CN109738441A - A kind of plant phenotype three-dimensionalreconstruction information acquisition device and its control method - Google Patents
A kind of plant phenotype three-dimensionalreconstruction information acquisition device and its control method Download PDFInfo
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- CN109738441A CN109738441A CN201910011953.0A CN201910011953A CN109738441A CN 109738441 A CN109738441 A CN 109738441A CN 201910011953 A CN201910011953 A CN 201910011953A CN 109738441 A CN109738441 A CN 109738441A
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Abstract
This application discloses a kind of plant phenotype three-dimensionalreconstruction information acquisition device and its control method, plant rotating platform is fixedly installed on the table, and the side of workbench is arranged in bending type motion bar, and bending end corresponds to plant rotating platform plane in parallel；The side that motion bar corresponds to the table top of workbench is provided with depth information sensor, and it is flexibly connected with motion bar, scope of activities is provided with the first stepper motor on motion bar, is provided with second stepper motor on plant rotating platform from bending end to motion bar and the connecting pin of workbench.Depth information sensor can move under the effect of the first stepper motor along motion bar, realize the Image Acquisition to the plant cross section and canopy face that are placed on plant rotating platform.Plant rotating platform can rotate 360 ° again, and then can collect 360 degree of plant multiple plant cross sections and the image in canopy face is used for the plant phenotype three-dimensional reconstruction in later period, without carrying out complicated processing again to every photo.
Description
Technical field
This application involves plant Three Dimensional Reconfiguration fields, and in particular to a kind of plant phenotype three-dimensionalreconstruction acquisition of information dress
It sets and its control method.
Background technique
Currently, plant phenotype group is as the bridge mitigated between functional genomics and plant breeding research, plant table
Type correlated characteristic and Plant Genome and plant field management are closely related.The acquisition of plant phenotypic characteristics parameter is always plant
The first step and committed step of phenomics research.Traditionally, it is manual to depend on greatly personnel for the acquisition of plant phenotype information
Measurement, time and effort consuming, for different types of plant, for personnel's measurement there are contingency, the reliability of measurement data is lower.
With the maturation of technology, researcher both domestic and external is directed to vegetation type and applicable cases, develops different phenotypes
Platform, such as the ground surface platform of new sensor mode, Overhead Sensor, indoor image sensor stage.It is directed to plant phenotype
Three-dimensionalreconstruction platform, researchers rely primarily on image processing techniques, using different types of camera, establish monocular or binocular
Vision system.In addition, also developing the High Definition Systems based on image technique and sensor.
But the system of plant phenotype three-dimensionalreconstruction or platform generally plant the multiple groups shot by camera in the prior art
The picture of object carries out cumbersome processing, therefore the workload of image procossing is very big, to the calculation processing ability of platform controller
It is required that high.And it also needs to obtain multiple different surface charts from each image during processing, therefore certain
Make the speed of image procossing relatively slow in degree, and then affects the speed of the three-dimensionalreconstruction of plant.
Summary of the invention
In order to solve the above-mentioned technical problem the application, proposes following technical solution:
In a first aspect, the embodiment of the present application provides a kind of plant phenotype three-dimensionalreconstruction information acquisition device, comprising: work
Platform, plant rotating platform, motion bar and controller, in which: the plant rotating platform is fixedly installed on the workbench, institute
The side that the workbench is arranged in motion bar is stated, and the motion bar is bending type motion bar, the bending end of the motion bar
The plant rotating platform plane is corresponded in parallel, and the edge of the workbench is arranged in the controller；The motion bar pair
The side of the table top of the workbench is answered to be provided with depth information sensor, the depth information sensor and the motion bar are living
Dynamic connection, scope of activities of the depth information sensor on the motion bar is from the bending end to the motion bar and institute
The connecting pin of workbench is stated, the first stepper motor is provided on the motion bar, first stepper motor is described for driving
Depth information sensor moves on the motion bar, is provided with second stepper motor on the plant rotating platform, and described
Two stepping motor is for driving the plant rotating platform rotary motion, first stepper motor and the second stepper motor
It is electrically connected with the controller.
