A multimodal unmanned crop phenotyping detection platform

Abstract

The present invention is applicable to the technical field of crop phenotyping detection, and provides a multimodal unmanned detection platform for crop phenotyping, including: an endless belt crop growth device, an intermediate track conveying system, a lifting type phenotyping detection station, and a control system. The platform covers the crop growth area and the phenotyping detection area, and selects potted crops for phenotyping detection. Compared with conventional phenotyping devices, it does not require human intervention and can automatically travel back and forth between the growth area and the detection area through the intermediate track conveying system to perform closed-loop non-destructive testing. The endless belt crop growth device adopts a duplex structure, which saves space and has strong scalability; based on multimodal phenotyping detection technology, it analyzes the physiological information and morphological parameters of crops in multiple dimensions with high quality, providing accurate data support for crop growth status assessment, crop breeding phenotyping research, and regulation of crop growth environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of crop phenotyping, and in particular relates to a multimodal unmanned crop phenotyping detection platform. Background Art

[0002] Crop phenotype is the sum of observable morphological, structural, and physiological characteristics exhibited by crops through the interaction of genes and the environment. It encompasses key parameters such as plant height, leaf area, biomass, canopy structure, and spectral characteristics, serving as a bridge between genotype and environment. Potted crop phenotyping plays a central role in crop breeding, functional genomics research, environmental adaptability assessment, and precision agriculture management. With the rapid development of phenomics and artificial intelligence technologies, the development of high-throughput, high-precision, unmanned phenotyping platforms has become crucial for driving innovation in smart agriculture and precision breeding technologies.

[0003] Existing potted crop testing platforms often transport potted plants using belts or rollers, which are prone to slippage, resulting in unstable and inaccurate transmission. The testing platforms lack flexibility and adaptability, requiring manual movement of plants from the growing area to the testing area. This complex testing process makes efficient and continuous phenotypic testing difficult. Furthermore, their space utilization and scalability are poor, making them unable to meet the needs of large-scale, intensive modern agricultural production. The collected crop phenotypic data sources are limited, resulting in low accuracy in phenotypic information analysis. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a multimodal unmanned crop phenotyping detection platform, aiming to solve the problems raised in the above background technology.

[0005] The embodiment of the present invention is implemented as follows: a multi-modal unmanned crop phenotyping detection platform includes: an endless belt crop growth device, an intermediate track conveying system, a lifting phenotyping detection station, and a control system;

[0006] The endless belt crop growing device comprises a double-layer stainless steel support, each layer of the double-layer stainless steel support is connected to an aluminum alloy layer plate, an annular slide rail is installed on the aluminum alloy layer plate, a plurality of potted plant trays are provided on the annular slide rail, the potted plant trays are slidably installed on the annular slide rail, and the aluminum alloy layer plate is also provided with a pulley transmission mechanism for driving each potted plant tray to move along the annular slide rail; a potted plant conveying box is slidably installed in the potted plant tray, and the potted plant is placed in the potted plant conveying box, a liftable N-shaped baffle is provided on one side of the potted plant tray, and a toggle switch is provided on the side wall of the potted plant tray, the toggle switch is connected to the top of the N-shaped baffle by a flexible PE line, and the flexible PE line is provided in a hollow guide handle;

[0007] The intermediate track conveying system includes a linear guide rail connected to the side of the aluminum alloy layer plate, a conveying trolley is slidably mounted on the linear guide rail, and the conveying trolley is also provided with a moving unit for driving the conveying trolley to move linearly along the linear guide rail; the conveying trolley is provided with a vacuum suction cup, and a switch trigger device is installed at the front end of the linear guide rail, and the switch trigger device is used to drive the N-shaped baffle on the potted plant tray that moves to the front end of the linear guide rail to move upward;

[0008] The lifting type phenotypic detection station includes a phenotypic collection box for collecting phenotypic samples and a lifting unit for adjusting the height of the phenotypic collection box;

[0009] The control system is used to control each driving element and sensor.

[0010] A further technical solution is that the pulley transmission mechanism is provided with two groups, which are respectively installed on two aluminum alloy shelves; the pulley transmission mechanism includes pulleys evenly arranged at the four corners of the aluminum alloy shelf, and a driving unit for driving the pulleys to rotate, and a synchronous belt is connected between each of the pulleys, and the synchronous belt is installed in an annular groove provided on the aluminum alloy shelf, and a T-block is fixedly connected to the side of the synchronous belt, and the T-block is connected to the potted plant tray.

