CN111323077A - Outdoor high-throughput plant phenotype information acquisition platform and acquisition method - Google Patents
Outdoor high-throughput plant phenotype information acquisition platform and acquisition method Download PDFInfo
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Abstract
The outdoor high-flux plant phenotype information acquisition platform is convenient to move, the height is easy to adjust, the phenotype information acquisition of plants in different heights in different growing periods in fields (fields and forests) in different places can be met, the four portable adjustable supporting rods around the platform are provided with the suspension cable winding and unwinding devices for winding and unwinding the suspension cables, and the device is controlled to acquire the phenotype information of the plants by pulling the plant phenotype information acquisition devices through the suspension cables. Control instructions of the integrated control center are sent to the plant phenotype acquisition device in a wireless communication mode, the plant phenotype acquisition device acquires target plant phenotype data according to a selected mode (fixed-point hovering acquisition, block-by-block scanning acquisition and line-by-line scanning acquisition), and the acquired plant phenotype data are sent to the integrated control center for storage in the wireless communication mode, so that the real-time acquisition of group data of large-scale plants is realized, and high-flux phenotype parameter acquisition is realized.
Description
Technical Field
The invention relates to the technical field of plant phenotype information acquisition equipment, in particular to an outdoor high-throughput plant phenotype information acquisition system and an extraction method.
Background
Plant phenotype refers to physical, physiological, and biochemical traits, including growth, development, tolerance, resistance, physiology, structure, yield, etc., that are genetically and environmentally determined or affected and that reflect structural and functional characteristics of plant cells, tissues, organs, plants, and populations. The plant phenotype has the characteristics of complexity, environmental influence variability, whole-course dynamic change and the like, and the contained information amount and complexity degree are far beyond the prediction of people. The traditional phenotype information is carried out by a manual measurement mode, has the defects of small sample size, low efficiency, large error, poor adaptability, weak continuity, strong destructiveness and the like, and becomes an important factor for restricting plant biological research including heredity and physiology. A high-throughput, automatic and high-resolution plant phenotype information acquisition platform is crucial to accelerating plant improvement and breeding, improving yield and disease and pest resistance.
Aiming at complex plant phenotype characteristics, an automatic platform device and an information technology means are required to be integrated, plant phenotype information is obtained systematically and efficiently, and the phenotype data of plants are collected cooperatively through means such as environment sensing, nondestructive imaging, spectral analysis, machine vision and laser radar. The plant phenotype platform information acquisition equipment integrates a plurality of sensors, is used for analyzing genome information and quantitatively researching complex traits related to growth, yield and adaptive biotic or abiotic stress, is an important way for acquiring high-dimensional and rich phenotype data sets of plants, and meets the requirement for filling the gap between the genome information and plant phenotype plasticity.
The real environment of plant growth is an outdoor natural condition, plants planted outdoors comprise crops and forest trees, and the current outdoor high-flux plant phenotype information acquisition method comprises the steps of using an unmanned aerial vehicle and a track to carry a laser radar or a hyperspectral camera to acquire outdoor plant phenotypes. The unmanned aerial vehicle is simple and convenient to collect plant phenotypes, but the use of the unmanned aerial vehicle is greatly limited by the endurance time and the load weight of the unmanned aerial vehicle. Moreover, operation under the condition of many winds, strong wind can lead to many problems to take place, simultaneously, unmanned aerial vehicle is because fan rotational speed is high at the operation in-process, and the air turbulence below unmanned aerial vehicle can strongly influence the canopy structure, produces the destruction to the plant morphology. Although the outdoor rail-mounted collection platform operates stably and obtains information quickly, the occupied area is large, the flexibility is low, soil can be damaged by the installation of the rails, the normal growth of plants is influenced, the outdoor rail-mounted collection platform is easily influenced by weather conditions such as rainwater, and the maintenance cost is high.
Disclosure of Invention
The invention aims to solve the problems that outdoor plant phenotype information acquisition equipment in the prior art is complex in structure, lacks in plant phenotype information acquisition equipment at different outdoor places and possibly influences plant states in the acquisition process, and provides an outdoor high-throughput plant phenotype information acquisition platform.
