Device and method for acquiring panoramic image of stereoscopic organ of crop

Abstract

The invention relates to the technical field of plant phenotypic character intelligent detection, and particularly discloses a crop three-dimensional organ panoramic image acquisition device and a method thereof.The crop three-dimensional organ panoramic image acquisition device comprises an acquisition box body, a servo motor is fixedly connected to the upper surface of the acquisition box body, and a cantilever support is installed on the top surface of a cavity of the acquisition box body; a crop supporting table is fixed to the bottom surface of the cavity of the collecting box body, a limiting stand column is fixed to the upper end of the crop supporting table, and an inserting block is fixed to the upper surface of the limiting stand column. According to the crop three-dimensional organ panoramic image acquisition device and method, the acquisition efficiency and accuracy are improved, the servo motor drives the n-shaped cantilever support to rotate at a constant speed of 360 degrees, and the integrated design of the industrial line scanning camera, the light source and the background plate is matched; the full-surface RGB image automatic splicing and panoramic reconstruction of the three-dimensional organ can be completely acquired and synchronously and automatically completed, and accurate data support is provided for intelligent detection of three-dimensional organ characters.

Description

Technical Field

[0001] This invention relates to the field of intelligent detection technology for plant phenotypic traits, specifically to a device and method for acquiring panoramic images of three-dimensional organs of crops. Background Technology

[0002] As a fundamental and core industry of the country, the development of the seed industry is inseparable from the protection of plant variety rights. This is a key part of the intellectual property rights of the seed industry. For a variety to be authorized, protected and finally approved for registration, it must undergo DUS testing. In my country, corn is not only the most important food crop with the most obvious yield advantage, but also ranks first in the number of applications and authorizations for its variety rights. Therefore, in the DUS testing of corn, breeders and testing institutions pay close attention to traits that are directly related to yield, such as the number of rows per ear and the number of kernels.

[0003] In recent years, computer vision-based three-dimensional organ phenotypic analysis techniques have gradually developed. These techniques are mainly divided into three categories: single-image-based analysis methods, multi-image sequence stitching-based full-surface analysis methods, and three-dimensional reconstruction-based techniques. However, these methods still have obvious limitations. Taking corn ears as an example, single-image-based analysis methods can only obtain information from one side of the ear and cannot fully reflect the full surface features of the ear, resulting in limited accuracy in calculating the number of rows and kernels. While three-dimensional reconstruction-based techniques can obtain complete phenotypic information, they have problems such as high equipment costs, complex processing, and strict environmental requirements, making it difficult to promote and apply them in large-scale breeding.

[0004] With the improvement of the accuracy of RGB sensors and the development of computer vision, image analysis, and artificial intelligence, the establishment of an accurate, efficient and inexpensive device and method for acquiring panoramic images of crop three-dimensional organs is of great significance for realizing intelligent detection of three-dimensional organ traits and improving the level of DUS testing technology.

[0005] Existing image acquisition devices primarily employ a P2S (plant to sensor) design, meaning the sample to be acquired moves while the sensor remains stationary. Furthermore, there are two main methods for image acquisition and analysis. Taking corn ears as an example, one method involves acquiring images from a single side of the ear to infer the overall number of rows and kernels. The other method utilizes a conveyor belt to rotate the ears placed on it, acquiring multiple side images of the ear while it rotates, and finally manually reconstructing the panoramic image based on algorithms.

[0006] The trait analysis models developed based on the above two acquisition modes are only applicable to three-dimensional organs with regular surface distribution. Furthermore, the panoramic reconstruction has low efficiency and low reproducibility, which can lead to inconsistent experimental results for the same sample in multiple experiments. Summary of the Invention