[0011] A further technical solution is that the drive unit includes a synchronous motor installed at the bottom of a double-layer stainless steel bracket, the output end of the synchronous motor is connected to a first transmission shaft through a coupling, the first transmission shaft is simultaneously connected to the pulleys at the same corner of the two aluminum alloy shelves, and the two pulleys connected to the first transmission shaft adopt a coaxial asynchronous control method.

[0012] According to a further technical solution, the pulley and the first transmission shaft are connected by a bearing, and a pulley state adjustment mechanism is provided between the pulley and the first transmission shaft;

[0013] The pulley state adjustment mechanism includes a fixed frame, an electromagnetic armature, a movable rod group, a locking spring and a slider telescopic pin;

[0014] The fixed frame is mounted on the pulley, the locking spring is respectively connected to the fixed frame and the slider telescopic pin, the first transmission shaft is provided with a pin hole matching the slider telescopic pin, the movable rod group includes two movable rods hinged to each other, the free ends of the two movable rods are respectively connected to the fixed frame and the slider telescopic pin, and a crank slider mechanism is formed by the fixed frame, the movable rod group and the slider telescopic pin.

[0015] According to a further technical solution, when the electromagnetic armature is attracted, the locking spring is in a compressed state, and the retractable pin of the slider is separated from the pin hole of the first transmission shaft;

[0016] When the electromagnetic armature releases its magnetism, the elastic restoring force of the locking spring pushes the retractable pin of the slider to be inserted into the first transmission shaft.

[0017] According to a further technical solution, there is a height difference between the potted plant transport box and the linear guide rail, and a triangular buffer platform is provided at the front end of the linear guide rail.

[0018] A further technical solution is that the moving unit includes spur gears installed on both sides of the bottom of the conveying trolley, and racks encapsulated on both sides of the linear guide rail, and the spur gears are meshed with the racks. A first stepper motor is also provided on the conveying trolley, and the output end of the first stepper motor is connected to the spur gear for driving the spur gear to rotate.

[0019] According to a further technical solution, the switch trigger device includes a second stepper motor, a limit buckle and a toggle fork, wherein the output end of the second stepper motor is connected to the toggle fork, and the limit buckle is used to limit the upper limit position and the lower limit position of the toggle fork;

[0020] The switch trigger device is embedded with an infrared detection sensor. When it detects the presence of a potted plant tray and a potted plant delivery box, it triggers an induction signal. The second stepper motor receives the signal and starts, driving the toggle fork to rotate downward to the lower limit position; when the potted plant delivery box completely passes through the infrared detection sensor, the induction signal disappears, and the second stepper motor automatically rotates, causing the toggle fork to return to the upper limit position.

[0021] A further technical solution is that the lifting unit includes a screw lifting mechanism installed on a lifting phenotype detection station, an AC asynchronous motor is installed at the bottom of the lifting phenotype detection station, the output end of the AC asynchronous motor is connected to a second transmission shaft, the second transmission shaft is connected to the screw lifting mechanism through a bevel gear, a lifting sleeve is installed on the screw lifting mechanism, the lifting sleeve is connected to a side plate, the side plate is slidably installed on the side plate sliding guide rail along the vertical direction, and the phenotype collection box is connected to the side plate.

[0022] A further technical solution is that the phenotypic collection box includes a control box for installing electrical devices, a horizontal linear module is provided at the bottom of the control box, the horizontal linear module is connected to an electric telescopic rod, the telescopic end of the electric telescopic rod is connected to a rotating disk, a multimodal imaging sensor module is provided at the bottom of the rotating disk, and LED light groups are provided on both sides of the rotating disk.

[0023] According to a further technical solution, a roller shutter device is installed at the front of the phenotype collection box.