It realizes acquireing outdoor high flux plant's phenotype information through using the span wire structure to carry on plant phenotype information acquisition device, be connected with plant phenotype acquisition device through the span wire structure span wire winding and unwinding devices (like step motor) on the adjustable support pole, adjustable support pole height is adjusted through modes such as servo electric putter's promotion, and through the ring flange with can dismantle radiant type leg joint, realize in the open-air (field piece, forest) quick installation and the dismantlement in different places, satisfy the plant phenotype collection demand under the different agriculture and forestry scenes. And establishing a virtual XYZ three-dimensional space coordinate outdoors, and determining the coordinate of the position of the acquisition platform through a GPS and WI-FI wireless communication module. The hyperspectral camera, the laser radar, the visible light camera and the thermal imager are carried on the collection platform, and the phenotype information of the plants can be quickly, accurately and stably collected. This patent uses the span wire structure to reduce area, and the adjustable dismantlement structure has made things convenient for the installation to use, has reduced outdoor high flux plant phenotype information acquisition platform to vegetation's influence, fuses a plurality of collection equipment and realizes the plant phenotype information that vegetation full-period is automatic, the high flux ground acquireed. The method adopts fixed-point hovering collection, block-by-block scanning collection and line-by-line scanning collection, and realizes fixed-point collection of single plant phenotype information and phenotype information collection of large batches of plants.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
an outdoor high-throughput plant phenotype information acquisition platform comprises,
the plant phenotype information acquisition device comprises an acquisition platform, a Wi-Fi wireless communication module, a microprocessor, a hyperspectral camera, a laser radar, a visible light camera and a thermal imager, wherein the hyperspectral camera, the laser radar, the visible light camera and the thermal imager are all electrically connected with the microprocessor, are all arranged below the acquisition platform, face the ground direction and are used for acquiring plant phenotype information; the microprocessor is electrically connected with the Wi-Fi wireless communication module;
the integrated control center comprises an ideographic semiconductor 32-bit series microcontroller chip, an interactive touch screen, a wireless router and a battery, wherein the wireless router and the battery can be communicated with a Wi-Fi wireless communication module;
at least three adjustable supporting rods are supported on the ground, and the upper part of each adjustable supporting rod is provided with a suspension cable retracting device; the suspension cable winding and unwinding devices are provided with second wireless communication modules which are communicated with the wireless router, the upper parts of the acquisition platforms are connected with the suspension cable winding and unwinding devices through suspension cables, and the suspension cable winding and unwinding devices act under the control of instructions sent by the integrated control center received by the second wireless communication modules so as to adjust the lengths of the suspension cables.
The outdoor high-flux plant phenotype information acquisition platform further comprises a solar cell panel, the solar cell panel is located at the top end of the adjustable supporting rod, a storage battery is arranged inside the adjustable supporting rod, and an electric energy output end of the solar cell panel is connected with the storage battery.
The outdoor high-flux plant phenotype information acquisition platform also comprises foldable radial supports with the same number as that of the adjustable support rods; the foldable radiation type support comprises a support plate, a fixed sleeve, an upright rod and at least three support legs, wherein each support leg is of a four-bar structure consisting of a first connecting bar, a second connecting bar and a third connecting bar, the upper end of the first connecting bar is hinged to the support plate, the first connecting bar is hinged to the middle of the third connecting bar through the second connecting bar, one end of the third connecting bar is hinged to the fixed sleeve, and one end of the third connecting bar is supported on the ground; the upper end and the lower end of the vertical rod are respectively connected with the supporting disk and the fixed sleeve; the lower end of each adjustable supporting rod is connected with the upper end of one supporting disk.
Above-mentioned outdoor high flux plant phenotype information acquisition platform, the rotatable but axial immovable setting of pole setting circumference is in fixed cover, and pole setting upper end and supporting disk are with screw-thread fit, and when rotating the pole setting, the supporting disk reciprocates along the pole setting axial.
According to the outdoor high-flux plant phenotype information acquisition platform, the foot disc in contact with the ground is hinged to the third connecting rod, and the foot nails fixed on the foot disc extend into soil.
The outdoor high-flux plant phenotype information acquisition platform is characterized in that a plurality of rollers are circumferentially arranged on the upper portion of the acquisition platform, the suspension cable winding and unwinding device is a stepping motor fixed on the adjustable supporting rod, one end of each suspension cable bypassing the rollers is wound on an output shaft of the stepping motor, and the other end of each suspension cable is fixed on the adjustable supporting rod or a casing of the stepping motor.
The outdoor high-flux plant phenotype information acquisition platform comprises an adjustable supporting rod, an electric push rod and a wireless router, wherein the adjustable supporting rod comprises two telescopic rods which can move axially relative to each other under the driving of the electric push rod, and a controller for controlling the electric push rod is connected with a third wireless communication module for communicating with the wireless router.
According to the outdoor high-flux plant phenotype information acquisition platform, the plant phenotype information acquisition device is further provided with a GPS positioning module, a wind speed sensing device and a microprocessor.
The invention also provides a plant phenotype information acquisition method which can reduce the influence on the growth of the plant and can quickly, accurately and stably acquire the phenotype information of the plant.
