CN110530285B - Plant phenotype collection device and collection method thereof - Google Patents
Plant phenotype collection device and collection method thereof Download PDFInfo
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- CN110530285B CN110530285B CN201910742961.2A CN201910742961A CN110530285B CN 110530285 B CN110530285 B CN 110530285B CN 201910742961 A CN201910742961 A CN 201910742961A CN 110530285 B CN110530285 B CN 110530285B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention provides a plant phenotype acquisition device and an acquisition method thereof, wherein the plant phenotype acquisition device comprises: a frame; the upper end of the annular arm is hinged with the rack; the annular arm extends downwards and forms a containing space which is opened downwards; the accommodating space is used for the plant to be collected to enter; the annular arm can rotate around the plant to be collected along the vertical direction relative to the rack; the first detection piece is arranged on the annular arm and can detect the plant to be collected when the annular arm rotates; the annular arm is an arc-shaped arm which is positioned in a vertical plane; the arc arm includes a plurality of arc poles, and a plurality of arc poles arrange in proper order along circumference, can dismantle the connection between the adjacent arc pole. The invention provides a plant phenotype acquisition device and an acquisition method thereof, which are suitable for both indoor and outdoor.
Description
Technical Field
The invention relates to the technical field of plant measurement, in particular to a plant phenotype acquisition device and an acquisition method thereof.
Background
Plant phenotype is determined or influenced by gene and environmental factors, and reflects all physical, physiological, biochemical characteristics and properties of plant structure and composition, plant growth and development process and result.
Plant phenotype collection devices of the prior art typically include a rotating platform. The rotary table includes an outer ring and an inner ring. The outer ring is rotatably sleeved outside the inner ring. The bottom of the inner ring is connected with the upper surface of the supporting bottom plate. So that the plant to be harvested can be placed in the space formed by the support floor and the inner ring. When the outer ring rotates relative to the inner ring, the sensor on the outer ring can collect the plants to be collected. But the space formed by the supporting bottom plate and the inner ring is only suitable for placing potted plants. Plants grown outdoors in soil cannot be detected. Therefore, the plant phenotype collection device in the prior art can only be suitable for indoor use, but not for outdoor use.
Therefore, there is a need to provide a plant phenotype collection device and a collection method thereof to solve the above problems.
Disclosure of Invention
The invention aims to provide a plant phenotype acquisition device and an acquisition method thereof, which are suitable for both indoor and outdoor.
The above object of the present invention can be achieved by the following technical solutions: a plant phenotype collection apparatus, comprising: a frame; the upper end of the annular arm is hinged with the rack; the annular arm extends downwards and forms a containing space which is opened downwards; the accommodating space is used for the plant to be collected to enter; the annular arm can rotate around the plant to be collected along the vertical direction relative to the rack; the first detection piece is arranged on the annular arm, and the first detection piece can detect the plant to be collected when the annular arm rotates.
In a preferred embodiment, the annular arm is an arc-shaped arm, the arc-shaped arm is located in a vertical plane, and the accommodating space is defined by the arc-shaped arm extending along the circumferential direction.
As a preferred embodiment, the arc arm includes a plurality of arc poles, and a plurality of arc poles arrange in proper order along circumference, adjacent can dismantle the connection between the arc pole.
As a preferred embodiment, the number of the first detecting members is plural, the plural first detecting members correspond to the plural arc-shaped rods, and each first detecting member is disposed on the corresponding arc-shaped rod.
As a preferred embodiment, it further comprises: the control mechanism is connected with the first detection piece and used for controlling the opening of the first detection piece so as to acquire data acquired by the first detection piece.
As a preferred embodiment, it further comprises: the annular arm is connected with a rotating shaft of the driving motor, the control mechanism is connected with the driving motor and used for controlling the driving motor, so that the driving motor can drive the annular arm to rotate.
As a preferred embodiment, a rotating platform is arranged on the frame, the rotating platform is provided with a pivot shaft extending along the up-down direction, and the annular arm is in transmission connection with the pivot shaft; the pivot is in transmission connection with the rotating shaft of the driving motor, and the driving motor can drive the pivot to rotate under the control of the control mechanism, so that the annular arm is driven to rotate.
