CN212413758U - Phenotype measuring instrument for single plant test of crops - Google Patents

Abstract

The utility model provides a phenotype measuring instrument for single plant test of crops, which comprises a control box, a rotary mechanism, a self-rotating mechanism and a clamping mechanism, wherein the control box is respectively electrically connected with the rotary mechanism and the self-rotating mechanism; the rotary mechanism comprises a rotary motor and a mechanical arm, the rotary motor is arranged on the control box and is electrically connected with the control box, the mechanical arm is arranged at the output end of the rotary motor and is fixedly connected with the rotary motor, and the clamping mechanism is fixedly connected to one end of the mechanical arm; when the rotary motor receives a signal of the control box, the mechanical arm can be driven to rotate on the horizontal plane, and then the clamping mechanism is driven to rotate on the horizontal plane.

Description

Phenotype measuring instrument for single plant test of crops

Technical Field

The utility model relates to an agricultural science research field, in particular to a phenotype measuring apparatu that is used for individual plant of crop to examine kind.

Background

The species test refers to the activity of tracing the genetic relationship and genetic characteristics of a certain species. In old society, the selection of seeds by farmers is the test.

The soybean is generally examined by using dry soybean plants, wherein the soybean plants are dried, and good seeds can be selected by observing the state of the ripe soybeans. The phenotypic data of soybean plants to be tested include plant height, bottom pod height, main stem node number, effective branch number, single plant pod number, pod skin color, apical inflorescence length (the inflorescence length refers to the distance from the upper part of a flowering leaf to the top end of a stem), single plant seed number, empty pods (counting the empty pods to calculate the pod number), first seed pods, second seed pods, third seed pods, fourth seed pods, seventh node inflorescence length (counting the seventh node from bottom to top), and the like.

The process of the previous test is completely finished manually, a large number of mature plants need to be observed and analyzed in the process of the test, the steps are very complicated, the workload is quite large, meanwhile, the collection efficiency of manually collecting phenotype data is low, and data are easy to generate errors.

At present, the seed testing process can also adopt manual collection of single-particle or multi-particle real images, namely, manually shooting the real images by using a camera to obtain the images, and then processing the images by using a computer to identify the phenotype data of plants in the images. However, this method has the following disadvantages:

(1) the method for acquiring the artificial image is not suitable for the whole plant of the soybean plant to be tested, because pods on the plant are not uniformly distributed around the main stem, the plant needs to be photographed in multiple angles, then the image splicing is carried out, the phenotypic characteristics of the plant are identified through an artificial intelligence algorithm, and thus the workload is huge;

(2) the specifications of plant images photographed from multiple angles on plants are different, such as size, position and the like;

(3) a large number of plants need to be subjected to image acquisition, the overall processing flow efficiency is low, and the time consumption is long;

(4) plant numbers need to be placed when the plants are photographed at multiple angles, and text information needs to be extracted when the plants are processed at the later stage, so that the image processing efficiency is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a phenotype measuring apparatu for crop individual plant is examined kind to solve the inefficiency and the unsafe problem of data that cause because of manual operation that exist among the correlation technique.

The utility model provides a phenotype measuring apparatu for kind is examined to single trunk of crop, including control box, rotation mechanism, fixture, the control box respectively with rotation mechanism electricity is connected, fixture with rotation mechanism fixed connection, and with rotation mechanism swing joint, fixture is used for the centre gripping to wait to examine kind of plant, rotation mechanism is used for driving fixture rotates, rotation mechanism is used for driving fixture rotation;

the rotary mechanism comprises a rotary motor and a mechanical arm, the rotary motor is arranged on the control box and is electrically connected with the control box, the mechanical arm is arranged at the output end of the rotary motor and is fixedly connected with the rotary motor, and the clamping mechanism is fixedly connected to one end of the mechanical arm;

when the rotary motor receives the signal of the control box, the mechanical arm can be driven to rotate on the horizontal plane, and then the clamping mechanism is driven to rotate on the horizontal plane.

