[0048] The loading unit includes an identification device, which is used to identify the unique identification code on the carrier carrying the crop to be tested, and bind the unique identification code to the crop to be tested corresponding to the carrier; wherein the crop to be tested and the carrier are in a one-to-one correspondence;

[0049] An imaging module is used to identify the unique identification code of the crop to be tested and perform imaging processing on the crop to be tested, wherein the imaging processing includes 3D imaging processing;

[0050] The transmission link is used to transmit the crops to be tested.

[0051] Specifically, a feeding unit is provided on the above-mentioned conveying link, and the feeding unit is used for feeding the crop to be tested. The feeding unit includes but is not limited to a weighing sensor, a feeding blocking mechanism, a servo lifting mechanism, an identification device, an industrial computer, a computer display, a detection proximity switch, etc., wherein the weighing sensor is used to detect the weight of the crop to be tested; since the conveying link is mostly a whole conveyor belt, the feeding blocking mechanism is used to fix the crop to be tested at the feeding point corresponding to the feeding unit to prevent the crop to be tested from being carried to other positions by the conveying link when the feeding process is not completed; the servo lifting mechanism is used to The carrier of the crop to be tested is lifted up, so as to facilitate the weighing and other testing of the crop to be tested; the recognition equipment is mostly a code scanning device or a camera, so as to realize the recognition of the unique identification code; the industrial computer is a common industrial computer in this field, which can be used for data collection and processing, and execute control commands according to preset programs or real-time data. The industrial computer is generally connected to a computer monitor as a human-machine interface to display equipment status, test data and other information, and receive control instructions from operators; the detection proximity switch is used to detect whether the crop to be tested and its carrier are close to / leave the loading unit corresponding to the loading unit.

[0052] Specifically, the identification device is used to identify the unique identification code on the carrier carrying the crop to be tested. The unique identification code can be a QR code, bar code, etc., which is generally printed on the carrier. The unique identification code serves as the unique identification of the corresponding crop to be tested, which facilitates the statistics of relevant data detected by the crop to be tested through the unique identification code, and also facilitates the traceability of the data of each pot of crop to be tested. In actual applications, there are many methods for binding the unique identification code with the corresponding crop to be tested, such as planting each crop to be tested in a flowerpot with a corresponding identification code printed on it, placing the flowerpot on a carrier printed with a unique identification code, and simultaneously identifying the identification code on the flowerpot and the unique identification code on the carrier, binding the flowerpot identification code with the unique identification code of the carrier, thereby binding the unique identification code with the corresponding crop to be tested; or, setting the carrier on the transmission link as a flowerpot with a unique identification code, and directly planting the crop to be tested in the carrier, thereby binding the unique identification code with the corresponding crop to be tested, etc. It can be understood that this embodiment does not make too many limitations on the method of binding the crop to be tested with the unique identification code, and all methods that can realize the binding of the unique identification code with the crop to be tested should fall within the scope of protection of this application.

[0053] Furthermore, after the loading unit completes the loading process of the crop to be tested, the transmission link drives the crop to be tested to the imaging module. The imaging module includes at least one imaging unit, which includes but is not limited to 3D imaging, 2D imaging, etc. In practical applications, the type of imaging unit can be set according to actual needs. The imaging module first identifies the unique identification code of the crop to be tested, and then performs imaging processing on the crop to be tested, thereby binding the imaging result with the unique identification code, which is convenient for statistical analysis of the test results of the same crop to be tested, and tracing back the relevant test results and test data of the crop to be tested.

[0054] Furthermore, the transmission link is used to transmit the crops to be tested, and the transmission link can be a closed-loop structure or an open-loop structure, and the structure of the transmission link is determined by actual needs. In addition, there are generally multiple crops to be tested on the transmission link at the same time, and each crop to be tested has a corresponding unique identification code.

[0055] This embodiment can realize automatic code scanning and binding, automatic detection and processing for each crop to be tested, and realize data statistics and traceability of each crop to be tested. Multiple crops to be tested can be automatically circulated on the crop three-dimensional imaging platform of this application, and centralized loading and unloading. Furthermore, the imaging module in this embodiment can realize 360-degree 3D imaging of each crop to be tested, overcoming the common problems of crop leaf occlusion and lack of depth information in the prior art, and ensuring the accuracy of crop structure description.

