CN113016506A - Automatic planting box for acquiring three-dimensional phenotype parameters in edible fungus growth period - Google Patents
Automatic planting box for acquiring three-dimensional phenotype parameters in edible fungus growth period Download PDFInfo
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- 241000233866 Fungi Species 0.000 title claims abstract description 143
- 230000012010 growth Effects 0.000 title claims description 14
- 238000004891 communication Methods 0.000 claims abstract description 17
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 38
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 19
- 239000001569 carbon dioxide Substances 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 17
- 238000005286 illumination Methods 0.000 claims description 7
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 2
- 238000004590 computer program Methods 0.000 claims description 2
- 238000000605 extraction Methods 0.000 claims description 2
- 235000001674 Agaricus brunnescens Nutrition 0.000 description 12
- 230000007613 environmental effect Effects 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 241001327916 Termitomyces albuminosus Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000003698 anagen phase Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000002354 daily effect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012634 optical imaging Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/60—Cultivation rooms; Equipment therefor
- A01G18/64—Cultivation containers; Lids therefor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/60—Cultivation rooms; Equipment therefor
- A01G18/69—Arrangements for managing the environment, e.g. sprinklers
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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
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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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
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
An automatic planting box for acquiring three-dimensional phenotype parameters in a growing period of edible fungi comprises a box body, a temperature and humidity control module, a sensor module, an edible fungi planting table, a main control module, a wireless communication module and an edible fungi three-dimensional form acquisition module; the edible fungus cultivation device comprises a box body, a sensor module, an edible fungus three-dimensional shape acquisition module, an edible fungus planting table and a temperature and humidity control module, wherein the box body is internally provided with the sensor module, the edible fungus three-dimensional shape acquisition module, the edible fungus planting table and the temperature and humidity control module; the edible fungus three-dimensional form acquisition module comprises an electric annular guide rail assembly, an electric linear guide rail assembly, an electric holder module and a camera module; when the edible fungus planting device is used, all modules in the box body collect appearance data of edible fungi planted on the edible fungus planting platform at regular time and fixed angle according to a set program, calculate phenotype parameters and store and record the phenotype parameters. The invention reduces the manual supervision and intervention, and greatly improves the acquisition efficiency and accuracy of the phenotype parameters of the edible fungi.
Description
Technical Field
The invention relates to the technical field of automatic equipment for obtaining and analyzing phenotypes of edible fungi, in particular to an automatic planting box for obtaining three-dimensional phenotype parameters in a growing period of edible fungi.
Background
The edible fungi is a delicious food favored by people in daily life, and is also very beneficial to the health of human bodies besides delicious taste. The quality and yield of the edible fungi are closely related to the growth environment, in order to determine the degree of influence of the growth of the edible fungi by the environment, for a long time, the growers of the edible fungi obtain various phenotype parameters of the edible fungi by a manual mode, for example, the length of a stipe is measured by a ruler, the thickness of the stipe and the thickness of a pileus are measured by a vernier caliper, the area of the pileus is calculated by a grid counting method after being picked in vitro, the color of the pileus is estimated by a standard colorimetric card, the length and the interval of the back stipe of the pileus are manually counted, and corresponding environment parameters, such as temperature, humidity, illumination intensity, carbon dioxide concentration and the like are also manually read, and finally all the collected data are manually input into a computer to be stored and correspond to the phenotype parameters measured at that. Obviously, the traditional method for manually measuring and recording the phenotype parameters of the edible fungi and the corresponding environmental parameters has the defects of small scale, low efficiency, poor precision, large error, low continuity and the like.
In order to overcome the problems in the process of obtaining phenotype parameters of edible fungi at present, the invention provides a Chinese patent document (application number 2020110898632) named as an optical imaging auxiliary edible fungi breeding automatic screening optimization device, which designs edible fungi thallus phenotype automatic monitoring screening equipment comprising a main guide rail, a secondary guide rail and various cameras. However, in the growth stage of the fruiting body of the edible fungus, the pileus are easy to shield each other, the mode can only realize shooting at a fixed angle, and cannot acquire the information of the shielded part, and no way is available to acquire the diameters of different positions of the stipe and the angle of the pileus. Therefore, the scheme only acquires the partial image of the growth stage of the edible fungi, does not correspond to the environmental information at the time, and cannot acquire the three-dimensional phenotypic parameters of the edible fungi.
