Potted crop canopy hyperspectral image acquisition method

Abstract

The invention relates to a potted crop canopy hyperspectral image acquisition method, which comprises the following steps of: placing a potted crop on a potted crop support frame, illuminating the potted crop through light emitted by a light source, and shooting the potted crop through a frequency spectrograph camera to acquire an image of the potted crop for spectral analysis. The method has the advantage of small light source temperature rise, and solves the problem that the light source temperature rise of an existing potted crop canopy hyperspectral image acquisition method has great influence on spectral data.

Description

Technical Field

[0001] The present invention relates to the field of image acquisition and spectral analysis, and in particular to a method for obtaining hyperspectral images of the canopy of potted crops. Background Art

[0002] The crop reflection spectrum is an important tool for studying the interaction between crops and light. Based on the crop reflection spectrum, it is possible to understand whether the crops are growing healthily and whether they are under stress such as drought and salinity, which helps to achieve high-quality and high-yield crops. Crop potted plants are an important carrier for laboratory crop research to field application. The canopy is a decisive factor in crop yield and quality formation, and the acquisition of crop canopy reflection spectra is mainly completed by a hyperspectral imager.

[0003] There are the following problems in the current acquisition of canopy spectral images of indoor potted crops: 1. The light source of the device is generally a halogen lamp that generates heat. The heat generated by the halogen lamp may directly have an adverse effect on the spectrum of the potted crops, and the spectral data collected by the spectrometer may be inaccurate or even incorrect; 2. Generally, the conveyor belt of the spectrometer is fixed on the spectrometer base and cannot adjust the height. For potted crops of different heights, it may be necessary to repeat steps such as focusing and adjusting deformation (that is, focusing so that the focus of the spectrometer camera is at a set position on the potted crops, usually at a set distance from the canopy surface) multiple times to obtain high-definition spectral images of the potted crops, which greatly reduces the work efficiency. Summary of the Invention

[0004] The first object of the present invention is to provide a method for obtaining hyperspectral images of the canopy of potted crops with small light source temperature rise, which solves the problem that the light source temperature rise of the existing method for obtaining hyperspectral images of the canopy of potted crops has a great impact on spectral data.

[0005] The second object of the present invention is to further provide a method for obtaining hyperspectral images of the canopy of potted crops that can quickly focus, which solves the problem of slow focusing in the existing method for obtaining hyperspectral images of the canopy of potted crops.

[0006] The above technical problems are solved by the following technical solutions: A method for obtaining hyperspectral images of the canopy of potted crops, characterized in that it is completed by a hyperspectral image acquisition device for the canopy of potted crops. The hyperspectral image acquisition device for the canopy of potted crops includes a detection box for storing potted crops, a spectrometer main body, a light source located in the detection box for illuminating the potted plants, and a spectrometer camera for photographing the potted plants. A potted plant support frame is provided in the detection box. The light source is an annular lamp tube. A reflective layer is provided on the top wall of the detection box for reflecting the light emitted by the light source onto the potted plants supported on the potted plant support frame. The projection of the annular lamp tube surrounds the potted plant support frame. The annular lamp tube is installed in an annular light-shielding groove with an upper opening. A refrigerant circulation channel is provided in the annular light-shielding groove. An annular reflective plane is provided on the inner surface of the annular light-shielding groove, and the annular reflective plane extends along the circumference of the annular light-shielding groove. The process of image acquisition is as follows: The potted crops are placed on the potted crop support frame, the potted crops are illuminated by the light source, and then the potted crops are photographed by the spectrometer camera to obtain images of the potted crops for spectral analysis. It is possible to cool the light source to reduce the influence of temperature on the photographed images. The light source generates heat dissipation, and the annular light-shielding groove can play a role in heat insulation, further reducing the influence of temperature on imaging. Even if the light source is inverted, no shadow will be produced covering the potted crops.

[0007] Preferably, the outer side wall of the refrigerant circulation channel is an adiabatic structure, and the inner side wall of the refrigerant circulation channel is a heat-conducting structure. This can further reduce the temperature rise beside the potted crops caused by the heat of the light source, thereby further improving the shooting effect.

