Plant phenotype detection method and device for vertical planting mode of plant factory

Abstract

The invention provides a plant phenotype detection method and device for a vertical planting mode of a plant factory, and the method comprises the steps: scanning a target space environment, and obtaining an occupied grid map; the occupied grid map comprises area type information and multi-layer planting frame position information; determining to-be-detected sites and phenotype detection operation of to-be-detected planting pots on each layer of planting frame based on the position information of the multiple layers of planting frames; based on the region type information, controlling a phenotype detection terminal to move towards the to-be-detected site; under the condition that the phenotype detection terminal moves to the to-be-detected site, the phenotype detection terminal is controlled to execute phenotype detection operation on the to-be-detected planting pot, and a phenotype detection result is obtained. According to the invention, by positioning the spatial position of each planting pot on each layer of planting rack, the phenotype detection terminal is guided to move the to-be-detected planting pot to the detection environment, phenotype detection is carried out on the plant in the planting pot, and the accuracy of plant phenotype detection is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of plant phenotype detection, and in particular to a plant phenotype detection method and device for a vertical planting mode in a plant factory. Background Art

[0002] With the advancement of agricultural technology, vertical planting has become a common method for plant cultivation. By controlling light, temperature, humidity, and nutrients within a specific spatial environment, efficient plant management is achieved. This plant management process also involves testing plant phenotypes throughout each growth cycle. However, existing vertical planting models have a certain impact on plant phenotypic testing, resulting in inaccurate phenotyping of vertically grown plants. Summary of the Invention

[0003] The present invention provides a plant phenotype detection method and device for a vertical planting mode in a plant factory, which are used to solve the defect that the existing plant phenotype detection is not accurate enough and to improve the accuracy of plant phenotype detection.

[0004] The present invention provides a plant phenotype detection method for a vertical planting mode in a plant factory, comprising the following steps: Scanning the target space environment to obtain an occupied grid map; the occupied grid map includes area type information and multi-layer planting rack position information; Based on the multi-layer planting rack position information, determining the detection sites and phenotypic detection operations of the planting pots to be detected on each layer of the planting rack; Based on the region type information, controlling the phenotype detection terminal to move toward the site to be detected; When the phenotype detection terminal moves to the site to be detected, the phenotype detection terminal is controlled to perform the phenotype detection operation on the planting pot to be detected to obtain a phenotype detection result.

[0005] According to a plant phenotype detection method for a vertical planting mode in a plant factory provided by the present invention, scanning the target space environment to obtain an occupied grid map includes: Performing a two-dimensional scan of the target space environment to determine a drivable area and a multi-layered planting rack area in the target space environment; Performing a spatial scan on the multi-layer planting rack area to obtain the planting pot positions and the planting pot spatial positions on each layer of the planting rack; An occupation grid map is constructed based on the area type information and the plant position information; the area type information includes the drivable area and the multi-layer planting rack area; the plant position information includes the planting pot site and the planting pot spatial position.

[0006] According to a plant phenotype detection method for a vertical planting mode in a plant factory provided by the present invention, the determining of a detection site of a planting pot to be detected and a phenotype detection operation based on the planting pot position information includes: Based on the planting pot position information, determining target position information that matches the planting pot to be detected; the target position information includes a target planting pot position and a target spatial position; Positioning the planting pot to be detected based on the target planting pot location to obtain a location to be detected; A phenotypic detection operation is determined based on the target spatial location.

[0007] According to a plant phenotypic detection method for a vertical planting mode in a plant factory provided by the present invention, based on the position information of the multi-layer planting rack, the detection sites and phenotypic detection operations of the planting pots to be detected on each layer of the planting rack are determined, and then the method includes: Determining a phenotypic detection site that matches the position of the site to be detected; When the planting pot to be tested is transported to the phenotypic testing site, the phenotypic testing operation is performed on the planting pot to be tested at the phenotypic testing site to obtain a phenotypic testing result.