Disclosure of Invention
In order to realize automatic monitoring and tracking of the growth condition of edible fungi in a controllable environment, the invention provides an automatic planting box for acquiring three-dimensional phenotype parameters of the growth period of the edible fungi, which comprises a box body, a temperature and humidity control module, a sensor module, an edible fungi planting table, a main control module, a wireless communication module and an edible fungi three-dimensional form acquisition module; the edible fungus cultivation device comprises a box body, a sensor module, an edible fungus three-dimensional shape acquisition module, an edible fungus planting table and a temperature and humidity control module, wherein the box body is internally provided with the sensor module, the edible fungus three-dimensional shape acquisition module, the edible fungus planting table and the temperature and humidity control module; the edible fungus three-dimensional form acquisition module comprises an electric annular guide rail assembly, an electric linear guide rail assembly, an electric holder module and a camera module.
Further, the box body comprises a top plate and a bottom plate, a left side plate, a right side plate, a front panel and a rear plate are arranged between the top plate and the bottom plate respectively, the edible fungus three-dimensional form acquisition module and the wireless communication module are fixed on the top plate, and the edible fungus planting platform is fixed at the center of the projection of the annular guide rail in the electric annular guide rail assembly on the bottom plate.
Furthermore, the camera module is fixed on the electric holder module, and the shooting angle of the camera module is changed by the electric holder module; the electric pan-tilt module is in sliding fit with the electric linear guide rail assembly to realize linear movement of the electric pan-tilt module; the electric linear guide rail assembly is in sliding fit with the electric annular guide rail assembly, so that the electric linear guide rail assembly moves annularly.
Furthermore, the main control module changes the position and the angle of the camera module by controlling the electric pan-tilt module, the electric linear guide rail assembly and the electric annular guide rail assembly in the edible fungus three-dimensional form acquisition module, and shoots the edible fungus on the edible fungus planting table at all angles and all directions to acquire image information.
Further, the wireless communication module comprises one or more of a WiFi communication module, an NBIOT module, an LoRa module or a GPRS module, and the main control module exchanges data with the upper computer program through the wireless communication module.
Further, the sensor module contains temperature sensor, humidity transducer, carbon dioxide sensor and illumination intensity sensor, and host system passes through the sensor module and acquires temperature, humidity, carbon dioxide concentration, illumination intensity in the current planting case.
Further, the temperature and humidity control module comprises a fan, a heater and a humidifier, and the main control module changes the temperature, the humidity and the carbon dioxide concentration in the current planting box through the temperature and humidity control module.
Further, the acquisition of three-dimensional forms of edible fungi at different periods in the whole growth cycle is realized according to the following steps:
step 1: planting edible fungi on an edible fungi planting table, setting temperature and humidity, carbon dioxide concentration, photographing time points, annular guide rail photographing intervals, linear guide rail photographing intervals and pan-tilt photographing interval parameters by a user on an upper computer, transmitting data to a main control module by the upper computer through a wireless communication module, controlling an electric annular guide rail assembly, an electric linear guide rail assembly and an electric pan-tilt module to reach initial positions by the main control module, and controlling a planting box to start working by the main control module;
step 2: when the set photographing time point is reached, the main control module controls the electric annular guide rail assembly to work, so that the electric linear guide rail assembly runs for a circle around the edible fungus planting platform along the annular guide rail;
and step 3: in the process that the electric linear guide rail assembly runs along the annular guide rail in the step 2, when the set annular guide rail photographing interval is reached each time, the main control module controls the electric linear guide rail assembly to work, so that the electric pan-tilt module slides along the linear guide rail until the electric linear guide rail assembly returns to the initial position after reaching the maximum stroke;
and 4, step 4: in the step 3, in the process that the electric pan-tilt module slides along the linear guide rail, when the set shooting interval of the linear guide rail is reached each time, the main control module controls the electric pan-tilt module to work, so that the camera module changes the shooting angle until the electric pan-tilt module works to the maximum stroke and then returns to the initial position;
and 5: in the working process of the electric pan-tilt module in the step 4, when the set pan-tilt photographing interval is reached each time, the main control module controls the camera module to photograph an edible fungus picture on the edible fungus planting table, and the pictures are named in sequence;
step 6: repeating the steps 2-5 to obtain a plurality of edible fungus pictures at different time points in the whole growth cycle process of the edible fungus, and storing the pictures;
and 7: taking out all pictures at the same photographing time point, removing noise from each picture, utilizing a boundary extraction algorithm to segment a region of the edible fungi from the pictures, extracting characteristic points and calculating descriptors corresponding to the characteristic points;
and 8: matching the image region and the characteristic points of the edible fungi obtained in the step 7 according to the descriptors corresponding to the characteristic points to obtain coordinate values of pixel points in different regions of the edible fungi on the edible fungi planting platform under the same three-dimensional coordinate system, and forming an edible fungi point cloud model;
and step 9: calculating the three-dimensional phenotype parameters of the edible fungi by using the edible fungi point cloud model obtained in the step 8, wherein the calculation comprises the following steps: the thickness of the pileus, the length of the stipe, the height of the edible fungus, the diameter of the stipe, the diameter of the pileus and the angle of the pileus;
step 10: and (5) repeating the step 7 to the step 9 to obtain the three-dimensional phenotype parameters of the edible fungi at different photographing time points.
