CN112804452B - Intelligent phenotype collection trolley and collection method based on high-stalk crops - Google Patents
Intelligent phenotype collection trolley and collection method based on high-stalk crops Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F16M11/048—Allowing translations adapted to forward-backward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
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- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
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- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
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Abstract
The invention relates to the technical field of plant data acquisition, and discloses an intelligent phenotype acquisition trolley based on high-stem crops. The intelligent watch type collecting trolley disclosed by the invention is multifunctional and flexible to walk and can be manually controlled remotely. The invention also discloses an intelligent phenotype acquisition method based on the high-stalk crops, wherein a mobile terminal sends a trolley movement control signal, a telescopic rod control signal and a steering engine control signal to a right host control module to adjust the camera shooting position and the camera shooting angle of a three-dimensional depth camera, the acquired data are acquired through the three-dimensional depth camera, a data conversion module performs data processing to form a depth map, and the depth map acquires the phenotype information of the crops and extracts the biomass parameters of the crops.
Description
Technical Field
The invention relates to the technical field of plant data acquisition, in particular to an intelligent phenotype acquisition trolley and an intelligent phenotype acquisition method based on high-stalk crops.
Background
By utilizing advanced sensors and modern information technology, the morphological structure of crops can be vividly reproduced in a three-dimensional visual mode on a computer, and the dynamic process of plant growth and the interactive relationship of plant environment can be analyzed, simulated and predicted. A common method is a multi-view image method: the method comprises the steps of acquiring a multi-angle image sequence through a camera, and acquiring a three-dimensional point cloud picture of a crop by combining data processing software, so as to acquire phenotypic parameters of the crop.
The traditional mode of acquiring plant phenotype parameters by manual measurement is relatively accurate, but wastes time and labor, is not suitable for large-scale popularization, and has the problems of poor timeliness, strong subjectivity and high cost, so the traditional mode does not meet the requirement of propelling intelligent agriculture.
At present, the most common crop phenotype parameter platforms at home and abroad can be divided into an indoor platform and an outdoor platform. The indoor environment is mainly a self-propelled plant phenotype platform of a greenhouse. The self-propelled plant phenotype platform is also called as a robot phenotype platform, can provide driving power and walking power, and can finish phenotype information acquisition operation without other power. The outdoor is mainly a vehicle-mounted plant phenotype platform. The vehicle-mounted plant phenotype platform is mainly a platform which is driven by a tractor and the like, is provided with sensors according to plant species and growth conditions, and carries other accessories (such as power equipment, a data memory and the like). Such a platform is intended to reduce costs, reduce manpower and improve work efficiency. Both improve the degree of automation and intelligence, but both have some disadvantages: 1. a phenotyping platform with a highly automated self-propelled type, although capable of traveling according to a predetermined course, is also necessary in combination with a manually controlled remote control system. For monitoring and data acquisition of crops with an ultra-large area, more time cost can be spent on a self-walking platform. 2. The vehicle-mounted platform carrying various sensors has certain limitation when being applied to the domestic general agricultural environment. Although manpower is saved to a certain extent, automation can be improved, and the vehicle-mounted platform is generally overlarge in size and deficient in flexibility; moreover, the mounting of various sensors is a burden on the vehicle body, and a multifunctional integrated sensor is required.
Disclosure of Invention
The purpose of the invention is: the intelligent watch type acquisition trolley capable of walking flexibly and being controlled by people is provided, and the intelligent watch type acquisition method capable of acquiring larger data volume, high data acquisition accuracy and high data acquisition efficiency is provided.
In order to achieve the purpose, the invention provides an intelligent phenotype acquisition trolley based on high-stem crops, which comprises a left frame and a right frame, wherein the left frame and the right frame are connected through a telescopic cross rod to form an integral frame;
the right frame comprises a right frame, the right frame is provided with a right wheel and a right control box, the right control box comprises a right power module, a right Bluetooth module, a storage module, a right motor driving transmission module and a right host control module, the right Bluetooth module, the storage module, the right motor driving transmission module and the right host control module are respectively connected with the power module, the right motor driving transmission module is in transmission connection with the right wheel, the right Bluetooth module is connected with the right host control module through a serial port, and the storage module is in transmission connection with the right host control module;
the left frame comprises a left frame, a left wheel and a left control box are mounted on the left frame, the left control box comprises a left power module, a left Bluetooth module, a left motor driving transmission module and a left host control module, the left Bluetooth module, the left motor driving transmission module and the left control module are respectively connected with the power module, the left motor driving transmission module is in transmission connection with the left wheel, and the left Bluetooth module is connected with the left control module through a serial port;
the lifting telescopic rod and the front and rear telescopic rods are respectively and electrically connected with the right power supply module and are respectively and controllably connected with the right host control module;
the camera shooting pan-tilt device comprises a three-dimensional depth camera and a steering engine, the three-dimensional depth camera is mounted on the steering engine, the three-dimensional depth camera is in transmission connection with the storage module through a connecting line, the steering engine comprises a steering engine body, a steering engine power module, a steering engine Bluetooth module and a steering engine control module, the steering engine body, the steering engine Bluetooth module and the steering engine control module are respectively connected with the steering engine power module, the steering engine control module is in control connection with the steering engine body, and the steering engine Bluetooth module is connected with the steering engine control module through a serial port;
the right Bluetooth module is respectively in wireless connection with the left Bluetooth module and the steering engine Bluetooth module;
the mobile terminal is in wireless connection with the right host control module.
Preferably, the frame comprises a first connecting rod and a second connecting rod, wherein the second connecting rod is crossed and hinged with the first connecting rod, one end of the first connecting rod is connected with the front end of the right frame, the other end of the first connecting rod is connected with the rear end of the left frame, one end of the second connecting rod is connected with the rear end of the right frame, and the other end of the second connecting rod is connected with the front end of the left frame.
