Single-plant strawberry plug seedling phenotype device

Abstract

The utility model discloses a single-plant strawberry plug seedling phenotype device which comprises a machine frame, and a supporting platform is installed on the top face of the machine frame. The conveying belt is mounted on a supporting platform on the top surface of the rack; the phenotype obtaining module is installed on the supporting platform and located on one side of the conveying belt, the phenotype obtaining module comprises a rotating platform, a plug seedling support, a depth camera and an industrial camera, the plug seedling support is installed at the top of the rotating platform, the depth camera is arranged at the top of the plug seedling support, and the industrial camera is arranged on the front side of the plug seedling support; and the grabbing module is mounted on the supporting platform, is positioned on the rear side of the phenotype acquisition module, and comprises a three-axis gantry sliding table and a seedling taking mechanical claw. The device provided by the utility model has good practicability and accuracy, can effectively reduce the labor intensity of workers, and has great popularization value.

Description

Technical Field

[0001] The utility model belongs to the technical field of phenotypic detection, and in particular relates to a single-plant strawberry plug seedling phenotyping device. Background Art

[0002] Studying plant phenotypes helps us understand and study the growth and development processes of plants, as well as their ability to adapt to the environment; providing support for plant breeding and improvement, thereby achieving sustainable agriculture and food security.

[0003] Traditional phenotypic technology usually relies on manual observation and subjective evaluation, which is limited by human perception and cognitive ability. This method is often time-consuming and labor-intensive, and has problems of subjectivity and poor consistency. Traditional phenotypic technology also faces the subjectivity and uncertainty of evaluation results, and cannot provide accurate and efficient plant characteristic data. Therefore, the disadvantages of traditional phenotypic technology include high subjectivity, low efficiency, data inconsistency and other problems. The emergence of plant phenotypic technology makes up for the shortcomings of traditional technology and provides a more accurate, high-throughput and objective method for evaluating plant characteristics. Summary of the invention

[0004] The utility model provides a single strawberry plug seedling phenotyping device, which can realize the acquisition of phenotypic information of the above-ground part and the underground part of the single strawberry seedling at the same time.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A single strawberry plug seedling phenotyping device, comprising:

[0007] A rack, with a supporting platform installed on the top surface of the rack;

[0008] The conveyor belt is installed on the supporting platform on the top surface of the frame;

[0009] The phenotype acquisition module is installed on the support platform and located on one side of the conveyor belt. It includes a rotating platform, a plug tray seedling support, a depth camera and an industrial camera. The plug tray seedling support is installed on the top of the rotating platform, the top of the plug tray seedling support is provided with a depth camera, and the front side is provided with an industrial camera;

[0010] The grabbing module is installed on the support platform and is located at the rear side of the phenotype acquisition module. It includes a three-axis gantry slide and a seedling removal mechanical claw. The three-axis gantry slide includes parallel X-axis slides, Y-axis slides and Z-axis slides. The Y-axis slide is installed on the X-axis slide and can reciprocate along the X-axis. The Z-axis slide is installed on the Y-axis slide and can reciprocate along the Y-axis direction. The seedling removal mechanical claw is installed on the Z-axis slide and can reciprocate up and down along the Z-axis direction. The position of the three-axis gantry slide on the XYZ three-axis is controlled to achieve the control of the grabbing position and placement position of the manipulator.

[0011] Furthermore, the frame is implemented by a frame-type aluminum profile structure.

[0012] Furthermore, limit plates are provided on both sides of the starting end of the conveyor belt.

[0013] Furthermore, the industrial camera is installed on the top surface of the frame through a support frame, and the support frame and the industrial camera are connected through a spherical connection.

[0014] Furthermore, the depth camera is installed on the top of the plug tray seedling support through an L-shaped support plate and faces the plug tray seedling support.

[0015] Furthermore, the present invention also includes a control unit, which includes a PC host computer, an STM32 controller, an infrared detector and a motor controller. The infrared detector is installed at the starting end of the conveyor belt and behind the limit plate. The infrared detector is connected to the PC host computer, and the PC host computer is connected to the motor controller and the STM32 controller. The motor controller is respectively connected to the XYZ three-axis motor on the three-axis gantry slide and the conveying motor of the conveyor belt, and the STM32 controller is respectively connected to the steering gear of the rotating platform, the steering gear of the seedling mechanical claw, the industrial camera and the depth camera.

