CN209784198U

CN209784198U - plant phenotype three-dimensional reconstruction information acquisition device

Info

Publication number: CN209784198U
Application number: CN201920019690.3U
Authority: CN
Inventors: 刘平; 刘宝花; 王春颖
Original assignee: Shandong Agricultural University
Current assignee: Shandong Agricultural University
Priority date: 2019-01-07
Filing date: 2019-01-07
Publication date: 2019-12-13
Anticipated expiration: 2029-01-07

Abstract

The utility model discloses a plant phenotype three-dimensional reconstruction information acquisition device, wherein a plant rotating platform is fixedly arranged on a workbench, a bending type movable rod is arranged on one side of the workbench, and a bending end corresponds to the plane of the plant rotating platform in parallel; one side of the movable rod corresponding to the table board of the workbench is provided with a depth information sensor and is movably connected with the movable rod, the movable range is from the bent end to the connecting end of the movable rod and the workbench, a first step motor is arranged on the movable rod, and a second step motor is arranged on the plant rotating platform. The depth information sensor can move along the movable rod under the action of the first stepping motor, and image acquisition of the cross section and the crown layer of the plant placed on the plant rotating platform is achieved. The plant rotating platform can rotate 360 degrees, images of the cross sections and the canopy surface of a plurality of plants of 360 degrees can be collected and used for later-stage plant phenotype three-dimensional reconstruction, and complex processing of each photo is not needed.

Description

Plant phenotype three-dimensional reconstruction information acquisition device

Technical Field

the utility model relates to a three-dimensional reconstruction technical field of plant, concretely relates to three-dimensional reconstruction information acquisition device of plant phenotype.

Background

Currently, plant phenomics serves as a bridge between functional genomics and plant breeding research, and plant phenotypically-related features are closely related to plant genomes and plant field management. The acquisition of plant phenotypic characteristic parameters is always the first step of plant phenotypic omics research and is also a key step. Traditionally, the acquisition of plant phenotype information mostly depends on manual measurement of personnel, is time-consuming and labor-consuming, and aiming at different types of plants, the personnel measurement has contingency and the reliability of measurement data is lower.

With the maturity of the technology, researchers at home and abroad research different phenotype platforms such as a ground platform, an air sensor and an indoor image sensor platform in a new sensor mode according to plant types and application conditions. For a plant phenotype three-dimensional reconstruction platform, researchers mainly rely on image processing technology and utilize different types of cameras to establish a monocular or binocular vision system. In addition, high-precision systems based on imaging technology and sensors have also been developed.

however, in the prior art, a system or a platform for three-dimensional reconstruction of plant phenotype generally performs complicated processing on a plurality of groups of plant pictures taken by a camera, so that the workload of image processing is very large, and the requirement on the computing processing capacity of a platform controller is extremely high. In addition, a plurality of different interface maps need to be acquired from each image in the processing process, so that the image processing speed is relatively slow to a certain extent, and the three-dimensional reconstruction speed of the plant is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve above-mentioned technical problem, proposed following technical scheme:

in a first aspect, an embodiment of the present invention provides a plant phenotype three-dimensional reconstruction information acquisition apparatus, including: workstation, plant rotary platform, movable rod and controller, wherein: the plant rotating platform is fixedly arranged on the workbench, the movable rod is arranged on one side of the workbench and is a bending type movable rod, the bending end of the movable rod is parallel to the plane of the plant rotating platform, and the controller is arranged at the corner of the workbench; the movable rod corresponds one side of the mesa of workstation is provided with degree of depth information sensor, degree of depth information sensor with movable rod swing joint, degree of depth information sensor is in home range on the movable rod is followed buckle the end and arrive the movable rod with the link of workstation, be provided with first step motor on the movable rod, first step motor is used for the drive degree of depth information sensor is in the movable rod upward movement, be provided with second step motor on the rotatory platform of plant, second step motor is used for the drive rotatory platform of plant, first step motor with second step motor all with the controller electricity is connected.