[0008] Preferably, the detection box is provided with a potted crop access door. A track extending from the central position of the detection box to the potted crop access door is provided in the detection box. A carrier trolley is provided on the track. The potted plant support frame is connected to the carrier trolley through a lifting mechanism. During use, the carrier trolley (an electric vehicle) is moved to the potted crop access door, then the potted crops are placed on the potted plant support frame, and then the potted crops are moved to a set position in the detection box by the carrier trolley, and then lifted through the lifting mechanism so that the focus of the spectrometer camera is at the required position on the potted crops. This makes it convenient for the potted crops to reach the detection position in the detection box.

[0009] Preferably, the lifting mechanism includes a vertically arranged guide rod, a vertically arranged threaded rod, and a lifting motor for driving the threaded rod to rotate. The lifting motor is connected to the potted plant support frame. The threaded rod is threadedly connected to the carrier trolley. The upper end of the guide rod is fixed to the potted plant support frame, and the lower end passes through the carrier trolley. This can maintain the flatness of the upper surface of the potted plant support frame, and the screw rod and the guide rod will not protrude upwards.

[0010] Preferably, the detection box further includes a first laser lamp, a second laser lamp, a third laser lamp, and a fourth laser lamp. The light emitted by the first laser lamp and the light emitted by the second laser lamp intersect at a first intersection point. The first intersection point and the second intersection point are located on the same horizontal plane above the focus of the spectrometer camera. When the first intersection point and the second intersection point are located on the canopy of the potted crop to be photographed, the position of the focus of the spectrometer camera on the potted crop is the required position. During use, the center of the potted crop and the focus of the spectrometer camera are located on the same vertical line, and then the height of the potted plant is adjusted until the first intersection point and the second intersection point are located on the canopy. The method for determining whether the first intersection point and the second intersection point are located on the canopy is that when the four laser lamps only produce two bright spots on the canopy, it means that the first intersection point and the second intersection point are located on the canopy.

[0011] Preferably, the light emitted by the first laser lamp, the second laser lamp, the third laser lamp, and the fourth laser lamp only produces the first intersection point and the second intersection point, which can avoid misjudgment caused by the secondary intersection and scattering of the laser light.

[0012] Preferably, the potted plant support frame includes a square base, a base for supporting the potted crop that can be movably placed on the base, and a base translation mechanism for driving the base to move on the base. A positioning stop block is provided in the detection box. When the carrier trolley moves to abut against the positioning stop block, the vertical line passing through the focus of the spectrometer camera passes through the geometric center of the base. During use, the spectrometer camera photographs the potted plant, and then it is judged whether the distances between the four front, rear, left, and right edge points of the potted plant canopy and the four front, rear, left, and right edges of the base are the same. If they are different, the position of the base is adjusted through the base translation mechanism until the canopy is located at the exact center of the base, which can improve the quality of the photographed image and perform accurate spectral analysis on the edges.