[0007] The purpose of this invention is to provide a device and method for acquiring panoramic images of three-dimensional organs of crops, so as to solve the problems of limited applicability, low panoramic reconstruction efficiency, and low reproducibility caused by the three-dimensional organ front and back side inference algorithm and the conveyor belt rolling stitching method mentioned in the background art, and significantly improve the objectivity and efficiency of three-dimensional organ trait testing.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a crop three-dimensional organ panoramic image acquisition device, which adopts an S2P (sensor to plant) mode in its design, meaning that the sensor moves while the sample to be collected remains stationary. Generally, the S2P mode is superior to the P2S mode in terms of control accuracy and image consistency. Specifically, the system includes a collection box with a servo motor fixedly connected to its upper surface. A cantilever bracket is installed on the top surface of the cavity of the collection box. A crop support platform is fixed on the bottom surface of the cavity of the collection box. A limit column is fixed at the upper end of the crop support platform. A plug-in block is fixed on the upper surface of the limit column. Two support slide rods are installed through the upper surface of the limit column. A linkage baffle is fixedly connected to the upper end of the support slide rod. A drive motor is fixedly connected inside the crop support platform, and a transmission gear is fixedly connected to the output end of the drive motor. A first linkage plate is provided in the cavity between the crop support platform and the limit column. Two first sliders are provided on the upper surface of the first linkage plate, and a second slider is installed on the side surface of the first slider. A linkage rotating arm is provided on the upper side surface of the first slider. An auxiliary slide column is installed through the lower surface of the plug-in block. A locking mechanism is provided at the upper end of the auxiliary slide column. Two second linkage plates are provided in the cavity between the crop support platform and the limit column.

[0009] Preferably, the cantilever bracket has a U-shaped design, and an industrial line scanning camera and a light source are fixedly installed on the cantilever surface on one side of the cantilever bracket, while a background plate is provided on the cantilever surface on the other side of the cantilever bracket. The cantilever bracket and the acquisition box are rotatably connected, and the rotating shaft of the cantilever bracket is fixedly connected to the output end of the servo motor.

[0010] Using the above technical solution, the gate-shaped design allows the industrial line scan camera, light source and background to form a symmetrical layout, ensuring a uniform shooting background, reducing environmental interference and improving image consistency. The servo motor drives the cantilever bracket to rotate, which can achieve 360° uniform rotation acquisition, solving the limitation that a single image can only acquire information from one side, and providing complete data for panoramic stitching.

[0011] Preferably, the upper end of the plug-in block is tapered, the support slide rod is slidably connected to the crop support platform, the lower end side surface of the support slide rod is inclined, the linkage baffle is annular, the transmission gear is rotatably connected to the crop support platform, the surface of the second linkage plate is provided with toothed blocks, and the second linkage plate is meshed with the transmission gear through the toothed blocks, and the second linkage plate is connected to the support slide rod.

[0012] The above technical solution features a tapered design at the top of the plug-in block, which facilitates quick insertion and positioning of crops, reduces the difficulty of fixing operations, and links the support slide rod with the second linkage plate and transmission gear. In conjunction with the annular linkage baffle, it can assist in clamping the crop from the outside, preventing shaking during collection and improving image clarity.

[0013] Preferably, the first linkage plate is slidably connected to the crop support platform and the limiting column respectively, and the surface of the first linkage plate is provided with toothed blocks, and the first linkage plate is meshed with the transmission gear through the toothed blocks.

[0014] Using the above technical solution, the first linkage plate meshes with the transmission gear through the toothed block and can be slidably connected to achieve precise power transmission, providing a stable driving force for the subsequent locking mechanism. The integrated transmission design makes the linkage of various components of the device more coordinated, reduces mechanical failures, and improves the operational stability of the device.

[0015] Preferably, the first linkage plate and the first slider are slidably connected, and a spring is connected between the two first sliders. The first slider and the second slider are slidably connected, and the side of the second slider is arc-shaped. The linkage arm is rotatably connected to the first slider and the auxiliary sliding column respectively.

[0016] Using the above technical solution, the springs between the first sliders can adaptively adjust the spacing to accommodate crops of different sizes, improving the versatility of the device. The arc-shaped design of the second slider can fit the surface of the crop, avoiding damage to the crop organs during fixation and protecting the integrity of the test sample. The linkage rotating arm realizes the flexible switching between slider sliding and auxiliary sliding column lifting, making the locking action smoother and more precise, taking into account both fixation stability and operational flexibility.