[0056] In some of the embodiments, the transmission link is a closed-loop structure, and the identification device is further used to identify the unique identification code when the crop to be tested is in a feeding state, and then unbind the unique identification code from the crop to be tested.

[0057] Specifically, in this embodiment, the transmission link is a closed-loop structure. Preferably, the positions of the loading unit and the unloading unit overlap, that is, the loading unit can perform loading and unloading processing. When the crop to be tested completes all the required detection processing, it is transmitted back to the unloading unit through the transmission link, and the unique identification code is identified by the identification device at the unloading unit, and the unique identification code is untied from the crop to be tested. Through this embodiment, centralized loading and unloading processing of multiple crops to be tested can be achieved, and the unique identification code can be recycled for subsequent recycling.

[0058] In some of the embodiments, the crop 3D imaging platform further comprises a functional module; the functional module is arranged on the transmission link;

[0059] The functional module is used to identify the unique identification code of the crop to be tested and perform corresponding functional processing on the crop to be tested when it detects that the crop to be tested on the transmission link is transmitted to the corresponding functional processing point. The functional processing includes: watering processing and weighing processing.

[0060] Specifically, a functional module is also provided at a preset point of the transmission link. When the crop to be tested is transmitted to the corresponding point, the functional module identifies the unique identification code of the crop to be tested. After the identification is completed, the crop to be tested is subjected to corresponding functional processing, such as watering, weighing, etc. It can be understood that the present embodiment may include multiple functional modules, different functional modules perform different functions, and the specific categories of the functional modules are set according to actual needs. After the functional processing is completed, the processing result is bound to the unique identification code. For example, when the functional module is a watering module, the relevant data of the watering processing can be bound to the unique identification code, and when the functional module is a weighing module, the relevant data of the weighing can be bound to the unique identification code, etc. This embodiment further expands the function of the crop three-dimensional imaging platform in the present application, and enables the platform to flexibly adapt to different application scenarios. When some functions need to be added, they can be added directly to the transmission link without affecting the overall structure of the platform.

[0061] In some of the embodiments, the imaging module includes a mobile servo and a mobile camera. The mobile servo and the mobile camera are correspondingly arranged. The mobile servo is used to drive the mobile camera to move around the crop to be measured so that the mobile camera can complete 3D imaging of the crop to be measured.

[0062] Specifically, the imaging module includes a point for placing the crop to be measured. When it is detected that the crop to be measured is located at the designated placement point, the crop to be measured is imaged by a mobile servo and a mobile camera. Preferably, the crop to be measured can be transported to the preset placement point by a mobile servo for transporting the crop to be measured. The mobile servo for transporting the crop to be measured includes but is not limited to a lateral movement servo and a lifting servo. Further, the imaging module includes a plurality of mobile servos and mobile cameras. The mobile camera and the mobile servo are in a one-to-one or many-to-one relationship, that is, one mobile servo is equipped with at least one mobile camera, and the installation positions of the mobile camera and the mobile servo in the imaging module can be determined by relevant technical personnel according to actual needs, such as being installed in sequence along an axis perpendicular to the horizontal plane, or being installed in sequence along an axis having a preset angle with the ground, etc. The mobile camera is fixed on the mobile servo, and the mobile servo drives the mobile camera to move around the crop to be measured, thereby completing 3D imaging of the crop to be measured. In some embodiments, the imaging module may include a variety of different imaging modes, such as a 3D visible light imaging module, a 3D spectral imaging module, etc. In this embodiment, imaging modules with different imaging modes all include the above-mentioned multiple mobile servos and corresponding mobile cameras, thereby achieving more comprehensive 3D imaging of the crops to be tested.

[0063] In some of the embodiments, the imaging module includes a visible light imaging module; the visible light imaging module includes a box, a plurality of lateral shift cameras, a plurality of lateral shift servos, a lifting camera, a lifting servo, a turntable servo and a lifting servo;

[0064] Each lateral shift servo is set in one-to-one correspondence with each lateral shift camera. The lateral shift cameras and lateral shift servos are arranged in a vertical order from bottom to top on the box. The lateral shift servos are used to drive the corresponding lateral shift cameras to move horizontally around the crop to be measured.

