CN115681748A

CN115681748A - Self-propelled multi-degree-of-freedom plant phenotype information acquisition platform and method

Info

Publication number: CN115681748A
Application number: CN202211316305.4A
Authority: CN
Inventors: 张慧春; 田啟飞; 边黎明; 周宏平; 郑加强
Original assignee: Nanjing Forestry University
Current assignee: Nanjing Forestry University
Priority date: 2022-10-26
Filing date: 2022-10-26
Publication date: 2023-02-03

Abstract

The invention provides a self-propelled multi-degree-of-freedom plant phenotype information acquisition platform which can comprehensively and completely acquire phenotype information such as color, quantity, spatial distribution and the like of all directions and different plant organ parts of a plant. The system comprises a self-propelled chassis module, a telescopic mechanical arm module and a multi-degree-of-freedom acquisition module; the self-propelled chassis module comprises a vehicle body advancing device and a rotary disc mechanism; the vehicle body traveling device comprises a traveling power device which is provided with a vehicle body and enables the vehicle body to move at least along the X-axis direction; the rotary disc mechanism comprises a disc which can rotate around a Z axis relative to the vehicle body and a rotary power device which drives the disc to rotate; the telescopic mechanical arm module comprises a vertical mechanical arm which is arranged on the disc and can be stretched in the Z-axis direction, and a horizontal mechanical arm which is connected with the upper end of the vertical mechanical arm and can be stretched in the Y-axis direction; the multi-degree-of-freedom acquisition module is directly or indirectly arranged at the other end of the horizontal mechanical arm and can drive the imaging sensor to swing around a Y axis or an X axis.

Description

Self-propelled multi-degree-of-freedom plant phenotype information acquisition platform and method

Technical Field

The invention relates to the field of plant phenotype information acquisition equipment and acquisition methods.

Background

The phenotype refers to the character of the plant which is determined by the gene and the environment, and comprises plant morphological structure parameters (plant height, crown width, leaf color, leaf quantity, leaf texture, leaf angle, flower house shape, flower color, fruit size, pericarp color, stem size, stem color and the like), physiological and biochemical parameters (chlorophyll content, water content, nitrogen, phosphorus and potassium content) and the like. The phenotypic characters of the plants caused by different genes, environments and cultivation conditions show complexity due to the influence of various factors in the growth and development processes of the plants, and the phenotypes of the same plant at different growth and development stages also have differences. The method has the advantages of comprehensively, completely and accurately acquiring plant phenotype parameters as much as possible, improving the capability of analyzing plant growth rate, yield and adaptive stress related genes, and being beneficial to cultivating plants with higher yield, higher quality and higher stress tolerance, thereby greatly improving breeding improvement efficiency. Most of traditional plant phenotype information collection depends on manual operation, only depends on subjective experience for qualitative determination, and is low in operation efficiency, low in observation precision and large in plant destructiveness.

At present, nondestructive plant phenotype information acquisition platforms at home and abroad can be divided into two types according to the working form; and (1) moving the imaging sensor and fixing the plant. The operation mode keeps the in-situ growth of the plant, has little interference on the real growth and development of the plant, has large movement flexibility of the imaging sensor and high working efficiency, and becomes the main direction of the development of the current phenotype platform. However, the imaging sensor still has a challenge to acquire group data in real time and realize high-precision phenotypic parameter extraction in the moving process. For example, the truss type phenotype collection platform is generally established under the condition of flat terrain such as a greenhouse, the cost is high, the area of plants which can be planted in the greenhouse is limited, and the number of samples for phenotype research is greatly limited. And (2) moving the plant, and fixing the imaging sensor. For example, the conveyor belt type plant phenotype collection platform has low overall efficiency, and due to the vibration of plants in the conveying process, the vibration easily influences plants which are easy to break and fall in the mature period, fine and tiny plants and the like, damages the normal growth of the plants, and causes the increase of errors in phenotype monitoring.

Most of the existing plant phenotype acquisition platforms can only realize single-degree-of-freedom motion or transformation of 2-3-degree-of-freedom motion in the working process, for example, the invention is a Chinese patent application document (application number 2020105285385) of a plant overground part phenotype data acquisition and sample space coordinate measurement platform, the platform comprises a base, a camera and a probe, the base is provided with a rotary support for placing plants, the probe is connected to the base through a probe support, the probe support comprises a vertical support and a transverse support, the lower end of the vertical support is connected to the base, the upper end of the vertical support is connected to one end of the transverse support, the other end of the transverse support is connected with the probe, and the camera is connected to the base. The platform can only meet the movement of the rotational freedom degree and the movement freedom degree of the Z axis in the working process, can only realize the non-in-situ imaging of a single plant at one visual angle, has the defect that a plant sample needs to be manually replaced or the fixed position of an imaging sensor needs to be frequently adjusted, and greatly limits the comprehensiveness and the accuracy of the acquired phenotypic parameters.