Adopt above-mentioned implementation, set up degree of depth information sensor on the movable rod, and degree of depth information sensor can move along the movable rod under the effect of first step motor, and then can realize the image acquisition to placing plant cross section and the hat aspect on plant rotary platform. Plant rotary platform can 360 rotations under the effect of second step motor again, and then can gather the image of many plant cross sections of 360 degrees of plant and the canopy aspect through degree of depth information sensor, can realize the three-dimensional reconstruction of plant phenotype in later stage through many images of gathering, then need not to carry out complicated processing again to every photo.

With reference to the first aspect, in a first possible implementation manner of the first aspect, the movable rod includes: the lower rod is a hollow rod with a rectangular cross section, the cross section of the curved upper rod is in a convex shape, one end of the lower rod is fixedly arranged on the workbench, the lower end of the curved upper rod is embedded and sleeved at the other end of the lower rod, the fastening shaft is movably connected with one side of the lower rod, and the fastening shaft is used for adjusting the height of the curved upper rod; the proximity switch comprises a first proximity switch and a second proximity switch, the first proximity switch is arranged at the joint of the curved upper rod and the lower rod, and the second proximity switch is arranged at the position where the curved upper rod and the parallel section of the workbench are close to the bending point of the curved upper rod.

With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, a rotatable first round rod is arranged on an inner wall of an upper end point of the curved upper rod, the first stepping motor is arranged on an outer wall of the curved upper rod corresponding to the first round rod, a first gear is fixedly mounted on an output shaft of the first stepping motor, a first gear ring meshed with the gear is arranged on one side of the first round rod, and the first stepping motor is movably connected with the first round rod through an output shaft of the first stepping motor; the inner wall of the bending part and the lower end point of the curved upper rod is respectively provided with a rotatable second round rod and a rotatable third round rod, a rigid rope is arranged inside the curved upper rod, the shape of the rigid rope is the same as the curved shape of the curved upper rod, and the rigid rope surrounds the first round rod, the second round rod and the third round rod.

With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, a workpiece is disposed on the rigid rope, one side of the workpiece is fixedly connected to the rigid rope, and the other side of the workpiece is fixedly disposed with the depth information sensor.

With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the drum is provided with a plurality of drum members, and the plurality of drum members are uniformly arranged.

With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the plant rotation platform includes a rotating shaft fixedly installed on the workbench and a rotating table driven by a second stepping motor to rotate, and the rotating shaft is movably connected to the rotating table.

With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, a vertical shaft is disposed at a joint of the rotating shaft and the rotating table, the vertical shaft is fixedly connected to the rotating shaft, and the rotating table is movably connected to the rotating shaft through the vertical shaft.

With reference to the fifth or sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, a second gear is fixedly mounted on an output shaft of the second stepping motor, a second gear ring meshed with the second gear is arranged on the turntable, and the second stepping motor is movably connected with the turntable through an output shaft of the second stepping motor.

With reference to the seventh possible implementation manner of the first aspect, in an eighth possible implementation manner of the first aspect, grooves evenly distributed along the circumferential direction are formed in an outer circumferential surface of one end, away from the workbench, of the rotating shaft, a photoelectric sensor facing the grooves is fixedly arranged on the turntable, and the photoelectric sensor is electrically connected with the controller.

Drawings

Fig. 1 is a schematic structural diagram of a plant phenotype three-dimensional reconstruction information acquisition device according to an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a depth information sensor on a movable rod according to an embodiment of the present invention;

Fig. 3 is a schematic view of an upper end structure of a curved upper rod according to an embodiment of the present invention;

Fig. 4 is a schematic view of a bent end structure of a curved upper rod according to an embodiment of the present invention;

fig. 5 is a schematic view of a lower end structure of a curved upper rod according to an embodiment of the present invention;

Fig. 6 is a cross-sectional view of a plant rotation platform provided in an embodiment of the present invention;