As a preferred embodiment, a light source is disposed on the annular arm, and the light source is connected to the control mechanism, and the control mechanism is configured to control the on/off of the light source.
As a preferred embodiment, a traveling mechanism is arranged on the frame, and the traveling mechanism is used for driving the frame to move.
In a preferred embodiment, a height adjusting mechanism is disposed on the frame, and the height adjusting mechanism is used for adjusting the height of the frame.
As a preferred embodiment, the frame includes a vertical rod and a horizontal rod, the vertical rod extends vertically, the circular arm is hinged to the horizontal rod, and the vertical rod is provided with a second detection member.
According to the plant phenotype collection device, the first detection part comprises one or more of an RGB camera, a hyperspectral camera, a multispectral camera, a depth sensor and a compact laser radar thermal infrared camera.
A method of harvesting a plant phenotype harvesting device, comprising: the plant to be collected enters the annular arm through the gap; driving the annular arm to rotate; in the process of rotating the annular arm, the first detection piece detects the plants to be collected at intervals of a preset angle; and acquiring a plant phenotype according to the detected data of the first detection piece.
The beneficial effects of the plant phenotype acquisition device and the acquisition method thereof provided by the application are that: according to the plant phenotype collection device and the plant phenotype collection method, the annular arm is arranged and hinged with the rack, and the first detection piece is arranged on the annular arm, so that when a potted plant in a detection chamber is detected, the potted plant can enter the accommodating space from the lower part of the annular arm; then rotating the annular arm to enable the first detection member to rotate around the pot; to detect the plants to be harvested. Thus, indoor plants can be detected. When the plants planted in the soil outside the detection chamber are detected, the rack can be moved to the outside so that the plants in the soil enter the accommodating space from the lower part of the annular arm; then the annular arm is rotated so that the first detection member can rotate around the plant to be collected; to detect the plants to be harvested. Thus, outdoor plants can be detected. Therefore, the invention provides the plant phenotype acquisition device and the acquisition method thereof, which are suitable for both indoor and outdoor.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a side view of a plant phenotype collection apparatus provided in accordance with one embodiment of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is another side view of a plant phenotype collection apparatus provided in accordance with one embodiment of the present invention;
FIG. 4 is a front view of a plant phenotype collection apparatus provided in one embodiment of the present invention;
FIG. 5 is a flow chart of a method for phenotype acquisition of a plant provided by an embodiment of the present invention.
Description of reference numerals:
11. a frame; 13. an annular arm; 15. a notch; 17. a first detecting member; 19. an arcuate bar; 21. a turntable; 23. a bottom frame; 25. a pivot; 27. erecting a rod; 31. a cross bar; 33. perforating; 35. a first column; 37. a second cylinder; 39. a first through hole; 41. a second through hole; 43. an accommodating space; 45. an upper end; 47. a lower end; 49. and (4) cambered surface.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Please refer to fig. 1 to 4. An embodiment of the present application provides a plant phenotype collection apparatus, which may include: a frame 11; the upper end of the annular arm 13 is hinged with the frame 11; and the annular arm 13 extends downward and forms a receiving space 43 opened downward; the accommodating space 43 is used for the plant to be collected to enter; and the annular arm 13 can rotate around the plant to be collected along the up-down direction relative to the frame 11; the first detection piece 17 is arranged on the annular arm 13, and the first detection piece 17 can detect the plant to be collected when the annular arm 13 rotates.
The technical scheme shows that: according to the plant phenotype collection device, the annular arm 13 is arranged, the annular arm 13 is hinged with the rack 11, and the first detection piece 17 is arranged on the annular arm 13, so that when a potted plant in a detection chamber is detected, the potted plant can enter the accommodating space 43 from the lower part of the annular arm 13; the annular arm 13 is then rotated so that the first detector 17 can rotate around the pot; to detect the plants to be harvested. Thus, indoor plants can be detected. When detecting plants planted in soil outdoors, the frame 11 can be moved outdoors to allow the plants in the soil to enter the accommodating space 43 from below the annular arm 13; the annular arm 13 is then rotated so that the first detection member 17 can rotate around the plant to be harvested; to detect the plants to be harvested. Thus, outdoor plants can be detected.