According to a preferable scheme, the steering engine body comprises a lower steering engine for horizontal rotation and an upper steering engine for pitching rotation, the three-dimensional depth camera is fixedly installed on the upper steering engine, and the upper steering engine is rotatably installed on the lower steering engine.
Preferably, the three-dimensional depth camera includes an infrared emitter and an infrared receiver, the infrared emitter is used for emitting modulated pulse infrared light, the infrared emitter emits the pulse infrared light to the surface of the crop, the surface of the crop reflects the pulse infrared light to the infrared receiver to form collected data, and the collected data is transmitted to the storage module through the connecting line.
Preferably, the right host control module comprises a data conversion module, and the acquired data in the storage module is converted into a depth map through the data conversion module.
As a preferred scheme, the telescopic cross rods comprise a first telescopic cross rod, a second telescopic cross rod and a third telescopic cross rod, two ends of the first telescopic cross rod are respectively connected with front wheels of the right wheels and front wheels of the left wheels, two ends of the second telescopic cross rod are respectively connected with front upper parts of the right frame and the left frame, and two ends of the third telescopic cross rod are respectively connected with rear upper parts of the right frame and the left frame;
the lifting telescopic rods are hinged to the second telescopic cross rod, and the front and rear telescopic rods are hinged to the third telescopic cross rod.
As a preferred scheme, the lifting telescopic rod and the front and rear telescopic rods are respectively in control connection with the right host control module through relays.
As a preferred scheme, the right motor driving transmission module and the left motor driving transmission module both comprise a motor and a transmission device, the motor is in driving connection with the transmission device, the transmission device in the right motor driving transmission module is in transmission connection with the right wheel, and the transmission device in the left motor driving transmission module is in transmission connection with the left wheel.
Preferably, the right control box comprises a wireless local area network connection module, and the right host control module is in transmission connection with the wireless local area network connection module.
In order to achieve the purpose, the invention provides an intelligent phenotype collection method based on high-stem crops, phenotype data collection is carried out on crops through an intelligent phenotype collection trolley based on the high-stem crops, the mobile terminal sends wheel driving signals to the right host control module, and the wheel driving signals drive the right frame and the left frame to move so as to adjust the shooting position of the three-dimensional depth camera; the mobile terminal sends a telescopic rod control signal to the right host control module, and the telescopic rod driving signal drives the lifting telescopic rod and the telescopic movable ends of the front telescopic rod and the rear telescopic rod to stretch so as to adjust the shooting position of the three-dimensional depth camera; the mobile terminal sends a steering engine control signal to the right host control module, and the steering engine drive signal drives the steering engine to rotate so as to adjust the shooting angle of the three-dimensional depth camera;
the infrared light emitter of the three-dimensional depth camera emits the pulse infrared light to crops, the time difference between the pulse infrared light and the infrared light receiver is reflected by the surfaces of the crops, the three-dimensional depth camera records the measured value of the time difference as collected data, the collected data is combined with light speed through the data conversion module to calculate the distance data of the crops to form the object depth information, the data conversion module converts the object depth information into the depth map, and crop phenotype information is obtained according to the depth map and crop biomass parameters are extracted.
Compared with the prior art, the intelligent phenotype acquisition trolley based on the high-stalk crops has the beneficial effects that: the infrared light data acquisition mode through three-dimensional depth camera makes data collection more accurate, only needs three-dimensional depth camera can satisfy data acquisition's demand simultaneously, has avoided loaded down with trivial details data acquisition instrument, makes intelligent phenotype collection dolly's overall structure more simple, more is applicable to and uses in complicated outdoor environment, improves the suitability of intelligent phenotype collection dolly. The steering engine, the lifting telescopic rods and the front and rear telescopic rods provide rotation in four freedom directions for the three-dimensional depth camera, so that a wider camera shooting visual field is provided for the three-dimensional depth camera, and the comprehensiveness of data acquisition is improved. The camera shooting view of the three-dimensional depth camera is wide, so that the possibility is provided for simplifying the driving control of the intelligent phenotype acquisition trolley, and the control difficulty of the intelligent phenotype acquisition trolley during data acquisition is further reduced. The whole width of the intelligent phenotype collection trolley can be realized by adjusting the distance between the left frame and the right frame through the telescopic cross rod, so that the intelligent phenotype collection trolley can be suitable for more fields of different types or outdoor data collection, the intelligent phenotype collection trolley walks more flexibly during data collection, and the application scene of the intelligent phenotype collection trolley is enlarged. The mobile terminal sends a control signal to the right host control module, the right host control module is transmitted to the controlled part in a wireless or wired transmission mode, and distortion-free accurate transmission of data is guaranteed through combination of a limited transmission mode and a wireless transmission mode. Simultaneously, the intelligent watch type acquisition trolley is remotely controlled through wireless signals, and the use convenience is improved.
Compared with the prior art, the intelligent phenotype acquisition method based on the high-stalk crops has the beneficial effects that: thereby send wheel drive signal, telescopic link control signal and steering wheel drive signal to the right host control module through mobile terminal and adjust the position of making a video recording and the angle of making a video recording of three-dimensional depth camera, through the adjustment combination of the position of making a video recording and the angle of making a video recording, provide wider visual angle of making a video recording for three-dimensional depth camera, provide the basis for three-dimensional depth camera to the data acquisition comprehensiveness and the accuracy of crops. The three-dimensional depth camera emits pulse infrared light to a crop scene, the collected data of the round-trip time difference of the pulse infrared light between the three-dimensional depth camera and crops are collected, the object depth information is calculated by combining the light speed, the object depth information is combined with a two-dimensional coordinate to form a depth map, the depth map can be used as a main reference of crop phenotype information, the height, the leaf area or the leaf area index, the leaf inclination angle and the plant spacing of the crops can be obtained according to the depth map, parameters such as crop biomass and the like can be extracted, the obtained data amount reaches a new dimension, the data obtaining accuracy is high, and the data obtaining efficiency is high.