Fig. 7 is a schematic flow chart of a control method of a plant phenotype three-dimensional reconstruction information acquisition apparatus according to an embodiment of the present invention;

Fig. 8 is a schematic structural diagram of a controller according to an embodiment of the present invention;

In fig. 1 to 8, the symbols are represented as:

1-workbench, 2-plant rotating platform, 3-movable rod, 4-controller, 5-depth information sensor, 6-first stepping motor, 7-second stepping motor, 8-lower rod, 9-curved upper rod, 10-fastening shaft, 11-first proximity switch, 12-second proximity switch, 13-first round rod, 14-second round rod, 15-third round rod, 16-rigid rope, 17-I-shaped piece, 18-rotating shaft, 19-rotating table, 20-vertical shaft, 21-groove, 22-photoelectric sensor and 23-plant.

Detailed Description

The present invention will be described with reference to the accompanying drawings and embodiments.

fig. 1 is the embodiment of the utility model provides a plant phenotype three-dimensional reconstruction information acquisition device structure sketch map, see fig. 1, plant phenotype three-dimensional reconstruction information acquisition device includes: the plant rotation platform comprises a workbench 1, a plant rotation platform 2, a movable rod 3 and a controller 4.

plant rotary platform 2 is fixed to be set up on workstation 1, movable rod 3 sets up one side of workstation 1, just movable rod 3 is the type movable rod of buckling, the end parallel correspondence of buckling of movable rod 3 the plane of plant rotary platform 2, controller 4 sets up the workstation. 1 at the corner.

Referring to fig. 2, a depth information sensor 5 is disposed on one side of the movable rod 3 corresponding to the table top of the workbench 1, the depth information sensor 5 is movably connected to the movable rod 3, a movable range of the depth information sensor 5 on the movable rod 3 extends from the bent end to a connecting end of the movable rod 3 and the workbench 1, a first stepping motor 6 is disposed on the movable rod 3, and the first stepping motor 6 is used for driving the depth information sensor 5 to move on the movable rod 3. The depth information sensor 5 in this embodiment can select a general ultrasonic sensor on the premise of satisfying the accuracy requirement, and can select a single lidar sensor when the accuracy requirement is high.

further referring to fig. 1, a second stepping motor 7 is disposed on the plant rotating platform 2, the second stepping motor 7 is used for driving the plant rotating platform 2 to rotate, and the first stepping motor 6 and the second stepping motor 7 are both electrically connected to the controller 4.

As shown in fig. 1, the movable lever 3 includes: lower beam 8, curved upper boom 9, solid mandril 10 and proximity switch, lower beam 8 is rectangular cavity pole for the cross section, curved upper boom 9's cross section is type of protruding, 8 one end of lower beam is fixed to be set up on the workstation 1, the lower extreme of curved upper boom 9 inlays the cover and sets up the other end of lower boom 8, gu the mandril 10 with one side swing joint of lower boom 8, gu the mandril 10 is used for adjusting curved upper boom 9's height. Through setting up down pole 8 and bent type upper boom 9, can adjust its height according to the plant size is nimble.

The proximity switch comprises a first proximity switch 11 and a second proximity switch 12, the first proximity switch 11 is arranged at the joint of the curved upper rod 9 and the lower rod 8, and the second proximity switch 12 is arranged at the position of the curved upper rod 9 and the bending point of the curved upper rod 9 on the parallel segment of the workbench 1. The depth information sensor can be positioned through the first proximity switch and the second proximity switch, and the depth information sensor can acquire the cross section depth information of the detected plant or the canopy depth information.

referring to fig. 3, a rotatable first round bar 13 is arranged on an inner wall of an upper end point of the curved upper bar 9, the first stepping motor 6 is arranged on an outer wall of the curved upper bar 9 corresponding to the first round bar 13, a first gear is fixedly mounted on an output shaft of the first stepping motor 6, a first gear ring meshed with the gear is arranged on one side of the first round bar 13, and the first stepping motor 6 is movably connected with the first round bar 13 through an output shaft of the first stepping motor 6.