Using above-mentioned implementation, depth information sensor is set on motion bar, and depth information sensor can be
It moves, and then may be implemented transversal to the plant being placed on plant rotating platform along motion bar under the effect of first stepper motor
The Image Acquisition in face and canopy face.Plant rotating platform again can under the action of second stepper motor 360 ° rotation, Jin Erke
To collect the image of 360 degree of plant of multiple plant cross sections and canopy face by depth information sensor, pass through acquisition
The plant phenotype three-dimensional reconstruction in later period can be realized in multiple images, then without carrying out complicated processing again to every photo.
With reference to first aspect, in a first possible implementation of that first aspect, the motion bar includes: lower beam, song
Type upper boom, fixed axis and close switch, the lower beam are that cross section is rectangular hollow stem, the cross section of the curved upper boom
Convex shape, the fixed setting of described lower beam one end on the workbench, the lower end of the curved upper boom is embedding be set on it is described
The other end of lower beam, the fixed axis are flexibly connected with the side of the lower beam, and the fixed axis is described curved for adjusting
The height of bar；Close switch includes the first close switch and the second close switch, and the described first close switch setting is in institute
It is close with the lower beam junction to state curved upper boom, described second is arranged close to switch in the curved upper boom and the workbench
Position of the parallel-segment close to the curved upper boom inflection point.
The first possible implementation with reference to first aspect, in a second possible implementation of that first aspect, institute
It states inner wall at curved upper boom upper extreme point and is equipped with rotatably the first round bar, the first stepper motor setting is in correspondence first circle
On the outer wall of the curved upper boom of bar, and first gear is fixed on the output shaft of first stepper motor, described first
Round bar side is equipped with the first gear ring for engage with the gear, first stepper motor by the first stepper motor output shaft and
First round bar is flexibly connected；The knee of the curved upper boom and the inner wall at lower extreme point, which are respectively equipped with, can be rotated the second circle
Bar and third round bar, the one rigidity rope of curved upper boom inside setting, and the shape rigidly restricted and the curved upper boom
Curved shape is identical, and the rigidity becket bridle is around first round bar, second round bar and the third round bar.
Second of possible implementation with reference to first aspect, in first aspect in the third possible implementation, institute
It states and is provided with drum part on rigidity rope, the side of the drum part is fixedly connected with the rigidity rope, the drum part
The depth information sensor is fixedly installed in the other side.
The third possible implementation with reference to first aspect, in the 4th kind of possible implementation of first aspect, institute
It states drum part and is provided with multiple, and multiple drum parts are uniformly arranged.
4th kind of possible implementation with reference to first aspect, in the 5th kind of possible implementation of first aspect, institute
Stating plant rotating platform includes that shaft on the table and the turntable by second stepper motor driving rotation is fixedly mounted, described
Shaft is flexibly connected with the turntable.
5th kind of possible implementation with reference to first aspect, in the 6th kind of possible implementation of first aspect, institute
It states shaft and a vertical pivot is arranged in the turntable junction, the vertical pivot is fixedly connected with the shaft, and the turntable passes through described
Vertical pivot is flexibly connected with the shaft.
5th kind or the 6th kind of possible implementation with reference to first aspect, in the 7th kind of possible realization side of first aspect
In formula, the output shaft of the second stepper motor is fixed with second gear, and the turntable is equipped with and engages with the second gear
The second gear ring, the second stepper motor is flexibly connected by second stepper motor output shaft with the turntable.
7th kind of possible implementation with reference to first aspect, in the 8th kind of possible implementation of first aspect, institute
It states periphery of the shaft in one end far from workbench and is equipped with the groove circumferentially uniformly split, be fixedly installed on the turntable
Towards the photoelectric sensor of the groove, the photoelectric sensor is electrically connected with the controller.