The automatic planting box for acquiring the three-dimensional phenotype parameters in the growing period of the edible fungi, disclosed by the invention, has the beneficial effects that as the wireless communication module, the sensor module, the temperature and humidity control module and the edible fungi three-dimensional form acquisition module are arranged, compared with the existing device, the automatic planting box has the following beneficial effects that:
firstly, the edible fungi on the edible fungi planting table are shot from all directions and all angles, and the characteristics of a plurality of pictures shot by the same edible fungi are extracted by combining a main control module to form complete point cloud data and then the phenotypic parameter measurement is carried out, so that the defect that the complete form of the edible fungi cannot be shot by the conventional device due to shielding, and therefore all phenotypic parameters cannot be accurately measured is effectively overcome;
secondly, the interval time for shooting the edible fungi on the edible fungi planting table can be set by a user;
the environment in the planting box can be set according to the needs of a user, the main control module automatically acquires the temperature, the humidity, the carbon dioxide concentration and the illumination intensity in the current planting box through the sensor module, and adjusts the temperature and humidity control module according to the user setting value to enable the temperature, the humidity and the carbon dioxide concentration in the current planting box to be consistent with the user setting value;
and fourthly, recording the environmental parameters while acquiring the phenotype parameters of the edible fungi, so that the phenotype parameters correspond to the environmental parameters one to one.
Drawings
FIG. 1 is an external structure diagram of an edible fungus planting box.
FIG. 2 is a schematic view of the internal structure of the edible fungus planting box.
Fig. 3 is a schematic diagram of the internal structure of the temperature and humidity control module.
Fig. 4 is a schematic view of the internal structure of the sensor module.
Fig. 5 is a schematic diagram of the internal structure of the edible fungus three-dimensional shape acquisition module.
In the figure: 1-a main control module; 2-a wireless communication module; 3-a rear plate; 4-right side plate; 5-a front panel; 6-left side plate; 7-a box body; 8-a top plate; 9-a sensor module; 10-an edible fungus three-dimensional shape acquisition module; 11-edible fungus planting platform; 12-a base plate; 15-a temperature and humidity control module; 16-a heater; 17-a fan; 18-a humidifier; 19-a light intensity sensor; 20-a temperature sensor; 21-a humidity sensor; 22-a carbon dioxide sensor; 31-an electric ring-shaped guide rail assembly; 32-an electric linear guide rail assembly; 33-an electric pan-tilt module; 34-camera module.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the invention, but the invention is not limited thereto. Furthermore, the technical features mentioned in the embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
In the process of researching edible fungi, establishing the relationship among the phenotype, the genotype and the environmental parameters of the edible fungi is very important, in order to verify the influence degree of different environmental parameters on the phenotype of the edible fungi, the edible fungi are generally planted in an environment-adjustable incubator, the data of temperature, humidity, carbon dioxide and the like in the incubator are recorded in a manual mode every day, and meanwhile, the phenotype parameters of the edible fungi are measured. The invention can realize the full-automatic accurate real-time acquisition of environmental data and phenotype data in the growth process of edible fungi, and the specific implementation mode is as follows:
note: the following description will take the three-dimensional phenotypic parameter acquisition in the growth phase of black skin termitomyces albuminosus as an example.