[0065] The lifting camera and the lifting servo are set in one-to-one correspondence, and the lifting servo is used to drive the lifting camera to move vertically along the box based on the crop to be measured;

[0066] The turntable servo is located on the top of the box. The turntable servo is used to drive the carrier carrying the crop to be tested to rotate;

[0067] The lifting servo is located at the bottom of the box and is used to lift the crop to be tested.

[0068] Specifically, Figure 2 and Figure 3 All of them are structural schematic diagrams of visible light imaging modules, including 01-transverse moving camera 1, 02-transverse moving camera 2, 03-transverse moving camera 3, 04-transverse moving camera 4, 05-transverse moving camera 5, 06-transverse moving camera 6, 07-transverse moving camera 7, 08-transverse moving camera 8, 09-lifting camera 9, 10-lifting servo, 11-transverse moving servo 1, 12-transverse moving servo 2, 13-transverse moving servo 3, 14-transverse moving servo 4, 15-transverse moving servo 5, 16-transverse moving servo 6, 17-transverse moving servo 7, 18-transverse moving servo 8, 19-lifting servo 9, 20-turntable servo, 21-annular camera backlight, 22-box 1 station blocking motor mechanism, 23-carrier, 24-crop to be measured.

[0069] As can be seen from the figure, the visible light imaging module in this embodiment includes multiple transverse shift cameras and multiple transverse shift servos. The transverse shift servos and the transverse shift cameras are in a one-to-one correspondence. The transverse shift cameras and the transverse shift servos are arranged and installed in sequence from bottom to top along an axis perpendicular to the horizontal plane. In some preferred embodiments, one end of the transverse shift servo is fixed on the box, and the other end of the transverse shift servo is installed with a corresponding transverse shift camera. The transverse shift servo can drive the transverse shift camera to move horizontally around the crop to be measured.

[0070] The lifting camera is installed on the lifting servo. One end of the lifting servo is slidably installed on an axis perpendicular to the horizontal plane. The other end of the lifting servo is equipped with the lifting camera. The lifting servo can drive the lifting camera to move vertically around the crop to be measured.

[0071] The lifting servo 10 is located at the bottom of the box. When the crop to be tested reaches the preset working position in the visible light imaging module, the lifting servo 10 will lift the carrier carrying the crop to be tested to a preset height and keep it stationary, so that the lateral movement camera and the lifting camera can complete the 3D visible light imaging of the crop to be tested. The lateral movement camera automatically moves to the specified position through the corresponding lateral movement servo to perform 3D imaging.

[0072] The turntable servo is installed on the top of the box, and is used to drive the crop to be tested carried by the carrier to rotate. In some preferred embodiments, when the visible light imaging module performs 3D imaging on the crop to be tested, the turntable servo can drive the crop to be tested to rotate at a uniform speed. For example, the camera can be moved horizontally and the camera can be lifted up and down every time a certain angle (such as 5°) is rotated to take a picture of the crop to be tested, thereby completing 360° 3D visible light photography and imaging of the crop to be tested.

[0073] 21-The ring camera backlight source is preferably installed on the side wall of the box at an angle perpendicular to the ground to provide light source when performing visible light imaging. 22-The box 1 station blocking DC motor mechanism is installed at the bottom of the box to fix the crop to be tested and its carrier at a preset placement point that is convenient for imaging.

[0074] This embodiment provides a 3D visible light imaging module, which can be set along the transmission link in the crop three-dimensional imaging platform provided in this application, and automatically completes single-frame imaging and 3D imaging for each crop to be tested. In addition, each camera in the imaging system is fixed on a mobile servo motor mechanism, which can realize independent and flexible automatic adjustment of each camera.

[0075] In some of the embodiments, the imaging module includes a spectral imaging module; the spectral imaging module includes a box, a rotation servo, a lifting servo, a lifting servo, a lateral movement servo, a first spectral camera and a depth camera;

[0076] The rotary servo is located at the bottom of the box, and is used to drive the carrier carrying the crop to be tested to rotate;

[0077] The lifting servo is connected to the bottom of the box and is used to lift the crop to be tested;

[0078] The first spectrum camera and the depth camera are integrated on the lateral movement servo and the lifting servo, and the first spectrum camera and the depth camera are driven to move by the lateral movement servo and the lifting servo.