[0013] Preferably, the base translation mechanism includes a left horizontal pushing mechanism, a rear horizontal pushing mechanism, a right horizontal pushing mechanism, and a front horizontal pushing mechanism; the left horizontal pushing mechanism includes a left push rod with its right end connected to the base, a front-back left pushing bar abutted against the left end of the left push rod, a left threaded rod threadedly connected to the front-back left pushing bar at its left end, a left guiding rod passing through the front-back left pushing bar at its left end, and a left translation motor connected to the right end of the left threaded rod to drive the left threaded rod to rotate. The left guiding rod and the left threaded rod are parallel, and both the left translation motor and the right end of the left guiding rod are connected to the lower surface of the base; the front horizontal pushing mechanism includes a front push rod with its rear end connected to the base, a left-right front pushing bar abutted against the front end of the front push rod, a front threaded rod threadedly connected to the left-right front pushing bar at its front end, a front guiding rod passing through the left-right front pushing bar at its front end, and a front translation motor connected to the rear end of the front threaded rod to drive the front threaded rod to rotate. The front guiding rod and the front threaded rod are parallel, and both the front translation motor and the rear end of the front guiding rod are connected to the lower surface of the base; the right horizontal pushing mechanism includes a right push rod with its left end connected to the base, a front-back right pushing bar abutted against the right end of the right push rod, a right threaded rod threadedly connected to the front-back right pushing bar at its right end, a right guiding rod passing through the front-back right pushing bar at its right end, and a right translation motor connected to the left end of the right threaded rod to drive the right threaded rod to rotate. The right guiding rod and the right threaded rod are parallel, and both the right translation motor and the left end of the right guiding rod are connected to the lower surface of the base; the rear horizontal pushing mechanism includes a rear push rod with its front end connected to the base, a left-right rear pushing bar abutted against the rear end of the rear push rod, a rear threaded rod threadedly connected to the left-right rear pushing bar at its rear end, a rear guiding rod passing through the left-right rear pushing bar at its rear end, and a rear translation motor connected to the front end of the rear threaded rod to drive the rear threaded rod to rotate. The rear guiding rod and the rear threaded rod are parallel, and both the rear translation motor and the front end of the rear guiding rod are connected to the lower surface of the base. When in use, the base is moved by the horizontal pushing mechanism. When the base is moved left and right, the left-right pushing bars of the front-back horizontal pushing mechanism are abutted against the front-back push rods, and when the base is moved forward and backward, the front-back pushing bars of the left-right horizontal pushing mechanism are abutted against the left-right push rods, so as to ensure that no skew occurs during horizontal pushing.

[0014] Preferably, the left push rod and the right push rod are located on the left-right vertical plane passing through the center of gravity of the base, and the front push rod and the rear push rod are located on the front-back vertical plane passing through the center of gravity of the base. This can make the base more reliable and not skew when the base is horizontally pushed.

[0015] Preferably, a front - rear left balancing bar is provided at the left end of the left push rod, and the front - rear left balancing bar is in surface - contact abutment with the front - rear left push bar; a left - right front balancing bar is provided at the front end of the front push rod, and the left - right front balancing bar is in surface - contact abutment with the left - right front push bar; a front - rear right balancing bar is provided at the right end of the right push rod, and the front - rear right balancing bar is in surface - contact abutment with the front - rear right push bar; a left - right rear balancing bar is provided at the rear end of the rear push rod, and the left - right rear balancing bar is in surface - contact abutment with the left - right rear push bar. This can further prevent the base from tilting when the base is pushed flat.

[0016] The present invention has the following advantages: the temperature rise generated by the light source is small, so that the influence of the temperature rise on the spectrum is small; and it can focus quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of a device for obtaining hyperspectral images of the canopy of potted crops; Figure 2 is Figure 1 a partial enlarged schematic view of part A of Figure 3 is Figure 1 a partial enlarged schematic view of part B of Figure 4 It is a top - view schematic diagram of the potted plant support frame.

[0018] In the figure: detection box 1, spectrometer main unit 2, light source 3, spectrometer camera 5, potted plant access door 6, track 7, carrier trolley 8, potted plant support frame 12, lifting mechanism 59, guide rod 9, vertically - arranged threaded rod 10, lifting motor 11, reflective layer 13, annular light - shielding groove 14, refrigerant flow channel 15, annular reflective plane 16, outer side wall of the refrigerant flow channel 17, inner side wall of the refrigerant flow channel 18, first laser lamp 19, second laser lamp 20, third laser lamp 21, fourth laser lamp 22, first intersection point 23, second intersection point 24, focus of the spectrometer camera 25, potted plant 26, canopy 27, bottom support 28, base 29, positioning stop 30, left flat - push mechanism 31, rear flat - push mechanism 32, right flat - push mechanism 33, front flat - push mechanism 34, left push rod 35, front - rear left push bar 36, left threaded rod 37, left guide rod 38, left translation motor 39, front push rod 40, left - right front push bar 41, front threaded rod 42, front guide rod 43, front translation motor 44, right push rod 45, front - rear right push bar 46, right threaded rod 47, right guide rod 48, right translation motor 49, rear push rod 50, left - right rear push bar 51, rear threaded rod 52, rear guide rod 53, front - rear left balancing bar 55, left - right front balancing bar 56, front - rear right balancing bar 57, left - right rear balancing bar 58. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] Next, the technical solutions in the embodiments of the present invention will be described in conjunction with the accompanying drawings in the embodiments of the present invention. The described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, those of ordinary skill in the art can obtain all other embodiments without creative work, and all of them belong to the protection scope of the present invention.