Referring to fig. 4 and 5, a second round rod 14 and a third round rod 15 which can rotate are respectively arranged on the inner wall of the bending part and the lower end point of the curved upper rod 9, a rigid rope 16 is arranged inside the curved upper rod 9, the shape of the rigid rope 16 is the same as the curved shape of the curved upper rod 9, and the rigid rope 16 surrounds the first round rod 13, the second round rod 14 and the third round rod 15.

A workpiece 17 is arranged on the rigid rope 16, one side of the workpiece 17 is fixedly connected with the rigid rope 16, and the depth information sensor 5 is fixedly arranged on the other side of the workpiece 17

In an exemplary embodiment, the i-shaped part 17 is provided in plurality, the i-shaped parts 17 are uniformly arranged, and the distance between the i-shaped parts 17 can be freely adjusted.

Referring to fig. 6, the plant rotating platform 2 comprises a rotating shaft 18 fixedly installed on the working platform 1 and a rotating platform 19 driven by the second stepping motor 7 to rotate, and the rotating shaft 18 is movably connected with the rotating platform 19. A second gear is fixedly arranged on an output shaft of the second stepping motor 7, a second gear ring meshed with the second gear is arranged on the rotary table 19, and the second stepping motor 7 is movably connected with the rotary table 19 through an output shaft of the second stepping motor 7. The second step motor drives the second gear to rotate, the rotation of the rotating platform is realized through the meshing of the second gear and the second gear ring, and the accuracy of the rotating angle of the rotating platform is convenient to control.

Furthermore, a vertical shaft 20 is arranged at the joint of the rotating shaft 18 and the rotating platform 19, the vertical shaft 20 is fixedly connected with the rotating shaft 18, and the rotating platform 19 is movably connected with the rotating shaft 18 through the vertical shaft 20.

In an exemplary embodiment, the rotating shaft 18 is provided with grooves 21 evenly spaced along the circumferential direction on the outer circumferential surface of one end far away from the working table 1, the turntable 19 is fixedly provided with a photoelectric sensor 22 facing the grooves 21, and the photoelectric sensor 22 is electrically connected with the controller 4. The signal generated by the groove 21 detected by the photoelectric sensor 22 is fed back to the controller 4, so that the rotation angle of the second stepping motor 7 can be corrected, and the rotation precision of the rotary table 19 is improved.

As can be seen from the foregoing embodiments, the present embodiment provides a plant phenotype three-dimensional reconstruction information acquiring apparatus, including: workstation 1, plant rotary platform 2, movable rod 3 and controller 4, wherein: the plant rotating platform 2 is fixedly arranged on the workbench 1, the movable rod 3 is arranged on one side of the workbench 1, the movable rod 3 is a bending type movable rod, the bending end of the movable rod 3 is parallel to the plane of the plant rotating platform 2, and the controller 4 is arranged at the corner of the workbench 1; the utility model discloses a plant rotary platform, including workstation 1, movable rod 3, depth information sensor 5 is in the home range on the movable rod 3 is followed bend the end to the movable rod 3 with workstation 1's link, be provided with first step motor 6 on the movable rod 3, first step motor 6 is used for the drive depth information sensor 5 is in the motion is gone up to the movable rod 3, be provided with second step motor 7 on the plant rotary platform 2, second step motor 7 is used for the drive 2 rotary motion of plant rotary platform, first step motor 6 with second step motor 7 all with controller 4 electricity is connected. Set up degree of depth information sensor 5 on movable rod 3, and degree of depth information sensor 5 can move along movable rod 3 under the effect of first step motor 6, and then can realize the image acquisition to placing plant cross section and the hat aspect on plant rotary platform 2. Plant rotary platform 2 can 360 rotations under the effect of second step motor 7 again, and then can gather the image of many plant cross sections of 360 degrees of plant and the canopy aspect face through depth information sensor 5, can realize the three-dimensional reconstruction of plant phenotype in later stage through many images of gathering, then need not to carry out complicated processing again to every photo.