The plant phenotype information acquisition method uses an outdoor high-throughput plant phenotype information acquisition platform and comprises the following steps:
the method comprises the following steps that firstly, an adjusting support rod is supported on the ground, and when a suspension cable winding and unwinding device is fixed on the adjusting support rod, a suspension cable is respectively connected with the suspension cable winding and unwinding device and a plant phenotype information acquisition device;
step two, inputting instructions to an ideogram semiconductor 32-bit series microcontroller chip through an interactive touch screen on the integrated control center, sending the instructions to an electric push rod through a wireless router and a third wireless communication module after the instructions are processed by the ideogram semiconductor 32-bit series microcontroller chip, and adjusting the height of the adjustable support rod through the action of the electric push rod;
thirdly, positioning the position, namely the coordinate position of outdoor XYZ, through a GPS positioning module and a WI-FI wireless communication module; the microprocessor sends the position information to the integrated control center through the WI-FI wireless communication module, and the integrated control center sends an instruction to the suspension cable winding and unwinding device through the wireless router and the second wireless communication module according to the position coordinate of the target area after receiving the position information of the outdoor high-flux plant phenotype information acquisition platform;
step four, the suspension cable winding and unwinding device acts to adjust the winding and unwinding length of the suspension cable, so that the plant phenotype information acquisition device is controlled to reach the designated position;
step five, according to the collection mode, simultaneously collecting the phenotype information of the outdoor plant by using a hyperspectral camera, a laser radar, a visible light camera and a thermal imager on the plant phenotype information collection device;
and step six, the collected plant phenotype information data are sent to an integrated control center through a WI-FI wireless communication module, and the integrated control center analyzes and stores the received plant phenotype information.
In the fourth step of the plant phenotype information acquisition method, the specific process of controlling the retracting and releasing length of the suspension cable by the stepping motor serving as the suspension cable retracting and releasing device on the adjustable supporting rod comprises the following steps of,
the instruction is sent to the stepping motor through the integrated control center, the stepping motor controls the stretching length of the suspension cable according to the coordinate position which needs to be reached by the plant phenotype information acquisition device, and the speed of the stepping motor is controlled through a PID control algorithm so as to ensure the stability of operation.
In the fifth step, the collection mode is fixed-point hovering collection or block-by-block scanning collection or line-by-line scanning collection, and the specific process is,
fixed-point hovering acquisition: the system is suitable for phenotype information acquisition of a single plant, the plant phenotype information acquisition device reaches an appointed position according to a position control instruction of the integrated control center and hovers at the appointed position, and when the plant phenotype information acquisition device is stable, phenotype information acquisition is carried out on the plant in a target area; the method comprises the following steps that a visible light camera collects images for obtaining information of size, plant type, geometric structure and greenness, a hyperspectral camera collects images for obtaining information of plant moisture status and health index, a thermal imager collects images for obtaining temperature information of canopy or leaves, and a laser radar collects three-dimensional point cloud of plants so as to obtain canopy density, leaf area index and biomass information of the plants;
block-by-block scan acquisition, line-by-line scan acquisition: the plant phenotype information acquisition device moves at a constant speed in a given area according to a certain moving speed in a block-by-block scanning mode and a line-by-line scanning mode, the visible light camera continuously acquires plant phenotype images, and the plants are identified and the phenotype information is extracted through a scale invariant feature transformation algorithm.
The invention has the beneficial effects that:
compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
(1) according to the outdoor high-throughput plant phenotype information acquisition platform, the plant phenotype information acquisition device comprises a visible light camera, a hyperspectral camera, a thermal imager and a laser radar, sensor equipment used for acquiring plant phenotype information at present is integrated on one platform to acquire multisource data, and automatic phenotype information acquisition with high efficiency, high precision and low error is realized.
(2) The outdoor high-flux plant phenotype information acquisition platform provided by the invention uses a suspension cable structure, and is small in occupied space, low in cost and convenient to maintain. Through the control of the stepping motor, the suspension cable structure can enable the plant phenotype information acquisition device to quickly and stably reach the designated position. The adoption of the suspension cable structure enables the acquisition efficiency to be higher, and simultaneously avoids the situation of image blurring caused by camera shaking.
(3) According to the outdoor high-throughput plant phenotype information acquisition platform, the speed is controlled by the stepping motor through the PID control algorithm, the algorithm is simple, robustness is good, reliability is high, and the outdoor high-throughput plant phenotype information acquisition platform is enabled to run more stably.
(4) According to the adjustable supporting rod device, 4 solar panels are respectively arranged on 4 adjustable supporting rods, the orientation of each solar panel is adjusted along with the change of the angle of the sun, so that the maximum energy is absorbed to be supplied to the device, and a device for independently supplying power to a servo motor and a servo electric push rod on the adjustable supporting rods is omitted.
(5) The adjustable supporting rod and the foldable radiation type support device can be quickly installed and disassembled in the field (field, forest) at different places, and the plant phenotype acquisition requirements under different agriculture and forestry scenes are met.
