CN109738441B - Plant phenotype three-dimensional reconstruction information acquisition device and control method thereof - Google Patents
Plant phenotype three-dimensional reconstruction information acquisition device and control method thereof Download PDFInfo
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Abstract
The application discloses a plant phenotype three-dimensional reconstruction information acquisition device and a control method thereof, wherein a plant rotating platform is fixedly arranged on a workbench, a bending type movable rod is arranged on one side of the workbench, and the bending end is parallel to the plane of the corresponding plant rotating platform; the movable rod is provided with the depth information sensor corresponding to one side of the table top of the workbench, and is movably connected with the movable rod, the movable range is from the bending end to the connecting end of the movable rod and the workbench, the movable rod is provided with a first stepping motor, and the plant rotating platform is provided with a second stepping motor. The depth information sensor can move along the movable rod under the action of the first stepping motor, so that image acquisition of a plant cross section and a crown layer placed on the plant rotating platform is realized. The plant rotating platform can rotate 360 degrees, so that images of cross sections and crown layers of a plurality of plants of 360 degrees can be acquired for three-dimensional reconstruction of later plant phenotypes, and each photo does not need to be subjected to complex processing.
Description
Technical Field
The application relates to the technical field of plant three-dimensional reconstruction, in particular to a plant phenotype three-dimensional reconstruction information acquisition device and a control method thereof.
Background
Currently, plant phenotyping serves as a bridge between functional genomics mitigation and plant breeding studies, and plant phenotype-related features are closely related to plant genome and plant field management. Acquisition of plant phenotypic characteristic parameters is always the first step of plant phenotypic histology and is also a key step. Traditionally, plant phenotype information is obtained by manually measuring by personnel, time and labor are wasted, and for different types of plants, the personnel measurement has contingency, and the reliability of measurement data is low.
With the maturation of technology, researchers at home and abroad aim at plant types and application conditions, and different phenotype platforms, such as a ground platform with a new sensor mode, an air sensor and an indoor image sensor platform, are researched. For plant phenotype three-dimensional reconstruction platforms, researchers mainly rely on image processing technology to build monocular or binocular vision systems with different types of cameras. In addition, high-precision systems based on image technology and sensors have also been developed.
However, in the prior art, a system or a platform for three-dimensional reconstruction of plant phenotypes generally performs tedious processing on pictures of multiple groups of plants shot by a camera, so that the workload of image processing is very large, and the requirement on the computing processing capacity of a platform controller is very high. In addition, a plurality of different interface images are required to be obtained from each image in the processing process, so that the image processing speed is relatively low to a certain extent, and the three-dimensional reconstruction speed of plants is affected.
Disclosure of Invention
In order to solve the technical problems, the application provides the following technical scheme:
in a first aspect, an embodiment of the present application provides a plant phenotype three-dimensional reconstruction information acquisition apparatus, including: workstation, plant rotation platform, movable rod and controller, wherein: the plant rotating platform is fixedly arranged on the workbench, the movable rod is arranged on one side of the workbench, the movable rod is a bent movable rod, the bent end of the movable rod corresponds to the plane of the plant rotating platform in parallel, and the controller is arranged at the corner of the workbench; the movable rod is provided with a depth information sensor corresponding to one side of a table top of the workbench, the depth information sensor is movably connected with the movable rod, the movable range of the depth information sensor on the movable rod is from the bending end to the connecting end of the movable rod and the workbench, the movable rod is provided with a first stepping motor, the first stepping motor is used for driving the depth information sensor to move on the movable rod, the plant rotating platform is provided with a second stepping motor, the second stepping motor is used for driving the plant rotating platform to rotate, and the first stepping motor and the second stepping motor are electrically connected with the controller.