[0017] Preferably, the locking mechanism includes a compression block, which is fixedly connected to the upper end of the auxiliary slide column. Two guide slides are installed on the inner wall of the cavity at the upper end of the insertion block, and a locking insert is fixedly connected to the side surface of the guide slide.

[0018] Using the above technical solution, the locking mechanism achieves internal locking of the crop through the cooperation of the squeezing block, the guide slide plate and the locking plug, which solves the problem of simple insertion and fixation not being secure. The symmetrical design of the double guide slide plate and the locking plug ensures uniform locking force, avoids crop tilting and ensures accurate collection angle.

[0019] Preferably, the upper end of the compression block is spherical, the guide slide plate and the plug block are slidably connected, and a spring is connected between the guide slide plate and the plug block. The side surface of the guide slide plate is inclined, and the locking plug block penetrates the side surface of the plug block.

[0020] The above technical solution utilizes a spherical design for the compression block to ensure even force distribution during crop insertion, reducing insertion resistance. It also facilitates easy movement of the guide slide. The inclined side surface of the guide slide, combined with a spring reset design, enables "locking upon insertion and resetting upon unlocking," simplifying the operation process and improving crop replacement efficiency.

[0021] Preferably, the working steps of the servo motor are as follows:

[0022] S1. Output pulse signals to the servo motor according to the servo motor communication protocol and observe whether the cantilever bracket rotates correctly.

[0023] S2. Mark the starting position of the cantilever bracket and calculate the number of pulses required for the cantilever bracket to rotate one revolution by adjusting the pulse count.

[0024] S3. Record the rotation speed of the cantilever support, and complete the rotation data acquisition within the specified time by adjusting the rotation speed.

[0025] Using the above technical solution, step S1 verifies the correctness of the rotation, eliminates mechanical faults in advance, and avoids data failure due to abnormal rotation during the acquisition process. Step S2 calculates the number of rotation pulses to ensure that the rotation angle of the cantilever support is accurate and controllable, avoids image acquisition omissions or overlaps, and improves stitching accuracy. Step S3 adjusts the rotation speed to adapt to the acquisition needs of different crop organs, taking into account both acquisition efficiency and image quality.

[0026] A method of using a crop three-dimensional organ panoramic image acquisition device, characterized by comprising the following steps:

[0027] S1: Secure the crop by inserting it into the upper part of the connector;

[0028] S2: Start the servo motor and use the servo motor to drive the cantilever bracket to achieve uniform rotation. During the rotation of the cantilever bracket, the line scan camera of the cantilever bracket scans and acquires the surface image of the target object. Each scan is a certain pixel width, and finally all pixels are merged to obtain the RGB image of the target object.

[0029] S3: The drive motor drives the transmission gears to automatically push the crop upwards and separate it, and then replace the crop.

[0030] The steps for panoramic image acquisition and stitching are as follows:

[0031] Adjust the camera's focal length, white balance, exposure, exposure time, and other parameters to ensure that the image quality meets the requirements, and that the captured image is clear and free from blur or distortion.

[0032] Adjust the camera's line rate, image output height, width, etc. to achieve complete output of the surface unfolding diagram;

[0033] In conjunction with a servo motor, it can output the surface unfolded diagram after one rotation;

[0034] By marking the surface of a three-dimensional organ, the unfolded diagram is compared with the actual object to see if they match.

[0035] Compared with the prior art, the beneficial effects of the present invention are: the crop three-dimensional organ panoramic image acquisition device:

[0036] 1. Improved acquisition efficiency and accuracy: The servo motor drives the U-shaped cantilever bracket to rotate 360° at a uniform speed. Combined with the integrated design of the industrial line scan camera, light source, and background plate, it solves the problems of low efficiency in traditional panoramic image stitching using single-sided images and algorithms, as well as the limitations of inferring missing information from panoramic images using single-sided images. It can completely acquire and simultaneously and automatically complete the full-surface RGB image stitching and panoramic reconstruction of three-dimensional organs, providing accurate data support for intelligent detection of three-dimensional organ traits (such as the number of rows and kernels in corn DUS testing).