[0020] See Figures 1 to 4 , a method for obtaining hyperspectral images of the canopy of potted crops, which is completed by a hyperspectral image acquisition device for the canopy of potted crops. The hyperspectral image acquisition device for the canopy of potted crops includes a detection box 1 for storing potted crops, a spectrometer main unit 2, a light source 3 located in the detection box for illuminating the potted plants, and a spectrometer camera 5 for photographing the potted plants. The detection box is provided with a potted crop access door 6, and a track 7 extending from the central position of the detection box to the potted crop access door is provided inside the detection box. A carrier trolley 8 is provided on the track, and a potted plant support frame 12 is connected to the carrier trolley through a lifting mechanism 59. The lifting mechanism includes a vertically arranged guide rod 9, a vertically arranged threaded rod 10, and a lifting motor 11 for driving the threaded rod to rotate. The lifting motor is connected to the potted plant support frame, the threaded rod is threadedly connected to the carrier trolley, the upper end of the guide rod is fixed to the potted plant support frame, and the lower end passes through the carrier trolley. The carrier trolley is an electric vehicle. The light source is an annular lamp tube, and a reflective layer 13 for reflecting the light emitted by the light source onto the potted plant supported on the potted plant support frame is provided on the top wall of the detection box. The projection of the annular lamp tube surrounds the potted plant support frame, and the annular lamp tube is installed in an annular light-shielding groove 14 with an upper opening. A refrigerant flow channel 15 is provided in the annular light-shielding groove. During use, the refrigerant flows through the refrigerant flow channel for heat dissipation. An annular reflective flat surface 16 connected together in sequence is provided on the inner surface of the annular light-shielding groove, and the annular reflective flat surface extends along the circumferential direction of the annular light-shielding groove; during use, move the carrier trolley (an electric vehicle) to the potted crop access door, then place the potted crop on the potted plant support frame, then move the potted crop to a set position inside the detection box through the carrier trolley, and then perform lifting through the lifting mechanism so that the focus of the spectrometer camera is located at the required position on the potted crop, illuminate the potted crop by the light source emitting light, and then photograph the potted crop through the spectrometer camera to obtain an image of the potted crop for spectral analysis.

[0021] The outer wall 17 of the refrigerant flow passage is an adiabatic structure, and the inner wall 18 of the refrigerant flow passage is a heat-conducting structure. The detection box further includes a first laser lamp 19, a second laser lamp 20, a third laser lamp 21, and a fourth laser lamp 22. The light emitted by the first laser lamp and the light emitted by the second laser lamp intersect at a first intersection point 23, and the light emitted by the third laser lamp and the light emitted by the fourth laser lamp intersect at a second intersection point 24. The first intersection point and the second intersection point are located on the same horizontal plane above the focus 25 of the spectrometer camera. When the first intersection point and the second intersection point are located on the canopy 27 of the potted crop 26 to be photographed, the position of the focus of the spectrometer camera on the potted crop is the required position. During use, align the center of the potted crop with the focus of the spectrometer camera on the same vertical line, and then adjust the height of the potted plant until the first intersection point and the second intersection point are located on the canopy, so as to quickly determine whether the height position of the potted plant is optimal. The method for determining whether the first intersection point and the second intersection point are located on the canopy is that when only two bright spots are produced on the canopy by the four laser lamps, it means that the first intersection point and the second intersection point are located on the canopy. The light emitted by the first laser lamp, the second laser lamp, the third laser lamp, and the fourth laser lamp only produces the first intersection point and the second intersection point.