By adopting the implementation mode, the depth information sensor is arranged on the movable rod, and the depth information sensor can move along the movable rod under the action of the first stepping motor, so that the image acquisition of the cross section and the crown layer surface of the plant placed on the plant rotating platform can be realized. The plant rotating platform can rotate 360 degrees under the action of the second stepping motor, images of cross sections and crown layers of multiple plants of 360 degrees can be acquired through the depth information sensor, three-dimensional reconstruction of later plant phenotypes can be achieved through the acquired images, and complex processing of each photo is not needed.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the movable rod includes: the device comprises a lower rod, a curved upper rod, a fastening shaft and a proximity switch, wherein the lower rod is a hollow rod with a rectangular cross section, the cross section of the curved upper rod is in a convex shape, one end of the lower rod is fixedly arranged on the workbench, the lower end of the curved upper rod is nested at the other end of the lower rod, the fastening shaft is movably connected with one side of the lower rod, and the fastening shaft is used for adjusting the height of the curved upper rod; the proximity switch comprises a first proximity switch and a second proximity switch, the first proximity switch is arranged at the position where the bent upper rod is close to the joint of the lower rod, and the second proximity switch is arranged at the position where the bent upper rod is close to the bending point of the bent upper rod on the parallel section of the workbench.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, an inner wall at an upper end point of the curved upper rod is provided with a rotatable first round rod, the first stepper motor is arranged on an outer wall of the curved upper rod corresponding to the first round rod, a first gear is fixedly arranged on an output shaft of the first stepper motor, a first gear ring meshed with the gear is arranged on one side of the first round rod, and the first stepper motor is movably connected with the first round rod through a first stepper motor output shaft; the inner walls of the bent part and the lower end point of the bent upper rod are respectively provided with a rotatable second round rod and a rotatable third round rod, a rigid rope is arranged inside the bent upper rod, the shape of the rigid rope is the same as that of the bent upper rod, and the rigid rope surrounds the first round rod, the second round rod and the third round rod.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, an i-shaped piece is disposed on the rigid rope, one side of the i-shaped piece is fixedly connected with the rigid rope, and the depth information sensor is fixedly disposed on the other side of the i-shaped piece.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, a plurality of the tools are provided, and a plurality of the tools are uniformly provided.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the plant rotating platform includes a rotating shaft fixedly installed on the workbench and a turntable driven to rotate by a second stepping motor, and the rotating shaft is movably connected with the turntable.
With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, a vertical shaft is disposed at a connection position between the rotating shaft and the rotating table, the vertical shaft is fixedly connected with the rotating shaft, and the rotating table is movably connected with the rotating shaft through the vertical shaft.
With reference to the fifth or sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, a second gear is fixedly installed on an output shaft of the second stepper motor, a second gear ring meshed with the second gear is arranged on the turntable, and the second stepper motor is movably connected with the turntable through an output shaft of the second stepper motor.
With reference to the seventh possible implementation manner of the first aspect, in an eighth possible implementation manner of the first aspect, the rotating shaft is provided with grooves uniformly distributed along a circumferential direction on an outer circumferential surface of one end far away from the workbench, and a photoelectric sensor facing the grooves is fixedly arranged on the turntable and is electrically connected with the controller.
In a second aspect, an embodiment of the present application provides a method for controlling a plant phenotype three-dimensional reconstruction information acquisition apparatus, where the method includes: adjusting the depth information sensor so that the depth information sensor is positioned in the vertical direction of the curved upper rod, and the lowest sensor is transversely aligned with the upper plane of the lower rod; controlling the first stepping motor to rotate, and controlling the first stepping motor to stop working when the first proximity switch senses the lowest depth information sensor; the depth information sensor starts to acquire first depth information of a plant cross section of a first target plant directly in front of the depth information sensor, wherein: after the first depth information of the first cross section is acquired, acquiring the first depth information of a second cross section, switching from the first cross section to the second cross section, wherein the first cross section is any plant cross section which is currently subjected to depth information acquisition, and the second cross section is a plant cross section which corresponds to the first cross section and rotates for 2 degrees; controlling the first stepping motor to rotate again, and controlling the first stepping motor to stop working when the second proximity switch senses the last depth information sensor; the depth information sensor starts to acquire second depth information of a plant canopy level directly below the depth information sensor, wherein: after the second depth information of the first crown plane is obtained, the second depth information of the second crown plane is obtained, the turntable is switched from the first crown plane to the second crown plane, and rotates for 2 degrees each time until the turntable rotates for one circle, wherein the first crown plane is any plant crown plane for obtaining the depth information at present, and the second crown plane is a plant cross section corresponding to the first crown plane after rotating for 2 degrees; transmitting the first depth information corresponding to all the acquired cross sections and the second depth information corresponding to all the crown layers to the controller; and after the depth information of the cross section and the canopy surface of the first target plant is obtained, controlling the first stepping motor to reversely rotate, and returning the depth information sensor to the initial state position so as to obtain the depth information of the second target plant.