[0037] 2. Optimized fixing and replacement efficiency: The conical plug-in block, combined with the inner and outer double-level locking structure, enables the crop to be "locked upon insertion". At the same time, the support slide bar and the linkage baffle assist in clamping to ensure stability during collection. The drive motor and transmission gear are linked to automatically push the crop upward and separate, which solves the problems of small box space and laborious manual removal in traditional devices, and greatly improves the crop replacement efficiency.

[0038] 3. Enhanced practicality and scalability: The device has a compact structure and lower cost than 3D reconstruction technology. It does not require complex environmental control and is suitable for large-scale breeding scenarios. It achieves adaptive fixation of crops of different sizes through components such as springs and arc-shaped sliders. The linkage logic of each component is simple, the risk of mechanical failure is low, and it takes into account both intelligent detection needs and practical operation convenience, thus helping to improve the level of DUS testing technology. Attached Figure Description

[0039] Figure 1 This is a three-dimensional structural diagram of the connection between the acquisition box and the servo motor in this invention;

[0040] Figure 2 This is a three-dimensional structural diagram of the connection between the crop support platform and the limiting column of the present invention;

[0041] Figure 3 This is a three-dimensional structural diagram of the connection between the servo motor and the cantilever bracket of the present invention;

[0042] Figure 4 This is a three-dimensional structural diagram of the connection between the drive motor and the transmission gear of the present invention;

[0043] Figure 5 This is a three-dimensional structural diagram of the connection between the first slider and the second slider of the present invention;

[0044] Figure 6 This is a three-dimensional structural diagram of the connection between the guide slide and the locking block of the present invention;

[0045] Figure 7 This is a schematic diagram of the working steps of the servo motor of the present invention;

[0046] Figure 8 This is a schematic diagram illustrating the working steps of panoramic image acquisition and stitching in this invention.

[0047] In the diagram: 1. Data collection box; 2. Servo motor; 3. Cantilever bracket; 4. Crop support platform; 5. Limiting column; 6. Insertion block; 7. Support slide rod; 8. Linkage baffle; 9. Drive motor; 10. Transmission gear; 11. First linkage plate; 12. First slider; 13. Second slider; 14. Linkage rotating arm; 15. Auxiliary slide column; 16. Extrusion block; 17. Guide slide plate; 18. Locking insert; 19. Second linkage plate. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Please see Figure 1-8This invention provides a technical solution: a crop three-dimensional organ panoramic image acquisition device, comprising an acquisition box 1, a servo motor 2, a cantilever bracket 3, a crop support platform 4, a limiting column 5, a plug-in block 6, a support slide rod 7, a linkage baffle 8, a drive motor 9, a transmission gear 10, a first linkage plate 11, a first slider 12, a second slider 13, a linkage rotating arm 14, an auxiliary slide rod 15, a pressing block 16, a guide slide plate 17, a locking plug 18, and a second linkage plate 19. The acquisition box 1 has a servo motor fixedly connected to its upper surface. The servo motor 2 and the cantilever bracket 3 are designed in a U-shape. An industrial line scanning camera and a light source are fixedly installed on the cantilever surface on one side of the cantilever bracket 3, and a background plate is set on the cantilever surface on the other side of the cantilever bracket 3. The cantilever bracket 3 and the acquisition box 1 are rotatably connected, and the rotating shaft of the cantilever bracket 3 is fixedly connected to the output end of the servo motor 2. When the crop is inserted into the surface of the plug block 6, the crop presses down on the linkage baffle 8, which drives the support slide rod 7 to descend synchronously, providing initial power for the subsequent locking action and realizing the automatic start of the fixed process without additional operation.