The domestic fungus is planted on the domestic fungus planting platform (11), power is supplied to the system, after a user sets parameters (the temperature is 25 ℃, the humidity is 85%, the carbon dioxide concentration is 500ppm, the photographing time point is 60 minutes, the annular guide rail photographing interval angle is 36 degrees, the linear guide rail photographing interval is 10mm, and the pan-tilt photographing interval angle is 18 degrees) required by the system work on the upper computer, the upper computer sends data to the main control module (1) through the wireless communication module (2). During the whole edible fungus growth period, the main control module (1) automatically adjusts the environment in the planting box according to the user setting: signals of an illumination intensity sensor (19), a temperature sensor (20), a humidity sensor (21) and a carbon dioxide sensor (22) in the sensor module (9) are periodically collected, and when the temperature in the box body (7) is detected to be lower than the temperature required by the current growth stage of the edible fungi, the heater (16) is automatically opened to increase the temperature in the box body (7); when the temperature in the box body (7) is higher than the set temperature, the fan (17) is automatically turned on, and the heater (16) is turned off to reduce the temperature in the box body (7); when the humidity in the box body (7) is lower than the set humidity, the humidifier (18) is started; when the humidity in the box body (7) is higher than the set humidity, the fan (17) is turned on, and the humidifier (18) is turned off to reduce the humidity; when the carbon dioxide concentration in the tank (7) is higher than the set carbon dioxide concentration, the fan (17) is turned on to ventilate the tank (7).
According to the photographing time point set by the user, the main control module (1) controls the electric annular guide rail assembly (31), the electric linear guide rail assembly (32), the electric holder module (33) and the camera module (34) to work, and completes one-time 360-degree all-dimensional photographing of the edible fungi on the edible fungi planting table (11) and calculates phenotype parameters by photographing pictures at a plurality of different angles according to the following steps:
s0: initializing a system, and enabling an electric annular guide rail assembly (31), an electric linear guide rail assembly (32) and an electric holder module (33) to reach initial positions;
s1: the main control module (1) controls the electric annular guide rail assembly (31) to work, so that the electric linear guide rail assembly (32) moves along the annular guide rail, and stops moving when reaching an angle which is 36 degrees different from the previous position;
s2: the main control module (1) controls the electric linear guide rail assembly (32) to work, so that the electric holder module (33) moves along the linear guide rail, and stops moving when the difference between the electric holder module and the previous position is 10 mm;
s3: the main control module (1) controls the camera module (34) to shoot an edible fungus picture and stores the picture according to shooting time, then controls the electric pan-tilt module (33) to rotate, and stops acting when the picture reaches an angle which is 18 degrees different from the previous position;
s4: returning to S3, returning to the initial position after the electric holder module (33) works to the maximum stroke, and entering S5;
s5: returning to S2, returning to the initial position after the electric linear guide rail assembly (32) works to the maximum stroke, and entering S6;
s6: returning to S1, completing one-time shooting after the electric annular guide rail assembly (31) runs for a week around the edible fungus planting platform (11), and obtaining a plurality of pictures shot by the edible fungus at the same shooting time point;
s7: taking out all pictures shot at the same shooting time point, removing noise of each picture by using a numerical filtering algorithm, extracting edible fungus boundaries by using an image processing SOBEL operator, extracting characteristic points of the edible fungi after segmenting a picture area of the edible fungi from each picture, and calculating descriptors corresponding to the characteristic points;
s8: performing map area matching according to descriptors corresponding to the feature points by using the map areas and the feature points of the edible fungi obtained in the S7 to obtain coordinate values of pixel points of different areas of the edible fungi on the edible fungi planting table under the same three-dimensional coordinate system (x, y, z), and forming an edible fungi point cloud model, wherein the x coordinate represents the width, the y coordinate represents the depth, and the z coordinate represents the height, and the z coordinate at the edible fungi planting table (11) is 0;