[0024] In a further technical solution, the multimodal imaging sensor module includes a CMOS camera, a depth camera, and a thermal infrared camera;

[0025] A CMOS camera equipped with a 580 nm long-wave filter was used for chlorophyll fluorescence imaging to measure the maximum fluorescence intensity F in the dark-adapted state. m , maximum fluorescence F in the light-adapted state m ′, and the actual fluorescence yield F at any time after light adaptation to steady state;

[0026] Calculate the maximum photochemical quantum yield of PS II (Photosystem II) as follows:

[0027] Maximum photochemical quantum yield = F v / F m =(F m −F) / F m

[0028] Among them, F v is the variable fluorescence value;

[0029] The NPQ (Non-Photochemical Quenching) value is calculated as follows:

[0030] NPQ=(F m −F m ′) / F m '

[0031] According to the calculation results, determine whether it is within the normal value range;

[0032] The depth camera is used to calculate the three-dimensional coordinates of spatial location points and construct morphological parameters that characterize the plant structure;

[0033] Thermal infrared cameras are used to obtain crop surface temperature distribution and calculate canopy temperature, water stress index and transpiration efficiency.

[0034] An embodiment of the present invention provides a multimodal unmanned detection platform for crop phenotyping, which covers the crop growth area and phenotypic detection area, and selects potted crops for phenotypic detection. Compared with conventional phenotyping devices, it does not require human intervention and can automatically travel back and forth between the growth area and the detection area through an intermediate track conveying system to perform closed-loop non-destructive testing. The belt-type crop growth device adopts a duplex structure, which saves space and has strong scalability; based on multimodal phenotypic detection technology, it analyzes the physiological information and morphological parameters of crops in multiple dimensions with high quality, providing accurate data support for crop growth status assessment, crop breeding phenotypic research, and regulation of crop growth environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the structure of a multimodal unmanned crop phenotyping detection platform provided by an embodiment of the present invention;

[0036] Figure 2 A schematic structural diagram of an endless belt crop growth device in a multimodal unmanned crop phenotyping detection platform provided by an embodiment of the present invention;

[0037] Figure 3 for Figure 2 An enlarged schematic diagram of area A after removing the double-layer stainless steel bracket, wheel cover, and potted plant tray;

[0038] Figure 4 A schematic structural diagram of a pulley state adjustment mechanism in a multimodal unmanned crop phenotyping detection platform provided by an embodiment of the present invention;

[0039] Figure 5 A schematic structural diagram of a potted plant tray in a multimodal unmanned crop phenotyping detection platform provided by an embodiment of the present invention;

[0040] Figure 6 A schematic structural diagram of an intermediate track conveying system in a multimodal unmanned crop phenotyping detection platform provided by an embodiment of the present invention;

[0041] Figure 7 A schematic diagram of the structure of a lifting phenotyping station in a multimodal unmanned crop phenotyping detection platform provided by an embodiment of the present invention;

[0042] Figure 8 A schematic structural diagram of a phenotypic collection box in a multimodal unmanned crop phenotyping detection platform provided in an embodiment of the present invention.

[0043] In the attached figure: 1. Belt-type crop growth device; 2. Intermediate track conveying system; 3. Lifting phenotyping station; 4. Double-layer stainless steel bracket; 5. Aluminum alloy shelf; 6. Truss; 7. Wheel cover; 8. Annular slide rail; 9. Synchronous motor; 10. Guide wheel; 11. Annular slot; 12. Synchronous belt; 13. Pulley; 14. First transmission shaft; 15. T-block; 16. Movable rod assembly; 17. Fixed frame; 18. Slider telescopic pin; 19. Locking spring; 20. Electromagnetic armature; 21. N-type baffle; 22. Potted plant tray; 23. Toggle switch; 24. Flexible PE line; 25. Guide handle ; 26. Triangular buffer table; 27. Linear guide; 28. Rack; 29. Spur gear; 30. First stepper motor; 31. Vacuum suction cup; 32. Potted plant conveyor box; 33. Limit buckle; 34. Toggle fork; 35. Protective shed; 36. Screw lifting mechanism; 37. Side panel sliding guide; 38. Bevel gear; 39. AC asynchronous motor; 40. Second transmission shaft; 41. Lifting sleeve; 42. Phenotype collection box; 43. Control box; 44. LED light group; 45. Multimodal imaging sensor module; 46. Rotating disk; 47. Electric telescopic rod; 48. Horizontal linear module; 49. Conveyor trolley. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0045] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0046] like Figures 1-8 As shown, a multi-modal unmanned crop phenotyping detection platform provided by one embodiment of the present invention includes: an endless belt crop growth device 1, an intermediate track conveying system 2, a lifting phenotyping detection station 3 and a control system;