Further, the rotation mechanism comprises a power part and a rotating part, the rotating part is movably connected with the power part, the rotating part is fixedly connected with the mechanical arm, the clamping mechanism is fixedly connected with the rotating part, and when the power part operates, the rotating part can be driven to rotate, so that the clamping mechanism is driven to rotate.

Further, the power part comprises an autorotation motor, a friction transmission rubber roller and a fixing plate, the fixing plate is fixedly connected with the control box, the autorotation motor is fixedly connected with the fixing plate and electrically connected with the control box, the friction transmission rubber roller is fixedly connected to a power output shaft of the autorotation motor, and when the autorotation motor receives an instruction, the friction transmission rubber roller can be driven to rotate.

Further, the rotating part comprises a friction driven rubber roller and a rotating shaft, the rotating shaft is fixedly connected with the mechanical arm, the friction driven rubber roller is arranged at one end of the rotating shaft, the clamping mechanism is arranged at the other end of the rotating shaft, the rotating shaft can rotate relative to the mechanical arm, the friction driven rubber roller is in contact with the friction transmission rubber roller, and when the friction transmission rubber roller rotates, the friction driven rubber roller can be driven to rotate to further drive the rotating shaft to rotate, so that the clamping mechanism synchronously rotates.

The self-rotating mechanism further comprises a sliding device, the sliding device comprises a sliding rail, a sliding block and a sliding block power mechanism, the sliding rail is fixedly connected with the control box, the sliding block is fixedly connected with the self-rotating motor, the sliding block is movably connected with the sliding rail and can move on the sliding rail, the sliding block power mechanism is fixedly connected with the sliding rail and is in contact with the fixed plate, and the sliding block power mechanism is electrically connected with the control box;

when the slide block power mechanism operates, the fixing plate can be pushed to move, and the friction transmission rubber roller is further driven to be in contact with the friction driven rubber roller.

Further, the rotation portion still includes universal cloud platform, universal cloud platform fixed set up in the axis of rotation, its inside universal joint that is provided with.

Further, fixture includes single trunk rotation socket and clip, will wait to examine kind of plant insert in the single trunk rotation socket, and by the clip is cliied, the clip is used for at the horizontal direction fixed insertion single trunk rotation socket wait to examine kind of plant.

The device further comprises a background plate, wherein the background plate comprises a support column and a curtain, the support column is fixedly arranged at the upper end of the mechanical arm, and the curtain is fixedly arranged on the support column;

when the rotary motor operates, the mechanical arm and the support column can be driven to rotate, and the curtain rotates along with the support column.

Further, the mechanical arm is provided with two at least, just the even setting in of mechanical arm quantity in the both sides of background board.

Further, the mechanical arm comprises a workpiece pad, and the workpiece pad is fixedly arranged between the output end of the rotary motor and the mechanical arm and used for stabilizing and enabling the mechanical arm to rotate in a balanced mode.

Compared with the prior art, the utility model discloses the beneficial effect who reaches is:

the utility model provides a phenotype measuring apparatu for crop individual plant is examined kind tests and develops in crop individual plant is examined kind, tests and develops to soybean highland barley kind in this embodiment to use soybean individual plant phenotype to measure as the experimental foundation in the development process. Crop individual plant phenotype measuring apparatu can fix and wait to examine kind of plant to will wait to examine kind of plant and rotate to photography area, crop individual plant phenotype measuring apparatu can drive and wait to examine kind of plant and take place 360 degrees rotations, photography area is equipped with camera equipment, can carry out video shooting with waiting to examine kind of plant rotatory on crop individual plant phenotype measuring apparatu, realizes treating the video image collection of examining kind of plant, then carries out Computer Vision (CV) to the video of gathering and handles, establishes the model through degree of depth study and draws the characteristic, in order to acquire plant phenotype data and be used for big data analysis, the utility model provides a phenotype measuring apparatu for crop individual plant is examined kind can greatly improve kind of efficiency and the data rate of accuracy of examining to the plant.