s9: the method comprises the steps of identifying the mushroom cap and the mushroom stem by using the point cloud model of the edible mushroom obtained in the S8 and using Hough transform according to different shapes of the mushroom stem and the mushroom cap, dividing the point cloud of the edible mushroom into a mushroom cap part and a mushroom stem part, and calculating three-dimensional phenotype parameters of the edible mushroom, wherein the calculation comprises the following steps: the thickness of the pileus, the length of the stipe, the height of the edible fungus, the diameter of the stipe, the diameter of the pileus and the angle of the pileus; specifically, subtracting the z coordinate of the pixel point at the lowest position from the z coordinate of the pixel point at the highest position of the pileus point cloud data to obtain the thickness of the pileus; subtracting the z coordinate of the pixel point at the lowest position from the z coordinate of the pixel point at the highest position of the stipe point cloud data to obtain the length of the stipe; adding the thickness of the mushroom cap and the height of the mushroom stalk to obtain the height of the edible mushroom; in the stipe point cloud data, at least calculating and averaging the difference between the minimum value and the maximum value of the x coordinate and the difference between the minimum value and the maximum value of the y coordinate when the z coordinates are different at 5 positions to obtain the diameter of the stipe; projecting the point cloud number of the pileus into an xy coordinate system, and averaging the difference between the minimum value and the maximum value of the x coordinate and the difference between the minimum value and the maximum value of the y coordinate to obtain the diameter of the pileus; taking the point x when the x coordinate is minimum in the pileus point datamin（xxmin,yxmin,zxmin) With point x at the maximum of the x coordinatemax（xxmax,yxmax,zxmax) Calculating an equation of the diameter a according to a method for constructing a straight line at two points, and taking the y positionPoint y at the target minimummin（xymin,yymin,zymin) Point y at which the maximum value is plotted against ymax（xymax,yymax,zymax) And calculating an equation of the diameter b according to a method for constructing a straight line by two points, projecting a and b into an xy coordinate system, and calculating the coordinate (o) of the intersection point of a and bx,oy) Projecting as the center point o of the pileus, searching the point cloud data of the pileus upwards by taking the point o as a starting point to obtain coordinate values of (o)x,oy,bz）、（ox,oy,tz) B represents x and y coordinates of ox,oy,The point with the minimum z coordinate in the point cloud data of the pileus is represented by t, and the x-axis coordinate and the y-axis coordinate are o respectivelyx,oy,The point with the maximum z coordinate in the point cloud data of the pileus is used as the point xmin、xmaxB, t are projected on an xz plane to calculate a straight line bxmin，txminAngle c1 between, calculate the straight line bxmax，txmaxAngle c2 between, point ymin、ymaxB, t are projected on the yz plane to calculate a straight line bymin，tyminAngle c3 between, calculate the straight line bymax，tymaxThe angle c4 between the two angles, the average value of c1, c2, c3 and c4 is calculated to obtain the angle of the pileus.
All the edible fungus pictures shot by the camera module (34) and three-dimensional phenotype parameters of the growing period of the edible fungus are obtained through calculation, and the data such as temperature, humidity, carbon dioxide concentration and the like obtained by the sensor module (9) are sent to the upper computer through the wireless communication module (2), so that the storage and the query of a user are facilitated; in addition, in the growing process of the edible fungi, in order to enable a user to experience the pleasure of planting the edible fungi, the user can check the temperature, the humidity and the carbon dioxide concentration in the current box body (7) through the upper computer at any time, and manually turn on or off the fan (17), the heater (16) and the humidifier (18).
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (9)
1. An automatic planting box for acquiring three-dimensional phenotype parameters in a growing period of edible fungi comprises a box body, a temperature and humidity control module, a sensor module and an edible fungi planting table, and is characterized by further comprising a main control module, a wireless communication module and an edible fungi three-dimensional form acquisition module; the edible fungus cultivation device comprises a box body, a sensor module, an edible fungus three-dimensional shape acquisition module, an edible fungus planting table and a temperature and humidity control module, wherein the box body is internally provided with the sensor module, the edible fungus three-dimensional shape acquisition module, the edible fungus planting table and the temperature and humidity control module; the edible fungus three-dimensional form acquisition module comprises an electric annular guide rail assembly, an electric linear guide rail assembly, an electric holder module and a camera module.
2. The automatic planting box for acquiring the three-dimensional phenotype parameters in the growing period of the edible fungi as claimed in claim 1, wherein the box body comprises a top plate and a bottom plate, a left side plate, a right side plate, a front panel and a rear plate are respectively arranged between the top plate and the bottom plate, the edible fungi three-dimensional morphology acquisition module and the wireless communication module are fixed on the top plate, and the edible fungi planting platform is fixed at the center of the projection of the annular guide rail in the electric annular guide rail assembly on the bottom plate.
3. The automatic planting box for acquiring the three-dimensional phenotype parameters in the growing period of the edible fungi as claimed in claim 1, wherein the camera module is fixed on the electric pan-tilt module, and the shooting angle of the camera module is changed by means of the electric pan-tilt module; the electric pan-tilt module is in sliding fit with the electric linear guide rail assembly to realize linear movement of the electric pan-tilt module; the electric linear guide rail assembly is in sliding fit with the electric annular guide rail assembly, so that the electric linear guide rail assembly moves annularly.