[0047] The annular crop growing device 1 includes a double-layer stainless steel bracket 4, each layer of the double-layer stainless steel bracket 4 is connected to a high-flatness aluminum alloy layer plate 5 by bolts; an annular slide rail 8 is installed on the aluminum alloy layer plate 5, and a plurality of potted plant holders 22 are provided on the annular slide rail 8. The bottom of the potted plant holder 22 slides relative to the side groove of the annular slide rail 8 through the guide wheel 10, guiding the potted plant holder 22 to move smoothly on the annular slide rail 8 to reduce friction; a pulley transmission mechanism is provided on the aluminum alloy layer plate 5 for driving each potted plant holder 22 to move along the annular slide rail 8; a potted plant conveying box 32 is slidably installed in the potted plant holder 22, and the potted plant is placed in the potted plant conveying box 32. A liftable N-shaped baffle 21 is provided on one side of the potted plant holder 22. The N-shaped shape can increase the passage height of the potted plant and the middle groove reduces its own weight for easy opening and closing. A toggle switch 23 is provided on the side wall of the potted plant tray 22 . The toggle switch 23 is connected to the top of the N-shaped baffle 21 via a flexible PE line 24 for controlling the lifting of the N-shaped baffle 21 . The flexible PE line 24 slides in the hollow guide handle 25 .

[0048] The intermediate track conveying system 2 includes a linear guide rail 27 connected to the side of the aluminum alloy layer plate 5 by welding. A conveying trolley 49 is slidably mounted on the linear guide rail 27, and the conveying trolley 49 is also provided with a moving unit for driving the conveying trolley 49 to move linearly along the linear guide rail 27; a vacuum suction cup 31 is provided on the conveying trolley 49, and a switch trigger device is installed at the front end of the linear guide rail 27 (i.e., the end close to the aluminum alloy layer plate 5). The switch trigger device is used to drive the N-shaped baffle 21 on the potted plant tray 22 that moves to the front end of the linear guide rail 27 to move upward;

[0049] The lifting type phenotypic detection station 3 includes a phenotypic collection box 42 for collecting phenotypic samples, and a lifting unit for adjusting the height of the phenotypic collection box 42;

[0050] The control system is used to control each driving element and sensor.

[0051] In an embodiment of the present invention, a truss 6 is provided inside the aluminum alloy layer plate 5 to ensure the strength of the overall structure. When in use, the potted plant is placed in the potted plant transport box 32, and the potted plant transport box 32 can be fixed in the potted plant holder 22 by the N-shaped baffle 21. When the phenotypic test of the specified potted plant is to be performed, it is only necessary to drive the potted plant holder 22 along the annular slide rail 8 to the linear guide rail 27 through the pulley transmission mechanism. Then the transport trolley 49 is moved to one end close to the potted plant holder 22 by the mobile unit. At this time, the switch trigger device will press the toggle switch 23 downward, thereby driving the N-shaped baffle 21 to move upward through the flexible PE line 24. The vacuum suction cup 31 is then adsorbed on the potted plant transport box 32, and the transport trolley 49 drags the potted plant transport box 32 to slide in the groove of the linear guide rail 27. The potted plant transport box 32 is finally delivered to the phenotypic collection box 42 for phenotypic testing.

[0052] like Figure 1-Figure 3 As shown, as a preferred embodiment of the present invention, the pulley transmission mechanism is provided with two groups, which are respectively installed on two aluminum alloy shelves 5; the pulley transmission mechanism includes pulleys 13 evenly arranged at the four corners of the aluminum alloy shelf 5, and a driving unit for driving the pulleys 13 to rotate, and a synchronous belt 12 is connected between each of the pulleys 13, and the synchronous belt 12 is installed in an annular groove 11 provided on the aluminum alloy shelf 5 to reduce the wear of the belt by external factors such as dust and foreign matter, thereby extending the service life; the side of the synchronous belt 12 is fixedly connected with a T-block 15, and the T-block 15 is threadedly connected to the potted plant tray 22 to transmit power to the potted plant tray 22.