[0079] Specifically, Figure 4 and Figure 5They are all structural schematic diagrams of spectral imaging modules, which include 101-first spectral camera, 102-depth camera, 103-lateral movement servo 10, 104-lifting servo 11, 105-top light source lifting servo, 106-top light source, 107-box 2 station lifting servo, 108-carrier, 109-box 2 station DC motor blocking mechanism, 110-box 2 station rotation servo.

[0080] As can be seen from the figure, the first spectrum camera and the depth camera are both installed on the lifting servo and the lateral movement servo, and the first spectrum camera and the depth camera can be driven to move by the lifting servo and the lateral movement servo. In some preferred embodiments, the first spectrum camera can be a multi-spectral camera and the depth camera can be an RGB-D camera.

[0081] The rotating servo is located at the bottom of the box, and the rotating servo is used to drive the carrier carrying the crop to be tested to rotate. Similarly, the lifting servo is also located at the bottom of the box, and is used to lift the crop to be tested. After lifting to the specified position, it remains stationary, so that the first spectral camera and the depth camera can complete the 3D spectral imaging of the crop to be tested. The first spectral camera and the depth camera automatically move to the specified position through the lateral servo and the lifting servo to perform 3D imaging. In some preferred embodiments, when the spectral imaging module performs 3D imaging on the crop to be tested, the rotating servo can drive the crop to be tested to rotate at a uniform speed within the range of 0 to 360°. For example, the first spectral camera and the depth camera can take pictures of the crop to be tested every time a certain angle (such as 5°) is rotated, thereby completing 360° 3D spectral photography and imaging of the crop to be tested.

[0082] The top light source is used to provide light source for 3D spectral imaging. 109-Box 2-station DC motor blocking mechanism is installed at the bottom of the box, and is used to fix the crop to be tested and its carrier at a preset placement point that is convenient for imaging.

[0083] This embodiment provides a 3D spectral imaging module, which can be set along the transmission link in the crop three-dimensional imaging platform provided in this application, and automatically completes single-frame imaging and 3D imaging for each crop to be tested. In addition, the 3D spectral imaging module in this embodiment may include a variety of visual cameras, and those skilled in the art can set the required visual cameras according to actual needs to achieve more comprehensive 3D imaging.

[0084] In some embodiments, the crop 3D imaging platform further includes a blocking mechanism, which includes a first blocking mechanism, a second blocking mechanism, and a third blocking mechanism, wherein the first blocking mechanism, the second blocking mechanism, and the third blocking mechanism are sequentially arranged on the transmission link in the order of movement of the crop to be measured, and the first blocking mechanism is adjacent to the functional mechanism and the imaging module:

[0085] The first blocking mechanism is used to intercept the crop to be tested and release the crop to be tested when it is detected through the unique identification code that the crop to be tested needs to be imaged;

[0086] A second blocking mechanism, when the first blocking mechanism detects that the crop to be tested needs to be released, the second blocking mechanism is used to intercept and separate the subsequent crop to be tested on the transmission link;

[0087] The third blocking mechanism includes at least one third sub-blocking mechanism, all of which are arranged in sequence on the conveying link, and the third sub-blocking mechanism is used to separate two adjacent groups of crops to be tested from each other during the conveying process of the crops to be tested.

[0088] Specifically, a variety of blocking mechanisms are also provided on the transmission link in the crop three-dimensional imaging platform of the present application, and each blocking mechanism may include a plurality of blocking units. Based on the transmission order of the crop to be measured along the transmission link, the first blocking mechanism, the second blocking mechanism and the third blocking mechanism are arranged in sequence on the transmission link. The first blocking mechanism, the second blocking mechanism and the third blocking mechanism may be different mechanism devices, or they may be the same mechanism, and may be the DC motor blocking mechanism described above. The first blocking mechanism, the second blocking mechanism and the third blocking mechanism are mainly distinguished by their different locations and different functions.