Drawings
Fig. 1 is a schematic structural diagram of the intelligent phenotype collection trolley of the invention.
In the figure:
10. a left frame; 11. a left frame; 12. a left wheel; 13. a left control box;
20. a right frame; 21. a right frame; 22. a right wheel; 23. a right control box;
30. a camera pan-tilt device; 31. a three-dimensional depth camera; 32. an upper steering engine; 33. a lower steering engine;
40. lifting the telescopic rod; 41. front and rear telescopic rods; 42. a first connecting rod; 43. a second connecting rod;
50. a first telescoping rail; 51. a second telescoping rail; 52. and a third telescopic cross bar.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. used herein are used to indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the terms "connected," "fixed," and the like are used in a broad sense, and for example, the terms "connected," "connected," and "fixed" may be fixed, detachable, or integrated; the connection can be mechanical connection or welding connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, an intelligent phenotype acquisition trolley based on high-pole crops according to a preferred embodiment of the present invention includes a left frame 10 and a right frame 20, the left frame 10 and the right frame 20 are connected by a telescopic cross rod to form an integral frame, a lifting telescopic rod 40 is hinged to the front end of the integral frame, a front telescopic rod 41 and a rear telescopic rod 41 are hinged to the rear end of the integral frame, a telescopic movable end of the lifting telescopic rod 40 is connected to the front telescopic rod 41 and the rear telescopic rod 41, and a camera pan-tilt device 30 is installed at a telescopic movable end of the front telescopic rod 41 and the rear telescopic rod 41;
as shown in fig. 1, the right frame 20 includes a right frame 21, the right frame 21 is provided with a right wheel 22 and a right control box 23, the right control box 23 includes a right power module, a right bluetooth module, a storage module, a right motor driving transmission module and a right host control module, the right bluetooth module, the storage module, the right motor driving transmission module and the right host control module are respectively connected with the power module, the right motor driving transmission module is in transmission connection with the right wheel 22, the right bluetooth module is connected with the right host control module through a serial port, and the storage module is in transmission connection with the right host control module;
as shown in fig. 1, the left frame 10 includes a left frame 11, the left frame 11 is provided with a left wheel 12 and a left control box 13, the left control box 13 includes a left power module, a left bluetooth module, a left motor driving transmission module and a left host control module, the left bluetooth module, the left motor driving transmission module and the left control module are respectively connected with the power module, the left motor driving transmission module is in transmission connection with the left wheel 12, and the left bluetooth module is connected with the left control module through a serial port;
as shown in fig. 1, the lifting telescopic rod 40 and the front and rear telescopic rods 41 are respectively electrically connected with the right power module, and the lifting telescopic rod 40 and the front and rear telescopic rods 41 are respectively connected with the right host control module in a control manner;
as shown in fig. 1, the camera shooting pan-tilt device 30 comprises a three-dimensional depth camera 31 and a steering engine, the three-dimensional depth camera 31 is mounted on the steering engine, the three-dimensional depth camera 31 is in transmission connection with a storage module through a connecting line, the steering engine comprises a steering engine body, a steering engine power module, a steering engine bluetooth module and a steering engine control module, the steering engine body, the steering engine bluetooth module and the steering engine control module are respectively connected with the steering engine power module, the steering engine control module is in control connection with the steering engine body, and the steering engine bluetooth module is connected with the steering engine control module through a serial port;
the right Bluetooth module is respectively in wireless connection with the left Bluetooth module and the steering engine Bluetooth module;
the system comprises a mobile terminal, wherein the mobile terminal is in wireless connection with a right host control module. Specifically, the mobile terminal selects a remote controller or a mobile phone terminal.
According to the intelligent watch-type collecting trolley disclosed by the invention, the whole width of the intelligent watch-type collecting trolley is adjusted through the stretching of the telescopic cross rod, so that the intelligent watch-type trolley can adapt to various running environments with different widths, and the environmental adaptability of the intelligent watch-type trolley is improved. The camera shooting pan-tilt device 30 is installed at one end of the front and rear telescopic rods 41, the front and rear telescopic rods 41 are supported by the lifting telescopic rods 40, and the lifting adjustment of the camera shooting pan-tilt device 30 is further performed by adjusting the length of the lifting telescopic rods 40. The length of the front and rear telescopic rod 41 is adjusted, so that the front and rear adjustment of the camera shooting cloud platform device 30 is adjusted. Specifically, the maximum length of the lifting telescopic rod 40 is 1 meter, and the maximum length of the front and rear telescopic rods 41 is 2.5 meters. Therefore, the intelligent phenotype collection trolley can be used for collecting data of crops with the height of less than 2.5 meters. The length of the telescopic rod 40 is extended and the end of the telescopic rod 41 is pushed to install the camera shooting pan-tilt device 30 moves upwards, or the length of the telescopic rod 40 is shortened and the telescopic rod 41 is pulled to install one section of the camera shooting pan-tilt device 30 moves downwards, so that the camera shooting pan-tilt device 30 is adjusted in a lifting mode. The length of the end of the front and rear telescopic rods 41 where the camera shooting pan-tilt device 30 is installed is extended, so that the camera shooting pan-tilt device 30 is driven to move forwards, the length of the end of the front and rear telescopic rods 41 where the camera shooting pan-tilt device 30 is installed is shortened, so that the camera shooting pan-tilt device 30 is driven to move backwards, and therefore the front and rear adjustment of the camera shooting pan-tilt device 30 is achieved.