Second aspect, the embodiment of the present application provide a kind of plant phenotype three-dimensionalreconstruction information acquisition device control method,
The described method includes: percentage regulation information sensor, so that depth information sensor is on the vertical direction of curved upper boom, and
The upper plane of nethermost sensor and lower beam is laterally mutually neat；The rotation of the first stepper motor is controlled, when first close to inductive switching
When to nethermost depth information sensor, the first stepper motor of control stops working；Depth information sensor starts to obtain deep
Spend the first depth information of the plant cross section of the first object plant immediately ahead of information sensor, in which: obtained the first cross
After first depth information in section, the first depth information of the second cross section is obtained, it is transversal to be switched to second from the first cross section
Face turntable rotates 2 ° every time, until rotating a circle, first cross section is the current any plant for carrying out Depth Information Acquistion
Cross section, second cross section are that corresponding first cross section rotates the plant cross section after 2 °；The first step is controlled again
It is rotated into motor, when second close to inductive switching to a last depth information sensor, the first stepper motor of control stops
Work；Depth information sensor starts to obtain second depth information in the plant canopy face immediately below depth information sensor,
Wherein: after the second depth information for having obtained the first canopy face, second depth information in the second canopy face is obtained, from the first canopy
Face is switched to turntable described in the second canopy face and rotates 2 ° every time, until rotating a circle, first canopy face is current carries out deeply
Any plant canopy face of acquisition of information is spent, second canopy face is that the plant after corresponding first canopy face rotates 2 ° is horizontal
Section；The corresponding second depth information hair of corresponding first depth information in all cross sections that will acquire and all canopy faces
Give the controller；After the cross section of the first object plant and the Depth Information Acquistion in canopy face, control first
Stepper motor rotates backward, and the depth information sensor is returned to original state position, plants in order to obtain the second target
The depth information of object.
Detailed description of the invention
Fig. 1 is a kind of plant phenotype three-dimensionalreconstruction information acquisition device structural schematic diagram provided by the embodiments of the present application；
Fig. 2 is the structural schematic diagram of depth information sensor on a kind of motion bar provided by the embodiments of the present application；
Fig. 3 is a kind of upper end formation schematic diagram of curved upper boom provided by the embodiments of the present application；
Fig. 4 is a kind of curved end structural schematic diagram of curved upper boom provided by the embodiments of the present application；
Fig. 5 is a kind of lower end structure schematic diagram of curved upper boom provided by the embodiments of the present application；
Fig. 6 is a kind of cross-sectional view of plant rotating platform provided by the embodiments of the present application；
Fig. 7 is that a kind of plant phenotype three-dimensionalreconstruction information acquisition device control method process provided by the embodiments of the present application is shown
It is intended to；
Fig. 8 is a kind of structural schematic diagram of controller provided by the embodiments of the present application；
In Fig. 1-Fig. 8, symbol is expressed as:
1- workbench, 2- plant rotating platform, 3- motion bar, 4- controller, 5- depth information sensor, the first stepping of 6-
Motor, 7- second stepper motor, 8- lower beam, the curved upper boom of 9-, 10- fixed axis, close to switch, 12- second is close to be opened 11- first
It closing, the first round bar of 13-, the second round bar of 14-, 15- third round bar, 16- rigidly restricts, 17- drum part, 18- shaft, 19- turntable,
20- vertical pivot, 21- groove, 22- photoelectric sensor, 23- plant.
Specific embodiment
This programme is illustrated with specific embodiment with reference to the accompanying drawing.
Fig. 1 is a kind of plant phenotype three-dimensionalreconstruction information acquisition device structural schematic diagram provided by the embodiments of the present application, ginseng
See Fig. 1, plant phenotype three-dimensionalreconstruction information acquisition device, comprising: workbench 1, plant rotating platform 2, motion bar 3 and controller
4。
The plant rotating platform 2 is fixed on the workbench 1, and the motion bar 3 is arranged in the workbench 1
Side, and the motion bar 3 is bending type motion bar, and the bending end of the motion bar 3 corresponds to the plant rotary flat in parallel
The plane of platform 2, the controller 4 are arranged in the workbench.1 edge.
Referring to fig. 2, the side of the motion bar, the table top of the 3 corresponding workbench 1 is provided with depth information sensor 5,
The depth information sensor 5 is flexibly connected with the motion bar 3, and the depth information sensor 5 is on the motion bar 3
Scope of activities is provided with the from the bending end to the connecting pin of the motion bar 3 and the workbench 1 on the motion bar 3
One stepper motor 6, first stepper motor 6 is for driving the depth information sensor 5 to move on the motion bar 3.