[0016] The utility model single-plant strawberry seedling phenotyping device separates the strawberry seedling from the seed tray through the seedling mechanical claw installed on the three-axis gantry slide, and transfers it to the seedling rack in the phenotyping platform, obtains the above-ground and underground phenotypic information of the strawberry seedling through the two sets of cameras for top view and side view and the rotating platform, and after the photo is taken, the strawberry seedling is placed in the seed tray. The utility model can simultaneously obtain the above-ground and underground information of a single strawberry seedling with good accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the utility model.

[0018] Figure 2 It is a schematic diagram of the connection relationship of the utility model.

[0019] Markings in the figure: 10, rack; 20, conveyor belt; 21, limit plate; 31, rotating platform; 32, seedling tray support; 33, industrial camera; 34, depth camera; 35, support frame; 36, L-shaped support plate; 41, three-axis gantry slide; 42, manipulator; 51, PC host computer; 52, STM32 controller; 53, infrared detector. DETAILED DESCRIPTION

[0020] like Figure 1 and Figure 2As shown, a single strawberry seedling phenotyping device provided in this embodiment includes a frame 10, a conveyor belt 20, a phenotype acquisition module, a grabbing module and a control unit.

[0021] The frame 10 is realized by a frame-type aluminum profile structure, which is used to support the entire device. A pulley or a leveling structure can be set at the bottom of the frame 10 to achieve rapid movement and leveling. A supporting platform is set on the top surface of the frame and various equipment and structures are installed.

[0022] The conveyor belt 20 is installed on the top surface of the frame 10 and is used to transport the strawberry plug tray. The conveyor belt 20 of this embodiment is implemented by an existing conveyor belt 20, including the conveyor belt 20 and a transmission motor driving the conveyor belt 20. There are limit plates 21 on both sides of the starting end of the conveyor belt 20 to adjust the strawberry plug tray and prevent it from leaving the conveyor belt 20.

[0023] The phenotype acquisition module is installed on the top surface of the frame 10 and is located on one side of the conveyor belt 20. It includes a rotating platform 31, a seedling tray support 32, a depth camera 34 and an industrial camera 33. The seedling tray support 32 is installed on the top of the rotating platform 31. The top of the seedling tray support 32 is provided with a depth camera 34, and the front side is provided with an industrial camera 33. The rotation of the rotating platform 31 is controlled by a rotating servo. The rotating platform 31 of this embodiment refers to a working platform whose top surface rotates 360° in a horizontal plane. There are many ways to realize this platform in the prior art, and this embodiment will not be given one by one. The rotation of the rotating platform 31 can drive the seedling tray support 32 installed on its top surface to rotate, thereby realizing that the industrial camera 33 can obtain strawberry plant images on different surfaces. Because the rotating platform 31 and the seedling tray support 32 have a certain height, the industrial camera 33 of this embodiment is installed on the top surface of the frame 10 through a support frame 35. In order to adjust the shooting angle of the industrial camera 33, the support is connected to the industrial camera 33 through a spherical connection. The depth camera 34 is mounted on the top of the plug tray seedling support 32 through an L-shaped support plate 36 and faces the plug tray seedling support 32 .

[0024] The grabbing module is installed on the top surface of the bracket and is located at the rear side of the phenotype acquisition module, and is used to grab the strawberry plants on the strawberry plug tray and place them on the plug tray seedling bracket 32. It includes a three-axis gantry slide 41 and a seedling removal mechanical claw. The three-axis gantry slide 41 includes parallel X-axis slides, Y-axis slides and Z-axis slides. The Y-axis slide is installed on the X-axis slide and can reciprocate along the X-axis. The X-axis direction of this embodiment is parallel to the transmission direction of the conveyor belt 20. The Z-axis slide is installed on the Y-axis slide and can reciprocate along the Y-axis direction. The Y-axis direction of this embodiment is perpendicular to the transmission direction of the conveyor belt 20, so that the Z-axis slide can be moved from one side of the conveyor belt 20 to the other side. The seedling removal mechanical claw is installed on the Z-axis slide and can reciprocate up and down along the Z-axis direction. The grabbing position and placement position of the manipulator 42 are controlled by controlling the position of the three-axis gantry slide 41 on the XYZ three-axis. The manipulator 42 is implemented by a two-finger manipulator 42 , and the two-finger manipulator 42 achieves grasping offline through a mechanical claw.