Drawings
Fig. 1 is a schematic structural diagram of a plant phenotype three-dimensional reconstruction information acquisition device according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a depth information sensor on a movable rod according to an embodiment of the present application;
FIG. 3 is a schematic view of the upper end structure of a curved upper rod according to an embodiment of the present application;
FIG. 4 is a schematic view of a curved end structure of a curved upper rod according to an embodiment of the present application;
FIG. 5 is a schematic view of the lower end structure of a curved upper rod according to an embodiment of the present application;
FIG. 6 is a cross-sectional view of a plant rotating platform according to an embodiment of the present application;
fig. 7 is a schematic flow chart of a control method of a plant phenotype three-dimensional reconstruction information acquisition device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a controller according to an embodiment of the present application;
in fig. 1-8, the symbols are represented as:
the device comprises a 1-workbench, a 2-plant rotating platform, a 3-movable rod, a 4-controller, a 5-depth information sensor, a 6-first stepping motor, a 7-second stepping motor, an 8-lower rod, a 9-bent upper rod, a 10-fastening shaft, a 11-first proximity switch, a 12-second proximity switch, a 13-first round rod, a 14-second round rod, a 15-third round rod, a 16-rigid rope, a 17-I-shaped piece, a 18-rotating shaft, a 19-rotating table, a 20-vertical shaft, a 21-groove, a 22-photoelectric sensor and a 23-plant.
Detailed Description
The present application is described below with reference to the drawings and the detailed description.
Fig. 1 is a schematic structural diagram of a plant phenotype three-dimensional reconstruction information acquisition device according to an embodiment of the present application, referring to fig. 1, the plant phenotype three-dimensional reconstruction information acquisition device includes: a workbench 1, a plant rotating platform 2, a movable rod 3 and a controller 4.
The plant rotating platform 2 is fixedly arranged on the workbench 1, the movable rod 3 is arranged on one side of the workbench 1, the movable rod 3 is a bending type movable rod, the bending end of the movable rod 3 corresponds to the plane of the plant rotating platform 2 in parallel, and the controller 4 is arranged on the workbench. 1 at the corners of the frame.
Referring to fig. 2, a depth information sensor 5 is disposed on a side of the movable rod 3 corresponding to a table surface of the table 1, the depth information sensor 5 is movably connected with the movable rod 3, a moving range of the depth information sensor 5 on the movable rod 3 is from the bending end to a connecting end of the movable rod 3 and the table 1, a first stepping motor 6 is disposed on the movable rod 3, and the first stepping motor 6 is used for driving the depth information sensor 5 to move on the movable rod 3. The depth information sensor 5 in this embodiment can select a general ultrasonic sensor on the premise of meeting the accuracy requirement, and can select a single lidar sensor when the accuracy requirement is high.
With further reference to fig. 1, the plant rotating platform 2 is provided with a second stepper motor 7, the second stepper motor 7 is used for driving the plant rotating platform 2 to rotate, and the first stepper motor 6 and the second stepper motor 7 are electrically connected with the controller 4.