In this embodiment, the frame 11 includes a vertically extending upright 27. As shown in fig. 1, the frame 11 comprises 4 uprights 27. And the four uprights 27 are located respectively at the four vertices of the rectangle. Of course, the frame 11 is not limited to including 4 uprights 27. Other numbers of uprights 27 may also be included. For example comprising only 1 upright 27. No provision is made for this application.
Further, the frame 11 further includes a horizontally extending cross bar 31. For example, as shown in fig. 1, the frame 11 includes two cross bars 31. The two cross bars 31 are arranged crosswise. One end of each cross bar 31 is connected to the upper end of one of the uprights 27. The connection mode can be screw connection, bolt connection, welding, integral forming and the like.
Further, the frame 11 further includes a bottom frame 23. The bottom frame 23 is located below the vertical rod 27. As shown in fig. 1, the bottom frame 23 has a rectangular shape. Each side of the rectangular bottom frame 23 is connected to a vertical rod 27.
In one embodiment, a traveling mechanism is disposed on the frame 11, and the traveling mechanism is used for driving the frame 11 to move. Specifically, for example, the running mechanism includes a wheel provided at the bottom of the bottom frame 23. So that the frame 11 can be moved by the rotation of the rotating wheel. Of course, the running mechanism is not limited to a wheel, and may be a slider provided at the bottom of the bottom frame 23 and a guide rail slidably engaged with the slider. So that the carriage 11 can be moved when the slider slides relative to the guide rail.
In one embodiment, a height adjustment mechanism is provided on the frame 11 for adjusting the height of the frame 11. Specifically, for example, the upright 27 of the housing 11 includes a first column 35 and a second column 37. As shown in fig. 3, for example, the first column 35 and the second column 37 each extend in the vertical direction. And the first column 35 is located above the second column 37. The height adjusting structure includes a first through hole 39 provided on the first cylinder 35, a second through hole 41 provided on the second cylinder 37, and a fixing member. One of the first through holes 39 and the second through holes 41 is plural. That is, the first through holes 39 are plural. Or a plurality of second through holes 41. The plurality may be 2, 3, 4, 5, etc., and this application does not intend to be limited thereto. The fixing member is arranged in a first through hole 39 and a second through hole 41. Thus, when there are a plurality of first through holes 39, the second column 37 can be moved in the up-down direction with respect to the first column 35 so that the second through holes 41 can correspond to one of the first through holes 39, respectively, and the fixing member is inserted into the second through holes 41 and the corresponding first through holes 39. This completes the adjustment of the height of the uprights 27. Of course, the height adjusting mechanism is not limited to including the first through hole 39, the second through hole 41, and the fixing member. Other mechanisms are also possible. Such as a strap. That is, when the second column 37 is moved in the up-down direction with respect to the first column 35, the first column 35 and the second column 37 may be fixed by a binding band to adjust the height of the upright 27.
Further, a second detecting member is disposed on the vertical rod 27. Specifically, the second detection element comprises one or more of an RGB camera, a hyperspectral camera, a multispectral camera, a depth sensor and a compact laser radar thermal infrared camera. Therefore, the plant to be collected can be detected through the second detection piece, and data of the plant to be collected are increased.
In the present embodiment, the annular arm 13 is half-moon-shaped as a whole. The annular arm 13 extends circumferentially to define a receiving space 43. For example, as shown in fig. 1, the annular arm 13 in the shape of a half moon is located in a vertical plane. Of course the annular arm 13 is not limited to being half-moon shaped. Or may be annular. The annular arm 13 extends spirally in the vertical direction to form a housing space 43. Further, the annular arm 13 may be an arc-shaped arm. Of course, the annular arm 13 may not be an arc-shaped arm, for example, the annular arm 13 may have a rectangular shape. This application is not intended to be limited thereto. Further, the arc-shaped arm extends along an arc. Of course the annular arm 13 is not limited to extending along an arc of a circle. But may also extend along an elliptical arc, which is not specified in this application.