(6) The outdoor high-flux plant phenotype information acquisition platform adopts the foldable radiation type support, so that the stability of the adjustable support rod is ensured, and the platform is convenient to build and disassemble.
(7) The outdoor high-throughput plant phenotype information acquisition platform provided by the invention designs fixed-point acquisition, block-by-block scanning acquisition and line-by-line scanning acquisition modes, meets the requirement of directional phenotype information acquisition of a single plant, and is also suitable for large-scale rapid phenotype data acquisition.
(8) According to the outdoor high-flux plant phenotype information acquisition platform, the suspension cable structure is combined with the plant phenotype information acquisition device, so that automatic, accurate and high-flux multi-source data acquisition of agriculture and forestry plants in each growth period can be realized, and the rapid and high-flux scientific research requirements are met.
Drawings
FIG. 1 is a schematic diagram of an outdoor high-throughput plant phenotype information acquisition platform;
FIG. 2 is a schematic view of an adjustable support bar or the like;
FIG. 3 is a schematic view of the connection between the stepping motor and the wire suspension cable;
FIG. 4 is a schematic diagram of an integrated control center structure;
FIG. 5 is a schematic view of a foldable radial support;
FIG. 6 is a schematic structural diagram of a plant phenotype information acquisition device;
fig. 7 is a partial schematic view of an adjustable support bar.
In the figure: 1. an integrated control center; 2. the supporting rod can be adjusted; 3. a plant phenotype information acquisition device; 4. a steel wire suspension cable; 5. a solar panel; 6. a third telescopic rod; 7. a support rod clamping sleeve; 8. a servo electric push rod; 9. a second telescopic rod; 10. a first telescopic rod; 11. a lithium battery; 12. a flange plate; 13. a collapsible, radiant support; 14. a stepping motor; 15. one end of the steel wire suspension cable; 16. 2.4G signal antennas; 17. a 5G signal antenna 18 and an interactive touch screen; 19. an ideogram semiconductor 32-bit series microcontroller chip; 20. a wireless router; 21. a lithium battery; 22. a support leg; 221. a first connecting rod; 222. a second connecting rod; 223. a third connecting rod; 224. fixing a sleeve; 225. upright rods, 226 supporting disks, 23 and threaded rods; 24. a foot plate; 25. foot nails; 26. a wind speed sensor; 27. a GPS positioning module; 28. a WI-FI wireless communication module; 29. a roller; 30. a laser radar; 31. a thermal imager; 32. a visible light camera; 33. a hyperspectral camera; 34 microprocessor.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the scope of the technical content disclosed by the invention without affecting the effect and the achievable purpose of the invention. In addition, the terms "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the relative positions may be changed or adjusted without substantial technical changes.
The embodiments provided in the embodiments of the present specification may be combined with each other as necessary, and when a plurality of embodiments are present in a single embodiment, the embodiments may be combined with each other as necessary. Unless otherwise indicated, the combined examples and embodiments are not repeated in this specification because they still have the unexpected effect and are within the scope of the present invention.
Current phenotyping methods for high throughput plants for outdoor plants include the use of drones and rail mounted lidar 30 or hyperspectral cameras to acquire plant phenotypes. The unmanned aerial vehicle is simple and convenient to collect plant phenotypes, but the use of the unmanned aerial vehicle is greatly limited by the endurance time and the load weight of the unmanned aerial vehicle. Moreover, operation under the condition of many winds, strong wind can lead to many problems to take place, simultaneously, unmanned aerial vehicle is because fan rotational speed is high at the operation in-process, and the air turbulence below unmanned aerial vehicle can strongly influence the canopy structure, produces the destruction to the plant morphology. Although the field track acquisition platform is stable in operation and fast in information acquisition, the field track acquisition platform is large in occupied area and low in flexibility, soil is damaged due to installation of the track, normal growth of plants is influenced, the field track acquisition platform is easily influenced by weather conditions such as rainwater, maintenance cost is high, and the field track acquisition platform is not suitable for forestry phenotype information acquisition of tall plants.
In order to overcome the above problems, referring to fig. 1, the outdoor high-throughput plant phenotype information collection platform of the present embodiment includes an integrated control center 1, an adjustable support rod 2, a plant phenotype information collection device 3, a steel wire suspension cable 4, and a solar cell panel 5.
The plant phenotype information acquisition device 3 comprises an acquisition platform, a wind speed sensor 26, a GPS positioning module 27, a WI-FI wireless communication module 28, four steel wire rollers 29, a laser radar 30, a thermal imager 31, a visible light camera 32, a hyperspectral camera 33 and a microprocessor 4, wherein the plant phenotype information acquisition equipment comprising the laser radar 30, the thermal imager 31, the visible light camera 32 and the hyperspectral camera 33 are all arranged below the acquisition platform and face the ground direction for acquiring plant phenotype information. The wind speed sensor 26 is arranged at the center of the upper end of the acquisition platform, and a GPS positioning module 27 and a WI-FI wireless communication module 28 are arranged on the side part of the upper end of the acquisition platform. Four steel wire rollers 29 are uniformly distributed in the middle of the collecting platform in the circumferential direction.