As shown in fig. 1, the movable lever 3 includes: the lower rod 8 is a hollow rod with a rectangular cross section, the cross section of the upper rod 9 is in a convex shape, one end of the lower rod 8 is fixedly arranged on the workbench 1, the lower end of the upper rod 9 is nested and arranged at the other end of the lower rod 8, the fastening shaft 10 is movably connected with one side of the lower rod 8, and the fastening shaft 10 is used for adjusting the height of the upper rod 9. By providing the lower rod 8 and the curved upper rod 9, the height thereof can be flexibly adjusted according to the plant size.
The proximity switch comprises a first proximity switch 11 and a second proximity switch 12, the first proximity switch 11 is arranged at the position where the bent upper rod 9 is close to the connection position with the lower rod 8, and the second proximity switch 12 is arranged at the position where the parallel section of the bent upper rod 9 and the workbench 1 is close to the bending point of the bent upper rod 9. The depth information sensor can be positioned through the first proximity switch and the second proximity switch, so that the depth information sensor can acquire the depth information of the cross section of the detected plant or the depth information of the canopy.
Referring to fig. 3, a rotatable first round bar 13 is disposed on an inner wall of an upper end point of the curved upper bar 9, the first stepper motor 6 is disposed on an outer wall of the curved upper bar 9 corresponding to the first round bar 13, a first gear is fixedly mounted on an output shaft of the first stepper motor 6, a first gear ring meshed with the gear is disposed on one side of the first round bar 13, and the first stepper motor 6 is movably connected with the first round bar 13 through an output shaft of the first stepper motor 6.
Referring to fig. 4 and 5, the inner walls of the curved upper rod 9 at the curved position and the lower end point are respectively provided with a rotatable second round rod 14 and a rotatable third round rod 15, a rigid rope 16 is arranged inside the curved upper rod 9, the shape of the rigid rope 16 is the same as that of the curved upper rod 9, and the rigid rope 16 surrounds the first round rod 13, the second round rod 14 and the third round rod 15.
The rigid rope 16 is provided with an I-shaped piece 17, one side of the I-shaped piece 17 is fixedly connected with the rigid rope 16, and the other side of the I-shaped piece 17 is fixedly provided with the depth information sensor 5
In an exemplary embodiment, a plurality of the I-shaped pieces 17 are provided, the I-shaped pieces 17 are uniformly arranged, and the intervals between the I-shaped pieces 17 can be freely adjusted.
Referring to fig. 6, the plant rotating platform 2 comprises a rotating shaft 18 fixedly installed on the workbench 1 and a rotary table 19 driven to rotate by the second stepping motor 7, and the rotating shaft 18 is movably connected with the rotary table 19. The output shaft of the second stepping motor 7 is fixedly provided with a second gear, the turntable 19 is provided with a second gear ring meshed with the second gear, and the second stepping motor 7 is movably connected with the turntable 19 through the output shaft of the second stepping motor 7. The second stepping motor drives the second gear to rotate, and the rotation of the rotary table is realized through the engagement of the second gear and the second gear ring, so that the accuracy of the rotation angle of the rotary table is conveniently controlled.
Further, a vertical shaft 20 is disposed at the connection between the rotating shaft 18 and the rotating table 19, the vertical shaft 20 is fixedly connected with the rotating shaft 18, and the rotating table 19 is movably connected with the rotating shaft 18 through the vertical shaft 20.
In an exemplary embodiment, the outer circumferential surface of the end of the rotating shaft 18 far away from the workbench 1 is provided with grooves 21 uniformly distributed along the circumferential direction, and the turntable 19 is fixedly provided with a photoelectric sensor 22 facing the grooves 21, and the photoelectric sensor 22 is electrically connected with the controller 4. The signal generated by the detection groove 21 of the photoelectric sensor 22 is fed back to the controller 4, so that the rotation angle of the second stepping motor 7 can be corrected, and the rotation precision of the turntable 19 is improved.