[0053] In the embodiment of the present invention, a pulley cover 7 is further provided on the outside of the pulley transmission mechanism to prevent the mechanism from being directly exposed to the air.

[0054] like Figure 3 As shown, as a preferred embodiment of the present invention, the drive unit includes a synchronous motor 9 installed at the bottom of a double-layer stainless steel bracket 4, and the output end of the synchronous motor 9 is connected to a first transmission shaft 14 through a coupling. The first transmission shaft 14 is simultaneously connected to the pulley 13 at the same corner of the two aluminum alloy plates 5, thereby providing driving force for the two sets of pulley transmission mechanisms.

[0055] In the embodiment of the present invention, the synchronous motor 9 is a TK1250-16 synchronous motor of the TK series.

[0056] like Figure 3 and Figure 4As shown, as a preferred embodiment of the present invention, the two pulleys 13 connected to the first transmission shaft 14 adopt a coaxial asynchronous control method, which can freely switch the operating state to ensure that the other layers are in a static state when the detection layer is working, thereby reducing energy consumption.

[0057] Specifically, the pulley 13 and the first transmission shaft 14 are connected by a bearing, and a pulley state adjustment mechanism is provided between the pulley 13 and the first transmission shaft 14; the pulley state adjustment mechanism includes a fixed frame 17, an electromagnetic armature 20, a movable rod group 16, a locking spring 19 and a slider telescopic pin 18;

[0058] The fixed frame 17 is mounted on the pulley 13, the locking spring 19 is respectively connected to the fixed frame 17 and the slider telescopic pin 18, the first transmission shaft 14 is provided with a pin hole matching the slider telescopic pin 18, the movable rod group 16 includes two movable rods hinged to each other, the free ends of the two movable rods are respectively connected to the fixed frame 17 and the slider telescopic pin 18, and a crank slider mechanism is formed by the fixed frame 17, the movable rod group 16 and the slider telescopic pin 18.

[0059] When not in operation, the electromagnetic armature 20 is engaged, the locking spring 19 is compressed, the slider retractable pin 18 is separated from the pin hole of the first transmission shaft 14, the inner ring of the bearing rotates with the first transmission shaft 14, and the pulley 13, which is sleeved on the outer ring of the bearing, is stationary. When the detection layer requires the pulley 13 to rotate, the electromagnetic armature 20 is demagnetized, and the elastic restoring force of the locking spring 19 pushes the slider retractable pin 18 into the first transmission shaft 14, causing the pulley 13 to rotate with the first transmission shaft 14.

[0060] In the embodiment of the present invention, the pulley 13 and the first transmission shaft 14 are connected by a double-row angular contact ball bearing.

[0061] like Figure 6 As shown, as a preferred embodiment of the present invention, there is a height difference between the potted plant transport box 32 and the linear guide rail 27, and a triangular buffer platform 26 is provided at the front end of the linear guide rail 27 to facilitate the sliding of the potted plant transport box 32.

[0062] like Figure 6 As shown, as a preferred embodiment of the present invention, the moving unit includes spur gears 29 installed on both sides of the bottom of the conveying trolley 49, and racks 28 encapsulated on both sides of the linear guide 27, and the spur gears 29 are engaged with the racks 28. A first stepper motor 30 is also provided on the conveying trolley 49, and the output end of the first stepper motor 30 is connected to the spur gear 29 for driving the spur gear 29 to rotate.

[0063] In the embodiment of the present invention, when in use, it is only necessary to drive the spur gear 29 to rotate through the first stepper motor 30, and through the cooperation between the spur gear 29 and the rack 28, the conveying trolley 49 can be driven to move along the linear guide rail 27.

[0064] like Figure 6 As shown in FIG. 1 , as a preferred embodiment of the present invention, the switch trigger device includes a second stepper motor, a limit buckle 33 and a toggle fork 34 . The output end of the second stepper motor is connected to the toggle fork 34 . The limit buckle 33 is used to limit the upper limit position and the lower limit position of the toggle fork 34 .