As shown in fig. 1, the intelligent watch-type cart comprises a left frame 10 and a right frame 20, wherein the left frame 10 and the right frame 20 are symmetrical in structure and are arranged independently, so that the overall movement of the left frame 10 or the right frame is more convenient when the intelligent watch-type cart is used for broadband adjustment, and the adjustment is more convenient. Left frame 10 sets up left power module and left bluetooth module, and right frame 20 sets up right power module and right bluetooth module, is not equipped with the connecting wire between left frame 10 and the right frame 20, and signal transmission between left frame 10 and the right frame 20 passes through bluetooth wireless transmission, has increased the independence between left frame 10 and the right frame 20, and the dolly of being more convenient for walks in the plant environment, avoids the plant in electric wire and the environment to produce mutual interference. The right host control module is a main control module, the intelligent watch-type trolley receives a remote control signal from the mobile terminal through the right host control module, and then processes the remote control signal through the right host control module, and transmits the remote control signal to other control components of the intelligent watch-type trolley, wherein the remote control signal of the mobile terminal is transmitted to the left frame 10 to further drive and control wheels of the left frame 10, or the remote control signal of the mobile terminal is transmitted to the front and rear telescopic rods 41 or the lifting telescopic rods 40 to further control the lifting or front and rear movement of the camera shooting pan-tilt device 30, or the remote control signal of the mobile terminal is transmitted to a steering engine to further control the angular rotation of the three-dimensional depth camera 31. The right Bluetooth module is connected with a right host control module through a serial port, the communication line is simple, the manufacturing cost is low, the remote control signal is transmitted through the serial port, the transmission mode of the serial port is simple, errors are not prone to occurring, mutual interference between transmission signals is avoided, and then signal distortion-free transmission is guaranteed. The storage module is used for storing the collected data transmitted to the right control box 23 by the three-dimensional depth camera 31.
The left power module is used for providing power for other modules in the left control box 13, the left Bluetooth module is used for receiving a driving signal from the right Bluetooth module, and the driving signal is mainly used for driving the left frame 10 to move.
As shown in fig. 1, the right power module provides power for the lifting telescopic rod 40 and the front and rear telescopic rods 41, and the right host control module transmits a signal to the lifting telescopic rod 40 or the front and rear telescopic rods 41 through a data transmission line, so as to control the extension and retraction of the lifting telescopic rod 40 or the front and rear telescopic rods 41.
The three-dimensional depth camera 31 is used for acquiring plant data, accurately knowing the distance between each point in an image shot by the camera and the camera through the three-dimensional depth camera 31, and acquiring the three-dimensional space coordinates of each point in the image by adding the coordinates of the point in a two-dimensional image (x, y), restoring a real scene through the three-dimensional coordinates, realizing applications such as scene modeling and the like, and acquiring the height, the leaf area or leaf area index, the leaf inclination angle and the plant spacing of crops according to the acquired scene data, and extracting parameters such as crop biomass and the like to enable the acquired data amount to reach a new dimension. The three-dimensional depth camera 31 transmits the acquired data to the storage module through a connection line. The three-dimensional depth camera 31 is rotated in the horizontal and pitching directions by the steering engine. Specifically, the steering engine power module provides power for the steering engine, the steering engine Bluetooth module is used for receiving control information from the right Bluetooth module, and the steering engine control module controls the steering engine body to rotate after receiving the control information of the steering engine Bluetooth module, so that the steering engine body drives the three-dimensional depth camera 31 to rotate.
Thereby right bluetooth module transmits control signal for steering wheel bluetooth module and left bluetooth module through the wireless transmission form and realizes the rotation control to the steering wheel and the drive control of left frame 10 wheel.
This intelligent phenotype gathers drive control of dolly's wheel, the telescopic control of lifting telescopic link 40 and front and back telescopic link 41, the rotary control of steering wheel all carries out remote control through the mobile terminal to right host control module transmission control signal, and then realized artificially to gather the real-time control of dolly to intelligent phenotype, can adjust the walking circuit of dolly or the collection direction of making a video recording of three-dimensional degree of depth camera 31 in real time according to the collection environment of reality, and then can gather required plant data more accurately more fast.
As shown in fig. 1, further, the intelligent phenotype collection trolley comprises a first connecting rod 42 and a second connecting rod 43 intersecting and hinged with the first connecting rod 42, one end of the first connecting rod 42 is connected with the front end of the right frame 21, the other end of the first connecting rod is connected with the rear end of the left frame 11, one end of the second connecting rod 43 is connected with the rear end of the right frame 21, and the other end of the second connecting rod is connected with the front end of the left frame 11. The first and second connection bars 42 and 43 are cross-connected to form an X-shaped structure, and are connected by a cylindrical hinge at the intersection of the first and second connection bars 42 and 43, so that the first and second connection bars 42 and 43 are rotated by the cylindrical hinge, thereby adjusting the width between the left and right frames 10 and 20.
As shown in fig. 1, further, the telescopic cross bar comprises a first telescopic cross bar 50, a second telescopic cross bar 51 and a third telescopic cross bar 52, two ends of the first telescopic cross bar 50 are respectively connected with front wheels of the right wheel 22 and front wheels of the left wheel 12, two ends of the second telescopic cross bar 51 are respectively connected with front upper portions of the right frame 21 and the left frame 11, and two ends of the third telescopic cross bar 52 are respectively connected with rear upper portions of the right frame 21 and the left frame 11; the length of the telescopic cross bar is adjusted by the first telescopic cross bar 50, the second telescopic cross bar 51 and the third telescopic cross bar 52 together, so that the width between the left frame 10 and the right frame 20 is adjusted.