Therefore, the platform with less freedom degree is difficult to meet the requirements of plant in-situ growth, sensor comprehensive imaging and accurate extraction of phenotype information.

Disclosure of Invention

The invention aims to provide a self-propelled multi-degree-of-freedom plant phenotype information acquisition platform which mainly comprises a self-propelled chassis module, a telescopic mechanical arm module and a multi-degree-of-freedom acquisition module, can realize the acquisition of a top view image and a side view image of a plant, and can comprehensively and completely acquire phenotype information such as color, quantity, spatial distribution and the like of each direction of the plant and different plant organ parts by controlling the imaging angle of an imaging sensor through the meshing rotation of an outer gear and an inner gear ring on the multi-degree-of-freedom acquisition module.

The invention discloses a self-propelled multi-degree-of-freedom plant phenotype information acquisition platform which comprises a self-propelled chassis module, a telescopic mechanical arm module and a multi-degree-of-freedom acquisition module; the self-propelled chassis module comprises a vehicle body advancing device and a rotary disc mechanism; the vehicle body advancing device comprises a vehicle body with rollers at the bottom, and an advancing power device for driving the rollers to enable the vehicle body to move at least along the X-axis direction; the rotary disc mechanism comprises a disc which is positioned above the vehicle body and can rotate around a Z axis relative to the vehicle body, and a rotary power device for driving the disc to rotate; the telescopic mechanical arm module comprises a vertical mechanical arm which is arranged on the disc and can be stretched in the Z-axis direction, and a horizontal mechanical arm which is connected with the upper end of the vertical mechanical arm and can be stretched in the Y-axis direction; the multi-degree-of-freedom acquisition module is directly or indirectly arranged at the other end of the horizontal mechanical arm and can drive the imaging sensor to swing around a Y axis or an X axis.

The self-propelled multi-degree-of-freedom plant phenotype information acquisition platform comprises a support rod, an arc-shaped inner toothed ring with a sliding groove, an outer gear, a transmission shaft I, a stepped shaft, a swing motor, a bearing seat and a hanging rod, wherein the arc-shaped inner toothed ring is fixed at the lower part of the support rod and is provided with the sliding groove; the sliding groove is concentric with the inner toothed ring, one end of the sliding groove penetrating through the stepped shaft in the sliding groove is fixed with the imaging sensor, and the other end of the sliding groove is fixed with the bearing seat; the first transmission shaft penetrates through the central hole of the outer gear and is in key connection with the central hole, and the first transmission shaft is rotatably arranged on the bearing seat; one end of the transmission shaft is connected with an output shaft of the swing motor, and the other end of the transmission shaft is hinged at the lower end of the suspender; the swinging motor shell is fixed on the bearing seat; the upper end of a suspender extending along the radial direction of the inner gear ring is hinged with the bracket rod; the support rod is directly or indirectly connected with the horizontal mechanical arm.

The self-propelled multi-degree-of-freedom plant phenotype information acquisition platform further comprises an acquisition module driving motor, and an output shaft of the acquisition module driving motor is connected with the support rod to drive the multi-degree-of-freedom acquisition module to rotate around the Z axis; the acquisition module drives the motor shell to be connected to the horizontal mechanical arm.

The self-propelled multi-degree-of-freedom plant phenotype information acquisition platform is characterized in that the rotating power device comprises a worm gear device; the worm wheel is fixed on a second transmission shaft which rotates relative to the vehicle body, and a disc is fixed at the upper end of the second transmission shaft; the worm matched with the worm wheel is connected with an output shaft of the rotating motor; the rotating motor shell is fixed on the vehicle body.

According to the self-propelled multi-degree-of-freedom plant phenotype information acquisition platform, the horizontal mechanical arm comprises a first rectangular frame, a second rectangular frame and a third rectangular frame, the first rectangular frame is fixed at the upper end of the vertical mechanical arm, the second rectangular frame is arranged in a sliding mode relative to the first rectangular frame, the third rectangular frame is arranged in a sliding mode relative to the second rectangular frame, an electric push rod B for driving the two rectangular frames to slide relative to the first rectangular frame is driven, and an electric push rod C for driving the three rectangular frames to slide relative to the second rectangular frame is driven; the multi-degree-of-freedom acquisition module is directly or indirectly arranged on the rectangular frame III.

According to the self-propelled multi-degree-of-freedom plant phenotype information acquisition platform, the number of the electric push rods B or the electric push rods C is two, and the two electric push rods B or the electric push rods C are arranged in opposite directions.

The self-propelled multi-degree-of-freedom plant phenotype information acquisition platform comprises a vertical fixed rod fixed on a disc, a sliding block arranged on the fixed rod in a vertically sliding mode, a movable rod connected with the sliding block and an electric push rod D pushing the movable rod to move up and down along with the sliding block.