[0025] The control unit includes PC host computer 51, STM32 controller 52, infrared detector 53 and motor controller, infrared detector 53 is installed at the beginning of conveyor belt 20, for detecting whether strawberry plug tray enters conveyor belt 20, infrared detector 53 is connected with PC host computer 51, the signal detected is sent to PC host computer 51, PC host computer 51 controls motor controller and STM32 controller 52 to work after receiving the signal, motor controller is respectively connected with XYZ three-axis motor and transmission motor on three-axis gantry slide 41, and the speed and time of each motor are controlled by motor controller, and the plug tray control and plant grabbing in the process are realized. The STM32 controller 52 is respectively connected with rotary steering gear, manipulator 42 steering gears, industrial camera 33 and depth camera 34, and realizes the acquisition of strawberry plant image.

[0026] When it is necessary to perform phenotypic detection on the strawberry seedlings in the plug tray, the three-axis gantry slide 41, the seedling mechanical claw and the rotating platform 31 return to the initial position after power is turned on, and check whether the working status of the STM3 controller and the infrared detector 53 is normal. After the self-check reset is completed, the conveyor belt 20 is driven to move by controlling the transmission motor through the PC host computer 51, so as to drive the strawberry hole tray to move forward on the belt, and the position adjustment of the strawberry hole tray is controlled by the limit plate 21. When the strawberry hole tray moves to the detection area of ​​the infrared detector 53, the transmission motor stops running, and the three-axis gantry slide 41 is controlled by the PC host computer 51 to move in three directions of XYZ, and the seedling mechanical claw installed on the Z axis is positioned to the position of the plant, and the mechanical claw servo is controlled by the STM3 controller to clamp the strawberry plant, and then the three-axis gantry slide 41 is controlled to place the strawberry plant in the hole tray seedling support 32, and then the rotating platform 31 is controlled to rotate 90°, 180°, and 270°, and a total of 5 strawberry plant images including 4 side angles and one top angle are taken, and the data is stored by the STM3 controller and uploaded to the PC host computer 51.

[0027] The above is only a preferred implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any modification and replacement based on the technical solution and utility model concept provided by the present invention should be included in the protection scope of the present invention.

Claims

1. A single strawberry plug seedling phenotyping device, characterized in that: include: A rack, with a supporting platform installed on the top surface of the rack; The conveyor belt is installed on the supporting platform on the top surface of the frame; The phenotype acquisition module is installed on the support platform and located on one side of the conveyor belt. It includes a rotating platform, a plug tray seedling support, a depth camera and an industrial camera. The plug tray seedling support is installed on the top of the rotating platform, the top of the plug tray seedling support is provided with a depth camera, and the front side is provided with an industrial camera; The grabbing module is installed on the support platform and is located at the rear side of the phenotype acquisition module. It includes a three-axis gantry slide and a seedling removal mechanical claw. The three-axis gantry slide includes parallel X-axis slides, Y-axis slides and Z-axis slides. The Y-axis slide is installed on the X-axis slide and can reciprocate along the X-axis. The Z-axis slide is installed on the Y-axis slide and can reciprocate along the Y-axis direction. The seedling removal mechanical claw is installed on the Z-axis slide and can reciprocate up and down along the Z-axis direction. The position of the three-axis gantry slide on the XYZ three-axis is controlled to achieve the control of the grabbing position and placement position of the manipulator.

2. A single strawberry plug seedling phenotyping device according to claim 1, characterized in that: The frame is realized by using a frame-type aluminum profile structure.

3. A single strawberry plug seedling phenotyping device according to claim 1, characterized in that: Limiting plates are arranged on both sides of the starting end of the conveyor belt.

4. A single strawberry plug seedling phenotyping device according to claim 1, characterized in that: The industrial camera is installed on the top surface of the frame through a support frame, and the support frame and the industrial camera are connected through a spherical connection.

5. A single strawberry plug seedling phenotyping device according to claim 1, characterized in that: The depth camera is installed on the top of the rack through an L-shaped support plate and faces the plug tray seedling support.

6. A single strawberry plug seedling phenotyping device according to claim 2, characterized in that: It also includes a control unit, which includes a PC host computer, an STM32 controller, an infrared detector and a motor controller. The infrared detector is installed at the starting end of the conveyor belt and is located behind the limit plate. The infrared detector is connected to the PC host computer, and the PC host computer is connected to the motor controller and the STM32 controller. The motor controller is respectively connected to the XYZ three-axis motor on the three-axis gantry slide and the conveying motor of the conveyor belt. The STM32 controller is respectively connected to the servo of the rotating platform, the servo of the seedling picking mechanical claw, the industrial camera and the depth camera.

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