As shown in fig. 1, the first telescopic cross bar 50 mainly fixes front wheels of the left frame 10 and front wheels of the right frame 20, the second telescopic cross bar 51 mainly fixes the front of the left frame 10 and the front of the right frame 20, the third telescopic cross bar 52 mainly fixes the rear of the left frame 10 and the rear of the right frame 20, and the first connecting rod 42 and the second connecting rod 43 form an X-shaped structure and fix both the front and the rear of the left frame 10 and the right frame 20, because the intelligent phenotype collection cart needs to collect data through a plant planting area in the field or outdoors, the intelligent phenotype collection cart often travels on uneven or even bumpy road conditions, and the width of the cart can be adjusted, if the connection structure of the left frame 10 and the right frame 20 is not firm, the frames are easily separated during use, and the service life is short. This dolly is gathered to intelligence phenotype is fixed simultaneously through first flexible horizontal pole 50, the flexible horizontal pole 51 of second, the flexible horizontal pole 52 of third, head rod 42 and second connecting rod 43 the frame different positions on both sides about the dolly respectively, has increased the stable in structure and the fixity of dolly is gathered to intelligence phenotype, improves the adaptability of dolly in the use chemical environment, increase of service life.
As shown in fig. 1, in particular, the lifting telescopic rod 40 is hinged to the second telescopic cross rod 51, and the front and rear telescopic rods 41 are hinged to the third telescopic cross rod 52. When the three-dimensional depth camera 31 needs to be lifted, the front and rear telescopic rods 41 are jacked up by extending the telescopic movable ends of the lifting telescopic rods 40, the front and rear telescopic rods 41 rotate around the third telescopic cross bar 52, and the three-dimensional depth camera 31 moves upwards along with the front ends of the front and rear telescopic rods 41. When the three-dimensional depth camera 31 needs to be moved forward and backward, the front and rear telescopic rods 41 can be directly adjusted to be telescopic, and the telescopic movable ends of the front and rear telescopic rods 41 extend forward, so that the three-dimensional depth camera 31 moves forward along with the forward movement.
Further, the lifting telescopic rod 40 and the front and rear telescopic rods 41 are respectively in control connection with the right host control module through relays. The mobile terminal sends different remote control signals to the right host control module, the right host control module converts the remote control signals into control signals which can be identified by the relay and sends the control signals to the relay, and the relay receives the control signals and then controls the telescopic rods 40 and 41 to stretch.
Furthermore, the right motor driving transmission module and the left motor driving transmission module are both provided with motors and transmission devices consisting of transmission parts, the motors are connected with the transmission devices in a driving manner, the transmission devices in the right motor driving transmission module are connected with the right wheel 22 in a driving manner, and the transmission devices in the left motor driving transmission module are connected with the left wheel 12 in a driving manner.
Specifically, motors in the right motor driving transmission module and the left motor driving transmission module are in driving connection with transmission devices in the corresponding modules, and the transmission devices are in driving connection with wheels in the corresponding frames. Specifically, the mobile terminal sends a wheel driving signal to the right host control module, the right host control module transmits the wheel driving signal to a motor in the right motor driving transmission module, and transmits the wheel driving signal to the right bluetooth module through a serial port, the motor in the right motor driving transmission module drives a corresponding transmission device, the transmission device is in transmission connection with the right wheel 22 to enable the right wheel 22 to rotate, the right bluetooth module transmits the wheel driving signal to the left bluetooth module, the left bluetooth module transmits the wheel driving signal to the left control module, the left control module transmits the wheel driving signal to the motor in the left motor driving transmission module, the motor drives the corresponding transmission device, the transmission device is in transmission connection with the left wheel 12 to enable the left wheel 12 to rotate, and then the rotation of the left wheel 12 and the right wheel 22 is achieved.
As shown in fig. 1, further, the steering engine body includes a lower steering engine 33 for horizontal rotation and an upper steering engine 32 for pitching rotation, the three-dimensional depth camera 31 is fixedly mounted on the upper steering engine 32, and the upper steering engine 32 is rotatably mounted on the lower steering engine 33. Specifically, the upper steering engine 32 is a U-shaped mounting base, the opening end of the U-shaped mounting base faces downward, two sides of the opening end of the U-shaped mounting base are respectively rotatably mounted on the lower steering engine 33, and the three-dimensional depth camera 31 is mounted on the upper portion of the U-shaped mounting base. Go up steering wheel 32 and drive three-dimensional depth camera 31 and swing in the pitch direction, steering wheel 32 is rotatory in the horizontal direction in the drive of lower steering wheel 33, because three-dimensional depth camera 31 fixed mounting is in last steering wheel 32, thereby it is rotatory in the horizontal direction to follow last steering wheel 32 on last steering wheel 32's basis, thereby make three-dimensional depth camera 31 possess wide visual angle when data acquisition, combine lifting telescopic link 40 and front and back telescopic link 41's the lift and the flexible regulation in front and back to three-dimensional depth camera 31 of reunion, can provide the wide collection visual angle of four direction degrees of freedom for three-dimensional depth camera 31's data acquisition, the data of gathering are more abundant. The three-dimensional depth camera 31 has a wide acquisition visual angle, so that the requirement of the intelligent phenotype acquisition trolley on the walking line is reduced, the camera angle is prevented from being adjusted by turning the intelligent phenotype acquisition trolley, the intelligent phenotype acquisition trolley is more stable in running, the control is simpler and easier, and the data acquisition and transmission are more stable.