Further, the upper end of the annular arm 13 is hinged to the frame 11. Specifically, the gantry 11 is provided with a turntable 21. The turntable 21 is located above the crossbar 31, as shown in fig. 1 for example. The turntable 21 has a pivot shaft 25 extending in the up-down direction. As shown in fig. 2, for example, a pivot shaft 25 is fixedly attached to the bottom surface of the turntable 21. Specifically, the cross bar 31 is provided with a through hole 33, and the pivot 25 is inserted into the through hole 33. The fixed connection may be a screw connection, a bolt connection, a welding, an integral molding, etc., and is not specified in this application. The pivot 25 is in driving connection with the rotating shaft of the driving motor. The driving motor is used for driving the pivot 25 to rotate. Further, the upper end of the annular arm 13 is drivingly connected to the pivot 25. A third through hole is provided on the upper end of the annular arm 13. The pivot 25 is fixedly inserted into the third through hole.
Further, the annular arm 13 can be rotated in the up-down direction with respect to the frame 11 around the plant to be harvested. I.e. the axis of rotation of the annular arm 13 extends in the up-down direction. Specifically, since the pivot shaft 25 extends in the up-down direction, the annular arm 13 can rotate in the up-down direction.
Further, the housing space 43 is open downward. That is, the housing space 43 has the notch 15 opened downward. The gap 15 is used for the plant to be harvested to enter the annular arm 13. Specifically, as shown in fig. 1, the annular arm 13 has a half-moon shape. And the half-moon shaped annular arm 13 has opposite upper and lower ends 45, 47 and an inwardly concave arcuate surface 49 between the upper and lower ends 45, 47. The annular arm 13 extends downwardly such that a gap 15 is formed between the upper end 45 and the lower end 47. The curved surface 49 defines the receiving space 43. The notch 15 is communicated with the accommodating space 43. For example, as shown in fig. 1, the upper end 45 is located on the right side of the arcuate arm. The lower end 47 is located to the left of the curved arm. And the upper end 45 and the lower end 47 of the annular arm 13 each extend towards the lower end of the chassis 11. The curved surface 49 faces to the right. This opens the notch 15 to the lower right. And the upper end 45 and the lower end 47 of the annular arm 13 are located on either side of the pivot 25. And a receiving space 43 is formed below the cross bar 31. Therefore, when the plants planted in the soil outdoors need to be detected, the plants planted in the soil cannot move, so that the frame 11 only needs to be moved outdoors, and the frame 11 is moved downwards from above the plants to be collected, so that the plants to be collected can enter the accommodating space 43 through the gap 15. I.e. to cover the housing 11 over the plants to be harvested. And the plants in the soil can enter the accommodating space 43 through the gap 15, so that the plants to be collected can be prevented from moving, and the annular arm 13 can rotate around the plants to be collected when rotating. Thus, the detection of the plants planted outdoors is ensured. Similarly, when it is necessary to detect an indoor pot plant, since the pot plant can be moved, the pot plant can be moved into the accommodating space 43 through the gap 15, so that the annular arm 13 can rotate around the plant to be collected when rotating. Thus, the detection of the plants planted indoors is ensured.
Further, the arc arm comprises a plurality of arc bars 19. The plurality may be 2, 3, 4, 5, etc. This application is not intended to be limited thereto. The plurality of arc-shaped rods 19 are arranged in series in the circumferential direction in the vertical plane. The adjacent curved bars 19 are detachably connected to each other so that the curved arms can be extended or shortened. The detachable connection may be a screw connection, a bolt connection, etc. Specifically, both ends of each arc-shaped rod 19 are provided with through holes 33 for passing through connection bolts. When the two through holes 33 are arranged on the two arc rods 19 through the connecting bolt, the two arc rods 19 can be connected. When the connecting bolt is removed from the through hole 33 of one of the arc-shaped rods 19, the two arc-shaped rods 19 can be separated. Thus, by connecting a plurality of arc-shaped rods 19, the length of the arc-shaped arm can be increased, i.e., the arc-shaped arm can be extended. Thus reducing the opening size of the notch 15. Therefore, when the plant to be collected is small, the arc-shaped arm can surround the plant to be collected in the vertical direction. And when the plant that waits to gather is great, can be through reducing the quantity of arc pole 19 to shorten the length of arc arm, also shorten the arc arm, with the opening size of increase breach 15, so that the arc arm can surround in the upper and lower direction in the outside of the plant that waits to gather. Thus meeting the detection requirements of plants to be collected with different sizes.