[0022] The potted plant support frame includes a square base 28, a base 29 that can be movably placed on the base to support the potted crop, and a base translation mechanism for driving the base to move on the base. A positioning block 30 is provided in the detection box. When the carrier trolley moves to abut against the positioning block, the vertical line passing through the focus of the spectrometer camera passes through the geometric center of the base. During use, the spectrometer camera photographs the potted plant, and then determines whether the distances between the four front, rear, left, and right edge points of the potted plant canopy and the four front, rear, left, and right edges of the base are the same. If they are different, the position of the base is adjusted by the base translation mechanism until the canopy is centered on the base. The base translation mechanism includes a left horizontal pushing mechanism 31, a rear horizontal pushing mechanism 32, a right horizontal pushing mechanism 33, and a front horizontal pushing mechanism 34. The left horizontal pushing mechanism includes a left push rod 35 with its right end connected to the base, a front and rear left pushing bar 36 abutting against the left end of the left push rod, a left threaded rod 37 threadedly connected to the left end of the front and rear left pushing bar, a left guide rod 38 passing through the front and rear left pushing bar at its left end, and a left translation motor 39 connected to the right end of the left threaded rod to drive the left threaded rod to rotate. The left guide rod and the left threaded rod are parallel, and both the left translation motor and the right end of the left guide rod are connected to the lower surface of the base. The front horizontal pushing mechanism includes a front push rod 40 with its rear end connected to the base, a left and right front pushing bar 41 abutting against the front end of the front push rod, a front threaded rod 42 threadedly connected to the front end of the left and right front pushing bar, a front guide rod 43 passing through the left and right front pushing bar at its front end, and a front translation motor 44 connected to the rear end of the front threaded rod to drive the front threaded rod to rotate. The front guide rod and the front threaded rod are parallel, and both the front translation motor and the rear end of the front guide rod are connected to the lower surface of the base. The right horizontal pushing mechanism includes a right push rod 45 with its left end connected to the base, a front and rear right pushing bar 46 abutting against the right end of the right push rod, a right threaded rod 47 threadedly connected to the right end of the front and rear right pushing bar, a right guide rod 48 passing through the front and rear right pushing bar at its right end, and a right translation motor 49 connected to the left end of the right threaded rod to drive the right threaded rod to rotate. The right guide rod and the right threaded rod are parallel, and both the right translation motor and the left end of the right guide rod are connected to the lower surface of the base. The rear horizontal pushing mechanism includes a rear push rod 50 with its front end connected to the base, a left and right rear pushing bar 51 abutting against the rear end of the rear push rod, a rear threaded rod 52 threadedly connected to the rear end of the left and right rear pushing bar, a rear guide rod 53 passing through the left and right rear pushing bar at its rear end, and a rear translation motor connected to the front end of the rear threaded rod to drive the rear threaded rod to rotate. The rear guide rod and the rear threaded rod are parallel, and the rear translation motor and the front end of the rear guide rod are connected to the lower surface of the base. During use, the base is moved by the horizontal pushing mechanism. When moving the base left and right, the left and right pushing bars of the front and rear horizontal pushing mechanisms abut against the front and rear push rods, and when moving the base forward and backward, the front and rear pushing bars of the left and right horizontal pushing mechanisms abut against the left and right push rods, so as to ensure no skew during horizontal pushing. The left push rod and the right push rod are located in the left and right vertical planes passing through the center of gravity of the base, and the front push rod and the rear push rod are located in the front and rear vertical planes passing through the center of gravity of the base.The left end of the left push rod is provided with a left-right forward balance bar 55, and the left-right forward balance bar is in surface contact and abuts against the left-right forward push bar; the front end of the front push rod is provided with a front-back forward balance bar 56, and the front-back forward balance bar is in surface contact and abuts against the front-back forward push bar; the right end of the right push rod is provided with a left-right backward balance bar 57, and the left-right backward balance bar is in surface contact and abuts against the left-right backward push bar; the rear end of the rear push rod is provided with a front-back backward balance bar 58, and the front-back backward balance bar is in surface contact and abuts against the front-back backward push bar.