Further, the three-dimensional depth camera 31 includes an infrared emitter and an infrared receiver for emitting the modulated pulse infrared light, the infrared emitter emits the pulse infrared light to the surface of the crop, the surface of the crop reflects the pulse infrared light to the infrared receiver to form collected data, and the collected data is transmitted to the storage module through a connection line. The three-dimensional depth camera 31 adopts a TOF principle, pulse infrared light after modulation is transmitted by an infrared transmitter and continuously hits on the surface of an object, the pulse infrared light is reflected by the surface of the object and then is received by an infrared light receiver, time difference is calculated through the change of the phase of the pulse infrared light, and then the depth information of the object is calculated by combining the light speed, so that the time difference distance measurement (TOF) principle of amplitude-modulated continuous wave (AMCW) is realized. The three-dimensional depth camera 31 projects modulated infrared light in the Near Infrared (NIR) spectrum into a scene, which then records indirect time measurements taken for the light of the infrared light to travel from the three-dimensional depth camera to the scene and then from the scene back to the three-dimensional depth camera to form acquisition data, and processing the acquisition data of these measurements can generate a depth map. The depth map generated by the multiphase depth calculation method can achieve reliable accuracy.
Furthermore, the right host control module comprises a data conversion module, and collected data in the storage module are converted into a depth map through the data conversion module. Specifically, the collected data includes object depth information, the three-dimensional depth camera 31 emits pulse infrared light to the crops, the time difference between the pulse infrared light reflected by the surfaces of the crops and the infrared light receiver is calculated by combining the time difference and the light speed to obtain distance data of the crops to form the object depth information, and the data conversion module converts the object depth information into a depth map. Specifically, the data conversion module is a depth engine software accelerated by the GPU. The depth map can be used as a main reference for crop phenotype information, the height, the leaf area or the leaf area index, the leaf inclination angle and the plant spacing of crops can be obtained according to the obtained depth map data, parameters such as crop biomass and the like can be extracted, and the obtained data volume can reach a new dimension.
Further, the right control box 23 includes a wlan connection module, and the right host control module is in transmission connection with the wlan connection module. The wireless local area network is installed in a data acquisition scene, the wireless local area network connection module is connected with the wireless local area network in the data acquisition scene, the mobile phone end of a controller is connected with the wireless local area network connection module in the same wireless local area network, so that the right host control module is connected with the mobile phone end of the controller, data in the right host control module can be transmitted to the controller end of the controller, the right host control module can send control signals through the mobile phone end of the controller to further control the intelligent phenotype acquisition trolley, remote control of the intelligent phenotype acquisition trolley is realized, data acquisition conditions can be known in real time, a data acquisition plan can be adjusted in time, and the timeliness of the intelligent phenotype acquisition trolley is improved.
The working process of the invention is as follows: the control of the intelligent phenotype acquisition trolley comprises walking control of the left frame 10 and the right frame 20, telescopic control of the lifting telescopic rod 40 and the front and rear telescopic rods 41, rotation control of a steering engine and data transmission control of the three-dimensional depth camera 31.
The traveling control of the left frame 10 and the right frame 20 is specifically: the mobile terminal sends a wheel driving signal to the right host control module, the right host control module sends the wheel driving signal to a motor in the right motor driving transmission module, the motor in the right motor driving transmission module drives a corresponding transmission device, the corresponding transmission device is in transmission connection with the right wheel 22 to enable the right wheel 22 to rotate, the right host control module sends a wheel driving signal to the right Bluetooth module, wheel driving signals are sent to the left Bluetooth module through the right Bluetooth module, the left Bluetooth module transmits the wheel driving signals to the left control module, the left control module transmits the wheel driving signals to a motor in the left motor driving transmission module, the motor drives a corresponding transmission device, the transmission device is in transmission connection with the left wheel 12 to enable the left wheel 12 to rotate, and then the rotation of the left wheel 12 and the right wheel 22 is achieved.
The telescopic control of the lifting telescopic rod 40 and the front and rear telescopic rods 41 is specifically as follows: the control signal of the telescopic rod 40 is sent to the right host control module through the mobile terminal, the right host control module converts the telescopic rod control signal into a control signal which can be identified by the relay and sends the control signal to the relay, the relay receives the control signal of the telescopic rod 40 and then controls the lifting of the telescopic movable end of the telescopic rod 40, and the front telescopic control principle and the rear telescopic control principle of the front telescopic rod 41 and the rear telescopic control principle of the front telescopic rod and the rear telescopic rod are the same.
The rotation control of the steering engine is specifically as follows: the mobile terminal sends a steering engine control signal to the right host control module, the right host control module sends a steering engine control signal to the steering engine Bluetooth module, the steering engine Bluetooth module sends a steering engine control signal to the steering engine control module, and the steering engine control module controls the steering engine body to rotate.
The data transmission control of the three-dimensional depth camera 31 is specifically: the three-dimensional depth camera 31 sends pulse infrared light to plants in a scene through an infrared light emitter, the pulse infrared light reaches the surface of the plants and then is reflected to an infrared light receiver of the three-dimensional depth camera 31, time difference is calculated through change of phases of the pulse infrared light, further object depth information is calculated by combining light speed to form collected data, the collected data are transmitted to a storage module through a connecting line, the collected data in the storage module are converted into a depth map through a data conversion module, then the height, the leaf area or leaf area index, the leaf inclination angle and the plant spacing of crops are obtained, parameters such as crop biomass can be extracted, and the obtained data amount reaches a new dimension.