In the present embodiment, the first detector 17 is provided on the annular arm 13. Specifically, a first mounting clip is disposed on the arc-shaped arm. The first detecting member 17 is clamped to the first mounting clamp. This first mounting clip can include the layer board and can set up the limiting plate on the layer board with rotating. When the limiting plate rotates, the arc-shaped arm can be clamped on the supporting plate. Of course, the first detecting member 17 may be fixed directly to the annular arm 13. The fixing mode can be screw fixation, bolt fixation and welding fixation. Integrally formed and fixed, etc. This application is not intended to be limited thereto. The annular arm 13 can rotate in the up-and-down direction with respect to the frame 11, so that the first detection member 17 can rotate around the plant to be harvested; to detect the plants to be harvested.
Specifically, the first detecting member 17 includes one or more of an RGB camera, a hyperspectral camera, a multispectral camera, a depth sensor, and a compact laser radar thermal infrared camera.
Preferably, the first detecting member 17 is plural. The plurality of first detecting members 17 correspond to the plurality of arc bars 19, and each first detecting member 17 is disposed on the corresponding arc bar 19. So that it is possible to detect in different orientations and at different angles of the plant to be harvested by means of the respective first detecting members 17 so that three-dimensional data of the plant to be harvested can be formed. For example, as shown in fig. 1, the number of the first detecting members 17 is 3. The 3 first detecting members 17 are distributed on the 3 arc-shaped rods 19. So that it is possible to detect around the plant to be harvested by means of the 3 first detecting elements 17 at various heights in the vertical plane, so that three-dimensional data of the plant to be harvested can be formed.
In one embodiment, the plant phenotype collection apparatus of the present embodiment further includes: and a control mechanism. The control mechanism is connected to the first detector 17. The control mechanism is used for controlling the opening of the first detection member 17 so as to acquire the data acquired by the first detection member 17. The control mechanism may be a computer, a mobile phone, etc., and is not specified in this application. So that the opening and closing of the first detecting member 17 can be remotely controlled by the control mechanism, thus facilitating the operation.
In one embodiment, the plant phenotype collection apparatus of the present embodiment further includes: the motor is driven. The annular arm 13 is connected with a rotating shaft of the driving motor, the control mechanism is connected with the driving motor, and the control mechanism is used for controlling the driving motor so that the driving motor can drive the annular arm 13 to rotate. So that the drive motor can be remotely controlled by the control mechanism to facilitate control of the rotation of the annular arm 13. Specifically, the pivot 25 of the rotary table 21 is in transmission connection with a rotating shaft of a driving motor, and the driving motor can drive the pivot 25 to rotate under the control of the control mechanism, so as to drive the annular arm 13 to rotate.
In one embodiment, a light source is provided on the annular arm 13. The light source is used for providing illumination for the detection of the first detection piece 17 and the second detection piece, so that the first detection piece 17 and the second detection piece can detect the plant to be collected. The light source is connected with a control mechanism, and the control mechanism is used for controlling the on-off of the light source. Therefore, the control mechanism can remotely control the starting of the light source so as to facilitate the operation.
Further, the plant phenotype collection device according to the embodiment of the present application further includes: a white balance device and a scale which are arranged on the frame 11. The white balancing apparatus includes a white balancing gray card. So that the light can be collimated by the white balancing means. The height of the plant to be collected can be obtained through the scale.