As can be seen from the above embodiments, the present embodiment provides a plant phenotype three-dimensional reconstruction information acquisition apparatus, including: workstation 1, plant rotation platform 2, movable rod 3 and controller 4, wherein: the plant rotating platform 2 is fixedly arranged on the workbench 1, the movable rod 3 is arranged on one side of the workbench 1, the movable rod 3 is a bent movable rod, the bent end of the movable rod 3 corresponds to the plane of the plant rotating platform 2 in parallel, and the controller 4 is arranged at the corner of the workbench 1; the movable rod 3 corresponds one side of the mesa of workstation 1 is provided with depth information sensor 5, depth information sensor 5 with movable rod 3 swing joint, depth information sensor 5 is in movable range on the movable rod 3 follow the bending end to movable rod 3 with the link of workstation 1, be provided with first stepper motor 6 on the movable rod 3, first stepper motor 6 is used for the drive depth information sensor 5 is in the motion on the movable rod 3, be provided with second stepper motor 7 on the plant rotary platform 2, second stepper motor 7 is used for the drive plant rotary platform 2 rotary motion, first stepper motor 6 with second stepper motor 7 all with controller 4 electricity is connected. The depth information sensor 5 is arranged on the movable rod 3, and the depth information sensor 5 can move along the movable rod 3 under the action of the first stepping motor 6, so that image acquisition of a plant cross section and a crown layer placed on the plant rotating platform 2 can be realized. The plant rotating platform 2 can rotate 360 degrees under the action of the second stepping motor 7, images of cross sections and crown layers of a plurality of plants of 360 degrees can be acquired through the depth information sensor 5, three-dimensional reconstruction of later plant phenotypes can be realized through the acquired images, and complex processing of each photo is not needed.
Example two
Corresponding to the plant phenotype three-dimensional reconstruction information acquisition device provided by the embodiment, the application also provides a control method embodiment of the plant phenotype three-dimensional reconstruction information acquisition device. Referring to fig. 7, the control method of the plant phenotype three-dimensional reconstruction information acquisition apparatus provided in the present embodiment includes:
s101, adjusting the depth information sensor so that the depth information sensor is positioned in the vertical direction of the curved upper rod, and the lowest sensor is transversely aligned with the upper plane of the lower rod.
Before the plant phenotype three-dimensional reconstruction information acquisition device is controlled to work, the detected plant is placed on the rotary table, and the height of the curved upper rod, the positions of the first proximity switch and the second proximity switch, and the number and the distance between the depth information sensors are adjusted according to the size of the plant. In an initial state, the depth information sensor is ensured to be in the vertical direction of the curved upper rod, and the lowest sensor is transversely aligned with the upper plane of the lower rod, so that the depth information sensor can completely acquire the cross-sectional image of the detected plant.
S102, controlling the first stepping motor to rotate, and controlling the first stepping motor to stop working when the first proximity switch senses the lowest depth information sensor.
Specifically, the first stepping motor is controlled to rotate, the rigid rope drives the depth information sensor to rise, when the first proximity switch in the vertical direction senses the lowest depth information sensor, signals are fed back to the controller, and the controller controls the first stepping motor to stop working, and the depth information sensor starts working.
S103, the depth information sensor starts to acquire first depth information of a plant cross section of the first target plant immediately in front of the depth information sensor.
When depth information of a plant cross section right in front is acquired by the depth information sensor, acquiring first depth information of a second cross section after acquiring first depth information of the first cross section, switching from the first cross section to the second cross section, and rotating the rotary table for 2 degrees each time until the rotary table rotates for one circle, wherein the first cross section is any plant cross section which is currently subjected to depth information acquisition, and the second cross section is a plant cross section which corresponds to the first cross section and rotates for 2 degrees.
And S104, controlling the first stepping motor to rotate again, and controlling the first stepping motor to stop working when the second proximity switch senses the last depth information sensor.