Depth information sensor 5 in the present embodiment, can choose general supersonic sensing under the premise of meeting required precision
Device can choose single laser radar sensor when required precision is higher.
With further reference to second stepper motor 7 in Fig. 1, is provided on the plant rotating platform 2, second stepping is electric
Machine 7 for driving 2 rotary motion of plant rotating platform, first stepper motor 6 and the second stepper motor 7 with
The controller 4 is electrically connected.
As shown in Figure 1, the motion bar 3 includes: lower beam 8, curved upper boom 9, fixed axis 10 and close switch, the lower beam
8 for cross section be rectangular hollow stem, and the cross section of the curved upper boom 9 is convex shape, the fixed setting of described 8 one end of lower beam
On the workbench 1, the embedding other end for being set on the lower beam 8 in the lower end of the curved upper boom 9, the fixed axis 10 with
The side of the lower beam 8 is flexibly connected, and the fixed axis 10 is used to adjust the height of the curved upper boom 9.By the way that lower beam 8 is arranged
It, can be according to its height of plant size flexible modulation with curved upper boom 9.
It is described to be arranged close to switch 11 and second close to switch 12, described first close to switch 11 close to switch including first
It is close with 8 junction of lower beam in the curved upper boom 9, described second be arranged close to switch 12 in the curved upper boom 9 and
Position of 1 parallel-segment of workbench close to curved 9 inflection point of upper boom.It is switched by first close to switch and second are close
Depth information sensor can be realized to the cross-sectional depth information collection of tested measuring plants or hat with emplacement depth information sensor
The acquisition of level depth information.
Referring to Fig. 3, at curved 9 upper extreme point of upper boom, inner wall, which is equipped with, can be rotated the first round bar 13, the first stepping electricity
Machine 6 is arranged on the outer wall of the curved upper boom 9 of correspondence first round bar 13, and the output of first stepper motor 6
First gear is fixed on axis, 13 side of the first round bar is equipped with the first gear ring engaged with the gear, the first step
It is flexibly connected into motor 6 by 6 output shaft of the first stepper motor with first round bar 13.
Being respectively equipped with referring to fig. 4 with the inner wall at the knee of curved upper boom 9 described in Fig. 5 and lower extreme point can be rotated the second circle
Bar 14 and third round bar 15, one rigidity rope 16 of setting inside the curved upper boom 9, and the shape of the rigidity rope 16 and the song
The curved shape of type upper boom 9 is identical, and the rigidity rope 16 is around the second round bar 14 described in first round bar 13 and third circle
Bar 15.
Drum part 17 is provided on the rigidity rope 16, the side of the drum part 17 and the rigidity rope 16 are fixed
The depth information sensor 5 is fixedly installed in the other side of connection, the drum part 17
In an illustrative examples, the drum part 17 is provided with multiple, and multiple drum parts 17 are uniformly arranged,
And the spacing between multiple drum parts 17 can also carry out free adjustment.
Referring to Fig. 6, the plant rotating platform 2 includes the shaft 18 that is fixedly mounted on workbench 1 and by the second stepping
The turntable 19 of the driving rotation of motor 7, the shaft 18 are flexibly connected with the turntable 19.The output of the second stepper motor 7
Axis is fixed with second gear, and the turntable 19 is equipped with the second gear ring engaged with the second gear, the second stepping electricity
Machine 7 is flexibly connected by 7 output shaft of second stepper motor with the turntable 19.Second stepper motor drives second gear rotation,
By the rotation for engaging realization turntable of second gear and the second gear ring, the accuracy of angle is turned over convenient for control turntable.
Further, the shaft 18 and 19 junction of turntable are arranged a vertical pivot 20, the vertical pivot 20 with described turn
Axis 18 is fixedly connected, and the turntable 19 is flexibly connected by the vertical pivot 20 with the shaft 18.
In an illustrative examples, periphery of the shaft 18 in one end far from workbench 1 is equipped with circumferentially
The groove 21 uniformly split is fixedly installed the photoelectric sensor 22 towards the groove 21, the photoelectricity on the turntable 19
Sensor 22 is electrically connected with controller 4.The signal that the detection groove 21 of photoelectric sensor 22 generates is fed back into controller 4, it can be real
Now the rotational angle of second stepper motor 7 is corrected, to improve the rotation precision of turntable 19.