[0050] A cantilever bracket 3 is installed on the top surface of the cavity of the collection box 1. A crop support platform 4 is fixed on the bottom surface of the cavity of the collection box 1. A limit column 5 is fixed on the upper end of the crop support platform 4. A plug-in block 6 is fixed on the upper surface of the limit column 5. Two support slide rods 7 are installed through the upper surface of the limit column 5. A linkage baffle 8 is fixedly connected to the upper end of the support slide rod 7. The upper end of the plug-in block 6 is tapered. The support slide rod 7 and the crop support platform 4 are slidably connected. The lower side surface of the support slide rod 7 is inclined. The linkage baffle 8 is annular. The transmission gear 10 is rotatably connected to the crop support platform 4. The surface of the second linkage plate 19 is provided with toothed blocks. The second linkage plate 19 and the transmission gear 10 are meshed through the toothed blocks. The second linkage plate 19 is connected to the support slide rod 7. The first linkage plate 11 is slidably connected to the crop support platform 4 and the limiting column 5 respectively. The surface of the first linkage plate 11 is provided with toothed blocks, and the first linkage plate 11 is meshed with the transmission gear 10 through the toothed blocks. When the support slide rod 7 descends, its lower inclined surface contacts the second slider 13 and pushes it to slide laterally, thereby driving the first slider 12 to move horizontally in sync. The first slider 12 transmits power through the linkage rotating arm 14, pushing the auxiliary slide column 15 and the upper pressing block 16 to rise. The pressing block 16 pushes the two guide slide plates 17 to slide horizontally, and finally drives the locking insert 18 to extend, completing the lateral stable locking of the crop.

[0051] A drive motor 9 is fixedly connected inside the crop support platform 4, and a transmission gear 10 is fixedly connected to the output end of the drive motor 9. A first linkage plate 11 is provided in the cavity between the crop support platform 4 and the limiting column 5. Two first sliders 12 are provided on the upper surface of the first linkage plate 11, and a second slider 13 is installed on the side surface of the first slider 12. A linkage rotating arm 14 is provided on the upper side surface of the first slider 12. An auxiliary sliding column 15 is installed through the lower surface of the plug block 6. The first linkage plate 11 and the first sliders 12 are slidably connected, and a spring is connected between the two first sliders 12. The first sliders 12 and the second sliders 13 are slidably connected, and the side of the second slider 13 is arc-shaped. The linkage rotating arm 14 is connected to the first sliders 12 and the second slider 13 respectively. The auxiliary slide column 15 forms a rotatable connection. The locking mechanism includes a compression block 16, which is fixedly connected to the upper end of the auxiliary slide column 15. Two guide slide plates 17 are installed on the inner wall of the cavity at the upper end of the insertion block 6. A locking plug 18 is fixedly connected to the side surface of the guide slide plate 17. When changing crops, the drive motor 9 is started, and its output end drives the transmission gear 10 to rotate. The transmission gear 10 drives the first linkage plate 11 to move downward. During the descent of the first linkage plate 11, the first slider 12 slides vertically relative to the second slider 13. At the same time, the auxiliary slide column 15 and the compression block 16 are pulled down through the linkage rotating arm 14. After the guide slide plate 17 loses the compression force, it is pulled by the spring to retract, and the locking plug 18 is retracted, releasing the crop lock.

[0052] A locking mechanism is provided at the upper end of the auxiliary sliding column 15. Two second linkage plates 19 are provided in the cavity between the crop support platform 4 and the limiting column 5. The upper end of the compression block 16 is spherical. The guide slide plate 17 and the plug-in block 6 form a sliding connection, and a spring is connected between the guide slide plate 17 and the plug-in block 6. The side surface of the guide slide plate 17 is inclined. The locking plug 18 penetrates the side surface of the plug-in block 6. The working steps of the servo motor 2 are as follows: S1, output pulse signals to the servo motor according to the communication protocol of the servo motor 2, and observe whether the cantilever bracket 3 is... S2. Mark the starting position of the cantilever bracket 3. Calculate the number of pulses required for the cantilever bracket 3 to rotate one revolution by adjusting the pulse count. S3. Record the rotation speed of the cantilever bracket 3. Complete the rotation data acquisition within the specified time by adjusting the rotation speed. While the transmission gear 10 rotates, it drives the second linkage plate 19 to move upward. The second linkage plate 19 pushes the support slide rod 7 and the linkage baffle 8 to slide upward synchronously. The upward thrust of the linkage baffle 8 quickly pushes the crop out of the plug block 6, greatly improving the crop replacement speed.