[0008] According to a plant phenotypic detection method for a vertical planting mode in a plant factory provided by the present invention, the method further includes: determining the detection locations and phenotypic detection operations of the planting pots to be detected on each layer of the planting rack based on the position information of the multi-layer planting rack; and then further including: Acquiring growth information of the plant to be detected; Determining a first operation or a second operation based on the growth information; the first operation is controlling the phenotypic detection terminal to perform the phenotypic detection operation on the planting pot to be detected; the second operation is performing the phenotypic detection operation on the planting pot to be detected at the phenotypic detection site; Perform the first operation or the second operation to obtain a phenotypic detection result.

[0009] According to a plant phenotype detection method for a vertical planting mode in a plant factory provided by the present invention, when the phenotype detection terminal moves to the position to be detected, the phenotype detection terminal is controlled to perform the phenotype detection operation on the planting pot to be detected to obtain the phenotype detection result, which then includes: If the phenotype detection result does not meet the preset conditions, determining the detection light information based on the ambient light information of the target space environment; Based on the detection light information, a phenotypic detection is performed on the plants in the planting pot to be detected to obtain a detection result that meets the preset conditions.

[0010] The present invention also provides a plant phenotype detection device for a vertical planting mode in a plant factory, comprising the following modules: An occupancy grid map construction module is used to scan the target space environment to obtain an occupancy grid map; the occupancy grid map includes area type information and multi-layer planting rack position information; A phenotypic detection operation determination module is used to determine the detection sites and phenotypic detection operations of the planting pots to be detected on each layer of the planting rack based on the position information of the multi-layer planting rack; A terminal movement control module, configured to control the phenotype detection terminal to move toward the site to be detected based on the region type information; The phenotypic detection result determination module is used to control the phenotypic detection terminal to perform the phenotypic detection operation on the planting pot to be detected to obtain the phenotypic detection result when the phenotypic detection terminal moves to the site to be detected.

[0011] The present invention also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements any of the above-described plant phenotype detection methods for the vertical planting mode of a plant factory.

[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for detecting plant phenotypes in a vertical planting mode of a plant factory as described above is implemented.

[0013] The present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described plant phenotype detection methods for a vertical planting mode in a plant factory.

[0014] The present invention provides a plant phenotypic detection method and device for a vertical planting mode in a plant factory. By scanning the spatial environment of plant planting, an occupied grid map containing regional type information and multi-layer planting rack position information is obtained. Based on the multi-layer planting rack position information, the detection sites and corresponding phenotypic detection operations of the planting pots to be detected on each layer of the planting rack are determined. Then, based on the regional type information, the phenotypic detection terminal is controlled to move to the detection site, and the phenotypic detection terminal is controlled to perform the above-determined phenotypic detection operation on the planting pots to be detected at the detection site to obtain the plant phenotypic detection results. The present invention improves the accuracy of plant phenotypic detection by locating the spatial position of each planting pot on each layer of the planting rack, guiding the phenotypic detection terminal to move the planting pot to be detected to the detection environment, and performing phenotypic detection on the plants in the planting pots. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is one of the flow diagrams of the plant phenotype detection method for the vertical planting mode of the plant factory provided by the present invention.

[0017] Figure 2 This is the second flow chart of the plant phenotype detection method for the vertical planting mode of the plant factory provided by the present invention.

[0018] Figure 3 It is a structural schematic diagram of a plant phenotype detection device for a vertical planting mode in a plant factory provided by the present invention.

[0019] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0021] The following combination Figure 1-Figure 4 The present invention describes a plant phenotype detection method and device for a vertical planting mode in a plant factory.

[0022] Figure 1 This is one of the flow diagrams of the plant phenotype detection method for the vertical planting mode of the plant factory provided by the present invention, such as Figure 1 As shown, the method includes the following: Step 100: Scan the target space environment to obtain an occupied grid map; the occupied grid map includes area type information and multi-layer planting rack position information; Specifically, the present invention provides a method for detecting plant phenotypes in a vertical planting model for a plant factory. The main process involves constructing an occupancy grid map of a target spatial environment, where the target spatial environment is a three-dimensional space in which plants are planted, such as a plant factory. A mobile robot equipped with a laser radar can scan the target spatial environment to collect environmental point cloud data. A 2D occupancy grid map can then be generated using a simultaneous localization and mapping (SLAM) algorithm (a 2D laser radar SLAM algorithm based on relative basis position filtering (RBPF)).