After the depth information of the plant cross section is obtained, the first stepping motor is controlled to rotate again, the rigid rope moves along the curved upper rod, meanwhile, the depth information sensor is driven to rise, and when the second proximity switch in the horizontal direction senses the rearmost depth information sensor, the first stepping motor is controlled to stop working.
S105, the depth information sensor starts to acquire second depth information of the plant canopy level directly below the depth information sensor.
When depth information of a plant crown plane right below is acquired by a depth information sensor, acquiring second depth information of a second crown plane after acquiring first depth information of a first crown plane, switching from the first crown plane to the second crown plane, wherein the turntable rotates for 2 degrees each time until the turntable rotates for one circle, the first crown plane is any plant crown plane which is currently subjected to depth information acquisition, and the second crown plane is a plant cross section which corresponds to the first crown plane and rotates for 2 degrees.
And S106, the first depth information corresponding to all the acquired cross sections and the second depth information corresponding to all the crown layers are sent to the controller.
The depth information sensor acquires the depth information of each cross section of the detected plant and the depth information of the crown surface, and sends the depth information to the controller for storage after the depth information is acquired.
And S107, after the depth information of the cross section and the canopy surface of the first target plant is acquired, controlling the first stepping motor to reversely rotate, and returning the depth information sensor to the initial state position so as to acquire the depth information of the second target plant.
Further, the controller transmits the depth information data of the detected plants to a computer, adopts Matlab software to write a data fitting program, reconstructs a three-dimensional map of the plants by using the depth information data, writes a mathematical measurement program in the Matlab, and calculates required plant data such as leaf inclination angles, leaf areas, plant heights and the like of the plants according to the three-dimensional map.
Example III
The embodiment of the present application further provides a controller, referring to fig. 8, the controller 20 includes: a processor 201, a memory 202 and a communication interface 203.
In fig. 8, a processor 201, a memory 202, and a communication interface 203 may be connected to each other through a bus; the buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 8, but not only one bus or one type of bus.
The processor 201 is generally configured to control the overall functions of the controller 20, such as the start of the controller and the control of the first and second stepper motors after the start of the controller, to implement the operation of the depth information sensor and the plant rotation platform, and to acquire a plurality of acquired plant cross-sectional images and canopy images, etc. Further, the processor 201 may be a general-purpose processor such as a central processing unit (English: central processing unit, abbreviation: CPU), a network processor (English: network processor, abbreviation: NP) or a combination of CPU and NP. The processor may also be a Microprocessor (MCU). The processor may also include a hardware chip. The hardware chip may be an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a Field Programmable Gate Array (FPGA), or the like.
The memory 202 is configured to store computer-executable instructions to support the operation of the controller 20 data. The memory 201 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The communication interface 203 is used for the controller 20 to transmit data, for example, to enable communication with the controller and the three-dimensional reconstruction terminal for plant phenotype, and to transmit the acquired cross-sectional images and canopy images of the plurality of plants to the three-dimensional reconstruction terminal for plant phenotype. The communication interface 203 includes a wired communication interface and may also include a wireless communication interface. The wired communication interface comprises a USB interface, a Micro USB interface and an Ethernet interface. The wireless communication interface may be a WLAN interface, a cellular network communication interface, a combination thereof, or the like.
In one illustrative embodiment, the controller 20 provided by embodiments of the present application further includes a power supply assembly that provides power to the various components of the controller 20. The power components may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to the controller 20.
A communication component configured to facilitate wired or wireless communication between the controller 20 and other devices. The controller 20 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. The communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. The communication component further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the controller 20 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, processors, or other electronic elements.
The same or similar parts are used in the description of the application with reference to each other. In particular, for the method and controller embodiments, since the plant phenotype three-dimensional reconstruction information acquisition apparatus referred to therein is substantially similar to the embodiment of the plant phenotype three-dimensional reconstruction information acquisition apparatus, the description is relatively simple, and the description will be made with reference to the description in the embodiment of the plant phenotype three-dimensional reconstruction information acquisition apparatus.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Of course, the above description is not limited to the above examples, and the technical features of the present application that are not described may be implemented by or by using the prior art, which is not described herein again; the above examples and drawings are only for illustrating the technical aspects of the present application and are not intended to limit the present application, but the present application has been described in detail with reference to the preferred embodiments only, and it should be understood by those skilled in the art that the changes, modifications, additions or substitutions made by those skilled in the art without departing from the spirit of the present application and the scope of the claims of the present application.