[0065] The switch trigger mechanism has an embedded infrared sensor. When it detects the presence of the potted plant tray 22 and the potted plant transport box 32, a sensing signal is triggered. The second stepper motor receives the signal and activates, driving the toggle fork 34 downward to its lower limit position. This, in turn, drives the toggle switch 23 downward via the toggle fork 34. The toggle switch 23 then lifts the N-shaped baffle 21 upward and maintains this position via the flexible PE cable 24. Once the potted plant transport box 32 has completely passed the infrared sensor, the sensing signal disappears, and the second stepper motor automatically rotates back, returning the toggle fork 34 to its upper limit position. The N-shaped baffle 21 then moves downward again to its initial position.

[0066] like Figure 7 As shown, as a preferred embodiment of the present invention, the lifting unit includes a screw lifting mechanism 36 installed on the lifting phenotypic detection station 3, and an AC asynchronous motor 39 is installed at the bottom of the lifting phenotypic detection station 3. The output end of the AC asynchronous motor 39 is connected to the second transmission shaft 40, and the second transmission shaft 40 is connected to the screw lifting mechanism 36 through a bevel gear 38. A lifting sleeve 41 is installed on the screw lifting mechanism 36, and the lifting sleeve 41 is connected to a side plate. The side plate is slidably installed on the side plate sliding guide rail 37 along the vertical direction, and the phenotypic collection box 42 is connected to the side plate.

[0067] In the embodiment of the present invention, power is provided by an AC asynchronous motor 39 and transmitted to the second transmission shaft 40, which is then reversed by two bevel gears 38 and transmitted to the screw lifting mechanism 36. The screw lifting mechanism 36 drives the phenotyping collection box 42 up and down through the lifting sleeve 41 and the side plate, thereby realizing the phenotyping collection of double-layer crops.

[0068] A streamlined protective shed 35 is provided on the top of the lifting phenotypic detection station 3 to prevent the equipment from being affected by rain or snow, thereby extending its service life.

[0069] like Figure 7 and Figure 8As shown, as a preferred embodiment of the present invention, the phenotype collection box 42 includes a control box 43 for installing required controllers, power supplies and other electrical components, a horizontal linear module 48 is provided at the bottom of the control box 43, the horizontal linear module 48 is connected to an electric telescopic rod 47, the telescopic end of the electric telescopic rod 47 is connected to a rotating disk 46, a multimodal imaging sensor module 45 is provided at the bottom of the rotating disk 46, and LED light groups 44 are provided on both sides of the rotating disk 46.

[0070] In this embodiment of the present invention, the spatial position of the multimodal imaging sensor module 45 is precisely controlled by the horizontal linear module 48 and the electric telescopic rod 47. The rotating disk 46 enables the imaging sensors in the multimodal imaging sensor module 45 to collect phenotypic information in sequence.

[0071] The front of the phenotype collection box 42 is equipped with a roller shutter device, and the LED light group 44 can freely switch between natural white light and blue light to meet the light requirements during the detection process.

[0072] The multimodal imaging sensor module 45 includes a CMOS camera, a depth camera, and a thermal infrared camera. The CMOS camera is used for chlorophyll fluorescence imaging. The LED light array 44 uses PWM pulse modulation technology to generate excitation light of varying intensities in specific wavelengths (this is prior art and will not be described in detail here). This excitation light induces the chloroplasts in the crop to release fluorescence.

[0073] The CMOS camera is equipped with a 580nm long-wave filter to effectively filter out light noise interference and measure the maximum fluorescence F in the dark-adapted state. m , the maximum fluorescence after light adaptation F m ′, and the actual fluorescence yield F at any time after light adaptation to steady state;

[0074] The maximum photochemical quantum yield of PS II (Photosystem II) is calculated as follows:

[0075] Maximum photochemical quantum yield = F v / F m =(F m −F) / F m

[0076] Among them, F v is the variable fluorescence value;

[0077] The NPQ (Non-Photochemical Quenching) value is calculated as follows:

[0078] NPQ=(F m −F m ′) / Fm '

[0079] Based on the calculation results, determine whether it is within the normal value range.

[0080] The depth camera, based on LiDAR technology, utilizes the ToF (Time of Flight) principle to accurately calculate the three-dimensional coordinates of spatial locations. High-speed scanning acquires discrete coordinate data, and after point cloud registration and filtering optimization, it generates a high-density three-dimensional point cloud model that fully characterizes the plant structure. Morphological parameters such as plant height, crown width, and leaf area index are extracted using a voxelized segmentation algorithm.