Please refer to fig. 5. An embodiment of the present application provides a method for collecting a plant phenotype collection device, which may include: step S11: the plants to be harvested are made to enter the housing space 43; step S13: the annular arm 13 is driven to rotate; in the process of rotating the annular arm 13, the first detection piece 17 detects the plants to be collected at intervals of a preset angle; step S15: acquiring plant phenotype according to the data detected by the first detecting element 17.
The technical scheme shows that: according to the collection method of the plant phenotype collection device, when an indoor potted plant is detected, the potted plant can enter the annular arm 13 through the notch 15; the annular arm 13 is then rotated so that the first detector 17 can rotate around the pot; to detect the plants to be harvested. Thus, indoor plants can be detected. When detecting plants planted in soil outdoors, the frame 11 can be moved outdoors so that the plants in the soil can enter the annular arm 13 through the gap 15; the annular arm 13 is then rotated so that the first detection member 17 can rotate around the plant to be harvested; to detect the plants to be harvested. Thus, outdoor plants can be detected.
In the present embodiment, step S11: the plants to be harvested are brought into the receiving space 43. Specifically, when detecting a potted plant in a room, the potted plant may be moved and inserted through the gap 15 into the receiving space 43 in the annular arm 13. That is, as shown in fig. 1, the potted plant is placed between the bottom frame 23, the cross bar 31, the upright 27 and the circular arm 13. When detecting plants planted in soil outdoors, since the plants planted in the soil cannot move, the housing 11 is moved outdoors and the housing 11 is moved downward from above the plants to be harvested so that the plants to be harvested can enter the housing space 43 through the gap 15. I.e. to cover the housing 11 over the plants to be harvested. And the plants in the soil can enter the accommodating space 43 through the gap 15, namely, the plants in the soil can be positioned among the bottom frame 23, the cross bar 31, the upright rod 27 and the annular arm 13.
Further, at step S11: before the plant to be collected enters the accommodating space 43, the method further comprises the following steps: the opening size of the notch 15 is adjusted. Specifically, when the plant to be harvested is small, the number of the arc-shaped bars 19 is increased to increase the length of the arc-shaped arm. Thus reducing the opening size of the notch 15. So that the arc-shaped arm can surround the plants to be collected in the up-down direction. And when the plant to be collected is larger, the number of the arc-shaped rods 19 is reduced to shorten the length of the arc-shaped arms and increase the size of the opening of the notch 15, so that the arc-shaped arms can be surrounded on the outer side of the plant to be collected in the up-down direction. Thus meeting the detection requirements of plants to be collected with different sizes.
Further, at step S11: before the plant to be collected enters the accommodating space 43, the method further comprises the following steps: the height of the frame 11 is adjusted. Specifically, when the plant to be harvested is small, the height of the vertical rod 27 is lowered by the height adjusting mechanism. When the plants to be harvested are large, the height of the uprights 27 is raised by means of a height-adjusting mechanism. Thus meeting the detection requirements of plants to be collected with different sizes.
In the present embodiment, step S13: the annular arm 13 is driven to rotate. And in the process of rotating the annular arm 13, the first detection piece 17 detects the plants to be collected at intervals of a preset angle. Specifically, the drive motor is turned on by the control mechanism so that the drive motor can drive the annular arm 13 to rotate. And the light source and the first detecting member 17 are turned on by the control mechanism so that the first detecting member 17 can be in an operating state. The preset angle can be set according to the actual detection requirement. For example, the predetermined angle is 30 °. So that during the rotation of the annular arm 13, the first detection member 17 detects the plant to be harvested each time the annular arm 13 rotates by 30 °. Thus, when the annular arm 13 rotates one revolution around the plant to be harvested, the first detection member 17 can acquire data of the plant to be harvested in the circumferential direction.
Further, the method for collecting plant phenotype according to the embodiment of the present application further includes: in the process of rotating the annular arm 13, the second detection piece detects the plant to be collected at intervals of a preset angle. Specifically, the second detection member is opened by the control mechanism so that the second detection member can be in an operating state. The preset angle can be set according to the actual detection requirement. For example, the predetermined angle is 30 °. So that during the rotation of the annular arm 13, the second detection member detects the plant to be harvested each time the annular arm 13 rotates by 30 °. Thus, when the annular arm 13 rotates one circle around the plant to be collected, the second detection member can acquire data of the plant to be collected in the circumferential direction.