example two

The plant phenotype three-dimensional reconstruction information acquisition device that provides with above-mentioned embodiment is corresponding, the utility model also provides a plant phenotype three-dimensional reconstruction information acquisition device control method embodiment. Referring to fig. 7, the method for controlling the plant phenotype three-dimensional reconstruction information acquisition apparatus according to the present embodiment includes:

S101, adjusting the depth information sensor to enable the depth information sensor to be located in the vertical direction of the curved upper rod, and enabling the sensor at the lowest position to be horizontally aligned with the upper plane of the lower rod.

before the plant phenotype three-dimensional reconstruction information acquisition device is controlled to work, the detected plant is placed on the rotary table, and the height of the curved upper rod, the positions of the first proximity switch and the second proximity switch, and the number and the distance of the depth information sensors are adjusted according to the size of the plant. In the initial state, the depth information sensor is ensured to be positioned in the vertical direction of the curved upper rod, and the lowest sensor is horizontally aligned with the upper plane of the lower rod, so that the depth information sensor can completely acquire the cross-section image of the detected plant.

And S102, controlling the first stepping motor to rotate, and controlling the first stepping motor to stop working when the first proximity switch senses the lowest depth information sensor.

Specifically, control first step motor and rotate, the rigidity rope drives the degree of depth information sensor and rises, and when the first proximity switch of vertical direction sensed the depth information sensor of bottommost, give the controller with the signal feedback, the first step motor stop work of controller control, and the depth information sensor begins work.

S103, the depth information sensor starts to acquire first depth information of a plant cross section of a first target plant right in front of the depth information sensor.

When the depth information sensor acquires the depth information of a plant cross section in front of the plant cross section, acquiring the first depth information of a second cross section after the first depth information of the first cross section is acquired, switching from the first cross section to a second cross section turntable to rotate for 2 degrees at each time until the second cross section rotates for a circle, wherein the first cross section is any plant cross section which is currently acquired by the depth information, and the second cross section is a plant cross section which corresponds to the first cross section and rotates for 2 degrees.

And S104, controlling the first stepping motor to rotate again, and controlling the first stepping motor to stop working when the second proximity switch senses the last depth information sensor.

After the depth information of the cross section of the plant is acquired, the first stepping motor is controlled to rotate again, the rigid rope moves along the curved upper rod, the depth information sensor is driven to ascend, and when the second proximity switch in the horizontal direction senses the rearmost depth information sensor, the first stepping motor is controlled to stop working.

And S105, the depth information sensor starts to acquire second depth information of the plant crown layer right below the depth information sensor.

When the depth information sensor acquires the depth information of the plant crown layer surface right below, after the second depth information of the first crown layer surface is acquired, the second depth information of the second crown layer surface is acquired, the first crown layer surface is switched to the second crown layer surface, the rotary table rotates for 2 degrees at each time until rotating for a circle, the first crown layer surface is any plant crown layer surface which is currently acquired by the depth information, and the second crown layer surface is corresponding to the plant cross section which is obtained after the first crown layer surface rotates for 2 degrees.

And S106, sending the first depth information corresponding to all the acquired cross sections and the second depth information corresponding to all the crown layers to the controller.

When the depth information sensor acquires the depth information of each cross section of the detected plant and the depth information of the crown layer, the acquired depth information is sent to the controller for storage.

S107, after the depth information of the cross section and the crown layer of the first target plant is acquired, controlling the first stepping motor to rotate reversely, and returning the depth information sensor to the initial state position so as to acquire the depth information of the second target plant.

Further, the controller transmits the depth information data of the detected plant to the computer, data fitting programs are compiled by Matlab software, a three-dimensional stereogram of the plant is reconstructed by using the depth information data, mathematical measurement programs in the Matlab are compiled, and required plant data such as leaf inclination angles, leaf areas, plants and the like of the plant are calculated according to the three-dimensional stereogram.