[0023] Step 200: Determine the detection sites and phenotypic detection operations of the planting pots to be detected on each layer of the planting rack based on the multi-layer planting rack position information; Specifically, after constructing an occupied grid map containing regional type information and multi-layer planting rack position information, the detection sites and phenotypic detection operations of the planting pots to be detected on different layers of planting racks are determined based on the multi-layer planting rack position information. In the vertical planting mode, the detection site of the planting pot to be detected refers to the ground site corresponding to the spatial planting position of the planting pot to be detected, and the detection site is the position where the plant phenotypic detection equipment can detect the plant to be detected; the phenotypic detection operation refers to a series of operations in which the plant phenotypic detection equipment adjusts the phenotypic detection action at the detection site according to the spatial position of the plant to be detected. By performing the phenotypic detection operation, the plant phenotypic detection equipment can complete the grabbing of the planting pot to be detected and realize the phenotypic detection of the plants in the planting pot to be detected.

[0024] Step 300: Based on the region type information, control the phenotype detection terminal to move to the site to be detected; Specifically, the scanned occupancy grid map includes areas through which the plant phenotyping detection device (i.e., the phenotyping detection terminal in this embodiment) can pass, as well as areas through which the plant phenotyping detection device cannot pass. Areas through which the plant phenotyping detection device cannot pass may be areas of obstacles or areas where plants are planted. In summary, the occupancy grid map includes multiple area types. Based on the real-time location of the plant phenotyping detection device and the areas through which the plant phenotyping detection device can pass in the occupancy grid map, a movement path is generated. Movement control instructions generated based on the movement path are sent to the plant phenotyping detection device, controlling the phenotyping detection terminal to move toward the location to be detected.

[0025] Step 400: When the phenotypic detection terminal moves to the location to be detected, the phenotypic detection terminal is controlled to perform the phenotypic detection operation on the planting pot to be detected to obtain a phenotypic detection result.

[0026] When the phenotypic detection terminal moves to the location to be detected, a plant phenotypic detection instruction is generated based on the phenotypic detection operation obtained above, and the plant phenotypic detection instruction is sent to the plant phenotypic detection equipment to control the plant phenotypic detection equipment to execute the grabbing of the planting pot to be detected from the vertically planted plant space position, and to perform phenotypic detection on the grabbed planting pot to be detected. The specific phenotypic detection process will be described in the form of examples in the following embodiments.

[0027] This embodiment scans the spatial environment in which the plants are planted to obtain an occupied grid map containing regional type information and multi-layer planting rack position information. Based on the multi-layer planting rack position information, the detection locations and corresponding phenotypic detection operations of the planting pots to be detected on each layer of the planting rack are determined. Then, based on the regional type information, the phenotypic detection terminal is controlled to move to the detection location, and at the detection location, the phenotypic detection terminal is controlled to perform the above-determined phenotypic detection operation on the planting pots to be detected, thereby obtaining the plant phenotypic detection results. The present invention improves the accuracy of plant phenotypic detection by locating the spatial position of each planting pot on each layer of the planting rack, guiding the phenotypic detection terminal to move the planting pot to be detected to the detection environment, and performing phenotypic detection on the plants in the planting pots.

[0028] Figure 2 This is the second flow chart of the plant phenotype detection method for the vertical planting mode of the plant factory provided by the present invention, such as Figure 2 As shown, the method may further include: Step 110: Perform a two-dimensional scan of the target space environment to determine a drivable area and a multi-layered planting rack area in the target space environment; Step 120: Perform spatial scanning on the multi-layer planting rack area to obtain the planting pot positions and the spatial positions of the planting pots on each layer of the planting rack; Step 130: construct an occupation grid map based on the area type information and the plant location information; the area type information includes the drivable area and the multi-layer planting rack area; the plant location information includes the planting pot site and the planting pot spatial position.