In the present embodiment, step S15: based on the data detected by the first detecting member 17, a plant phenotype is acquired. Specifically, the plant phenotype is obtained based on the data of the plant to be collected, which is acquired by the first detecting member 17 in the circumferential direction. Further, since the first detecting member 17 is plural, and the plural first detecting members 17 are arranged at equal intervals along the extending direction of the annular arm 13, each first detecting member 17 can acquire data of the plant to be collected in the circumferential direction. Data of a plurality of positions of the plant to be harvested can thus be acquired by means of the plurality of first detection members 17, thus increasing the accuracy of the plant phenotype. Further, step 15 includes obtaining a plant phenotype according to the data of the plant to be collected, which is obtained by the second detecting member along the circumferential direction.
It should be noted that, in the description of the present invention, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no precedence between the two is considered as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A plant phenotype collection apparatus, comprising:
a frame;
the upper end of the annular arm is hinged with the rack; the annular arm extends downwards and forms a containing space which is opened downwards; the accommodating space is used for the plant to be collected to enter; the annular arm can rotate around the plant to be collected along the vertical direction relative to the rack;
the first detection piece is arranged on the annular arm and can detect the plant to be collected when the annular arm rotates; the annular arm is an arc-shaped arm, the arc-shaped arm is positioned in a vertical plane, and the accommodating space is surrounded by the arc-shaped arm along the circumferential extension; the arc-shaped arm comprises a plurality of arc-shaped rods which are sequentially arranged along the circumferential direction, and adjacent arc-shaped rods are detachably connected; the first detection piece is a plurality of, and is a plurality of first detection piece is with a plurality of the arc pole is corresponding, every first detection piece sets up in corresponding on the arc pole.
2. The plant phenotype collection apparatus of claim 1, further comprising: the control mechanism is connected with the first detection piece and used for controlling the opening of the first detection piece so as to acquire data acquired by the first detection piece.
3. The plant phenotype collection apparatus of claim 2, further comprising: the annular arm is connected with a rotating shaft of the driving motor, the control mechanism is connected with the driving motor and used for controlling the driving motor, so that the driving motor can drive the annular arm to rotate.
4. The plant phenotype collection apparatus of claim 3, wherein the frame is provided with a turntable having a pivot extending in an up-down direction, the annular arm being drivingly connected to the pivot; the pivot is in transmission connection with the rotating shaft of the driving motor, and the driving motor can drive the pivot to rotate under the control of the control mechanism, so that the annular arm is driven to rotate.
5. The plant phenotype collection apparatus of claim 2, wherein: the annular arm is provided with a light source, the light source is connected with the control mechanism, and the control mechanism is used for controlling the on-off of the light source.
6. The plant phenotype collection apparatus of claim 1, wherein: the frame is provided with a traveling mechanism, and the traveling mechanism is used for driving the frame to move.
7. The plant phenotype collection apparatus of claim 1, wherein: the height adjusting mechanism is arranged on the rack and used for adjusting the height of the rack.
8. The plant phenotype collection apparatus of claim 1, wherein: the frame includes the pole setting of vertical extension and the horizontal pole of horizontal extension, the annular arm with the horizontal pole is articulated mutually, be provided with the second and detect the piece in the pole setting.
9. Plant phenotype collection apparatus according to any of claims 1 to 8, wherein: the first detection piece comprises one or more of an RGB camera, a hyperspectral camera, a multispectral camera, a depth sensor and a compact laser radar thermal infrared camera.
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| CN201910742961.2A CN110530285B (en) | 2019-08-13 | 2019-08-13 | Plant phenotype collection device and collection method thereof |
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| CN201910742961.2A CN110530285B (en) | 2019-08-13 | 2019-08-13 | Plant phenotype collection device and collection method thereof |
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| CN110530285B true CN110530285B (en) | 2020-12-25 |
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