As can be seen from the above embodiments, a kind of plant phenotype three-dimensionalreconstruction information acquisition device is present embodiments provided, comprising:
Workbench 1, plant rotating platform 2, motion bar 3 and controller 4, in which: the plant rotating platform 2 is fixed at the work
Make on platform 1, the side of the workbench 1 is arranged in the motion bar 3, and the motion bar 3 is bending type motion bar, the work
The bending end of lever 3 corresponds to 2 plane of plant rotating platform in parallel, and the corner of the workbench 1 is arranged in the controller 4
Place；The side of the table top of the corresponding workbench 1 of the motion bar 3 is provided with depth information sensor 5, and the depth information passes
Sensor 5 is flexibly connected with the motion bar 3, and scope of activities of the depth information sensor 5 on the motion bar 3 is from described
Bending end is provided with the first stepper motor 6, institute on the motion bar 3 to the connecting pin of the motion bar 3 and the workbench 1
It states the first stepper motor 6 to be used to that the depth information sensor 5 to be driven to move on the motion bar 3, the plant rotary flat
Second stepper motor 7 is provided on platform 2, the second stepper motor 7 is used to drive 2 rotary motion of plant rotating platform,
First stepper motor 6 and the second stepper motor 7 are electrically connected with the controller 4.Depth is set on motion bar 3
Information sensor 5, and depth information sensor 5 can move under the effect of the first stepper motor 6 along motion bar 3, Jin Erke
To realize the Image Acquisition to the plant cross section and canopy face that are placed on plant rotating platform 2.Plant rotating platform 2 again can
With 360 ° of rotations under the action of second stepper motor 7, and then 360 degree of plant can be collected by depth information sensor 5
Multiple plant cross sections and canopy face image, the plant phenotype Three-dimensional Gravity in later period can be realized by multiple images of acquisition
It builds, then without carrying out complicated processing again to every photo.
Embodiment two
Corresponding with a kind of plant phenotype three-dimensionalreconstruction information acquisition device provided by the above embodiment, the application also provides
A kind of plant phenotype three-dimensionalreconstruction information acquisition device control method embodiment.Referring to Fig. 7, plant table provided in this embodiment
Type three-dimensionalreconstruction information acquisition device control method, comprising:
S101, percentage regulation information sensor, so that depth information sensor is on the vertical direction of curved upper boom, and
The upper plane of nethermost sensor and lower beam is laterally mutually neat.
Before controlling the work of plant phenotype three-dimensionalreconstruction information acquisition device, tested measuring plants are put on turntable, according to
The size of plant adjusts the height of curved upper boom, the first close switch and second is sensed close to the position of switch, depth information
The quantity and spacing of device.Original state guarantees that depth information sensor is on the vertical direction of curved upper boom, and nethermost
The upper plane of sensor and lower beam is laterally mutually neat, so that depth information sensor can be fully retrieved the cross of tested measuring plants
Cross-sectional image.
S102, control the first stepper motor rotation, when first close to inductive switching to nethermost depth information sensor
When, the first stepper motor of control stops working.
Specifically, the first stepper motor of control rotation, rigid rope band moves depth breath sensor and rises, when the of vertical direction
One close to inductive switching to nethermost depth information sensor when, signal is fed back into controller, controller controls the first step
It stops working into motor, depth information sensor is started to work.
S103, the plant that depth information sensor starts to obtain the first object plant immediately ahead of depth information sensor are horizontal
First depth information in section.
When depth information sensor obtains the depth information of the plant cross section in front, the of the first cross section has been obtained
After one depth information, the first depth information of the second cross section is obtained, it is every to be switched to the second cross section turntable from the first cross section
Secondary 2 ° of rotation, until rotating a circle, first cross section is the current any plant cross section for carrying out Depth Information Acquistion, institute
Stating the second cross section is that corresponding first cross section rotates the plant cross section after 2 °.
S104 controls the rotation of the first stepper motor again, is passed close to inductive switching to a last depth information when second
When sensor, the first stepper motor of control stops working.