As shown in fig. 1, in the intelligent phenotype collection method based on the high-stalk crops, a phenotype data collection is carried out on crops by an intelligent phenotype collection trolley based on the high-stalk crops, a mobile terminal sends wheel driving signals to a right host control module, and the wheel driving signals drive a right frame and a left frame to move so as to adjust the camera shooting position of a three-dimensional depth camera; specifically, a wheel driving signal is sent to the right host control module through the mobile terminal, the right host control module sends the wheel driving signal to a motor in the right motor driving transmission module, the motor in the right motor driving transmission module drives a corresponding transmission device, the corresponding transmission device is in transmission connection with the right wheel 22 to enable the right wheel 22 to rotate, the right host control module sends a wheel driving signal to the right Bluetooth module, the wheel driving signal is sent to the left Bluetooth module through the right Bluetooth module, the left Bluetooth module transmits the wheel driving signal to the left control module, the left control module transmits the wheel driving signal to a motor in the left motor driving transmission module, the motor drives a corresponding transmission device, the transmission device is in transmission connection with the left wheel 12 to enable the left wheel 12 to rotate, so that the rotation of the left wheel 12 and the right wheel 22 can move the intelligent watch type trolley.
The mobile terminal sends a telescopic rod control signal to the right host control module, and the telescopic rod driving signal drives the lifting telescopic rod and the telescopic movable ends of the front telescopic rod and the rear telescopic rod to stretch so as to adjust the shooting position of the three-dimensional depth camera; specifically, the control signal of the telescopic rod 40 is sent to the right host control module through the mobile terminal, the control signal which can be identified by the relay is converted into the control signal by the right host control module, the control signal is sent to the relay, the relay receives the control signal of the telescopic rod 40 and then controls the lifting of the telescopic movable end of the telescopic rod 40, and the front telescopic control principle and the rear telescopic control principle of the front telescopic rod 41 and the rear telescopic control principle of the front telescopic rod and the rear telescopic rod are the same.
The mobile terminal sends a steering engine control signal to the right host control module, and the steering engine drive signal drives a steering engine to rotate so as to adjust the shooting angle of the three-dimensional depth camera; concretely, send steering wheel control signal through mobile terminal to right host control module, right host control module sends steering wheel control signal to steering wheel bluetooth module, and steering wheel bluetooth module sends steering wheel control signal to steering wheel control module, and steering wheel control module control steering engine body is rotatory.
An infrared light emitter of the three-dimensional depth camera 31 emits pulse infrared light to crops, the time difference between the pulse infrared light and an infrared light receiver is reflected by the surfaces of the crops, measured values of the time difference are recorded as collected data by the three-dimensional depth camera 31, the collected data are combined with light speed through a data conversion module to calculate distance data of the crops to form object depth information, the object depth information is converted into a depth map through the data conversion module, crop phenotype information is obtained according to the depth map, and crop biomass parameters are extracted. The three-dimensional depth camera 31 is used for collecting phenotype data, collected data is formed by the round trip time of pulse infrared light between crops and the three-dimensional depth camera 31, the distance between each point in an image shot by the camera and a camera can be accurately known to form object depth information after the calculation of light speed, and the three-dimensional space coordinates of each point in the image can be obtained to form a depth map by adding the coordinates of the point in a two-dimensional image (x, y), the real scene can be restored through the three-dimensional coordinates, the applications such as scene modeling and the like are realized, the depth map can be used as the main reference of the crop phenotype information, obtaining the height, the leaf area or the leaf area index, the leaf inclination angle and the plant spacing of the crops according to the depth map, and parameters such as crop biomass can be extracted, so that the acquired data volume reaches a new dimension, and the data acquisition accuracy and the data acquisition efficiency are high.
In summary, the embodiment of the invention provides an intelligent phenotype collection trolley based on high-stalk crops, which is more accurate in data collection through an infrared light data collection mode of a three-dimensional depth camera 31, can meet the data collection requirement only through the three-dimensional depth camera 31, avoids complex data collection tools, is simpler in overall structure, is more suitable for being used in a complex outdoor environment, and improves the applicability of the intelligent phenotype collection trolley. The steering engine, the lifting telescopic rod 40 and the front and rear telescopic rods 41 provide four-degree-of-freedom-direction rotation for the three-dimensional depth camera 31, a wider shooting view is provided for the three-dimensional depth camera 31, and the comprehensiveness of data acquisition is improved. The three-dimensional depth camera 31 has a wide camera shooting view, so that the possibility is provided for simplifying the driving control of the intelligent phenotype collection trolley, and the control difficulty of the intelligent phenotype collection trolley during data collection is further reduced. The whole width of the intelligent phenotype collection trolley can be adjusted, so that the intelligent phenotype collection trolley can be suitable for field or outdoor data collection of more different types, and the application scene of the intelligent phenotype collection trolley is expanded.