The foldable radial support 13 comprises four support legs 22 and the like, each support leg 22 forms four-bar linkage structures, the height of a support plate 226 from the ground can be adjusted through a rotating vertical rod 225, a foot plate 24 is in contact with the ground, and foot nails 25 are buried in the soil to ensure the stability of the foldable radial support 13.
The integrated control center 1 comprises an ideology semiconductor 32-bit series microcontroller chip 19, an interactive touch screen 18, a wireless router 20 and a lithium battery 21, wherein the interactive touch screen 18 and the wireless router 20 are electrically connected with the ideology semiconductor 32-bit series microcontroller chip 19, and the lithium battery 21 supplies power to the ideology semiconductor 32-bit series microcontroller chip 19, the interactive touch screen 18, the wireless router 20 and the like. The integrated control center 1 controls an outdoor high-flux plant phenotype information acquisition platform and stores acquired phenotype data.
Adjustable bracing piece, No. three telescopic links 6, No. two telescopic links 9, telescopic link 10, two servo electric putter 8. The third telescopic rod 6 is positioned at the upper part of the second telescopic rod 9, and the third telescopic rod and the second telescopic rod can move relatively along the axial direction; the second telescopic rod 9 is positioned at the upper part of the first telescopic rod 10, and the first telescopic rod and the second telescopic rod can move relatively along the axial direction. The servo electric push rod 8 is controlled by an ideological semiconductor 32-bit series microcontroller chip 19 to push the second telescopic rod 9 and the third telescopic rod 6 to adjust the height of the adjustable supporting rod 2. Specifically speaking, promote No. two telescopic link 9's 8 tops of servo electric putter and No. two telescopic link 9 internal connections, the afterbody is fixed in telescopic link 10, promotes No. three telescopic link 6's 8 tops of servo electric putter and No. three telescopic link 6 internal connections, and the afterbody is fixed in No. two flexible 9 poles. The controller of the electric push rod is connected with a third wireless communication module which is communicated with the wireless router. The speed of the servo electric push rod is adjustable, and the pushing height is displayed on an interactive touch screen on the integrated control center.
A stepping motor 14 is arranged on the support rod clamping sleeve 7, a belt wheel is fixed on an output shaft of the stepping motor 14, one end 15 of a steel wire suspension cable which bypasses the roller 29 is fixed on the support rod clamping sleeve 7, and the other end is wound on the belt wheel. The controller of the stepper motor 14 is connected to a second wireless communication module that communicates with the wireless router. The integrated control center 1 sends instructions in an intangible mode to control the action of the stepping motor 14, and the steel wire suspension cable 4 is wound and unwound through the belt wheel to control the stretching length of the steel wire suspension cable, so that the plant phenotype information acquisition device 3 is driven to move.
And a supporting rod clamping sleeve 7 is fixed on the periphery of the third telescopic rod 6. Solar cell panel 5 sets up the top at No. three telescopic link 6. A lithium battery 11 is arranged at the bottom in the first telescopic rod and used for storing energy absorbed by the solar cell panel 5 and supplying power to the two servo electric push rods 8 and the four stepping motors 14. The lower end of the first telescopic rod 10 is fixed with a flange plate 12, and each flange plate 12 is detachably connected with a supporting plate 226 in one foldable radial support 13 through a spiral mode.
The foldable radiation type support 13 comprises a support plate 226, a fixed sleeve 224, an upright rod 225, a threaded rod 23, four support legs and the like, each support leg is of a four-bar structure consisting of a first connecting bar 221, a second connecting bar 222, a third connecting bar 223 and the like, the upper end of the first connecting bar 221 is hinged on the periphery of the support plate 226, the lower end of the first connecting bar 221 is hinged with the second connecting bar 222, the other end of the second connecting bar 222 is hinged with the middle part of the third connecting bar 223, one end of the third connecting bar 223 is hinged on the periphery of the fixed sleeve 224, and the other end of the third connecting bar is hinged with a foot plate 24; the foot pegs 25 fixed to the lower part of the foot plate extend into the soil to ensure the stability of the foldable radial support. The pole setting 225 rotatable but axial immovably sets up in fixed cover 224 in the circumference, and pole setting 225 upper end and supporting disk 226 are with screw-thread fit (can be pole setting 225 upper end fixedly connected with threaded rod 23, threaded rod 23 and the interior screw-thread fit on the supporting disk 226, also can be supporting disk 226 lower extreme fixedly connected with threaded rod 23, threaded rod 23 and the interior screw-thread fit that pole setting 225 upper end set up), and when rotating the pole setting, the supporting disk reciprocates along the pole setting axial. The foldable radiation type support is convenient to fold and can be quickly adjusted in height.