[0081] Based on thermal radiation energy detection technology, thermal infrared cameras obtain crop surface temperature distribution and calculate canopy temperature, water stress index and transpiration efficiency.

[0082] The above phenotypic characteristic parameters can reflect the physiological, morphological and environmental stress information of crops from multiple angles, providing data support for precision facility agriculture.

[0083] As a preferred embodiment of the present invention, the control system utilizes a multi-threaded ESP32 microcontroller, utilizing RTOS (Real-time Operating System) multitasking to control various drive components and sensors. The control system's drivers include an A4988 stepper motor driver and a synchronous motor inverter. The infrared detection sensor is triggered via a GPIO (General-purpose Input / Output) interrupt. The multimodal imaging sensor module 45 communicates with the multi-threaded ESP32 microcontroller via a serial port, with data transmitted and stored via DMA (Direct Memory Access). The multi-threaded ESP32 microcontroller has built-in Wi-Fi functionality, and compressed images are transmitted in blocks to a remote server via the MQTT (Message Queuing Telemetry Transport) protocol. The remote server stores the data and processes the images using machine learning and deep learning algorithms such as VisionTransformer to extract phenotypic features and parameters.

[0084] The system front end uses a Web control interface built on the Vue3+WebSocket API (Application Programming Interface) to visualize and render images of remote server data and analysis results. Users can send commands through the interface and push them to the remote server. These commands are then transmitted to the multi-threaded ESP32 microcontroller via an MQTT downlink, enabling remote control of drive components and sensors, forming an end-to-end automated closed-loop system from acquisition, transmission, processing, result visualization, and control.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multimodal unmanned crop phenotyping detection platform, characterized by: include: Endless belt crop growing device, intermediate track conveying system, lifting phenotyping station and control system; The endless belt crop growing device comprises a double-layer stainless steel support, each layer of which is connected to an aluminum alloy shelf, an annular slide rail is mounted on the aluminum alloy shelf, and a plurality of potted plant trays are provided on the annular slide rail. The potted plant trays are slidably mounted on the annular slide rail, and the aluminum alloy shelf is further provided with a pulley transmission mechanism for driving each potted plant tray to move along the annular slide rail; a potted plant conveying box is slidably mounted in the potted plant tray, a liftable N-shaped baffle is provided on one side of the potted plant tray, and a toggle switch is provided on the side wall of the potted plant tray, the toggle switch is connected to the top of the N-shaped baffle via a flexible PE line, and the flexible PE line slides in a hollow guide handle; The intermediate track conveying system includes a linear guide rail connected to the side of the aluminum alloy layer plate, a conveying trolley is slidably mounted on the linear guide rail, and the conveying trolley is also provided with a moving unit for driving the conveying trolley to move linearly along the linear guide rail; the conveying trolley is provided with a vacuum suction cup, and a switch trigger device is installed at the front end of the linear guide rail, and the switch trigger device is used to drive the N-shaped baffle on the potted plant tray that moves to the front end of the linear guide rail to move upward; The lifting type phenotypic detection station includes a phenotypic collection box for collecting phenotypic samples and a lifting unit for adjusting the height of the phenotypic collection box; The control system is used to control each driving element and sensor.

2. The crop phenotyping multimodal unmanned detection platform according to claim 1, characterized in that: The pulley transmission mechanism is provided with two groups, which are respectively installed on two aluminum alloy shelves; the pulley transmission mechanism includes pulleys evenly arranged at the four corners of the aluminum alloy shelf, and a driving unit for driving the pulleys to rotate, and a synchronous belt is connected between each of the pulleys, and the synchronous belt is installed in an annular groove provided on the aluminum alloy shelf, and a T-block is fixedly connected to the side of the synchronous belt, and the T-block is connected to the potted plant tray.

3. The crop phenotyping multimodal unmanned detection platform according to claim 2, characterized in that: The drive unit includes a synchronous motor installed at the bottom of a double-layer stainless steel bracket. The output end of the synchronous motor is connected to a first transmission shaft through a coupling. The first transmission shaft is simultaneously connected to the pulleys at the same corner of the two aluminum alloy plates, and the two pulleys connected to the first transmission shaft adopt a coaxial asynchronous control method.