[0029] Specifically, the plant phenotypic detection equipment in the above content can also be integrated with a laser radar to realize the function of the above-mentioned mobile robot to scan the target space environment. The generated occupation grid map divides the area of ​​the target space environment into a movable area (i.e., the drivable area in this embodiment) and an obstacle area. The obstacle area includes the planting rack area (i.e., the multi-layer planting rack area in this embodiment) and the obstacle area. The spatial positions of all planting pots that need to be phenotypic detected on different layers of planting racks are marked on the occupation grid map (including the planting pot sites and planting pot spatial positions in this embodiment). The spatial positions of these planting pots constitute a target point list. For plants in fixed planting positions, their spatial position coordinates can be recorded in advance; for plants in dynamic planting positions, they can be automatically identified through labels.

[0030] This embodiment obtains an occupied grid map by scanning the target space environment, thereby constructing a map basis for automatically performing plant phenotype detection on the target space environment.

[0031] In one embodiment, the plant phenotype detection method for a vertical planting mode in a plant factory provided by the embodiment of the present invention may further include: Step 210: Determine target location information that matches the planting pot to be detected based on the planting pot location information; the target location information includes a target planting pot position and a target spatial position; Step 220: Position the planting pot to be detected based on the target planting pot location to obtain a location to be detected; Step 230: Determine a phenotypic detection operation based on the target spatial position.

[0032] Specifically, the planting pot location information in this embodiment includes the planting pot planting sites and planting pot spatial positions of all planting pots within the target spatial environment. The target location information that matches the identification of the planting pot to be detected is determined, i.e., the target location information that matches the planting pot to be detected. The target location information here includes the target planting site and target spatial position, i.e., the planting site and planting spatial position of the planting pot to be detected.

[0033] After determining the target planting site for the pot to be tested, the pot is located to obtain the testing site. After determining the target spatial position of the pot to be tested, a series of phenotypic testing operations are determined based on the functional structure of the phenotypic testing terminal and the spatial planting position of the pot to be tested. These operations primarily include grabbing the pot to be tested and performing phenotypic testing on the pot to be tested. The phenotypic testing terminal can also integrate a plant phenotypic testing module. To reduce the impact of ambient light on plant phenotypic testing, after grabbing the pot to be tested, the phenotypic testing terminal is controlled to place the pot into the built-in phenotypic testing space.

[0034] This embodiment automatically determines the location to be detected to which the phenotypic detection terminal is to be moved and the phenotypic detection operation to be performed by the phenotypic detection terminal by reflecting the location and space of the planting pot to be detected, thereby realizing automation of plant phenotypic detection.

[0035] In one embodiment, the plant phenotype detection method for a vertical planting mode in a plant factory provided by the embodiment of the present invention may further include: Step 500: determining a phenotypic detection site that matches the position of the site to be detected; Step 600: When the planting pot to be tested is transported to the phenotypic testing site, the phenotypic testing operation is performed on the planting pot to be tested at the phenotypic testing site to obtain a phenotypic testing result.

[0036] Specifically, based on the above embodiments, the present application further provides a feasible implementation scheme, wherein a plant phenotype detection device having only a mobile function and a planting pot grabbing function is defined as a mobile terminal.

[0037] After obtaining the site to be detected, a phenotypic detection site that matches the site to be detected in position is determined. The position matching here can be based on the distance between the site to be detected and the phenotypic detection site; it can also be based on the path between the site to be detected and the phenotypic detection site. The phenotypic detection site is equipped with a phenotypic detection function module and has good lighting conditions. Phenotypic detection of the plant to be detected can be achieved at the phenotypic detection site. When performing plant phenotypic detection at the phenotypic detection site and there are multiple plants to be detected, the mobile terminal can be preset to capture multiple plants at the same time, and phenotypic detection can be performed sequentially at the phenotypic detection site.

[0038] The mobile terminal is controlled to move the pot to be inspected from the inspection location to the phenotypic inspection location. A phenotypic inspection function module provided at the phenotypic inspection location performs a phenotypic inspection on the pot to be inspected, thereby obtaining a phenotypic inspection result. In this embodiment, the phenotypic inspection operation performed on the plant in the pot to be inspected at the phenotypic inspection location only includes performing a phenotypic inspection on the plant in the pot to be inspected.

[0039] This embodiment provides another feasible plant phenotypic detection solution by splitting the plant phenotypic detection function, thereby improving the flexibility of plant phenotypic detection.