After the completion of the Depth Information Acquistion of plant cross section, the first stepper motor of control rotates again, and rigidity rope is along curved
Upper boom movement, while drive depth breath sensor rise, when horizontal direction second close to inductive switching to the end face depth believe
When ceasing sensor, the first stepper motor of control stops working.
S105, depth information sensor start to obtain second depth in the plant canopy face immediately below depth information sensor
Spend information.
Depth information sensor obtain immediately below plant canopy face depth information when, obtained the of the first canopy face
After one depth information, second depth information in the second canopy face is obtained, is switched to described in the second canopy face and turns from the first canopy face
Platform rotates 2 ° every time, until rotating a circle, first canopy face is the current any plant canopy for carrying out Depth Information Acquistion
Face, second canopy face are that corresponding first canopy face rotates the plant cross section after 2 °.
S106, corresponding first depth information in all cross sections that will acquire and all canopy faces corresponding second are deeply
Degree information is sent to the controller.
Depth of the depth information sensor in the depth information and canopy face for obtaining each cross section of tested measuring plants
When information, controller is sent to after acquisition and is stored.
After S107, the cross section of the first object plant and the Depth Information Acquistion in canopy face, the first step is controlled
It is rotated backward into motor, the depth information sensor is returned into original state position, in order to obtain the second target plant
Depth information.
Further, the depth information data of tested measuring plants are transferred to computer by controller, using Matlab software
Data fitting procedure is write, using the 3 dimensional drawing of depth information data reconstruction plant, writes the mathematics measurement in Matlab
Program, the plant data needed for being calculated according to 3 dimensional drawing, such as the Leaf inclination of plant, leaf area, plant height.
Embodiment three
The embodiment of the present application also provides a kind of controllers, and referring to Fig. 8, the controller 20 includes: processor 201, deposits
Reservoir 202 and communication interface 203.
In fig. 8, processor 201, memory 202 and communication interface 203 can be connected with each other by bus；Bus can be with
It is divided into address bus, data/address bus, control bus etc..Only to be indicated with a thick line in Fig. 8 convenient for indicating, it is not intended that
Only a bus or a type of bus.
Processor 201 is usually the allomeric function for controlling controller 20, such as the starting and controller starting of controller
Afterwards to the control of the first stepper motor, second stepper motor, to realize the work of depth information sensor and plant rotating platform,
And multiple plant cross sectional images and the hat layer images etc. for obtaining acquisition.In addition, processor 201 can be general procedure
Device, for example, central processing unit (English: central processing unit, abbreviation: CPU), network processing unit (English:
Network processor, abbreviation: NP) or CPU and NP combination.Processor is also possible to microprocessor (MCU).Processing
Device can also include hardware chip.Above-mentioned hardware chip can be specific integrated circuit (ASIC), programmable logic device (PLD)
Or combinations thereof.Above-mentioned PLD can be Complex Programmable Logic Devices (CPLD), field programmable gate array (FPGA) etc..
Memory 202 is configured as storage computer executable instructions to support the operation of 20 data of controller.Memory
201 can be realized by any kind of volatibility or non-volatile memory device or their combination, such as static random-access
Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM),
Programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or CD.
Communication interface 203 is used for controller 20 and transmits data, such as realizes with controller and for plant phenotype Three-dimensional Gravity
The communication of structure terminal, will acquire to multiple plant cross sectional images and hat layer images be sent to plant phenotype three-dimensionalreconstruction
Terminal.Communication interface 203 includes wired communication interface, can also include wireless communication interface.Wherein, wired communication interface includes
USB interface, Micro USB interface can also include Ethernet interface.Wireless communication interface can be WLAN interface, Cellular Networks
Network communication interface or combinations thereof etc..
In one exemplary embodiment, controller 20 provided by the embodiments of the present application further includes power supply module, power supply group
Part provides electric power for the various assemblies of controller 20.Power supply module may include power-supply management system, one or more power supplys, and
Other generate, manage, and distribute the associated component of electric power with for controller 20.