According to the self-propelled multi-degree-of-freedom plant phenotype information acquisition platform, the roller wheels are fixedly connected with the power output shaft which is rotatably arranged on the vehicle body, and the other end of the power output shaft is connected with the output shaft of the traveling motor which is fixed on the vehicle body.

The invention also provides a plant phenotype information acquisition method which can comprehensively and completely acquire phenotype information such as color, quantity, spatial distribution and the like of each direction and different plant organ parts of the plant.

The plant phenotype information acquisition method uses the self-propelled multi-degree-of-freedom plant phenotype information acquisition platform, and comprises the following steps:

controlling the vehicle body to move to a collection target area;

adjusting the extension of the vertical mechanical arm according to the height of the collected target plant;

the disc rotates to ensure that the moving direction of the vehicle body is vertical to the telescopic direction of the horizontal mechanical arm;

the horizontal mechanical arm stretches and retracts, and/or the swing motor acts, and/or the acquisition module drives the motor to act, so that the imaging sensor moves to a proper position, and the imaging sensor is adopted to acquire images of plant groups, single plants or plant organs.

When the plant phenotype information acquisition method is used for acquiring a top view or a side view of the plant population, the method further comprises the following steps: controlling the vehicle body to move, and acquiring images once every a distance to construct a large amount of sample data for the plant population.

When the plant phenotype information acquisition method acquires the side view of the single plant, the method further comprises the following steps: and controlling the vehicle body to move forward, rotating for a circle around the single plant, and acquiring images once at intervals to construct sample data for the single plant.

The beneficial effect of this patent:

this patent design multi freedom plant phenotype information acquisition platform, aim at through the degree of freedom transform between the three module mechanism, realize that plant is diversified, multiscale normal position is gathered in the regional area, improve the accuracy and the integrality of phenotype information extraction, avoid the tiny organs of plants such as blade, flower, fruit to cause image acquisition data distortion, rate of accuracy low because of the shake in the removal process. The design of the acquisition module can enable the platform to complete the acquisition of the phenotypic parameters of the plant in side view, top view and other arbitrary three-dimensional space angles at one time. Meanwhile, the stretching of the vertical mechanical arm can perform imaging from far to near, so that the omnibearing phenotype collection from a group plant to a single plant is realized; the imaging angle of the multi-degree-of-freedom acquisition module is changed through the meshing transmission of the inner gear ring and the outer gear, and the adjustment and the transformation of the acquisition position from coarse to fine are carried out, so that the multi-scale phenotype acquisition from a single plant to a specific organ is realized.

Drawings

FIG. 1 is a top view of an acquisition platform;

FIG. 2 is a schematic diagram of the working performance of the collection platform (the robotic arm is in the shortest state);

FIG. 3 is a schematic view of a vertical robot arm mounting arrangement;

FIG. 4 is a schematic view of a telescopic structure of a horizontal robot arm;

FIG. 5 is a schematic diagram of a six-degree-of-freedom three-dimensional space;

FIG. 6 is a schematic view of the robot arm axis;

FIG. 7 is an isometric cross-sectional view of a rotating disk mechanism on a chassis module;

FIG. 8 is an isometric sectional view of the vehicle body advancing device;

FIG. 9 is a schematic external view of a rotary disk mechanism;

FIG. 10 is a schematic view of a worm gear arrangement;

FIG. 11 is a schematic perspective view of an acquisition module;

FIG. 12 is a cross-sectional view of an acquisition module;

FIG. 13 is a general view of an acquisition platform;

FIG. 14 is a perspective view of a disk, arm, etc.;

FIG. 15 is a schematic view of an actual acquisition workflow of the present invention;

1. fixing a diagonal draw section bar; 2. connecting a section bar; 3. a slider; 4. a slide rail connector; 5. a slide rail; 6. a hexagon socket M6 pin; 7. a pin shaft; 9. FD3 connecting seats; 10. a stepping motor; 11. a pin shaft; 12. carrying out corner connection; 13. a worm gear device; 14. angular contact ball bearings; 15. a worm gear box body; 16. a bearing plate; 17. a dual-purpose flange plate; 18. an end cap; 19. a flange plate; 20. solid rubber wheels (rollers); 21. an M8 bolt; 22. rotating the motor fixing seat; 23. an M12 bolt; 24. a deep groove ball bearing; 25. a shaft end retainer ring; 26. a sleeve; 27. a bearing retainer ring; 28. a traveling motor; 29. a traveling motor fixing seat; 30. a power take-off shaft; 31. rotating the motor; 33. an upper cover plate of the chassis; 34. a motor fixing seat; 35. a worm gear; 36. felt; 37. a bearing; 38. an assembly port; 39. an inner gear ring; 40. a sliding groove; 41. an outer gear; 42. a stepped shaft; 43. an imaging sensor; 44. a bearing seat; 45. a swing motor (servo motor); 46. a boom; 47. a motor connecting seat; 50. a vehicle body; 51. a disc; 52. a support rod; 54. the collection module drives a motor; 55. fixing the rod; 56. a movable rod; 57. a first transmission shaft; 58. a second transmission shaft; 61. a first rectangular frame; 62. a second rectangular frame; 63. a third rectangular frame; 71. an electric push rod B I; 72. an electric push rod B II; 81. an electric push rod C I; 82. an electric push rod C II; 91. an electric push rod D I; 92. a second electric push rod D; 100. a self-propelled chassis module; 200. a retractable robotic arm module; 300. the multi-degree-of-freedom acquisition module.