Claims (10)
1. A plant phenotype three-dimensional reconstruction information acquisition device, characterized by comprising: workstation (1), plant rotation platform (2), movable rod (3) and controller (4), wherein:
the plant rotating platform (2) is fixedly arranged on the workbench (1), the movable rod (3) is arranged on one side of the workbench (1), the movable rod (3) is a bent movable rod, the bent end of the movable rod (3) is parallel to the plane corresponding to the plant rotating platform (2), and the controller (4) is arranged at the corner of the workbench (1);
the movable rod (3) is corresponding one side of the table top of the workbench (1) is provided with a depth information sensor (5), the depth information sensor (5) is movably connected with the movable rod (3), the movable range of the depth information sensor (5) on the movable rod (3) is from the bending end to the connecting end of the movable rod (3) and the workbench (1), a first stepping motor (6) is arranged on the movable rod (3), the first stepping motor (6) is used for driving the depth information sensor (5) to move on the movable rod (3), a second stepping motor (7) is arranged on the plant rotating platform (2), the second stepping motor (7) is used for driving the plant rotating platform (2) to rotate, and the first stepping motor (6) and the second stepping motor (7) are electrically connected with the controller (4).
2. Plant phenotype three-dimensional reconstruction information acquisition device according to claim 1, characterized in that the mobile rod (3) comprises: the automatic bending device comprises a lower rod (8), a bent upper rod (9), a fastening shaft (10) and a proximity switch, wherein the lower rod (8) is a hollow rod with a rectangular cross section, the cross section of the bent upper rod (9) is in a convex shape, one end of the lower rod (8) is fixedly arranged on the workbench (1), the lower end of the bent upper rod (9) is nested at the other end of the lower rod (8), the fastening shaft (10) is movably connected with one side of the lower rod (8), and the fastening shaft (10) is used for adjusting the height of the bent upper rod (9);
the proximity switch comprises a first proximity switch (11) and a second proximity switch (12), wherein the first proximity switch (11) is arranged at the position, close to the junction of the curved upper rod (9) and the lower rod (8), of the curved upper rod (9) and the position, close to the bending point of the curved upper rod (9), of the parallel section of the workbench (1) is arranged at the second proximity switch (12).
3. The plant phenotype three-dimensional reconstruction information acquisition device according to claim 2, wherein a rotatable first round rod (13) is arranged on the inner wall at the upper end point of the curved upper rod (9), the first stepping motor (6) is arranged on the outer wall of the curved upper rod (9) corresponding to the first round rod (13), a first gear is fixedly arranged on an output shaft of the first stepping motor (6), a first gear ring meshed with the first gear is arranged on one side of the first round rod (13), and the first stepping motor (6) is movably connected with the first round rod (13) through an output shaft of the first stepping motor (6);
the inner walls of the bent part and the lower end point of the bent upper rod (9) are respectively provided with a rotatable second round rod (14) and a rotatable third round rod (15), a rigid rope (16) is arranged inside the bent upper rod (9), the shape of the rigid rope (16) is the same as that of the bent upper rod (9), and the rigid rope (16) surrounds the first round rod (13), the second round rod (14) and the third round rod (15).
4. A plant phenotype three-dimensional reconstruction information acquisition apparatus according to claim 3, wherein an i-shaped piece (17) is provided on the rigid rope (16), one side of the i-shaped piece (17) is fixedly connected with the rigid rope (16), and the other side of the i-shaped piece (17) is fixedly provided with the depth information sensor (5).