EXAMPLE III

the embodiment of the present invention further provides a controller, see fig. 8, the controller 20 includes: a processor 201, a memory 202, and a communication interface 203.

In fig. 8, the processor 201, the memory 202, and the communication interface 203 may be connected to each other by a bus; the bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 8, but this is not intended to represent only one bus or type of bus.

The processor 201 generally controls the overall functions of the controller 20, such as the start of the controller, and the control of the first stepping motor and the second stepping motor after the start of the controller, so as to implement the operation of the depth information sensor and the plant rotating platform, and acquire a plurality of collected plant cross-section images and canopy images, etc. Further, the processor 201 may be a general-purpose processor, such as a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP. The processor may also be a Microprocessor (MCU). The processor may also include a hardware chip. The hardware chips may be Application Specific Integrated Circuits (ASICs), Programmable Logic Devices (PLDs), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a Field Programmable Gate Array (FPGA), or the like.

The memory 202 is configured to store computer-executable instructions to support the operation of the controller 20 data. The memory 201 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The communication interface 203 is used for the controller 20 to transmit data, for example, to realize communication with the controller and the three-dimensional plant phenotype reconstruction terminal, and send the acquired plurality of plant cross-section images and canopy images to the three-dimensional plant phenotype reconstruction terminal. The communication interface 203 includes a wired communication interface, and may also include a wireless communication interface. The wired communication interface comprises a USB interface, a Micro USB interface and an Ethernet interface. The wireless communication interface may be a WLAN interface, a cellular network communication interface, a combination thereof, or the like.

In an exemplary embodiment, the present invention provides that the controller 20 further comprises a power supply assembly that provides power to the various components of the controller 20. The power components may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the controller 20.

A communication component configured to facilitate wired or wireless communication between the controller 20 and other devices. The controller 20 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. The communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. The communication component also includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the controller 20 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, processors, or other electronic components.

The same and similar parts among the various embodiments in the specification of the present invention may be referred to each other. In particular, for the embodiments of the control method and the controller, since the plant phenotype three-dimensional reconstruction information acquisition device is substantially similar to the embodiment of the plant phenotype three-dimensional reconstruction information acquisition device, the description is simple, and the relevant points can be referred to the description in the embodiment of the plant phenotype three-dimensional reconstruction information acquisition device.

it is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Of course, the above description is not limited to the above examples, and technical features of the present invention that are not described in the present application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only used for illustrating the technical solutions of the present invention and are not intended to limit the present invention, and if it is replaced, the present invention is only combined with and described in detail with reference to the preferred embodiments, and those skilled in the art should understand that changes, modifications, additions or substitutions made by those skilled in the art within the spirit of the present invention should also belong to the protection scope of the claims of the present invention.

Claims

1. A plant phenotype three-dimensional reconstruction information acquisition apparatus, comprising: workstation (1), plant rotary platform (2), movable rod (3) and controller (4), wherein:

the plant rotating platform (2) is fixedly arranged on the workbench (1), the movable rod (3) is arranged on one side of the workbench (1), the movable rod (3) is a bending type movable rod, the bending end of the movable rod (3) corresponds to the plane of the plant rotating platform (2) in parallel, and the controller (4) is arranged at the corner of the workbench (1);

A depth information sensor (5) is arranged on one side of the movable rod (3) corresponding to the table surface of the workbench (1), the depth information sensor (5) is movably connected with the movable rod (3), the movable range of the depth information sensor (5) on the movable rod (3) is from the bending end to the connecting end of the movable rod (3) and the workbench (1), the movable rod (3) is provided with a first stepping motor (6), the first stepping motor (6) is used for driving the depth information sensor (5) to move on the movable rod (3), a second stepping motor (7) is arranged on the plant rotating platform (2), the second stepping motor (7) is used for driving the plant rotating platform (2) to rotate, the first stepping motor (6) and the second stepping motor (7) are both electrically connected with the controller (4).