The method for acquiring the phenotype information of the plants by the outdoor high-throughput plant phenotype information acquisition platform comprises the following steps:
step one, fixing the foldable radial support 13 on the ground, enabling the foot disc 24 to be in contact with the ground, burying foot nails 25 of the foldable radial support 13 into soil, and connecting the adjustable support rod 2 with the foldable radial support 13 through the flange disc 12.
And step two, inputting an instruction to an ideogram semiconductor 32-bit series microcontroller chip 19 through an interactive touch screen 18 on the integrated control center 1, sending the processed instruction to a controller of the servo electric push rod 8 through a wireless router and a third wireless communication module by the ideogram semiconductor 32-bit series microcontroller chip 19, and adjusting the height of the adjustable supporting rod 2 by pushing the two servo electric push rods 8.
And thirdly, positioning the position, namely the coordinate position of the outdoor XYZ, through the GPS positioning module 27 and the WI-FI wireless communication module 28. The microprocessor 34 sends the position information to the integrated control center 1 through the WI-FI wireless communication module 28, and after receiving the position information of the outdoor high-throughput plant phenotype information acquisition platform, the integrated control center 1 sends an instruction to the stepping motor 14 through the wireless router and the third wireless communication module according to the position coordinate of the target area.
And step four, controlling the stretching length of the suspension cable through the action of the stepping motor 14, thereby controlling the plant phenotype information acquisition device 3 to reach a specified position.
And step five, selecting an acquisition mode, including fixed-point hovering acquisition, block-by-block scanning acquisition and line-by-line scanning acquisition. Then, the hyperspectral camera 33, the laser radar 30, the visible light camera 32 and the thermal imager 31 on the plant phenotype information acquisition device 3 are used for simultaneously acquiring the phenotype information of the outdoor plant.
And step six, the plant phenotype information acquisition device 3 (comprising a hyperspectral camera 33, a laser radar 30, a visible light camera 32 and a thermal imager 31) on the outdoor high-flux acquisition platform transmits the acquired plant phenotype information data to the integrated control center 1 through the WI-FI wireless communication module 28, and the integrated control center 1 analyzes and stores the received plant phenotype information and displays the plant phenotype information on the interactive touch screen 18 on the integrated control center 1.
Further, in the first step, the specific process of adjusting the height of the foldable radial support 13 is,
the vertical rod 225 of the foldable radial support 13 is rotated in a clockwise or counterclockwise direction, and the height of the support plate 226 is raised or lowered along with the rotation of the vertical rod 225.
Furthermore, in the second step, the specific process of controlling the height of the adjustable supporting rod 2 by the servo electric push rod 8 on the adjustable supporting rod 2 is that,
a servo electric push rod 8 is controlled by an Italian semiconductor 32-bit series microcontroller chip 19 to push a second telescopic rod 9 and a third telescopic rod 6, the top end of the servo electric push rod 8 for pushing the second telescopic rod 9 is connected with the inside of the second telescopic rod 9, the tail part of the servo electric push rod is fixed in a first telescopic rod 10, the top end of the servo electric push rod 8 for pushing the third telescopic rod 6 is connected with the inside of the third telescopic rod 6, and the tail part of the servo electric push rod is fixed in the second telescopic rod 9. The speed of the servo electric push rod is adjustable, and the pushing height is displayed on an interactive touch screen on the integrated control center.
Furthermore, in the fourth step, the step of controlling the stretching length of the suspension cable by the stepping motor 14 on the adjustable supporting rod 2 comprises the specific steps of,
the integrated control center 1 sends instructions to four stepping motors 14, one end of each of two ends of each steel wire suspension cable 4 is fixed on a supporting rod clamping sleeve 7, the other end of each steel wire suspension cable is wound on a belt wheel of each stepping motor 14, the stepping motors 14 control the stretching length of the steel wire suspension cables 4 according to the coordinate positions to be reached by the plant phenotype information acquisition devices 3, and the speed of each stepping motor 14 is controlled through a PID control algorithm to ensure the running stability.
Furthermore, in the fifth step, the two acquisition modes specifically comprise the following steps,
fixed-point hovering acquisition: the fixed-point acquisition mode is suitable for acquiring the phenotype information of a single plant, the plant phenotype information acquisition device 3 reaches a specified position according to a position control instruction of the integrated control center 1 and hovers at the specified position, and when the plant phenotype information acquisition device 3 is stable, the phenotype information acquisition is carried out on the plant in a target area. The visible light camera 32 collects images for obtaining information such as size, plant type, geometric structure, greenness and the like, the hyperspectral camera 33 collects images for obtaining plant moisture condition and health index information, the thermal imager 31 collects images for obtaining canopy or leaf temperature information, and the laser radar 30 collects three-dimensional point cloud of plants so as to obtain information such as canopy, leaf area index, biomass and the like.