5. Plant phenotype three-dimensional reconstruction information acquisition device according to claim 4, characterized in that the number of the said I-shaped pieces (17) is plural and the said I-shaped pieces (17) are uniformly arranged.
6. Plant phenotype three-dimensional reconstruction information acquisition device according to claim 5, characterized in that the plant rotation platform (2) comprises a rotation shaft (18) fixedly mounted on the workbench (1) and a turntable (19) driven to rotate by a second stepping motor (7), the rotation shaft (18) being movably connected with the turntable (19).
7. The plant phenotype three-dimensional reconstruction information acquisition device according to claim 6, wherein a vertical shaft (20) is arranged at the joint of the rotating shaft (18) and the rotating table (19), the vertical shaft (20) is fixedly connected with the rotating shaft (18), and the rotating table (19) is movably connected with the rotating shaft (18) through the vertical shaft (20).
8. The plant phenotype three-dimensional reconstruction information acquisition device according to claim 6 or 7, wherein a second gear is fixedly arranged on an output shaft of the second stepping motor (7), a second gear ring meshed with the second gear is arranged on the rotary table (19), and the second stepping motor (7) is movably connected with the rotary table (19) through an output shaft of the second stepping motor (7).
9. The plant phenotype three-dimensional reconstruction information acquisition device according to claim 8, wherein the rotating shaft (18) is provided with grooves (21) uniformly distributed along the circumferential direction on the outer circular surface of one end far away from the workbench (1), the rotating table (19) is fixedly provided with a photoelectric sensor (22) facing the grooves (21), and the photoelectric sensor (22) is electrically connected with the controller (4).
10. A method for controlling a plant phenotype three-dimensional reconstruction information acquisition apparatus, characterized by using the plant phenotype three-dimensional reconstruction information acquisition apparatus according to any one of claims 1 to 9, the method comprising:
adjusting the depth information sensor so that the depth information sensor is positioned in the vertical direction of the curved upper rod, and the lowest sensor is transversely aligned with the upper plane of the lower rod;
controlling the first stepping motor to rotate, and controlling the first stepping motor to stop working when the first proximity switch senses the lowest depth information sensor;
the depth information sensor starts to acquire depth information of a plant cross section of a first target plant directly in front of the depth information sensor, wherein: after the first depth information of the first cross section is acquired, acquiring the first depth information of a second cross section, switching from the first cross section to the second cross section, wherein the first cross section is any plant cross section which is currently subjected to depth information acquisition, and the second cross section is a plant cross section which corresponds to the first cross section and rotates for 2 degrees;
controlling the first stepping motor to rotate again, and controlling the first stepping motor to stop working when the second proximity switch senses the last depth information sensor;
the depth information sensor starts to acquire second depth information of a plant canopy level directly below the depth information sensor, wherein: after the second depth information of the first crown plane is obtained, the second depth information of the second crown plane is obtained, the turntable is switched from the first crown plane to the second crown plane, and rotates for 2 degrees each time until the turntable rotates for one circle, wherein the first crown plane is any plant crown plane for obtaining the depth information at present, and the second crown plane is a plant cross section corresponding to the first crown plane after rotating for 2 degrees;
transmitting the first depth information corresponding to all the acquired cross sections and the second depth information corresponding to all the crown layers to a controller;
and after the depth information of the cross section and the canopy surface of the first target plant is obtained, controlling the first stepping motor to reversely rotate, and returning the depth information sensor to the initial state position so as to obtain the depth information of the second target plant.
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| CN112212801B (en) * | 2020-09-30 | 2022-05-06 | 内蒙古师范大学 | Sand stabilization shrub configuration data processing system |
| CN113538656A (en) * | 2021-06-24 | 2021-10-22 | 宁夏大学 | System and method for three-dimensional reconstruction of virtual experimental environment |
| CN113985438B (en) * | 2021-11-12 | 2022-08-12 | 河北农业大学 | Plant three-dimensional model reconstruction system and method |
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