[0023] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for obtaining hyperspectral images of the canopy height of potted crops, characterized in that, It is completed by a hyperspectral image acquisition device for potted crops. The hyperspectral image acquisition device for potted crops includes a detection box for storing potted crops, a spectrometer main body, a light source located in the detection box for illuminating the potted plants, and a spectrometer camera for photographing the potted plants. A potted plant support frame is provided in the detection box. The light source is an annular lamp tube. A reflective layer is provided on the top wall of the detection box to reflect the light emitted by the light source onto the potted plants supported on the potted plant support frame. The projection of the annular lamp tube surrounds the potted plant support frame. The annular lamp tube is installed in an annular light-shielding groove with an upper opening. A refrigerant circulation channel is provided in the annular light-shielding groove. An annular reflective plane is provided on the inner surface of the annular light-shielding groove, and the annular reflective plane extends along the circumferential direction of the annular light-shielding groove. The process of image acquisition is as follows: The potted crops are placed on the potted crop support frame, the potted crops are illuminated by the light source, and then the potted crops are photographed by the spectrometer camera to obtain images of the potted crops for spectral analysis.

2. The method for obtaining the hyperspectral image of the canopy of potted crops according to claim 1, characterized in that The outer side wall of the refrigerant circulation channel is an adiabatic structure, and the inner side wall of the refrigerant circulation channel is a heat-conducting structure.

3. A method for obtaining hyperspectral images of the canopy height of potted crops according to claim 1, characterized in that The detection box is provided with a potted plant access door. A track extending from the central position of the detection box to the potted plant access door is provided in the detection box. A carrier trolley is provided on the track. The potted plant support frame is connected to the carrier trolley through a lifting mechanism. In use, the carrier trolley is moved to the potted plant access door, then the potted crops are placed on the potted plant support frame, and then the potted crops are moved to a set position in the detection box through the carrier trolley, and then lifted through the lifting mechanism so that the focus of the spectrometer camera is at the required position on the potted crops. This makes it convenient to place the potted crops in the detection box for detection.

4. The method for obtaining the hyperspectral image of the canopy of potted crops according to claim 3, characterized in that, The lifting mechanism includes a vertically arranged guide rod, a vertically arranged threaded rod, and a lifting motor for driving the threaded rod to rotate. The lifting motor is connected to the potted plant support frame. The threaded rod is threadedly connected to the carrier trolley. The upper end of the guide rod is fixed to the potted plant support frame, and the lower end passes through the carrier trolley.

5. A method for obtaining hyperspectral images of the canopy of potted crops according to claim 3 or 4, characterized in that, The detection box further includes a first laser lamp, a second laser lamp, a third laser lamp, and a fourth laser lamp. The light emitted by the first laser lamp and the light emitted by the second laser lamp intersect at a first intersection point. The light emitted by the third laser lamp and the light emitted by the fourth laser lamp intersect at a second intersection point. The first intersection point and the second intersection point are located on the same horizontal plane above the focus of the spectrometer camera. When the first intersection point and the second intersection point are located on the canopy of the potted crops to be photographed, the position of the focus of the spectrometer camera on the potted crops is the required position. In use, the center of the potted crops is located on the same vertical line as the focus of the spectrometer camera, and then the height of the potted plants is adjusted until the first intersection point and the second intersection point are located on the canopy, so as to quickly determine whether the height position of the potted crops is the best. The method for determining whether the first intersection point and the second intersection point are located on the canopy is that when only two bright spots are produced on the canopy by the four laser lamps, it means that the first intersection point and the second intersection point are located on the canopy.

6. The method for obtaining the hyperspectral image of the canopy of potted crops according to claim 5, wherein The light emitted by the first, second, third, and fourth laser lamps only generates the first intersection point and the second intersection point.