The utility model provides a phenotype measuring apparatu for crop individual plant is examined kind to shoot the concatenation processing that video image replaced the image, can improve image acquisition efficiency, plant video image processing speed is accelerated, realizes the standardized acquisition of high efficiency of plant kind of examination data.

The utility model provides a phenotype measuring apparatu for kind is examined to individual trunk of crop can carry out data acquisition to the ripe plant of a large scale to the controllable mechanization of operator replaces artifical work, thereby reduces operator intensity of work, has saved the human labor, has reduced the expenditure of cost of labor.

Drawings

Fig. 1 is a schematic view of an overall structure of a crop single plant phenotype measuring instrument provided by the present invention, wherein a background plate is installed on the crop single plant phenotype measuring instrument;

fig. 2 is a schematic view of an overall structure of a crop single plant phenotype measuring instrument provided by the present invention with a background plate mounted thereon;

fig. 3 is a schematic overall structure diagram of a crop individual plant phenotype measuring instrument provided by the present invention;

fig. 4 is a schematic view of the overall structure of the crop single plant phenotype measuring instrument provided by the present invention;

fig. 5 is a schematic structural diagram of the clamping mechanism and the rotating part of the crop single plant phenotype measuring instrument provided by the present invention;

fig. 6 is a schematic structural diagram of a power part and a sliding device of the crop single plant phenotype measuring instrument provided by the present invention;

FIG. 7 is a schematic structural view of a method for using a crop plant phenotype measuring instrument provided by the present invention;

fig. 8 is a schematic view of a practical application scenario of the crop plant phenotype measuring apparatus provided by the present invention;

fig. 9 is a block diagram of a control system of the crop plant phenotype measuring instrument provided by the present invention;

fig. 10 is a flowchart of a method for identifying data of a crop plant phenotype measurement apparatus according to the present invention.

Reference numbers in the figures:

the crop individual plant phenotype measuring instrument comprises a crop individual plant phenotype measuring instrument 1, a control box 11, a rotary motor 12, a mechanical arm 13, a workpiece pad 131, an autorotation motor 141, a friction transmission rubber roller 142, a fixing plate 143, a slide rail 144, a slide block 145, a slide block power mechanism 146, a friction driven rubber roller 147, a rotating shaft 148, a universal tripod head 149, a clamping mechanism 15, an individual plant autorotation socket 151, a clamp 152, a background plate 2, a support column 21, a curtain 22, a plant 3 to be tested, a camera device 4, a fixing tripod 41, a camera lamp 42 and a photographic chamber 43.

Detailed Description

The present invention will be further described below based on preferred embodiments with reference to the accompanying drawings.

In addition, for convenience of understanding, various components on the drawings are enlarged (thick) or reduced (thin), but this is not intended to limit the scope of the present invention.

Singular references also include plural references and vice versa.

In the description of the embodiments of the present invention, it should be noted that, if the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, the description is only for convenience of description and simplification, but the indication or suggestion that the device or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be interpreted as limiting the present invention. Furthermore, in the description of the present invention, the terms first, second, etc. are used herein to distinguish between different elements, but these should not be limited by the order of manufacture or construed to indicate or imply relative importance, and their names may differ between the detailed description of the invention and the claims.

The words used in this specification are words of description used in describing embodiments of the invention, but are not intended to limit the invention. It is also to be understood that, unless otherwise expressly stated or limited, the terms "disposed," "connected," and "connected" are intended to be open-ended, i.e., may be fixedly connected, detachably connected, or integrally connected; they may be mechanically coupled, directly coupled, indirectly coupled through intervening media, or may be interconnected between two elements. The above-mentioned meaning belonging to the present invention is specifically understood by those skilled in the art.