[0053] A method for using a crop three-dimensional organ panoramic image acquisition device includes the following steps:

[0054] S1: Insert the crop into the upper end of the connector 6 to secure it;

[0055] S2: Start servo motor 2 and use servo motor 2 to drive cantilever bracket 3 to achieve uniform rotation. During the rotation of cantilever bracket 3, the line scan camera of cantilever bracket 3 scans and acquires the surface image of the target object. Each scan is a certain pixel width, and finally all pixels are merged to obtain the RGB image of the target object.

[0056] S3: The drive motor 9 drives the transmission gear 10 to automatically push the crop upward and separate it, and replace the crop.

[0057] The steps involved in panoramic image acquisition and stitching are as follows:

[0058] 1. Adjust the camera's focal length, white balance, exposure, exposure time, and other parameters to ensure that the image quality meets the requirements and that the captured image is clear and free from blur or distortion.

[0059] 2. Adjust the camera's line frequency, image output height, width, etc. to achieve complete output of the surface unfolding diagram;

[0060] The 3-line scanning camera is linked with the servo motor 2. While rotating to collect data, it continuously pushes and scans to obtain images of the entire outer surface of the three-dimensional organ. After one rotation, the background automatically stitches and outputs the unfolded image of the three-dimensional organ in real time.

[0061] 4. By marking the surface of the three-dimensional organ, compare whether the unfolded diagram is consistent with the actual object.

[0062] Working principle: When using the crop three-dimensional organ panoramic image acquisition device, after the crop is inserted into the plug block 6, the support slide rod 7 and the linkage baffle 8 are pushed down. The inclined surface drives the second slider 13 and the first slider 12 to slide. The linkage rotating arm 14 drives the auxiliary slide column 15 and the squeezing block 16 to rise, pushing the guide slide plate 17 and the locking plug 18 to lock the crop laterally. When changing the crop, the drive motor 9 drives the transmission gear 10 to rotate. On the one hand, it drives the first linkage plate 11 to fall, realizing the retraction and unlocking of the locking plug 18. On the other hand, it drives the second linkage plate 19 to rise, pushing the support slide rod 7 and the linkage baffle 8 to slide up and push out the crop, which increases the overall practicality.

[0063] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for obtaining panoramic images of three-dimensional organs of crops, comprising a collection box (1), the upper surface of which is fixedly connected with a servo motor (2), characterized in that: A cantilever bracket (3) is installed on the top surface of the cavity of the collection box (1). A crop support platform (4) is fixed on the bottom surface of the cavity of the collection box (1). A limit column (5) is fixed on the upper end of the crop support platform (4). A plug-in block (6) is fixed on the upper surface of the limit column (5). Two support slide rods (7) are installed through the upper surface of the limit column (5). A linkage baffle (8) is fixedly connected to the upper end of the support slide rod (7). A drive motor (9) is fixedly connected inside the crop support platform (4), and a transmission gear (10) is fixedly connected to the output end of the drive motor (9). A first linkage plate (11) is provided in the cavity between the crop support platform (4) and the limiting column (5). Two first sliders (12) are provided on the upper surface of the first linkage plate (11), and a second slider (13) is installed on the side surface of the first slider (12). A linkage rotating arm (14) is provided on the upper side surface of the first slider (12). An auxiliary sliding column (15) is installed through the lower surface of the plug block (6). A locking mechanism is provided at the upper end of the auxiliary sliding column (15). Two second linkage plates (19) are provided in the cavity between the crop support platform (4) and the limiting column (5).

2. The device for obtaining a panoramic image of a three-dimensional organ of a crop plant according to claim 1, characterized in that The cantilever bracket (3) is designed in a gate shape, and an industrial line scanning camera and a light source are fixedly installed on the cantilever surface on one side of the cantilever bracket (3), and a background plate is provided on the cantilever surface on the other side of the cantilever bracket (3). The cantilever bracket (3) and the acquisition box (1) are rotatably connected, and the rotating shaft of the cantilever bracket (3) is fixedly connected to the output end of the servo motor (2).