7. A method for obtaining hyperspectral images of the canopy of potted crops according to claim 3 or 4, characterized in that, The potted plant support frame includes a square base, a base for supporting potted plants that is movably placed on the base, and a base translation mechanism for driving the base to move on the base. A positioning stop block is provided in the detection box; when the carrier trolley moves to abut against the positioning stop block, the vertical line passing through the focus of the spectrometer camera passes through the geometric center of the base; during use, the spectrometer camera takes a picture of the potted plant, and then determines whether the distances from the four front, back, left, and right edge points of the potted plant canopy to the four front, back, left, and right edges of the base are the same. If they are different, the position of the base is adjusted by the base translation mechanism until the canopy is centered on the base.

8. A method for obtaining hyperspectral images of the canopy height of potted crops according to claim 7, characterized in that The base translation mechanism includes a left horizontal pushing mechanism, a rear horizontal pushing mechanism, a right horizontal pushing mechanism, and a front horizontal pushing mechanism; the left horizontal pushing mechanism includes a left push rod with its right end connected to the base, a front and rear left pushing bar abutting against the left end of the left push rod, a left threaded rod threadedly connected to the left end of the front and rear left pushing bar, a left guide rod with its left end passing through the front and rear left pushing bar, and a left translation motor connected to the right end of the left threaded rod to drive the left threaded rod to rotate. The left guide rod and the left threaded rod are parallel, and both the left translation motor and the right end of the left guide rod are connected to the lower surface of the base; the front horizontal pushing mechanism includes a front push rod with its rear end connected to the base, a left and right front pushing bar abutting against the front end of the front push rod, a front threaded rod threadedly connected to the front end of the left and right front pushing bar, a front guide rod with its front end passing through the left and right front pushing bar, and a front translation motor connected to the rear end of the front threaded rod to drive the front threaded rod to rotate. The front guide rod and the front threaded rod are parallel, and both the front translation motor and the rear end of the front guide rod are connected to the lower surface of the base; the right horizontal pushing mechanism includes a right push rod with its left end connected to the base, a front and rear right pushing bar abutting against the right end of the right push rod, a right threaded rod threadedly connected to the right end of the front and rear right pushing bar, a right guide rod with its right end passing through the front and rear right pushing bar, and a right translation motor connected to the left end of the right threaded rod to drive the right threaded rod to rotate. The right guide rod and the right threaded rod are parallel, and both the right translation motor and the left end of the right guide rod are connected to the lower surface of the base; the rear horizontal pushing mechanism includes a rear push rod with its front end connected to the base, a left and right rear pushing bar abutting against the rear end of the rear push rod, a rear threaded rod threadedly connected to the rear end of the left and right rear pushing bar, a rear guide rod with its rear end passing through the left and right rear pushing bar, and a rear translation motor connected to the front end of the rear threaded rod to drive the rear threaded rod to rotate. The rear guide rod and the rear threaded rod are parallel, and both the rear translation motor and the front end of the rear guide rod are connected to the lower surface of the base.

9. A method for obtaining hyperspectral images of the canopy height of potted crops according to claim 8, characterized in that, The left push rod and the right push rod are located in the left-right vertical plane passing through the center of gravity of the base, and the front push rod and the rear push rod are located in the front-rear vertical plane passing through the center of gravity of the base.

10. A method for obtaining hyperspectral images of the canopy height of potted crops according to claim 8, characterized in that, The left end of the left push rod is provided with a front-back left balancing strip, and the front-back left balancing strip is in surface contact and abuts against the front-back left pushing strip; the front end of the front push rod is provided with a left-right front balancing strip, and the left-right front balancing strip is in surface contact and abuts against the left-right front pushing strip; the right end of the right push rod is provided with a front-back right balancing strip, and the front-back right balancing strip is in surface contact and abuts against the front-back right pushing strip; the rear end of the rear push rod is provided with a left-right rear balancing strip, and the left-right rear balancing strip is in surface contact and abuts against the left-right rear pushing strip.

Images