Detailed Description

The invention mainly aims at greenhouse and field plants, aims to improve the working performance of the existing phenotype acquisition platform in China at present, develops an omnibearing, multi-scale and multi-degree-of-freedom plant phenotype information acquisition platform (see figures 13 and 14), and is divided into a self-propelled chassis module 100, a telescopic mechanical arm module 200 and a multi-degree-of-freedom acquisition module 300.

The platform now of all-directional body not only can realize looking down the collection of image and looking sideways at the plant, can also control imaging sensor's formation of image angle through the meshing rotation of outer gear and interior ring gear on the multi freedom acquisition module, and then carries out comprehensive, complete collection to phenomenological information such as the colour, quantity, the spatial distribution of each position and each plant organ of plant.

The multi-scale mode is embodied in that the platform can not only finish coarse adjustment for efficiently and quickly finding the direction range of a target plant, but also realize accurate fine adjustment for locking a target organ or part of the plant. The specific implementation mode is as follows: the acquisition height of the platform and the extension distance of the horizontal mechanical arm can be preliminarily regulated and controlled before acquisition, namely coarse adjustment is carried out, and the acquisition area of the imaging sensor can be ensured to completely cover more than one target plant. When the acquisition is formally carried out, the acquisition module driving motor at the tail end of the horizontal mechanical arm operates to adjust the space angle of the inner gear ring, and then the acquisition position of the imaging sensor is adjusted by the engagement of the inner gear ring on the multi-degree-of-freedom acquisition module and the outer gear, so that the accurate adjustment and movement of the acquisition distance and the angle of the imaging sensor, namely the fine adjustment, are achieved.

The self-propelled chassis module, the telescopic mechanical arm module, the multi-degree-of-freedom acquisition module and the like are matched to move to reflect the multi-degree of freedom of the platform, the movement of the moving degree of freedom in the X-axis direction can be realized by self-propelling the chassis module based on the change of the space position and the imaging angle of the imaging sensor, the movement of the moving degree of freedom in the Y-axis direction can be realized by the extension and contraction of the horizontal mechanical arm, the movement of the rotating degree of freedom in the X-axis or Y-axis direction can be realized by the positive and negative rotation of a swing motor of the multi-degree-of-freedom acquisition module, the movement of the moving degree of freedom in the Z-axis direction can be realized by the up-down stretching of the vertical mechanical arm, and the movement of the rotating degree of freedom in the Z-axis direction can be realized by the rotation of the disc.

The swinging motor shell is fixed on the bearing seat; the swing motor runs to drive the external gear to rotate through the key, and the external gear rolls in the internal gear ring due to the fact that the external gear is meshed with the internal gear ring, so that the angle of the bearing seat is changed to drive the stepped shaft to slide in the sliding groove, and the imaging sensor fixed on the stepped shaft changes the imaging angle in real time along with the sliding of the stepped shaft, and therefore the transformation of the imaging angle is achieved. When the stepped shaft slides in the sliding groove, the stepped shaft and the hanging rod are always vertical and coplanar. And controlling the accurate positioning and full-scale acquisition of the imaging sensor from coarse to fine and from large to small. The imaging sensor can select a visible light camera, a depth camera, a spectrum camera and the like according to imaging requirements.

The three modules are specifically:

(1) A self-propelled chassis module; as a bearing mechanism and a self-walking mechanism of the whole machine, the self-moving realizes the space displacement of the whole platform, and the plant in-situ collection can be carried out, and the plant in-situ collection device specifically comprises a vehicle body advancing device and a rotary disc mechanism.

Vehicle body travel device (fig. 7 and 8): the vehicle body 50 is provided with the double traveling motors 28, the traveling motors 28 drive the power output shafts 30 and the rollers 20 to rotate through key and key slot transmission, the transmission shaft system comprises parts such as a bearing, a check ring, a sleeve, a bearing frame and the like, and all the mechanisms are matched to work to realize the steering motion of the vehicle body in situ or in the traveling process;

rotary disk mechanism (fig. 9): the disc 51 penetrates through an upper cover plate of the vehicle body and is fixed with a second transmission shaft 58, and the second transmission shaft 58 is rotatably arranged on the worm gear box body 15 through an angular contact ball bearing 14. When actual acquisition is carried out, the peripheral speed of the rotation of the disc is slow, and the worm gear and worm device is used as the speed reducer and the power output end to realize the rotation of the transmission shaft II, so that the disc is driven to rotate.