[0040] In one embodiment, the plant phenotype detection method for a vertical planting mode in a plant factory provided by the embodiment of the present invention may further include: Step 700: Acquire growth information of the plant to be detected; Step 800: Determine a first operation or a second operation based on the growth information; the first operation is to control the phenotypic detection terminal to perform the phenotypic detection operation on the planting pot to be detected; the second operation is to perform the phenotypic detection operation on the planting pot to be detected at the phenotypic detection site; Step 900: Execute the first operation or the second operation to obtain a phenotypic detection result.

[0041] Specifically, based on the above embodiments, the present application also provides a feasible implementation scheme. The plant phenotypic detection device and the mobile terminal can be used at the same time. Considering that the growth cycle of the plant to be detected will affect the morphological size of the plant, the built-in phenotypic detection space of the plant phenotypic detection device may not be able to accommodate plants with larger morphologies. Therefore, before performing phenotypic detection on the plant to be detected, the growth information of the plant to be detected is obtained, and the growth information can reflect the morphological size of the plant to be detected. When the morphology of the plant to be detected is small, the first operation is performed on the plant to be detected, that is, the phenotypic detection terminal is controlled to perform phenotypic detection on the plant to be detected; when the morphology of the plant to be detected is large, the second operation is performed on the plant to be detected, that is, the phenotypic detection is performed on the plant to be detected at the phenotypic detection site. The first operation and the second operation can be performed separately, or simultaneously on different plants to obtain plant phenotypic detection results.

[0042] This embodiment takes the growth cycle of the plant to be detected into consideration and combines or subdivides the solutions of the above embodiments, thereby improving the flexibility of plant phenotypic detection.

[0043] In one embodiment, the plant phenotype detection method for a vertical planting mode in a plant factory provided by the embodiment of the present invention may further include: Step 1000: When the phenotype detection result does not meet the preset conditions, determine the detection light information based on the ambient light information of the target space environment; Step 1100: Perform phenotypic detection on the plants in the planting pots to be detected based on the detection light information to obtain detection results that meet the preset conditions.

[0044] Specifically, in order to reduce or eliminate the impact of ambient light on plant phenotypic detection, when the plant phenotypic detection results obtained above do not meet the preset conditions, the ambient light information of the target space environment is analyzed, and the light is supplemented according to the analysis results, or new detection light that meets the requirements is directly generated based on the ambient light information, that is, the detection light information in this embodiment.

[0045] Phenotypic detection of the plant to be detected is performed by detecting light information, and the technical solution provided in this embodiment is circulated to obtain plant phenotypic detection results that meet preset conditions.

[0046] This embodiment improves the accuracy of plant phenotypic detection by testing the plant phenotypic detection results.

[0047] The plant phenotype detection device for the vertical planting mode of a plant factory provided by the present invention is described below. The plant phenotype detection device for the vertical planting mode of a plant factory described below and the plant phenotype detection method for the vertical planting mode of a plant factory described above can be referenced to each other.

[0048] Please refer to Figure 3 The present invention also provides a plant phenotype detection device for a vertical planting mode in a plant factory, comprising: An occupation grid map construction module 301 is used to scan the target space environment to obtain an occupation grid map; the occupation grid map includes area type information and multi-layer planting rack position information; The phenotypic detection operation determination module 302 is used to determine the detection position and phenotypic detection operation of the planting pots to be detected on each layer of the planting rack based on the multi-layer planting rack position information; The terminal movement control module 303 is used to control the phenotype detection terminal to move to the site to be detected based on the area type information; The phenotypic detection result determination module 304 is configured to control the phenotypic detection terminal to perform the phenotypic detection operation on the planting pot to be detected to obtain a phenotypic detection result when the phenotypic detection terminal moves to the location to be detected.

[0049] Optionally, the occupancy grid map construction module includes: an area determination unit, configured to perform a two-dimensional scan of the target space environment to determine a drivable area and a multi-layered planting rack area in the target space environment; A spatial scanning unit is used to perform spatial scanning on the multi-layer planting rack area to obtain the planting pot positions and spatial positions of the planting pots on each layer of the planting rack; An occupation grid map construction unit is used to construct an occupation grid map based on area type information and plant position information; the area type information includes the drivable area and the multi-layer planting rack area; the plant position information includes the planting pot site and the planting pot spatial position.