Communication component, communication component are configured to facilitate the logical of wired or wireless way between controller 20 and other equipment
Letter.Controller 20 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.Communication component
Broadcast singal or broadcast related information from external broadcasting management system are received via broadcast channel.Communication component further includes close
Field communication (NFC) module, to promote short range communication.For example, radio frequency identification (RFID) technology, infrared number can be based in NFC module
It is realized according to association (IrDA) technology, ultra wide band (UWB) technology, bluetooth (BT) technology and other technologies.
In one exemplary embodiment, controller 20 can by one or more application specific integrated circuit (ASIC),
Digital signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field-programmable gate array
(FPGA), controller, microcontroller, processor or other electronic components are arranged to realize.
The same or similar parts between the embodiments can be referred to each other in present specification.Especially for method
And for controller embodiment, since the plant phenotype three-dimensionalreconstruction information acquisition device being directed to is substantially similar to plant
The embodiment of phenotype three-dimensionalreconstruction information acquisition device, so being described relatively simple, related place is referring to plant phenotype three-dimensional
Explanation in reconfiguration information acquisition device embodiment.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
Certainly, above description is also not limited to the example above, technical characteristic of the application without description can by or
It is realized using the prior art, details are not described herein；The technical solution that above embodiments and attached drawing are merely to illustrate the application is not
It is the limitation to the application, Tathagata substitutes, and the application is described in detail only in conjunction with and referring to preferred embodiment, ability
Domain it is to be appreciated by one skilled in the art that those skilled in the art were made in the essential scope of the application
Variations, modifications, additions or substitutions also should belong to claims hereof protection scope without departure from the objective of the application.
Claims (10)
1. a kind of plant phenotype three-dimensionalreconstruction information acquisition device characterized by comprising workbench (1), plant rotating platform
(2), motion bar (3) and controller (4), in which:
The plant rotating platform (2) is fixed on the workbench (1), and the motion bar (3) is arranged in the work
The side of platform (1), and the motion bar (3) is bending type motion bar, the bending end of the motion bar (3) corresponds to the plant in parallel
The plane of object rotating platform (2), edge of controller (4) setting in the workbench (1)；
The side of the table top of the corresponding workbench (1) of the motion bar (3) is provided with depth information sensor (5), the depth
Degree information sensor (5) is flexibly connected with the motion bar (3), and the depth information sensor (5) is on the motion bar (3)
Scope of activities from the bending end to the connecting pin of the motion bar (3) and the workbench (1), on the motion bar (3)
It is provided with the first stepper motor (6), first stepper motor (6) is for driving the depth information sensor (5) described
Motion bar moves on (3), is provided with second stepper motor (7), the second stepper motor on the plant rotating platform (2)
(7) for driving plant rotating platform (2) rotary motion, first stepper motor (6) and the second stepper motor
(7) it is electrically connected with the controller (4).
2. plant phenotype three-dimensionalreconstruction information acquisition device according to claim 1, which is characterized in that the motion bar
It (3) include: lower beam (8), curved upper boom (9), fixed axis (10) and close switch, the lower beam (8) is that cross section is rectangle
Hollow stem, the cross section of the curved upper boom (9) is convex shape, and described lower beam (8) one end is fixed at the workbench
(1) on, the embedding other end for being set on the lower beam (8) in lower end of the curved upper boom (9), the fixed axis (10) with it is described
The side of lower beam (8) is flexibly connected, and the fixed axis (10) is used to adjust the height of the curved upper boom (9)；
The close switch includes first close to switch (11) and the second close switch (12), and described first sets close to switch (11)
Set close with the lower beam (8) junction in the curved upper boom (9), described second is arranged close to switch (12) described curved
Upper boom (9) is with the workbench (1) parallel-segment close to the position of curved upper boom (9) inflection point.
3. plant phenotype three-dimensionalreconstruction information acquisition device according to claim 2, which is characterized in that the curved upper boom
(9) inner wall is equipped with and can be rotated the first round bar (13) at upper extreme point, and the first stepper motor (6) setting is in correspondence first circle
On the outer wall of the curved upper boom (9) of bar (13), and the first tooth is fixed on the output shaft of first stepper motor (6)
Wheel, the first round bar (13) side are equipped with the first gear ring for engage with the gear, and first stepper motor (6) passes through the
One stepper motor (6) output shaft is flexibly connected with first round bar (13)；
The knee of the curved upper boom (9) and the inner wall at lower extreme point, which are respectively equipped with, can be rotated the second round bar (14) and third circle
Bar (15), one rigidity rope (16) of setting inside the curved upper boom (9), and the shape of the rigidity rope (16) and it is described it is curved on
The curved shape of bar (9) is identical, and the rigidity rope (16) is around described first round bar (13), second round bar (14) and described the
Three round bars (15).