The worm and gear mechanism is sealed by a box body 15, the middle part of the vehicle body is fixedly connected with a bearing plate 16, the upper part of the bearing plate 16 is used as a supporting fixed end of the worm and gear box body 15, and the lower part of the bearing plate is connected with a bearing frame on a transmission shaft system by bolts, so that the positioning of the device in the chassis is realized.

(2) A telescoping robotic arm module (fig. 6); the mechanism for adjusting the acquisition height and width of the imaging sensor as a whole machine mainly comprises a section bar, a slide rail, a slide block and an electric push rod. The section bar spare of each length passes through the fixed rectangle frame that constitutes of angle sign indicating number, as shown in fig. 2, vertical arm is including fixing two vertical dead levers 55 on the disc, fixes the slide rail 5 on dead lever 55, slides from top to bottom and sets up slider 3 on slide rail 5, and slider 3 fixed connection's movable rod 56, the both ends and disc and a movable rod of electric putter D one are connected. Two ends of the electric push rod D II are connected with the disc and the other movable rod. The electric push rod D (comprising a first electric push rod D and a second electric push rod D) pushes the two movable rods to synchronously move up and down.

The horizontal mechanical arm comprises a first rectangular frame 61 fixed at the upper ends of the two movable rods 56, a second rectangular frame 63 arranged in a sliding mode relative to the first rectangular frame, and a third rectangular frame 63 arranged in a sliding mode relative to the second rectangular frame, and drives a first electric push rod B of the second rectangular frame to slide and a third electric push rod C of the third rectangular frame to slide relative to the second rectangular frame. The electric push rod B comprises an upper electric push rod B71 and a lower electric push rod B72, and the electric push rod C comprises an upper electric push rod C81 and a lower electric push rod C82. The first electric push rod B and the second electric push rod B are installed in opposite directions, namely, a push rod seat in the first electric push rod B is hinged with the second rectangular frame, and a telescopic rod in the second electric push rod B is hinged with the second rectangular frame; the telescopic rod in the electric push rod B I is hinged with the rectangular frame I, and the push rod seat in the electric push rod B II is hinged with the rectangular frame I. The stability of the platform is ensured when the group of electric push rods moves outwards near the axle center. The push rod seats in the electric push rod C I and the electric push rod C II are hinged with the rectangular frame II, and the telescopic rods in the electric push rod C I and the electric push rod C II are hinged with the rectangular frame III. During actual work, the specific motion sequence of the electric push rod group is as follows: the first electric push rod C and the second electric push rod C move outwards to the limit length. If the extension distance still does not meet the acquisition requirement, the electric push rod B I and the electric push rod B II move, the position of the three-phase rectangular frame of the section bar at the leftmost end relative to the rectangular frame II of the middle section bar is unchanged, the two-phase rectangular frame moves relative to the one-phase rectangular frame of the section bar at the rightmost end, and the rectangular frame of the section bar extends outwards to the limit position at the same time, so that the movement of the degree of freedom of the Y-axis movement is completed. The vertical mechanical arm is operated by the electric push rods D I91 and D II 92 simultaneously to realize the synchronous motion of the Z-axis movement freedom degree. During actual work, electric putter D stretches out upwards, and left end section bar (movable rod) the rebound that is connected with electric putter drives the slide rail of slider on right-hand member section bar (dead lever) and slides, and left end section bar top is connected fixedly with horizontal end section bar (rectangle frame one) by the angle sign indicating number, realizes imaging sensor's altitude mixture control. The method is suitable for the requirements of large plant height change and quick phenotype information acquisition in the whole-period growth and development process of the fast-growing plants.