4. The automatic planting box for acquiring the three-dimensional phenotype parameters in the growing period of the edible fungi as claimed in claim 1, wherein the main control module controls the electric pan-tilt module, the electric linear guide rail assembly and the electric annular guide rail assembly in the edible fungi three-dimensional morphology acquisition module to change the position and the angle of the camera module, so as to shoot the edible fungi on the edible fungi planting platform at multiple angles and acquire image information.
5. The automatic planting box for acquiring the three-dimensional phenotype parameters in the growing period of the edible fungi as claimed in claim 1, wherein the wireless communication module comprises one or more of a WiFi communication module, an NBIOT module, a LoRa module or a GPRS module, and the main control module exchanges data with an upper computer program through the wireless communication module.
6. The automatic planting box for acquiring the three-dimensional phenotype parameters in the growing period of the edible fungi as claimed in claim 1, wherein the sensor module comprises a temperature sensor, a humidity sensor, a carbon dioxide sensor and an illumination intensity sensor, and the main control module acquires the temperature, the humidity, the carbon dioxide concentration and the illumination intensity in the current planting box through the sensor module.
7. The automatic planting box for obtaining the three-dimensional phenotype parameters in the growing period of the edible fungi as claimed in claim 1, wherein the temperature and humidity control module comprises a fan, a heater and a humidifier, and the main control module changes the temperature, the humidity and the carbon dioxide concentration in the current planting box through the temperature and humidity control module.
8. The automatic planting box for acquiring the three-dimensional phenotype parameters in the growing period of the edible fungi as claimed in claim 1, is characterized in that the acquisition of the three-dimensional forms of the edible fungi at different periods in the whole growing period is realized according to the following steps:
step 1: planting edible fungi on an edible fungi planting table, setting temperature and humidity, carbon dioxide concentration, photographing time points, annular guide rail photographing intervals, linear guide rail photographing intervals and pan-tilt photographing interval parameters by a user on an upper computer, transmitting data to a main control module by the upper computer through a wireless communication module, controlling an electric annular guide rail assembly, an electric linear guide rail assembly and an electric pan-tilt module to reach initial positions by the main control module, and controlling a planting box to start working by the main control module;
step 2: when the set photographing time point is reached, the main control module controls the electric annular guide rail assembly to work, so that the electric linear guide rail assembly runs for a circle around the edible fungus planting platform along the annular guide rail;
and step 3: in the process that the electric linear guide rail assembly runs along the annular guide rail in the step 2, when the set annular guide rail photographing interval is reached each time, the main control module controls the electric linear guide rail assembly to work, so that the electric pan-tilt module slides along the linear guide rail until the electric linear guide rail assembly returns to the initial position after reaching the maximum stroke;
and 4, step 4: in the step 3, in the process that the electric pan-tilt module slides along the linear guide rail, when the set shooting interval of the linear guide rail is reached each time, the main control module controls the electric pan-tilt module to work, so that the camera module changes the shooting angle until the electric pan-tilt module works to the maximum stroke and then returns to the initial position;
and 5: in the working process of the electric pan-tilt module in the step 4, when the set pan-tilt photographing interval is reached each time, the main control module controls the camera module to photograph an edible fungus picture on the edible fungus planting table, and the pictures are named in sequence;
step 6: repeating the steps 2-5 to obtain a plurality of edible fungus pictures at different time points in the whole growth cycle process of the edible fungus, and storing the pictures;
and 7: taking out all pictures at the same photographing time point, removing noise from each picture, utilizing a boundary extraction algorithm to segment a region of the edible fungi from the pictures, extracting characteristic points and calculating descriptors corresponding to the characteristic points;
and 8: matching the image region and the characteristic points of the edible fungi obtained in the step 7 according to the descriptors corresponding to the characteristic points to obtain coordinate values of pixel points in different regions of the edible fungi on the edible fungi planting platform under the same three-dimensional coordinate system, and forming an edible fungi point cloud model;
and step 9: calculating three-dimensional phenotype parameters of the edible fungi by using the edible fungi point cloud model obtained in the step 8;
step 10: and (5) repeating the step 7 to the step 9 to obtain the three-dimensional phenotype parameters of the edible fungi at different photographing time points.
9. The automatic planting box for acquiring the three-dimensional phenotype parameter of the growing period of the edible fungi according to claim 1, wherein the three-dimensional phenotype parameter of the edible fungi comprises: the thickness of the pileus, the length of the stipe, the height of the edible fungus, the diameter of the stipe, the diameter of the pileus and the angle of the pileus.
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