4. plant phenotype three-dimensionalreconstruction information acquisition device according to claim 3, which is characterized in that the rigidity rope
(16) it is provided on drum part (17), the side of the drum part (17) is fixedly connected with the rigidity rope (16), described
The depth information sensor (5) is fixedly installed in the other side of drum part (17).
5. plant phenotype three-dimensionalreconstruction information acquisition device according to claim 4, which is characterized in that the drum part
(17) it is provided with multiple, and multiple drum parts (17) are uniformly arranged.
6. plant phenotype three-dimensionalreconstruction information acquisition device according to claim 5, which is characterized in that the plant rotation
Platform (2) includes the shaft (18) being fixedly mounted on workbench (1) and the turntable by second stepper motor (7) driving rotation
(19), the shaft (18) is flexibly connected with the turntable (19).
7. plant phenotype three-dimensionalreconstruction information acquisition device according to claim 6, which is characterized in that the shaft (18)
One vertical pivot (20) are set with the turntable (19) junction, the vertical pivot (20) is fixedly connected with the shaft (18), and described turn
Platform (19) is flexibly connected by the vertical pivot (20) with the shaft (18).
8. plant phenotype three-dimensionalreconstruction information acquisition device according to claim 6 or 7, which is characterized in that described second
The output shaft of stepper motor (7) is fixed with second gear, and the turntable (19) is equipped with second engaged with the second gear
Gear ring, the second stepper motor (7) are flexibly connected by second stepper motor (7) output shaft with the turntable (19).
9. plant phenotype three-dimensionalreconstruction information acquisition device according to claim 8, which is characterized in that the shaft (18)
Periphery in one end far from workbench (1) is equipped with the groove (21) circumferentially uniformly split, fixes on the turntable (19)
It is provided with the photoelectric sensor (22) towards the groove (21), the photoelectric sensor (22) is electrically connected with controller (4).
10. a kind of plant phenotype three-dimensionalreconstruction information acquisition device control method, which is characterized in that the described method includes:
Percentage regulation information sensor, so that depth information sensor is on the vertical direction of curved upper boom, and nethermost
The upper plane of sensor and lower beam is laterally mutually neat；
The rotation of the first stepper motor is controlled, when first close to inductive switching to nethermost depth information sensor, controls the
One stepper motor stops working；
Depth information sensor starts to obtain the depth of the plant cross section of the first object plant immediately ahead of depth information sensor
Spend information, in which: after the first depth information for having obtained the first cross section, the first depth information of the second cross section is obtained, from
First cross section is switched to the second cross section turntable and rotates 2 ° every time, until rotating a circle, first cross section is when advance
Any plant cross section of row Depth Information Acquistion, second cross section are that corresponding first cross section rotates the plant after 2 °
Object cross section；
The rotation of the first stepper motor, when second close to inductive switching to a last depth information sensor, control are controlled again
The first stepper motor is made to stop working；
Depth information sensor starts to obtain second depth information in the plant canopy face immediately below depth information sensor,
In: after the second depth information for having obtained the first canopy face, second depth information in the second canopy face is obtained, from the first canopy face
It is switched to turntable described in the second canopy face and rotates 2 ° every time, until rotating a circle, first canopy face is current progress depth
Any plant canopy face of acquisition of information, second canopy face are that the plant after corresponding first canopy face rotates 2 ° is transversal
Face；
The corresponding second depth information hair of corresponding first depth information in all cross sections that will acquire and all canopy faces
Give the controller；
After the cross section of the first object plant and the Depth Information Acquistion in canopy face, the first stepper motor of control is reversed
The depth information sensor is returned to original state position, in order to obtain the depth information of the second target plant by rotation.
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