The embodiment of the invention provides an intelligent phenotype acquisition method based on high-stem crops, wherein a mobile terminal sends a wheel driving signal, a telescopic rod control signal and a steering engine driving signal to a right host control module so as to adjust the camera shooting position and the camera shooting angle of a three-dimensional depth camera 31, the camera shooting position and the camera shooting angle are adjusted and combined, a wider camera shooting visual angle is provided for the three-dimensional depth camera 31, a foundation is provided for the three-dimensional depth camera 31 to comprehensively and accurately acquire data of crops, and the control method is simple. The three-dimensional depth camera 31 emits pulse infrared light to a crop scene, a depth map is formed by collecting data of the time difference of the pulse infrared light between the three-dimensional depth camera 31 and a crop in a reciprocating mode and combining object depth information calculated by light speed with two-dimensional coordinates, the depth map can be used as a main reference of crop phenotype information, the height, the leaf area or leaf area index, the leaf inclination angle and the plant spacing of the crop can be obtained according to the depth map, parameters such as crop biomass and the like can be extracted, the obtained data amount reaches a new dimension, the data obtaining accuracy is high, and the data obtaining efficiency is high.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides a dolly is gathered to intelligence phenotype based on high-stalk crop which characterized in that: the front end of the integral frame is hinged with a lifting telescopic rod, the rear end of the integral frame is hinged with a front telescopic rod and a rear telescopic rod, the telescopic movable end of the lifting telescopic rod is connected with the front telescopic rod and the rear telescopic rod, and the telescopic movable ends of the front telescopic rod and the rear telescopic rod are provided with a camera shooting pan-tilt device;
the right frame comprises a right frame, the right frame is provided with a right wheel and a right control box, the right control box comprises a right power module, a right Bluetooth module, a storage module, a right motor driving transmission module and a right host control module, the right Bluetooth module, the storage module, the right motor driving transmission module and the right host control module are respectively connected with the power module, the right motor driving transmission module is in transmission connection with the right wheel, the right Bluetooth module is connected with the right host control module through a serial port, and the storage module is in transmission connection with the right host control module;
the left frame comprises a left frame, a left wheel and a left control box are mounted on the left frame, the left control box comprises a left power module, a left Bluetooth module, a left motor driving transmission module and a left host control module, the left Bluetooth module, the left motor driving transmission module and the left control module are respectively connected with the power module, the left motor driving transmission module is in transmission connection with the left wheel, and the left Bluetooth module is connected with the left control module through a serial port;
the lifting telescopic rod and the front and rear telescopic rods are respectively and electrically connected with the right power supply module and are respectively and controllably connected with the right host control module;
the telescopic cross rods comprise a first telescopic cross rod, a second telescopic cross rod and a third telescopic cross rod, two ends of the first telescopic cross rod are respectively connected with front wheels of the right wheels and front wheels of the left wheels, two ends of the second telescopic cross rod are respectively connected with the front upper parts of the right frame and the left frame, and two ends of the third telescopic cross rod are respectively connected with the rear upper parts of the right frame and the left frame;
the lifting telescopic rods are hinged to the second telescopic cross rod, and the front and rear telescopic rods are hinged to the third telescopic cross rod;
the camera shooting pan-tilt device comprises a three-dimensional depth camera and a steering engine, the three-dimensional depth camera is mounted on the steering engine, the three-dimensional depth camera is in transmission connection with the storage module through a connecting line, the steering engine comprises a steering engine body, a steering engine power module, a steering engine Bluetooth module and a steering engine control module, the steering engine body, the steering engine Bluetooth module and the steering engine control module are respectively connected with the steering engine power module, the steering engine control module is in control connection with the steering engine body, and the steering engine Bluetooth module is connected with the steering engine control module through a serial port;
the right Bluetooth module is respectively in wireless connection with the left Bluetooth module and the steering engine Bluetooth module;
the mobile terminal is in wireless connection with the right host control module.
2. The intelligent tall stalk crop based phenotype acquisition cart of claim 1, wherein: the left frame and the right frame are connected through a hinge, the left frame is connected with the right frame through a hinge, the right frame is connected with the left frame through a hinge, and the left frame is connected with the right frame through a hinge.
3. The intelligent tall stalk crop based phenotype acquisition cart of claim 1, wherein: the three-dimensional depth camera is characterized in that the steering engine body comprises a lower steering engine for horizontal rotation and an upper steering engine for pitching rotation, the three-dimensional depth camera is fixedly installed on the upper steering engine, and the upper steering engine is rotatably installed on the lower steering engine.
4. The intelligent tall stalk crop based phenotype acquisition cart of claim 1, wherein: the three-dimensional depth camera comprises an infrared light emitter and an infrared light receiver, wherein the infrared light emitter is used for emitting modulated pulse infrared light, the infrared light emitter emits the pulse infrared light to the surface of a crop, the crop surface reflects the pulse infrared light to the infrared light receiver to form collected data, and the collected data are transmitted to the storage module through the connecting line.
5. The intelligent tall stalk crop based phenotype acquisition cart of claim 4, wherein: the right host control module comprises a data conversion module, and the data acquired in the storage module is converted into a depth map through the data conversion module.
6. The intelligent high stalk crop-based phenotype collection trolley of claim 5, wherein: the lifting telescopic rod and the front and rear telescopic rods are respectively in control connection with the right host control module through relays.
7. The intelligent high stalk crop-based phenotype collection trolley of claim 5, wherein: the right motor drive transmission module and the left motor drive transmission module both comprise a motor and a transmission device, the motor is connected with the transmission device in a driving mode, the transmission device in the right motor drive transmission module is connected with the right wheel in a driving mode, and the transmission device in the left motor drive transmission module is connected with the left wheel in a driving mode.
8. The intelligent tall stalk crop based phenotype acquisition cart of claim 5, wherein: the right control box comprises a wireless local area network connection module, and the right host control module is in transmission connection with the wireless local area network connection module.
9. An intelligent phenotype collection method based on high-stalk crops is characterized in that: performing phenotype data acquisition on crops through the intelligent high-stem crop-based phenotype acquisition trolley according to any one of claims 5 to 8, wherein the mobile terminal sends wheel driving signals to the right host control module, and the wheel driving signals drive the right frame and the left frame to move so as to adjust the shooting position of the three-dimensional depth camera; the mobile terminal sends a telescopic rod control signal to the right host control module, and the telescopic rod control signal drives the lifting telescopic rod and the telescopic movable ends of the front telescopic rod and the rear telescopic rod to stretch so as to adjust the shooting position of the three-dimensional depth camera; the mobile terminal sends a steering engine control signal to the right host control module, and the steering engine control signal drives the steering engine to rotate so as to adjust the shooting angle of the three-dimensional depth camera;
the infrared light emitter of the three-dimensional depth camera emits the pulse infrared light to crops, the time difference between the pulse infrared light and the infrared light receiver is reflected by the surfaces of the crops, the three-dimensional depth camera records the measured value of the time difference as collected data, the collected data is combined with light speed through the data conversion module to calculate the distance data of the crops to form object depth information, the data conversion module converts the object depth information into the depth map, crop phenotype information is obtained according to the depth map, and crop biomass parameters are extracted.
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