[0089] The first blocking mechanism is adjacent to the functional mechanism and the imaging module, and is used to intercept the crop to be tested on the transmission link, so that it stays at the working position of the first blocking mechanism, and identifies the unique identification code of the crop to be tested. When the first blocking mechanism detects that the crop to be tested needs to undergo subsequent imaging processing operations, the crop to be tested is released, otherwise the crop to be tested is removed from the transmission link. The second blocking mechanism is located on the other side of the first blocking mechanism, that is, when the crop to be tested is transmitted along the transmission link, the crop to be tested first reaches the second blocking mechanism, then reaches the first blocking mechanism, and is finally released by the first blocking mechanism to the functional mechanism and the imaging module. The second blocking mechanism mainly plays the role of blocking and separation. When the first blocking mechanism detects that the crop to be tested needs to be released, the second blocking mechanism can block the carrier behind the crop to be tested and the subsequent crop to be tested, so that the subsequent crop to be tested is separated from the crop to be tested that currently needs to be released, and prevents the subsequent crop to be tested from being mistakenly placed at the functional mechanism and the imaging module. The third blocking mechanism is located on the other side of the second blocking mechanism, that is, when the crop to be tested is transmitted along the transmission link, the crop to be tested first reaches the third blocking mechanism, then reaches the second blocking mechanism, and then reaches the first blocking mechanism, and is finally released by the first blocking mechanism to the functional mechanism and the imaging module. The third blocking mechanism generally includes a plurality of third sub-blocking mechanisms, and all the third sub-blocking mechanisms are arranged in sequence on the transmission link at a preset interval. The third sub-blocking mechanism is used to separate adjacent crops to be tested on the transmission link from each other, so that adjacent crops to be tested maintain a certain distance between each other, thereby preventing too many carriers and excessive impact force, which may cause the blocking mechanism to be damaged when intercepted by the blocking mechanism.

[0090] Figure 6 FIG. 1 is a schematic diagram of the structure of a crop three-dimensional imaging platform in a preferred embodiment.

[0091] The figure includes manual loading and unloading stations, 05-cross diversion lifting mechanism 1, 06-speed chain 1 motor, 07-third sub-blocking mechanism 5, 08-speed chain 2, 09-third sub-blocking mechanism 4, 10-third sub-blocking mechanism 3, 11-second blocking mechanism 2, 12-cache station scanning camera, 13-first blocking mechanism 1, 14-cross diversion lifting mechanism 2, 15-speed chain 2 motor, 16-speed chain 3, 17-functional mechanism, 18-functional mechanism blocking mechanism, 19-speed chain 3 motor, 20-cross diversion lifting mechanism 3, 21-box 1 entrance scanning camera, 22-box 1-cache station blocking DC motor, 23-visible light imaging module working station, 24-visible light imaging module, 25-speed chain 4, 26-box 2 entrance code scanning camera, 27-box 2 cache station blocking DC motor, 28-spectral imaging module working station, 29-spectral imaging module, 31-cross diversion lifting mechanism 4, 32-speed chain 4 motor, 04-speed chain 1; Among them, the manual loading and unloading stations include, 01-loading weighing, code scanning binding & unloading code scanning unbinding stations, 02-flower pot identification code scanning camera, 03-loading and unloading station carrier unique identification code scanning camera, 30-industrial control computer & display. It can be understood that the above-mentioned cross-diversion and lifting mechanisms are all arranged at the corners, which are used to divert the crops to be tested, and in order to adapt to different sections of the transmission link, they have a lifting function, which is convenient for adjustment based on different heights of different sections of the transmission link; the above-mentioned double-speed motor corresponds to the double-speed chain, and the double-speed motor is used to drive the double-speed chain to move, playing the role of a transmission carrier; the third sub-blocking mechanism includes three, each of which is used to separate each adjacent crop to be tested on the transmission link from each other, so that a certain distance is maintained between adjacent crops to be tested; the second blocking mechanism is arranged between the third blocking mechanism and the first blocking mechanism, and is used to block the carrier after the crop to be tested and its subsequent crops to be tested, so that the subsequent crops to be tested are separated from the current one The crops to be tested that need to be released are separated from each other; the first blocking mechanism is used to intercept the crops to be tested on the transmission link, so that they stay at the station of the 12-cache station scanning camera, and identify the unique identification code of the crop to be tested. When the first blocking mechanism detects that the crop to be tested needs to undergo subsequent imaging processing operations, the crop to be tested is released, otherwise the crop to be tested is removed from the transmission link; the above-mentioned 17-functional mechanism includes a watering station scanning camera and a watering station blocking DC motor. When the watering station scanning camera identifies the unique identification code of the crop to be tested and finds that the crop to be tested needs to be watered, the watering station blocking DC motor blocks the crop to be tested and waters the crop to be tested.21-Box 1 entrance code scanning camera is used to identify whether the crop to be tested needs 3D imaging through the unique identification code. If so, the crop to be tested is intercepted by blocking the DC motor through 22-Box 1 cache station, so that the crop to be tested is fixed at 23-visible light imaging module working position, and 3D imaging processing is performed on the crop to be tested through 24-visible light imaging module. Similarly, 26-Box 2 entrance code scanning camera identifies whether the crop to be tested needs 3D imaging through the unique identification code. If so, the crop to be tested is intercepted by blocking the DC motor through 27-Box 2 cache station, so that the crop to be tested is fixed at 28-spectral imaging module working position, and 3D imaging processing is performed on it through 29-spectral imaging module. In summary, according to the identification of the unique identification code of the crop to be tested by the code scanning camera of each module, the detection results and processing results of the crop to be tested can be bound to the unique identification code, thereby facilitating the statistics and tracing of relevant data of the crop to be tested.