[0050] Optionally, the phenotype detection operation determination module includes: A target position information determination module is used to determine target position information that matches the planting pot to be detected based on the planting pot position information; the target position information includes a target planting pot position and a target spatial position; A module for determining a location to be detected, configured to locate the planting pot to be detected based on the location of the target planting pot to obtain a location to be detected; The phenotypic detection operation determination module is used to determine the phenotypic detection operation based on the target spatial position.

[0051] Optionally, the plant phenotype detection device for the vertical planting mode of a plant factory further includes: A phenotypic detection site determination module, used to determine a phenotypic detection site that matches the position of the site to be detected; The phenotypic detection execution module is used to perform the phenotypic detection operation on the planting pot to be detected at the phenotypic detection site to obtain a phenotypic detection result when the planting pot to be detected is transported to the phenotypic detection site.

[0052] Optionally, the plant phenotype detection device for the vertical planting mode of a plant factory further includes: A growth information acquisition module, used to acquire the growth information of the plant to be detected; an operation determination module, configured to determine a first operation or a second operation based on the growth information; the first operation is to control the phenotypic detection terminal to perform the phenotypic detection operation on the planting pot to be detected; and the second operation is to perform the phenotypic detection operation on the planting pot to be detected at the phenotypic detection site; The operation execution module is used to execute the first operation or the second operation to obtain a phenotypic detection result.

[0053] Optionally, the plant phenotype detection device for the vertical planting mode of a plant factory further includes: a detection light information determination module, configured to determine the detection light information based on the ambient light information of the target space environment when the phenotype detection result does not meet a preset condition; The plant phenotype detection module is used to perform phenotype detection on the plant in the to-be-detected planting pot based on the detection light information, and obtain a detection result that meets the preset conditions.

[0054] Figure 4 An example of a physical structure diagram of an electronic device is shown below. Figure 4As shown, the electronic device may include: a processor 410, a communications interface 420, a memory 430, and a communications bus 440, wherein the processor 410, the communications interface 420, and the memory 430 communicate with each other via the communications bus 440. The processor 410 may call logic instructions in the memory 430 to execute a plant phenotypic detection method for a vertical planting mode in a plant factory. The method includes: scanning a target spatial environment to obtain an occupation grid map; the occupation grid map includes region type information and multi-layer planting rack position information; determining a detection location and a phenotypic detection operation for a planting pot to be detected on each layer of the planting rack based on the multi-layer planting rack position information; controlling a phenotypic detection terminal to move to the detection location based on the region type information; and controlling the phenotypic detection terminal to perform the phenotypic detection operation on the planting pot to be detected when the phenotypic detection terminal moves to the detection location to obtain a phenotypic detection result.

[0055] Furthermore, the logic instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0056] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the plant phenotypic detection method for the vertical planting mode of a plant factory provided by the above-mentioned methods, the method including: scanning the target space environment to obtain an occupied grid map; the occupied grid map contains area type information and multi-layer planting rack position information; based on the multi-layer planting rack position information, determining the detection sites and phenotypic detection operations of the planting pots to be detected on each layer of the planting rack; based on the area type information, controlling the phenotypic detection terminal to move to the detection site; when the phenotypic detection terminal moves to the detection site, controlling the phenotypic detection terminal to perform the phenotypic detection operation on the planting pots to be detected to obtain a phenotypic detection result.

[0057] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the plant phenotypic detection method for the vertical planting mode of a plant factory provided by the above-mentioned methods, the method comprising: scanning the target space environment to obtain an occupied grid map; the occupied grid map contains area type information and multi-layer planting rack position information; based on the multi-layer planting rack position information, determining the detection sites and phenotypic detection operations of the planting pots to be detected on each layer of the planting rack; based on the area type information, controlling the phenotypic detection terminal to move to the detection site; when the phenotypic detection terminal moves to the detection site, controlling the phenotypic detection terminal to perform the phenotypic detection operation on the planting pots to be detected to obtain a phenotypic detection result.