3. The device for obtaining a panoramic image of a three-dimensional organ of a crop plant according to claim 1, characterized in that: The upper end of the plug-in block (6) is tapered. The support slide rod (7) is slidably connected to the crop support platform (4). The lower side surface of the support slide rod (7) is inclined. The linkage baffle (8) is annular. The transmission gear (10) is rotatably connected to the crop support platform (4). The surface of the second linkage plate (19) is provided with tooth blocks. The second linkage plate (19) is meshed with the transmission gear (10) through the tooth blocks. The second linkage plate (19) is connected to the support slide rod (7).

4. The apparatus according to claim 1, wherein: The first linkage plate (11) is slidably connected to the crop support platform (4) and the limiting column (5), and the surface of the first linkage plate (11) is provided with toothed blocks, and the first linkage plate (11) is meshed with the transmission gear (10) through the toothed blocks.

5. The apparatus according to claim 1, wherein: The first linkage plate (11) and the first slider (12) are connected in a sliding manner, and a spring is connected between the two first sliders (12). The first slider (12) and the second slider (13) are connected in a sliding manner, and the side of the second slider (13) is arc-shaped. The linkage rotating arm (14) is connected in a rotating manner with the first slider (12) and the auxiliary sliding column (15) respectively.

6. The apparatus according to claim 1, wherein: The locking mechanism includes a compression block (16), which is fixedly connected to the upper end of the auxiliary slide column (15). Two guide slides (17) are installed on the inner wall of the upper cavity of the plug block (6), and a locking plug (18) is fixedly connected to the side surface of the guide slide (17).

7. The apparatus according to claim 6, wherein: The upper end of the compression block (16) is spherical. The guide slide (17) and the plug block (6) are slidably connected. A spring is connected between the guide slide (17) and the plug block (6). The side surface of the guide slide (17) is inclined. The locking plug (18) penetrates the side surface of the plug block (6).

8. The device for acquiring panoramic images of crop three-dimensional organs according to claim 1, characterized in that: The working steps of the servo motor (2) are as follows: S1. Output pulse signals to the servo motor according to the communication protocol of the servo motor (2) and observe whether the cantilever bracket (3) rotates correctly; S2. Mark the starting position of the cantilever bracket (3) and calculate the number of pulses required for the cantilever bracket (3) to rotate one revolution by adjusting the number of pulses. S3. Record the rotation speed of the cantilever bracket (3) and complete the rotation acquisition within the specified time by adjusting the rotation speed.

9. A method of using the crop three-dimensional organ panoramic image acquisition device according to any one of claims 1-8, characterized in that: Includes the following steps: S1: Insert the crop into the upper end of the insertion block (6) for fixation; S2: Start the servo motor (2) and use the servo motor (2) to drive the cantilever bracket (3) to achieve uniform rotation. During the rotation of the cantilever bracket (3), the line scan camera of the cantilever bracket (3) scans and acquires the surface image of the target object. Each scan is a certain pixel width, and finally all pixels are merged to obtain the RGB image of the target object. S3: The drive motor (9) drives the transmission gear (10) to automatically push the crop upward and separate it, and replace the crop.

10. The method of using a device for obtaining a panoramic image of a three-dimensional organ of a crop plant according to claim 9, wherein: The steps for panoramic image acquisition and stitching are as follows: (1) Adjust the camera's focal length, white balance, exposure, exposure time and other parameters to ensure that the image quality meets the requirements and that the acquired image is clear and free from blur or distortion. (2) Adjust the camera's line frequency, image output height, width, etc. to achieve complete output of the surface unfolding diagram; (3) Linked with servo motor (2), the surface unfolding diagram is output after one rotation; (4) By marking the surface of the three-dimensional organ, compare whether the unfolded diagram is consistent with the actual object.

Images