[0092] It should be understood that, although the various functions in the structure diagrams involved in the above-mentioned embodiments are displayed in sequence according to the indications of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there are clear instructions in this article, there is no strict order restriction on the implementation of these functions, and these functions can be executed in other orders. Moreover, at least a part of the functions in the structure diagrams involved in the above-mentioned embodiments may include multiple sub-functions, and these sub-functions are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-functions is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other sub-functions or at least a part of the sub-functions in other sub-functions.

[0093] Based on the same inventive concept, the embodiment of the present application also provides a crop 3D imaging method for implementing the crop 3D imaging platform involved above. The implementation solution provided by the method is similar to the implementation solution recorded in the above platform, so the specific limitations in one or more crop 3D imaging method embodiments provided below can refer to the limitations of the crop 3D imaging platform above, and will not be repeated here.

[0094] In one embodiment, Figure 7 As shown, a crop 3D imaging method is provided, which is used for the crop 3D imaging platform mentioned above, comprising:

[0095] Step S710, after detecting that the carrier on the transmission link arrives at the preset loading unit, the unique identification code on the carrier is identified by the identification device in the loading unit, and the unique identification code is bound to the crop to be tested corresponding to the carrier, wherein the crop to be tested and the carrier are in a one-to-one correspondence;

[0096] Step S720, transmitting the crop to be measured through a preset transmission link, and after the imaging module completes the recognition of the unique identification code of the crop to be measured, performing imaging processing on the crop to be measured based on the preset imaging module, wherein the imaging processing includes 3D imaging processing.

[0097] Specifically, Figure 8 The figure is a schematic flow chart of a loading process in one embodiment.

[0098] Step S810, after the equipment is initialized, detect whether the carrier on the transmission link has arrived at the loading unit, if so, jump to step S820; if not, wait for the carrier to arrive at the loading unit.

[0099] Step S820, the unique identification code is identified by the identification device in the loading unit. In some preferred embodiments, the carrier is also weighed when the unique identification code is identified. If the carrier weighs normally, the process jumps to step S830. If the carrier weighs abnormally, the process jumps to step S840.

[0100] Step S830, detecting whether the weight of the flower pot carrying the crop to be tested is abnormal, if the weight of the flower pot is abnormal, jumping to step S840, if the weight of the flower pot is normal, jumping to step S850.

[0101] Step S840: Manual forced release.

[0102] Step S850, the unique identification code of the carrier is bound to the identification code of the flower pot, and a synchronous release signal is sent to the PLC, which is equivalent to binding the unique identification code to the crop to be tested.

[0103] Step S860: manually or automatically release the crops to be tested, completing the loading process.

[0104] Further, such as Fig. 9 As shown, this embodiment also provides a flowchart of an imaging process.

[0105] Step S910, after detecting that the loading is completed, the crop to be tested arrives at the functional mechanism station, and the unique identification code is used to identify whether the crop to be tested needs functional processing. If so, the functional mechanism performs functional processing, which includes but is not limited to watering, accurate weighing of the crop to be tested, etc. If not, it is directly released.

[0106] In step S920, the carrier carries the crop to be tested and transports it to the first entry cache through the transmission link. The visible light imaging mechanism identifies the unique identification code and detects whether the crop to be tested needs to be processed by visible light imaging. If so, the crop is processed by the visible light imaging module. If not, the crop is directly released.