(3) Multiple degree of freedom acquisition module (fig. 10): the main body comprises a support rod 52, an inner toothed ring 39 with a sliding groove 40, an outer gear 41 meshed with the inner toothed ring 39, a first transmission shaft 57, a stepped shaft 42 penetrating through the sliding groove, a swing motor 45, a bearing seat 44, a suspension rod 46, an acquisition module driving motor 54, a motor connecting seat 47 and the like, wherein the motor connecting seat 47 is fixed on the support rod 52, and the inner toothed ring 39 is fixed on the support rod 52. The articulation of the hanger bar 46 with the hanger bar 52 is the center of the inner toothed ring 39. The module is mainly used for connecting an imaging sensor. The gear has accurate transmission ratio as a high-precision transmission part, and the imaging angle of the imaging sensor is adjusted through the meshing of the external gear and the internal gear ring. The specific regulation mechanism is as follows: the operation of the acquisition module driving motor 54 is controlled, the output shaft of the acquisition module driving motor 54 fixed on the three lower parts of the rectangular frame is fixed with the motor connecting seat 47, the whole acquisition module is adjusted to rotate in space based on the initial imaging requirement of the sensor, and the imaging sensor is reasonably controlled to the space position of a plant. The stepped shaft is assembled to the sliding groove through an assembly opening in the inner gear ring, one end of the stepped shaft is fixed with the imaging sensor, and the other end of the stepped shaft is fixedly connected with a lower end hole in the bearing seat. And a key on the first transmission shaft is matched with a key groove in the central hole of the outer gear. One end of the transmission shaft penetrates through a hole at the upper end of the bearing seat to be connected with the swing motor, and the other end of the transmission shaft is hinged with the lower end of the suspender. The swinging motor shell is fixed on the bearing seat. The swing motor operates to drive the outer gear to be meshed with the inner gear ring, the angle of the bearing seat is changed between meshing, the stepped shaft is driven to slide in the sliding groove, the imaging sensor fixed on the stepped shaft changes the imaging angle in real time along with the sliding of the shaft, and therefore the transformation of the imaging angle is achieved. And controlling the accurate positioning and full-scale acquisition of the imaging sensor from coarse to fine and from large to small. The imaging sensor can select a visible light camera, a depth camera, a spectrum camera and the like according to imaging requirements. The technical parameters of the external gear and the internal gear ring are as follows:

furthermore, a casting hole is formed in the rotary platform and used for being connected with the upper end telescopic mechanical arm module.

Further, a stepping motor 10 in the electric push rod provides power to adjust the extension distance of the telescopic rod in the electric push rod.

Furthermore, the lithium battery is arranged on the vehicle body to supply power to the stepping motor, the traveling motor, the acquisition module driving motor, the rotating motor, the swinging motor and the like in the electric push rod.

Further, a cradle head is arranged in the vehicle body chassis box body and used for connecting and fixing the bearing plate.

Furthermore, the movement of the whole platform is controlled by a remote controller through mounting a signal receiving device to walk, turn and stop.

A multi-degree-of-freedom plant phenotype information acquisition platform can realize omnibearing, multi-scale and multi-degree-of-freedom phenotype acquisition work, and comprises the following specific steps:

the method comprises the following steps: the three modules are respectively fixed through connecting pieces such as angle codes and L-shaped plates, the acquisition module is connected with an imaging sensor, and the three modules are installed into a whole and are arranged in a working environment.

Step two: the height of the vertical mechanical arm and the extending length of the horizontal mechanical arm are adjusted primarily aiming at the collected target plants, and the distance between the imaging sensor and the plants is controlled, so that the collection range of the imaging sensor can cover the whole plant.

Step three: and controlling the self-propelled chassis module to move to a specified acquisition position.

Step four: the imaging angle of the imaging sensor is accurately controlled by controlling the meshing transmission of the outer gear and the inner toothed ring on the multi-degree-of-freedom acquisition module, the sliding groove on the inner toothed ring is used as a motion track of the stepped shaft and a shaft shoulder for axially positioning the stepped shaft, and the positioning of the outer gear is realized through the transmission shaft I connected with the swing motor. The target sample plant can be collected at a uniform imaging angle, and then the imaging angle is adjusted gradually to complete the phenotype information collection of other plants.

Step five: the imaging sensor is externally connected with a computer, and is used for carrying out data analysis and storage on the acquired image information of the plant in real time and obtaining phenotype data after image processing.

Further, the specific steps of adjusting the telescopic mechanical arm are as follows:

s1: the output ends of the height adjusting mechanism and the width adjusting mechanism are controlled by the extension and contraction of an electric push rod, and the stroke of the electric push rod is the length change range of the mechanical arm.

S2: the two electric push rod circuits with the height adjusted are connected according to the positive-positive, negative-negative, and the electric push rod circuits with the width adjusted are connected according to the positive-negative, negative-positive, and the power supply of the lithium battery realizes the synchronous motion of the electric push rods of the two mechanisms.

S3: the electric push rod is externally connected with a switch, and the push rod is stretched by controlling the forward and reverse rotation of the motor.

Further, the specific steps of adjusting the imaging angle of the imaging sensor are as follows:

s1: the collection module driving motor is controlled to operate, the output shaft of the collection module driving motor is fixed with the motor connecting seat on the collection module, the whole collection module is adjusted and rotated based on the initial imaging requirement of the sensor, and the spatial position of the imaging sensor to the plant is accurately controlled.

S2: the swing motor operates to drive the transmission shaft to rotate, the outer gear is meshed with the inner gear ring, the bearing seat changes the angle along with the sliding of the stepped shaft in the sliding groove, the imaging sensor fixed on the stepped shaft changes the imaging angle at the moment, and then the transformation of the imaging angle is realized.