Block-by-block scan acquisition, line-by-line scan acquisition: the block-by-block scanning acquisition and line-by-line scanning acquisition mode is suitable for the rapid phenotype data acquisition of a large-range plant, the plant phenotype information acquisition device 3 moves at a constant speed in a block-by-block scanning mode and a line-by-line scanning mode in a given area according to a certain moving speed (the plant phenotype information acquisition device 3 moves at a constant speed above a certain area, after the line-by-line scanning of the block area is finished, the other block area is scanned line-by-line until the scanning of the whole area is finished), the visible light camera 32 continuously acquires plant phenotype images, the plant is identified through a Scale-invariant feature transform (SIFT) algorithm, and the phenotype information is extracted.
The visible light camera 32, the hyperspectral camera 33, the laser radar 30 and the thermal imager 31 automatically acquire plant phenotype information according to set sampling time.
The outdoor high-flux plant phenotype information acquisition platform is convenient to move, the height is easy to adjust, the phenotype information acquisition of plants in different heights in different growing periods in fields (fields and forests) in different places can be met, the four portable adjustable supporting rods around the platform are provided with the suspension cable winding and unwinding devices for winding and unwinding the suspension cables, and the device is controlled to acquire the phenotype information of the plants by pulling the plant phenotype information acquisition devices through the suspension cables. Control instructions of the integrated control center are sent to the plant phenotype acquisition device in a wireless communication mode, the plant phenotype acquisition device acquires target plant phenotype data according to a selected mode (fixed-point hovering acquisition, block-by-block scanning acquisition and line-by-line scanning acquisition), and the acquired plant phenotype data are sent to the integrated control center for storage in the wireless communication mode, so that the real-time acquisition of group data of large-scale plants is realized, and high-flux phenotype parameter acquisition is realized. The outdoor high-flux plant phenotype information acquisition platform adopts a suspension cable structure to replace the traditional plant phenotype information acquisition platform which is difficult to move, large in occupied area and capable of damaging the growth of plants, and is more convenient to mount and dismount. The outdoor high-flux plant phenotype information acquisition platform adopts the foldable radiation type support to support the adjustable supporting rods, so that the occupied area is increased, the gravity center of the adjustable supporting rods is reduced, and the whole platform is more stable.
Claims (10)
1. Outdoor high flux plant phenotype information acquisition platform, its characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the plant phenotype information acquisition device comprises an acquisition platform, a Wi-Fi wireless communication module, a microprocessor, a hyperspectral camera, a laser radar, a visible light camera and a thermal imager, wherein the hyperspectral camera, the laser radar, the visible light camera and the thermal imager are all electrically connected with the microprocessor, are all arranged below the acquisition platform, face the ground direction and are used for acquiring plant phenotype information; the microprocessor is electrically connected with the Wi-Fi wireless communication module;
the integrated control center comprises an ideographic semiconductor 32-bit series microcontroller chip, an interactive touch screen, a wireless router and a battery, wherein the wireless router and the battery can be communicated with a Wi-Fi wireless communication module;
at least three adjustable supporting rods are supported on the ground, and the upper part of each adjustable supporting rod is provided with a suspension cable retracting device; the suspension cable winding and unwinding devices are provided with second wireless communication modules which are communicated with the wireless router, the upper parts of the acquisition platforms are connected with the suspension cable winding and unwinding devices through suspension cables, and the suspension cable winding and unwinding devices act under the control of instructions sent by the integrated control center received by the second wireless communication modules so as to adjust the lengths of the suspension cables.
2. The outdoor high-throughput plant phenotype information acquisition platform of claim 1, wherein: the solar cell panel is located on the top end of the adjustable supporting rod, a storage battery is arranged inside the adjustable supporting rod, and an electric energy output end of the solar cell panel is connected with the storage battery.
3. The outdoor high-throughput plant phenotype information acquisition platform of claim 1, wherein: the foldable radial type support also comprises foldable radial type supports with the same number as that of the adjustable support rods; the foldable radiation type support comprises a support plate, a fixed sleeve, an upright rod and at least three support legs, wherein each support leg is of a four-bar structure consisting of a first connecting bar, a second connecting bar and a third connecting bar, the upper end of the first connecting bar is hinged to the support plate, the first connecting bar is hinged to the middle of the third connecting bar through the second connecting bar, one end of the third connecting bar is hinged to the fixed sleeve, and one end of the third connecting bar is supported on the ground; the upper end and the lower end of the vertical rod are respectively connected with the supporting disk and the fixed sleeve; the lower end of each adjustable supporting rod is connected with the upper end of one supporting disk.