4. The crop phenotyping multimodal unmanned detection platform according to claim 3, characterized in that: The pulley and the first transmission shaft are connected by a bearing, and a pulley state adjustment mechanism is provided between the pulley and the first transmission shaft; The pulley state adjustment mechanism includes a fixed frame, an electromagnetic armature, a movable rod group, a locking spring and a slider telescopic pin; The fixed frame is mounted on the pulley, the locking spring is respectively connected to the fixed frame and the slider telescopic pin, the first transmission shaft is provided with a pin hole matching the slider telescopic pin, the movable rod group includes two movable rods hinged to each other, the free ends of the two movable rods are respectively connected to the fixed frame and the slider telescopic pin, and a crank slider mechanism is formed by the fixed frame, the movable rod group and the slider telescopic pin.

5. The crop phenotyping multimodal unmanned detection platform according to claim 4, characterized in that: When the electromagnetic armature is attracted, the locking spring is in a compressed state, and the sliding block telescopic pin is separated from the pin hole of the first transmission shaft; When the electromagnetic armature releases its magnetism, the elastic restoring force of the locking spring pushes the retractable pin of the slider to be inserted into the first transmission shaft.

6. The crop phenotyping multimodal unmanned detection platform according to claim 1, characterized in that: The moving unit includes spur gears installed on both sides of the bottom of the conveying trolley, and racks encapsulated on both sides of the linear guide rail, and the spur gears are meshed with the racks. A first stepper motor is also provided on the conveying trolley, and the output end of the first stepper motor is connected to the spur gear for driving the spur gear to rotate.

7. The crop phenotyping multimodal unmanned detection platform according to claim 1, characterized in that: The switch trigger device includes a second stepper motor, a limit buckle and a toggle fork, the output end of the second stepper motor is connected to the toggle fork, and the limit buckle is used to limit the upper limit position and the lower limit position of the toggle fork; The switch trigger device is embedded with an infrared detection sensor. When it detects the presence of a potted plant tray and a potted plant delivery box, it triggers an induction signal. The second stepper motor receives the signal and starts, driving the toggle fork to rotate downward to the lower limit position; when the potted plant delivery box completely passes through the infrared detection sensor, the induction signal disappears, and the second stepper motor automatically rotates, causing the toggle fork to return to the upper limit position.

8. The crop phenotyping multimodal unmanned detection platform according to claim 1, characterized in that: The lifting unit includes a screw lifting mechanism installed on a lifting phenotype detection station, an AC asynchronous motor is installed at the bottom of the lifting phenotype detection station, the output end of the AC asynchronous motor is connected to a second transmission shaft, the second transmission shaft is connected to the screw lifting mechanism through a bevel gear, a lifting sleeve is installed on the screw lifting mechanism, the lifting sleeve is connected to a side plate, the side plate is slidably installed on the side plate sliding guide rail along the vertical direction, and the phenotype collection box is connected to the side plate.

9. The crop phenotyping multimodal unmanned detection platform according to claim 1, characterized in that: The phenotype collection box includes a control box for installing electrical components, a horizontal linear module is provided at the bottom of the control box, the horizontal linear module is connected to an electric telescopic rod, the telescopic end of the electric telescopic rod is connected to a rotating disk, a multimodal imaging sensor module is provided at the bottom of the rotating disk, and LED light groups are provided on both sides of the rotating disk.

10. The crop phenotyping multimodal unmanned detection platform according to claim 9, characterized in that: The multimodal imaging sensor module includes a CMOS camera, a depth camera, and a thermal infrared camera; A CMOS camera equipped with a 580 nm long-wave filter was used for chlorophyll fluorescence imaging to measure the maximum fluorescence intensity F in the dark-adapted state. m , maximum fluorescence F in the light-adapted state m ′, and the actual fluorescence yield F at any time after light adaptation to steady state; Calculate the maximum photochemical quantum yield of Photosystem II as follows: ； Among them, F v is the variable fluorescence value; The non-photochemical quenching value NPQ is calculated as follows: ； According to the calculation results, determine whether it is within the normal value range; The depth camera is used to calculate the three-dimensional coordinates of spatial location points and construct morphological parameters that characterize the plant structure; Thermal infrared cameras are used to obtain crop surface temperature distribution and calculate canopy temperature, water stress index and transpiration efficiency.

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