The multi-degree-of-freedom plant phenotype information acquisition platform can meet the plant phenotype acquisition work requirements of different visual angle orientations, different dimensions and scales and different growth and development periods;

(1) Different view angle orientations: the accuracy of phenotype parameter extraction is improved by acquiring two-dimensional images from a plurality of visual angles, and the transformation of imaging angles is realized by the design of a multi-freedom-degree acquisition module through meshing transmission among gears and matching of an imaging sensor and a swing motor so as to acquire side-view images, overlook images and multi-angle plant image information. The acquisition module driving motor rotates the space angle of the adjustable acquisition module, and meanwhile, the imaging angle change of the imaging sensor can reach high precision and high accuracy based on the high-precision working performance of the gear transmission part. When plants grow and develop, the spatial orientation is extremely complex and is not regular upward or downward, for example, the sun-facing movement of sunflowers, and the position of the traditional phenotype information platform for fixing the imaging sensor can generate great limitation.

(2) Different dimensions and dimensions: the platform realizes a multi-view imaging technology from different acquisition scales and dimensions. Through adjusting the height and the width of the collection and the rotation angle of the imaging sensor, the two-dimensional image collection under the overlooking and side-looking angles of the plant can be realized only by using a single imaging sensor. The plant three-dimensional image is reproduced by the meshing transmission of the acquisition module, the inner gear ring and the outer gear, and the acquisition module driving motor drives the whole acquisition module to rotate in space and combine a three-dimensional reconstruction algorithm. The platform can also realize the collection of phenotype information of target plants from data of different scales, including the collection of phenotype information of group plants, the collection of phenotype information of single plants and the collection of phenotype information of specific organs (such as leaves, flowers, fruits and stalks).

(3) Different growth and development stages: the height of the plant changes greatly from the germination period, the seedling period, the flowering period, the fruiting period, the mature period and the withering period, the design of the telescopic mechanical arm module can adapt to the height change in the plant growth process, the space acquisition position of the imaging sensor relative to the plant is adjusted, and the work requirement of phenotype information acquisition of the whole growth and development period of the plant is met. Whole scalable arm combines rail mounted plant phenotype collection mode to electric putter cooperation section bar realizes directional distance change, and is with low costs, simple structure, installation easy maintenance, and cooperation chassis module possess high flexibility, and in the growth monitoring management process of plant, only need adjust the arm and extend the distance and can accomplish the collection of plant phenotype information, and the at utmost has guaranteed the completeness and the authenticity of data.

The telescopic mechanical arm module of the platform is matched with the plant phenotype multi-degree-of-freedom acquisition module, so that the phenotype information acquisition requirements of plants of different varieties, different plant types and different heights in the whole growth period can be met, and the multi-scale phenotype data extraction of extracting single plant information from a group and extracting organ characters from a single plant is realized.

The platform can realize the collection of the overlook image and the side view image of the plant, and can also control the imaging angle of the imaging sensor through the meshing rotation of the outer gear and the inner gear ring on the multi-degree-of-freedom collection module, so that the comprehensive and complete collection of the color, the quantity, the spatial distribution and other phenotypic information of all the directions of the plant and different plant organ parts is realized. The rough adjustment of the direction range of a target plant can be efficiently and quickly found by preliminarily regulating the acquisition height of the platform and the extending distance of the telescopic mechanical arm; the acquisition module at the tail end of the horizontal mechanical arm drives a motor to rotate forwards and backwards to adjust the space angle of the inner gear ring, and then the acquisition position of the imaging sensor is adjusted through the meshing of gears on the multi-degree-of-freedom acquisition module, so that the accurate adjustment of the plant target organ or part is accurately locked. The complete machine is matched with the motion to realize the multi-degree-of-freedom motion of the platform, based on the change of the space position and the imaging angle of the imaging sensor, the motion of the moving degree-of-freedom in the X-axis direction can be realized by self-walking of the chassis module, the motion of the moving degree-of-freedom in the Y-axis direction can be realized by the extension and contraction of the horizontal mechanical arm, the motion of the rotating degree-of-freedom in the X-axis or Y-axis direction can be realized by the positive and negative rotation of the swing motor of the multi-degree-of-freedom acquisition module, the motion of the moving degree-of-freedom in the Z-axis direction can be realized by the up-and-down stretching of the vertical mechanical arm vertical to the ground, and the motion of the rotating degree-of freedom in the Z-axis direction can be realized by the rotation of the disc on the chassis module. The invention meets the requirements of plant phenotype collection work of different visual angle orientations, different proportion dimensions and scales and different growth and development cycles.