The utility model provides a phenotype measuring apparatu for individual plant of crop is examined kind, individual plant of crop phenotype measuring apparatu 1 can be fixed it and rotate and the rotation with waiting to examine kind of plant 3, when individual plant of crop phenotype measuring apparatu 1 drives waiting to examine kind of plant 3 rotatory, can realize carrying out data acquisition to the mature plant of wholesale, when individual plant of crop phenotype measuring apparatu 1 drives waiting to examine kind of plant 3 rotation, accessible camera device 4 etc. carries out phenotype data acquisition with the waiting to examine kind of plant 3 of rotation, then handles the analysis through Computer Vision (CV) to the data of gathering, include the plant height to the plant, the end pod height, the main stem festival number, effective branch number, single pod number, the skin pod colour, top inflorescence length (inflorescence length indicates from the leaf upper portion of flowering is originated to the distance of stem topmost), individual plant grain number, empty pod (statistics empty pod, in order of calculation), a grain pod number, And analyzing the lengths of the second-pod, the third-pod, the fourth-pod and the seventh-section inflorescence (the seventh section from bottom to top), so as to realize the test of the plant by using the crop single-plant phenotype measuring instrument 1, and finally storing the analyzed result into a database for analyzing the subsequent big data.

The utility model provides a phenotype measuring instrument for examining species of individual crop plants, wherein the phenotype measuring instrument 1 for individual crop plants comprises a control box 11, a swing mechanism, a rotation mechanism and a clamping mechanism 15, the control box 11 is respectively electrically connected with the swing mechanism and the rotation mechanism and is used for controlling the action of rotation and autorotation of the phenotype measuring instrument 1 for individual crop plants; fixture 15 and rotation mechanism fixed connection to with rotation mechanism swing joint, fixture 15 is used for the centre gripping to wait to examine kind of plant 3, and rotation mechanism is used for driving fixture 15 and rotates, and then drives to wait to examine kind of plant 3 and rotate, realizes carrying out data acquisition to the plant of a large scale maturity, and rotation mechanism is used for driving fixture 15 rotation, and then drives to wait to examine kind of plant 3 rotation, and the camera equipment 4 of being convenient for treats to examine kind of plant 3 and carries out phenotype data acquisition.

Preferably, the control box 11 includes a CPU, a memory, a communication interface, an input module, an output module, a power module, etc. for controlling the crop plant phenotype measuring instrument 1 to perform corresponding actions.

Further, slewing mechanism includes slewing motor 12 and arm 13, slewing motor 12 sets up on control box 11, and be connected with control box 11 electricity, arm 13 sets up in slewing motor 12's output, and with slewing motor 12 fixed connection, fixture 15 fixed connection is in the one end of arm 13, be used for the centre gripping to wait to examine kind of plant 3, after slewing motor 12 received the signal of control box 11, can drive arm 13 and rotate on the horizontal plane, and then drive fixture 15 and rotate on the horizontal plane, thereby wait to examine kind of plant 3 and also rotate on the horizontal plane, realize carrying out data acquisition to the ripe plant of large batch.

Preferably, the robot arm 13 includes a workpiece pad 131, and the workpiece pad 131 is fixedly disposed between the output end of the rotary motor 12 and the robot arm 13 for stabilizing and balancing the rotation of the robot arm 13.

Preferably, the utility model provides a phenotype measuring apparatu for crop individual plant is examined kind still includes background board 2, and background board 2 includes pillar 21, curtain 22, and pillar 21 is fixed to be set up in the upper end of work pad 131 for fixed and support curtain 22, and curtain 22 is fixed to be set up on pillar 21, and curtain 22 is provided with two sides, and when rotating electrical machines 12 operated, can drive work pad 131 and rotate, and then drive arm 13 and pillar 21 and rotate, and curtain 22 rotates along with pillar 21.

Preferably, the curtain 22 is a light absorption curtain which is a white curtain without light reflection and wrinkles, and the light absorption curtain can prevent shadows from being generated when the image pickup device 4 takes videos of the plant 3 to be tested, so that the effect of video acquisition is avoided being influenced, and Computer Vision (CV) processing on the acquired videos is facilitated subsequently.