[0058] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0059] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A plant phenotype detection method for a vertical planting model in a plant factory, characterized in that: include: Scanning the target space environment to obtain an occupied grid map; the occupied grid map includes area type information and multi-layer planting rack position information; Based on the multi-layer planting rack position information, determining the detection sites and phenotypic detection operations of the planting pots to be detected on each layer of the planting rack; Based on the region type information, controlling the phenotype detection terminal to move toward the site to be detected; When the phenotype detection terminal moves to the site to be detected, the phenotype detection terminal is controlled to perform the phenotype detection operation on the planting pot to be detected to obtain a phenotype detection result.

2. The plant phenotype detection method for the vertical planting mode of a plant factory according to claim 1, characterized in that: Scanning the target space environment to obtain an occupied grid map includes: Performing a two-dimensional scan of the target space environment to determine a drivable area and a multi-layered planting rack area in the target space environment; Performing a spatial scan on the multi-layer planting rack area to obtain the planting pot positions and the planting pot spatial positions on each layer of the planting rack; An occupation grid map is constructed based on the area type information and the plant position information; the area type information includes the drivable area and the multi-layer planting rack area; the plant position information includes the planting pot site and the planting pot spatial position.

3. The plant phenotype detection method for the vertical planting mode of a plant factory according to claim 1, characterized in that: The operation of determining the detection site and phenotype detection of the planting pot to be detected based on the planting pot position information includes: Based on the planting pot position information, determining target position information that matches the planting pot to be detected; the target position information includes a target planting pot position and a target spatial position; Positioning the planting pot to be detected based on the target planting pot location to obtain a location to be detected; A phenotypic detection operation is determined based on the target spatial location.

4. The plant phenotype detection method for the vertical planting mode of a plant factory according to claim 1, characterized in that: The step of determining the detection sites and phenotypic detection operations of the planting pots to be detected on each layer of the planting racks based on the position information of the multi-layer planting racks includes: Determining a phenotypic detection site that matches the position of the site to be detected; When the planting pot to be tested is transported to the phenotypic testing site, the phenotypic testing operation is performed on the planting pot to be tested at the phenotypic testing site to obtain a phenotypic testing result.

5. The plant phenotype detection method for the vertical planting mode of a plant factory according to claim 4, characterized in that: The step of determining the detection sites and phenotypic detection operations of the planting pots to be detected on each layer of the planting racks based on the position information of the multi-layer planting racks further includes: Acquiring growth information of the plant to be detected; Determining a first operation or a second operation based on the growth information; the first operation is controlling the phenotypic detection terminal to perform the phenotypic detection operation on the planting pot to be detected; the second operation is performing the phenotypic detection operation on the planting pot to be detected at the phenotypic detection site; Perform the first operation or the second operation to obtain a phenotypic detection result.

6. The plant phenotype detection method for the vertical planting mode of a plant factory according to claim 1, characterized in that: When the phenotype detection terminal moves to the location to be detected, controlling the phenotype detection terminal to perform the phenotype detection operation on the planting pot to be detected to obtain a phenotype detection result, and then comprising: If the phenotype detection result does not meet the preset conditions, determining the detection light information based on the ambient light information of the target space environment; Based on the detection light information, a phenotypic detection is performed on the plants in the planting pot to be detected to obtain a detection result that meets the preset conditions.

7. A plant phenotype detection device for vertical planting mode in plant factories, characterized in that: include: An occupancy grid map construction module is used to scan the target space environment and obtain an occupancy grid map; The occupied grid map includes area type information and multi-layer planting rack location information; A phenotypic detection operation determination module is used to determine the detection sites and phenotypic detection operations of the planting pots to be detected on each layer of the planting rack based on the position information of the multi-layer planting rack; A terminal movement control module, configured to control the phenotype detection terminal to move toward the site to be detected based on the region type information; The phenotypic detection result determination module is used to control the phenotypic detection terminal to perform the phenotypic detection operation on the planting pot to be detected to obtain the phenotypic detection result when the phenotypic detection terminal moves to the site to be detected.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the plant phenotype detection method for the vertical planting mode of a plant factory as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the plant phenotype detection method for the vertical planting mode of a plant factory as described in any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the plant phenotype detection method for the vertical planting mode of a plant factory as described in any one of claims 1 to 6 is implemented.

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