Claims

1. Self-propelled multi freedom plant phenotype information acquisition platform, characterized by: the system comprises a self-propelled chassis module, a telescopic mechanical arm module and a multi-degree-of-freedom acquisition module; the self-propelled chassis module comprises a vehicle body advancing device and a rotary disc mechanism; the vehicle body advancing device comprises a vehicle body with rollers at the bottom, and an advancing power device for driving the rollers to enable the vehicle body to move at least along the X-axis direction; the rotary disc mechanism comprises a disc which is positioned above the vehicle body and can rotate around a Z axis relative to the vehicle body, and a rotary power device for driving the disc to rotate;

the telescopic mechanical arm module comprises a vertical mechanical arm which is arranged on the disc and can be stretched in the Z-axis direction, and a horizontal mechanical arm which is connected with the upper end of the vertical mechanical arm and can be stretched in the Y-axis direction; the multi-degree-of-freedom acquisition module is directly or indirectly arranged at the other end of the horizontal mechanical arm and can drive the imaging sensor to swing around a Y axis or an X axis.

2. The self-propelled multi-degree-of-freedom plant phenotype information acquisition platform of claim 1, wherein: the multi-degree-of-freedom acquisition module comprises a support rod, an arc-shaped inner toothed ring with a sliding groove, an outer gear, a transmission shaft I, a stepped shaft, a swing motor, a bearing seat and a hanging rod, wherein the arc-shaped inner toothed ring is fixed at the lower part of the support rod and is provided with the sliding groove; the sliding groove is concentric with the inner toothed ring, one end of the sliding groove penetrating through the stepped shaft in the sliding groove is fixed with the imaging sensor, and the other end of the sliding groove is fixed with the bearing seat; the first transmission shaft penetrates through the central hole of the outer gear and is in key connection with the central hole, and one rotation of the first transmission shaft is arranged on the bearing block; one end of the transmission shaft is connected with an output shaft of the swing motor, and the other end of the transmission shaft is connected to the lower end of the suspender and is kept in the suspender hole to rotate; the swinging motor shell is fixed on the bearing seat; the upper end of a suspender extending along the radial direction of the inner gear ring is hinged with the bracket rod; the support rod is directly or indirectly connected with the horizontal mechanical arm.

3. The self-propelled multi-degree-of-freedom plant phenotype information acquisition platform of claim 2, wherein: the acquisition module driving motor is connected with the bracket rod through an output shaft of the acquisition module driving motor so as to drive the multi-degree-of-freedom acquisition module to rotate around the Z axis; the acquisition module drives the motor shell to be connected to the horizontal mechanical arm.

4. The self-propelled multi-degree-of-freedom plant phenotype information acquisition platform of claim 1, wherein: the rotating power device comprises a worm gear device; the worm wheel is fixed on a second transmission shaft which rotates relative to the vehicle body, and a disc is fixed at the upper end of the second transmission shaft; the worm matched with the worm wheel is connected with an output shaft of the rotating motor; the rotating motor casing is fixed on the vehicle body.

5. The self-propelled multi-degree-of-freedom plant phenotype information acquisition platform of claim 1, wherein: the horizontal mechanical arm comprises a first rectangular frame, a second rectangular frame, a third rectangular frame, an electric push rod B and an electric push rod C, wherein the first rectangular frame is fixed at the upper end of the vertical mechanical arm, the second rectangular frame is arranged in a sliding mode relative to the first rectangular frame, the third rectangular frame is arranged in a sliding mode relative to the second rectangular frame, the electric push rod B drives the two rectangular frames to slide relative to the first rectangular frame, and the electric push rod C drives the three rectangular frames to slide relative to the second rectangular frame; the multi-degree-of-freedom acquisition module is directly or indirectly arranged on the rectangular frame III.

6. The self-propelled multi-degree-of-freedom plant phenotype information collection platform of claim 5, wherein: the two electric push rods B or electric push rods C are arranged in opposite directions.

7. The self-propelled multi-degree-of-freedom plant phenotype information acquisition platform of claim 1, wherein: the vertical telescopic rod comprises a vertical fixed rod fixed on the disc, a sliding block arranged on the fixed rod in an up-and-down sliding mode, a movable rod connected with the sliding block and an electric push rod D for pushing the movable rod to move up and down along with the sliding block.

8. The self-propelled multi-degree-of-freedom plant phenotype information acquisition method is characterized by comprising the following steps of: the self-propelled multi-degree-of-freedom plant phenotype information acquisition platform of claim 3, comprising the steps of:

controlling the vehicle body to move to a collection target area;

9. The self-propelled multi-degree-of-freedom plant phenotype information collection method of claim 8, wherein: when the plan view or the side view is collected for the plant population, the method also comprises the following steps: controlling the vehicle body to move, and acquiring images once at intervals to construct a large amount of sample data for the plant population.

10. The self-propelled multi-degree-of-freedom plant phenotype information collection method of claim 8, wherein: when the side view of the single plant is collected, the method further comprises the following steps: and controlling the vehicle body to move forward, rotating for a circle around the single plant, and acquiring images once at intervals to construct sample data for the single plant.