It should be noted that the utility model discloses do not do the restriction to the quantity that arm 13 set up, preferably, in this embodiment, the quantity that arm 13 set up is four, and two liang of a set of four arms 13, set up respectively in the both sides of background board 2, two adjacent arms 13 are 90 degrees contained angles between four arms 13, the both sides of background board 2 divide into places district and photography area, plant 3 of waiting to examine kind is fixed placing the district to crop individual plant phenotype measuring apparatu 1, then arm 13 rotates 180 degrees, treat to examine kind of plant 3 through camera device 4 in photography area and carry out phenotype data acquisition.

Further, the gripping mechanism 15 includes a single rotation socket 151 and a gripper 152, and the plant 3 to be tested is inserted into the single rotation socket 151 and gripped by the gripper 152, and the gripper 152 is used for fixing the plant 3 to be tested inserted into the single rotation socket 151 in a horizontal direction.

Furthermore, the single plant rotation socket 151 is movably connected with the mechanical arm 13, so that the single plant rotation socket 151 can drive the plant 3 to be tested to rotate while fixedly supporting the single plant 3 to be tested.

Specifically, the rotation mechanism includes a power unit, the power unit includes a rotation motor 141, a friction transmission rubber roller 142, and a fixing plate 143, the fixing plate 143 is fixedly connected to the control box 11, the rotation motor 141 is fixedly connected to the fixing plate 143 and electrically connected to the control box 11, the friction transmission rubber roller 142 is fixedly connected to a power output shaft of the rotation motor 141, and when the rotation motor 141 receives an instruction from the control box 11, the friction transmission rubber roller 142 is driven to rotate.

Further, rotation mechanism still includes the rotation portion, rotation portion and power unit swing joint, and rotation portion and arm 13 fixed connection, fixture 15 and rotation portion fixed connection, and when the power unit function, can drive the rotation portion and take place the rotation, and then drive fixture 15 and take place the rotation to make and wait to examine kind of plant 3 synchronous emergence rotation.

Specifically, the rotating part comprises a friction driven rubber roller 147 and a rotating shaft 148, the rotating shaft 148 is fixedly connected with the mechanical arm 13, the friction driven rubber roller 147 is arranged at one end of the rotating shaft 148, the clamping mechanism 15 is arranged at the other end of the rotating shaft 148, the rotating shaft 148 can rotate relative to the mechanical arm 13, the friction driven rubber roller 147 is in contact with the friction transmission rubber roller 142, and when the friction transmission rubber roller 142 rotates, the friction driven rubber roller 147 can be driven to rotate through friction force, so that the rotating shaft 148 is driven to rotate, and the clamping mechanism 15 synchronously rotates.

Preferably, the rotating part further comprises a universal tripod head 149, the universal tripod head 149 is fixedly arranged on the rotating shaft 148, a universal joint is arranged in the universal tripod head 149, when the plant 3 to be tested in the single plant rotation socket 151 is inclined, the universal tripod head 149 can adjust the plant 3 to be tested to be close to or reach the vertical direction, and the plant 3 to be tested is ensured to be vertically inserted into the single plant rotation socket 151.

Preferably, the rotation mechanism further comprises a sliding device, the sliding device comprises a sliding rail 144, a sliding block 145 and a sliding block power mechanism 146, the sliding rail 144 is fixedly connected with the control box 11, the sliding block 145 is fixedly connected with the rotation motor 141 through a fixing plate 143, the sliding block 145 is movably connected with the sliding rail 144, the sliding block 145 can move on the sliding rail 144, the sliding block power mechanism 146 is fixedly connected with the sliding rail 144 and contacts with the fixing plate 143, the sliding block power mechanism 146 is electrically connected with the control box 11, when the sliding block power mechanism 146 receives an instruction operation of the control box 11, the fixing plate 143 can be pushed to move, the sliding block 145 can move on the sliding rail 144 and drive the rotation motor 141 fixed on the fixing plate 143 to move, and the friction drive rubber roller 142 to contact with.