[0107] Step S930, the carrier carries the crop to be tested and transports it to the second entry cache through the transmission link. The spectral imaging mechanism identifies the unique identification code and detects whether the crop to be tested needs spectral imaging processing. If so, it is spectrally imaged by the spectral imaging module. If not, it is directly released.

[0108] Step S940, using the unique identification code to detect whether the preset 3D imaging process of the crop to be tested is completed, if so, the imaging process ends; if not, no material feeding process is performed, and the crop to be tested follows the transmission link to repeat steps S920 to S940.

[0109] In some embodiments, the method further comprises:

[0110] After detecting that the test of the crop to be tested is completed, the crop to be tested is controlled to reach a preset unloading unit through a transmission link;

[0111] The unique identification code on the carrier is identified by the identification device, and the unique identification code is untied from the crop to be tested corresponding to the carrier, so as to control the unloading of the crop to be tested.

[0112] Specifically, Fig.10 As shown, this embodiment also provides a flow chart of a material unloading process.

[0113] Step S1010, after detecting that all the crops to be tested on the carrier have been tested, the unloading process is automatically entered.

[0114] Step S1020, the carrier arrives at the unloading unit.

[0115] Step S1030, unbinding the carrier and the crop to be tested, preferably, simultaneously identifying the unique identification code of the carrier and the identification code of the flower pot, and memorizing the unbinding operation of the unique identification code and the identification code of the flower pot.

[0116] Step S1040, after detecting that the unbinding is successful, the unloading of the crop to be tested is completed.

[0117] Step S1050, after it is detected that all crops to be tested have been unloaded, the unloading process ends.

[0118] In some embodiments, the imaging module includes a rotating servo, a moving servo and a moving camera, and the moving servo and the moving camera are arranged correspondingly; the imaging module is used to perform imaging processing on the crop to be measured, including:

[0119] The rotation of the crop to be measured is controlled by the rotary servo, and after detecting that the crop to be measured has rotated to a preset angle, the mobile servo is controlled to drive the mobile camera to shoot the crop to be measured until 360-degree 3D imaging of the crop to be measured is completed.

[0120] Specifically, when performing 3D imaging of the crop to be tested, the crop to be tested is controlled to rotate within the range of 0 to 360° by a rotary servo, and the mobile servo is controlled to drive the mobile camera to a preset position every time it rotates a certain angle (such as 5°), and the crop to be tested is photographed until the 360-degree 3D imaging of the crop to be tested is completed, wherein the control of the mobile servo includes but is not limited to a lateral shift servo, a lifting servo, etc. This embodiment can realize two 3D imaging modes of "camera rotating and moving, plant fixed" and "camera fixed, plant rotating and moving". In addition, the present application has strong compatibility and is suitable for high-throughput plant phenotypic research of small to medium-sized plants in situ or in culture containers, and is also suitable for a variety of different imaging methods.

[0121] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0122] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0123] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A crop three-dimensional imaging platform, characterized in that: The crop three-dimensional imaging platform includes an imaging module, a transmission link and a loading unit; the transmission link is respectively connected to the imaging module and the loading unit; The loading unit includes an identification device, which is used to identify a unique identification code on a carrier carrying the crop to be tested, and bind the unique identification code to the crop to be tested corresponding to the carrier; wherein the crop to be tested and the carrier are in a one-to-one correspondence; The imaging module is used to identify the unique identification code of the crop to be detected and perform imaging processing on the crop to be detected, wherein the imaging processing includes 3D imaging processing; The transmission link is used to transmit the crop to be tested.

2. The crop 3D imaging platform according to claim 1, characterized in that: The transmission link is a closed-loop structure, and the identification device is further used to unbind the unique identification code from the crop to be tested after identifying the unique identification code when the crop to be tested is in a feeding state.

3. The crop 3D imaging platform according to claim 1, characterized in that: The crop 3D imaging platform further comprises a functional module; the functional module is arranged on the transmission link; The functional module is used to identify the unique identification code of the crop to be tested and perform corresponding functional processing on the crop to be tested when it is detected that the crop to be tested on the transmission link is transmitted to the corresponding functional processing point. The functional processing includes: watering processing and weighing processing.