2. The plant phenotype three-dimensional reconstruction information acquisition apparatus according to claim 1, wherein the movable bar (3) comprises: the device comprises a lower rod (8), a curved upper rod (9), a fastening shaft (10) and a proximity switch, wherein the lower rod (8) is a hollow rod with a rectangular cross section, the cross section of the curved upper rod (9) is in a convex shape, one end of the lower rod (8) is fixedly arranged on the workbench (1), the lower end of the curved upper rod (9) is embedded and arranged at the other end of the lower rod (8), the fastening shaft (10) is movably connected with one side of the lower rod (8), and the fastening shaft (10) is used for adjusting the height of the curved upper rod (9);

The proximity switch comprises a first proximity switch (11) and a second proximity switch (12), the first proximity switch (11) is arranged at the joint of the curved upper rod (9) and the lower rod (8), and the second proximity switch (12) is arranged at the position of the curved upper rod (9) and the bending point of the curved upper rod (9) close to the parallel section of the workbench (1).

3. The plant phenotype three-dimensional reconstruction information acquisition device according to claim 2, wherein a rotatable first round bar (13) is arranged on an inner wall of an upper end point of the curved upper bar (9), the first stepping motor (6) is arranged on an outer wall of the curved upper bar (9) corresponding to the first round bar (13), a first gear is fixedly mounted on an output shaft of the first stepping motor (6), a first gear ring meshed with the first gear is arranged on one side of the first round bar (13), and the first stepping motor (6) is movably connected with the first round bar (13) through an output shaft of the first stepping motor (6);

The inner wall of the bend of the curved upper rod (9) and the lower end point is respectively provided with a rotatable second round rod (14) and a rotatable third round rod (15), a rigid rope (16) is arranged inside the curved upper rod (9), the shape of the rigid rope (16) is the same as the curved shape of the curved upper rod (9), and the rigid rope (16) surrounds the first round rod (13), the second round rod (14) and the third round rod (15).

4. The plant phenotype three-dimensional reconstruction information acquisition device according to claim 3, wherein a shaped piece (17) is arranged on the rigid rope (16), one side of the shaped piece (17) is fixedly connected with the rigid rope (16), and the other side of the shaped piece (17) is fixedly provided with the depth information sensor (5).

5. the plant phenotype three-dimensional reconstruction information acquisition device according to claim 4, wherein a plurality of the shaped pieces (17) are provided, and a plurality of the shaped pieces (17) are uniformly provided.

6. The plant phenotype three-dimensional reconstruction information acquisition device according to claim 5, wherein the plant rotation platform (2) comprises a rotating shaft (18) fixedly installed on the workbench (1) and a rotating platform (19) driven by the second stepping motor (7) to rotate, and the rotating shaft (18) is movably connected with the rotating platform (19).

7. The plant phenotype three-dimensional reconstruction information acquisition device according to claim 6, wherein a vertical shaft (20) is arranged at the connection of the rotating shaft (18) and the rotating platform (19), the vertical shaft (20) is fixedly connected with the rotating shaft (18), and the rotating platform (19) is movably connected with the rotating shaft (18) through the vertical shaft (20).

8. The plant phenotype three-dimensional reconstruction information acquisition device according to claim 6 or 7, wherein a second gear is fixedly mounted on an output shaft of the second stepping motor (7), a second gear ring meshed with the second gear is arranged on the turntable (19), and the second stepping motor (7) is movably connected with the turntable (19) through an output shaft of the second stepping motor (7).

9. The plant phenotype three-dimensional reconstruction information acquisition device according to claim 8, wherein the rotating shaft (18) is provided with grooves (21) uniformly distributed along the circumferential direction on the outer circumferential surface of one end far away from the workbench (1), the turntable (19) is fixedly provided with a photoelectric sensor (22) facing the grooves (21), and the photoelectric sensor (22) is electrically connected with the controller (4).