Referring to fig. 7-8, a detailed description of a phenotypic data collection method using the above-mentioned automated crop plant phenotypic measuring instrument for data collection is provided, which includes the following steps:

step1, placing a camera 4 on one side of a background plate 2 of the crop individual plant phenotype measuring instrument 1, and further dividing two sides of the background plate 2 into a shooting area and a placing area;

preferably, the image pickup device 4 is a high-pixel image pickup device, a high-frame-rate and high-resolution programmable industrial camera can be selected, and a fixed tripod 41 is arranged at the lower end of the image pickup device so as to support and fix the image pickup device, so that the stability of image pickup is ensured.

Preferably, the camera device 4 is equipped with a camera light 42 for providing bright light to the camera environment and projecting the shadow of the plant 3 to be examined onto the ground.

Preferably, a photographic room 43 is arranged outside the crop individual plant phenotype measuring instrument 1, and a tarpaulin with a shading function is arranged outside the photographic room 43, so that the tarpaulin can shade the light of the external environment, and the influence of the external light on the plant 3 to be tested during data acquisition is avoided.

Step2, inserting the plant 3 to be tested into the single plant autorotation socket 151 in the placing area, and fixing the plant in the clamping mechanism 15;

if the bending degree of the plant 3 to be tested is large, the universal cradle head 149 can be adjusted to enable the plant 3 to be tested to be as upright as possible, so that the rotating radius of the plant 3 to be tested is reduced, and the video of the two plants 3 to be tested is convenient to cut.

Step3, starting a rotating mechanism of the crop single plant phenotype measuring instrument 1, and rotating the plant 3 to be tested fixed in the placing area 180 degrees to a photographing area so that the photographing device 4 can collect phenotype data of the plant 3 to be tested;

step4, starting a rotation mechanism and a camera device 4 of the crop single plant phenotype measuring instrument 1, wherein after the rotation mechanism rotates the plant 3 to be tested, the camera device 4 shoots a video image of the plant 3 to be tested which rotates 360 degrees;

step5, storing the shot video image, starting a rotating mechanism of the crop single plant phenotype measuring instrument 1, rotating the plant 3 to be tested 180 degrees to a placing area, taking down the plant 3 to be tested, and inserting a new plant 3 to be tested;

step6, repeating the steps until the phenotype data acquisition of the plants to be tested in the batch is completed;

and step7, transmitting the video image files of the plants 3 to be tested, which are shot by the camera 4, to a specified cloud server, calling a video processing program by the cloud server to process the video files in parallel, extracting phenotype characteristic data of the plants 3 to be tested, and storing the phenotype characteristic data into a phenotype database.

When the camera device 4 is used for carrying out video acquisition on the plant 3 to be tested fixed on the crop individual plant phenotype measuring instrument, the rotating speed of the rotation motor 141 can be adjusted through the control box 11, so that the shot video is clear, the rotating speed is increased as far as possible on the premise of meeting the processing requirement, and the time of each video is shortened.

When the camera device 4 is used for shooting a video, the video frame rate of the camera device 4 needs to be strictly controlled, the video frame rate of the camera device 4 is the number of frames collected by the camera device 4 per second, and can also be understood as the sampling rate of the camera device 4, so that when the video is conveniently and subsequently processed by Computer Vision (CV), the definition of each frame of image is mainly ensured after the shot video is subjected to framing, and preferably, the rotating speed is optimal about 4 seconds per turn when the video is collected.

An identification method for data identification using the phenotypic data collection method as described above will be described in detail.

The video processing flow and algorithm are as follows:

the first step, framing: performing framing processing on an original video to obtain a plurality of data frame images, and taking all the frame images as final input of the processing stream;

in this step, the original video is divided into a plurality of frames, so as to obtain the initial input data of the whole recognition method by using the frames as the processing units of the recognition method.