4. The crop 3D imaging platform according to claim 1, characterized in that: The imaging module includes a mobile servo and a mobile camera. The mobile servo is arranged corresponding to the mobile camera. The mobile servo is used to drive the mobile camera to move around the crop to be measured, so that the mobile camera completes 3D imaging of the crop to be measured.

5. The crop 3D imaging platform according to claim 1, characterized in that: The imaging module includes a visible light imaging module; the visible light imaging module includes a box, a plurality of lateral shift cameras, a plurality of lateral shift servos, a lifting camera, a lifting servo, a turntable servo and a lifting servo; Each of the lateral shift servos is arranged in one-to-one correspondence with each of the lateral shift cameras, the lateral shift cameras and the lateral shift servos are arranged in a vertical order from bottom to top on the box, and the lateral shift servos are used to drive the corresponding lateral shift cameras to perform horizontal movement around the crop to be measured; The lifting camera and the lifting servo are arranged in a one-to-one correspondence, and the lifting servo is used to drive the lifting camera to move vertically along the box based on the crop to be measured; The turntable servo is located on the top of the box, and the turntable servo is used to drive the carrier carrying the crop to be tested to rotate; The lifting servo is located at the bottom of the box and is used to lift the crop to be tested.

6. The crop 3D imaging platform according to claim 1, characterized in that: The imaging module includes a spectral imaging module; the spectral imaging module includes a box, a rotation servo, a lifting servo, a lifting servo, a lateral movement servo, a first spectral camera and a depth camera; The rotary servo is located at the bottom of the box, and is used to drive the carrier carrying the crop to be tested to rotate; The lifting servo is connected to the bottom of the box body and is used to lift the crop to be tested; The first spectrum camera and the depth camera are integrated on the lateral movement servo and the lifting servo, and the first spectrum camera and the depth camera are driven to move by the lateral movement servo and the lifting servo.

7. The crop 3D imaging platform according to claim 1, characterized in that: The platform further includes a blocking mechanism, which includes a first blocking mechanism, a second blocking mechanism and a third blocking mechanism, wherein the first blocking mechanism, the second blocking mechanism and the third blocking mechanism are sequentially arranged on the conveying link in the moving order of the crop to be detected, and the first blocking mechanism is adjacent to the functional mechanism and the imaging module: The first blocking mechanism is used to intercept the crop to be tested, and release the crop to be tested when it is detected through the unique identification code that the crop to be tested needs to be imaged; The second blocking mechanism is used to intercept and separate the subsequent crops to be tested on the transmission link when the first blocking mechanism detects that the crops to be tested need to be released; The third blocking mechanism comprises at least one third sub-blocking mechanism, all of which are arranged in sequence on the conveying link, and the third sub-blocking mechanism is used to separate two adjacent groups of crops to be tested from each other during the conveying process of the crops to be tested.

8. A method for three-dimensional crop imaging, characterized in that: A crop three-dimensional imaging platform for use in any one of claims 1 to 7; the method comprising: After detecting that the carrier on the transmission link arrives at the preset loading unit, the unique identification code on the carrier is identified by the identification device in the loading unit, and the unique identification code is bound to the crop to be tested corresponding to the carrier, wherein the crop to be tested and the carrier are in a one-to-one correspondence; The crop to be tested is transmitted via a preset transmission link, and after the imaging module completes recognition of the unique identification code of the crop to be tested, imaging processing is performed on the crop to be tested based on a preset imaging module, wherein the imaging processing includes 3D imaging processing.

9. The crop three-dimensional imaging method according to claim 8, characterized in that: After the imaging process is performed on the crop to be detected based on the preset imaging module, the method further includes: After detecting that the test of the crop to be tested is completed, controlling the crop to be tested to reach a preset unloading unit through the conveying link; The unique identification code on the carrier is identified by the identification device, and the unique identification code is untied from the crop to be tested corresponding to the carrier, and the crop to be tested is controlled to be unloaded.

10. The crop three-dimensional imaging method according to claim 8, characterized in that: The imaging module includes a rotating servo, a moving servo and a moving camera, and the moving servo is arranged corresponding to the moving camera; the imaging module is used to perform imaging processing on the crop to be measured, including: The rotation of the crop to be measured is controlled by the rotation servo, and after detecting that the crop to be measured rotates to a preset angle, the movement servo is controlled to drive the mobile camera to shoot the crop to be measured until 360-degree 3D shooting imaging of the crop to be measured is completed.

Images