4. The outdoor high throughput plant phenotype information collection platform of claim 3, wherein: the vertical rod is arranged in the fixed sleeve in a circumferential rotatable and axially immovable mode, the upper end of the vertical rod is in threaded fit with the supporting disc, and when the vertical rod is rotated, the supporting disc moves up and down along the axial direction of the vertical rod.
5. The outdoor high-throughput plant phenotype information acquisition platform of claim 1, wherein: a plurality of rollers are circumferentially arranged on the upper portion of the collecting platform, the suspension cable winding and unwinding device is a stepping motor fixed on the adjustable supporting rod, one end of each suspension cable bypassing the rollers is wound on an output shaft of the stepping motor, and the other end of each suspension cable is fixed on the adjustable supporting rod or a casing of the stepping motor.
6. The outdoor high-throughput plant phenotype information acquisition platform of claim 1, wherein: the adjustable supporting rod comprises two telescopic rods which can move axially relatively under the driving of the electric push rod, and a controller for controlling the electric push rod is connected with a third wireless communication module which is communicated with the wireless router.
7. The outdoor high-throughput plant phenotype information collection platform of claim 6, wherein: the plant phenotype information acquisition device is also provided with a GPS positioning module, a wind speed sensing device and a microprocessor.
8. The plant phenotype information acquisition method is characterized by comprising the following steps: use of the outdoor high-throughput plant phenotype information acquisition platform of claim 6, comprising the steps of:
the method comprises the following steps that firstly, an adjusting support rod is supported on the ground, and when a suspension cable winding and unwinding device is fixed on the adjusting support rod, a suspension cable is respectively connected with the suspension cable winding and unwinding device and a plant phenotype information acquisition device;
step two, inputting instructions to an ideogram semiconductor 32-bit series microcontroller chip through an interactive touch screen on the integrated control center, sending the instructions to an electric push rod through a wireless router and a third wireless communication module after the instructions are processed by the ideogram semiconductor 32-bit series microcontroller chip, and adjusting the height of the adjustable support rod through the action of the electric push rod;
thirdly, positioning the position, namely the coordinate position of outdoor XYZ, through a GPS positioning module and a WI-FI wireless communication module; the microprocessor sends the position information to the integrated control center through the WI-FI wireless communication module, and the integrated control center sends an instruction to the suspension cable winding and unwinding device through the wireless router and the second wireless communication module according to the position coordinate of the target area after receiving the position information of the outdoor high-flux plant phenotype information acquisition platform;
step four, the suspension cable winding and unwinding device acts to adjust the winding and unwinding length of the suspension cable, so that the plant phenotype information acquisition device is controlled to reach the designated position;
step five, according to the collection mode, simultaneously collecting the phenotype information of the outdoor plant by using a hyperspectral camera, a laser radar, a visible light camera and a thermal imager on the plant phenotype information collection device;
and step six, the collected plant phenotype information data are sent to an integrated control center through a WI-FI wireless communication module, and the integrated control center analyzes and stores the received plant phenotype information.
9. The method for collecting phenotypic information of plant as set forth in claim 8, further comprising: in the fourth step, the specific process of controlling the retracting length of the suspension cable by the stepping motor which is used as the suspension cable retracting device on the adjustable supporting rod comprises the following steps,
the instruction is sent to the stepping motor through the integrated control center, the stepping motor controls the stretching length of the suspension cable according to the coordinate position which needs to be reached by the plant phenotype information acquisition device, and the speed of the stepping motor is controlled through a PID control algorithm so as to ensure the stability of operation.
10. The method for collecting phenotypic information of plant as set forth in claim 8, further comprising: in the fifth step, the acquisition mode is fixed-point hovering acquisition or block-by-block scanning acquisition and line-by-line scanning acquisition, and the specific process is,
fixed-point hovering acquisition: the system is suitable for phenotype information acquisition of a single plant, the plant phenotype information acquisition device reaches an appointed position according to a position control instruction of the integrated control center and hovers at the appointed position, and when the plant phenotype information acquisition device is stable, phenotype information acquisition is carried out on the plant in a target area; the method comprises the following steps that a visible light camera collects images for obtaining information of size, plant type, geometric structure and greenness, a hyperspectral camera collects images for obtaining information of plant moisture status and health index, a thermal imager collects images for obtaining temperature information of canopy or leaves, and a laser radar collects three-dimensional point cloud of plants so as to obtain canopy density, leaf area index and biomass information of the plants;
block-by-block scan acquisition, line-by-line scan acquisition: the plant phenotype information acquisition device moves at a constant speed in a given area according to a certain moving speed in a block-by-block scanning mode and a line-by-line scanning mode, the visible light camera continuously acquires plant phenotype images, and the plants are identified and the phenotype information is extracted through a scale invariant feature transformation algorithm.
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