And secondly, segment segmentation: inputting the obtained frame image into a divider, dividing the image into a plurality of parts by the divider from top to bottom according to the plant segments, and respectively inputting the parts into a target detector in sequence for parallel processing;

in the step, each segment of the plant is identified and judged by using an object detection technology, and then a local area of a single segment is divided, so that different segments are processed in parallel, and the effect of accelerating operation is achieved.

Step three, pod detection: inputting the segmented frame imaging set into a target detector to obtain a single frame object set, namely, a pod object set is obtained after identification processing;

the embodiment of the utility model provides an in the target detection ware adopt existing comparatively ripe degree of depth study object detection model yolov3, train this model through utilizing existing pod mark data in advance to obtain and carry out the special object detection model that discerns to different bean particle number pods, wherein this model training is with data and gained final discernment classification and include 5 kinds altogether, do in proper order: 0 pod, 1 pod, 2 pods, 3 pods, 4 pods.

Fourth step, tracing bean pods: inputting the single-frame object set obtained in the third step into a tracker, updating the content of the tracker, and realizing uniqueness confirmation of the target, namely performing uniqueness confirmation on the pods, thereby realizing marking of the single pods;

the embodiment of the utility model provides an in tracker adopt deep-sort, carry out the identity through the pod that utilizes this algorithm to obtain different frames and judge to the realization is in a complete video stream, binds all the time of a unique serial number and single pod, realizes the pod mark.

If unprocessed frames still exist at present, turning to the second step, and iteratively updating the object path condition in the tracker, thereby continuously finding the condition of new pods, updating the existing pod path condition, and updating the final pod list;

extracting various phenotypic characteristic data of pod color, branch number, plant height, diameter, width and size and the like of the single plant except for the pods;

counting all path states contained by all trackers, counting plant test information, storing and outputting;

counting all path states contained in all trackers, mainly counting and skin color extraction, counting the occurrence conditions of pods with different grain numbers and calculating the total number of single-plant bean grains; for skin color extraction, a rectangular area where single pods are located is obtained through a pod list obtained by the object detection model in the steps, and RGB color average is obtained by using points within 10 pixels of the central range of the area to obtain the final estimated skin color.

The detailed description of the embodiments of the present invention has been presented above, and it will be apparent to those skilled in the art that the present invention can be modified and improved without departing from the principles of the present invention, and the modifications and improvements also belong to the protection scope of the claims of the present invention.

Claims (10)

1. A phenotype measuring instrument for crop individual plant test is characterized in that:

the device comprises a control box (11), a rotating mechanism, a self-rotating mechanism and a clamping mechanism (15), wherein the control box (11) is respectively electrically connected with the rotating mechanism and the self-rotating mechanism, the clamping mechanism (15) is fixedly connected with the rotating mechanism and movably connected with the self-rotating mechanism, the clamping mechanism (15) is used for clamping a plant (3) to be tested, the rotating mechanism is used for driving the clamping mechanism (15) to rotate, and the self-rotating mechanism is used for driving the clamping mechanism (15) to rotate;

the rotary mechanism comprises a rotary motor (12) and a mechanical arm (13), the rotary motor (12) is arranged on the control box (11) and is electrically connected with the control box (11), the mechanical arm (13) is arranged at the output end of the rotary motor (12) and is fixedly connected with the rotary motor (12), and the clamping mechanism (15) is fixedly connected to one end of the mechanical arm (13);

when the rotary motor (12) receives the signal of the control box (11), the mechanical arm (13) is driven to rotate on the horizontal plane, and then the clamping mechanism (15) is driven to rotate on the horizontal plane.

2. The phenotype measuring instrument for the individual plant test of the crop as claimed in claim 1, wherein the rotation mechanism comprises a power portion and a rotation portion, the rotation portion is movably connected with the power portion and is fixedly connected with the mechanical arm (13), the clamping mechanism (15) is fixedly connected with the rotation portion, and when the power portion operates, the rotation portion is driven to rotate, and the clamping mechanism (15) is driven to rotate.

3. The phenotype measuring instrument for the individual plant test of the crop as claimed in claim 2, wherein the power unit comprises a rotation motor (141), a friction transmission rubber roller (142), and a fixing plate (143), the fixing plate (143) is fixedly connected with the control box (11), the rotation motor (141) is fixedly connected with the fixing plate (143) and electrically connected with the control box (11), the friction transmission rubber roller (142) is fixedly connected to a power output shaft of the rotation motor (141), and when the rotation motor (141) receives an instruction, the friction transmission rubber roller (142) can be driven to rotate.

4. The phenotype measuring instrument for the crop individual plant test according to claim 3, wherein the rotating part comprises a friction driven rubber roller (147) and a rotating shaft (148), the rotating shaft (148) is fixedly connected with the mechanical arm (13), the friction driven rubber roller (147) is arranged at one end of the rotating shaft (148), the clamping mechanism (15) is arranged at the other end of the rotating shaft (148), the rotating shaft (148) can rotate relative to the mechanical arm (13), the friction driven rubber roller (147) is in contact with the friction transmission rubber roller (142), and when the friction transmission rubber roller (142) rotates, the friction driven rubber roller (147) can be driven to rotate, so as to drive the rotating shaft (148) to rotate, so that the clamping mechanism (15) synchronously rotates.

5. The phenotype measuring instrument for crop individual plant test according to claim 4, wherein the rotation mechanism further comprises a sliding device, the sliding device comprises a sliding rail (144), a sliding block (145) and a sliding block power mechanism (146), the sliding rail (144) is fixedly connected with the control box (11), the sliding block (145) is fixedly connected with the rotation motor (141), the sliding block (145) is movably connected with the sliding rail (144), the sliding block (145) can move on the sliding rail (144), the sliding block power mechanism (146) is fixedly connected with the sliding rail (144) and contacts with the fixing plate (143), and the sliding block power mechanism (146) is electrically connected with the control box (11);

when the slide block power mechanism (146) operates, the fixing plate (143) can be pushed to move, and the friction transmission rubber roller (142) is further driven to be in contact with the friction driven rubber roller (147).

6. The phenotype measurement instrument for crop individual plant test species according to claim 4, characterized in that the rotating part further comprises a universal head (149), the universal head (149) is fixedly arranged on the rotating shaft (148), and a universal joint is arranged inside the universal head.

7. A phenotype measuring instrument for crop individual plant test according to claim 1, characterized in that the clamping mechanism (15) comprises an individual plant rotation socket (151) and a clamp (152), the plant (3) to be tested is inserted into the individual plant rotation socket (151) and clamped by the clamp (152), and the clamp (152) is used for fixing the plant (3) to be tested inserted into the individual plant rotation socket (151) in a horizontal direction.

8. The phenotype measuring instrument for the crop individual plant test according to claim 1, further comprising a background plate (2), wherein the background plate (2) comprises a pillar (21) and a curtain (22), the pillar (21) is fixedly arranged at the upper end of the mechanical arm (13), and the curtain (22) is fixedly arranged on the pillar (21); when the rotary motor (12) operates, the mechanical arm (13) and the support column (21) can be driven to rotate, and the curtain (22) rotates along with the support column (21).

9. A phenotype measurement instrument for crop individual plant test according to claim 8, characterized in that at least two mechanical arms (13) are provided, and the mechanical arms (13) are uniformly arranged on both sides of the background plate (2).

10. A phenomenological measuring instrument for crop individual test species according to claim 1, characterized in that the robot arm (13) comprises a workpiece pad (131), the workpiece pad (131) is fixedly arranged between the output of the rotary motor (12) and the robot arm (13) for stabilizing and balancing the rotation of the robot arm (13).

Images