CN119590816A

CN119590816A - Crop three-dimensional imaging platform and crop three-dimensional imaging method

Info

Publication number: CN119590816A
Application number: CN202411655120.5A
Authority: CN
Inventors: 杨柳; 刘迎迎; 于亚运; 俞丁佳
Original assignee: Zhejiang Dahua Technology Co Ltd
Current assignee: Zhejiang Dahua Technology Co Ltd
Priority date: 2024-11-18
Filing date: 2024-11-18
Publication date: 2025-03-11

Abstract

The present application discloses a crop three-dimensional imaging platform and a crop three-dimensional imaging method. It includes: an imaging module, a transmission link and a loading unit; the transmission link connects the imaging module and the loading unit respectively; the loading unit includes an identification device, the identification device is used to identify the unique identification code on the carrier carrying the crop to be tested, and bind the unique identification code with the crop to be tested corresponding to the carrier; wherein the crop to be tested and the carrier are in a one-to-one correspondence; the imaging module is used to identify the unique identification code of the crop to be tested, and perform imaging processing on the crop to be tested, wherein the imaging processing includes 3D imaging processing; the transmission link is used to transmit the crop to be tested. The method can bind the data detected by the three-dimensional imaging platform with the corresponding crop to be tested, so as to realize the traceability of the detection data of the crop to be tested. Moreover, the 3D imaging processing of each crop to be tested can be completed through the imaging module on the transmission link.

Description

Crop three-dimensional imaging platform and crop three-dimensional imaging method

Technical Field

The application relates to the technical field of high-throughput three-dimensional phenotype imaging systems of greenhouse crops, in particular to a three-dimensional imaging platform and a three-dimensional imaging method of crops.

Background

Plant phenotype research is one of the core research and application fields accepted in academic and industry, and is one of the core technical fields for solving future agricultural challenges (grain safety, environmental sustainable development, bioenergy, population aging, etc.), and the research is to research the morphological characteristics of the plant and the change rule thereof under specific conditions. The breakthrough of plant phenotype can provide big data decision support for breeding, cultivation and agricultural practice. The plant phenotype research platform can accelerate the research process, the plant is subjected to nondestructive analysis under the high-flux condition, the plant is imaged for multiple times in the whole life cycle, and the data which can be obtained in the past years can be accumulated by using the time of a plurality of months. The major scientific research platform for enlarging plant phenotype research is built in each country. Such as the Netherlands phenotype research center and the British national phenotype research center, a scientific research platform is built in sequence, and the research on phenotype is enlarged. Chinese researchers should also actively participate in the relevant conference of plant phenotype research, while closely focusing on tracking plant phenotype research dynamics.

In the research of plant phenotypes in the prior art, an XYZ three-axis acquisition platform is mostly adopted, so that the picture of a plant planting area in a longer XYZ three-direction range is shot, and the shooting area range of the plant phenotyping platform is improved. However, there are some drawbacks, such as inability to precisely trace the growth state of each plant, inability to precisely record the relevant parameters of each plant, and the like.

At present, no effective solution is proposed for solving the problems that in the prior art, in the plant phenotype research, each plant cannot be traced back accurately and the related data and image data of each plant are recorded.

Disclosure of Invention

Based on the above, it is necessary to provide a three-dimensional imaging platform for crops and a three-dimensional imaging method for crops.

In a first aspect, the present application provides a crop three-dimensional imaging platform. The device comprises an imaging module, a transmission link and a feeding unit, wherein the transmission link is respectively connected with the imaging module and the feeding unit;

The feeding unit comprises identification equipment, wherein the identification equipment is used for identifying a unique identification code on a carrier bearing crops to be tested and binding the unique identification code with the crops to be tested corresponding to the carrier, and the crops to be tested and the carrier are in one-to-one correspondence;

The imaging module is used for identifying the unique identification code of the crop to be detected and carrying out imaging treatment on the crop to be detected, wherein the imaging treatment comprises 3D imaging treatment;

And the conveying link is used for conveying crops to be tested.

In one embodiment, the transmission link is in a closed loop structure, and the identifying device is further configured to unbind the unique identification code and the crop to be tested after identifying the unique identification code when the crop to be tested is in the blanking state.

In one embodiment, the crop three-dimensional imaging platform further comprises a functional module, wherein the functional module is arranged on the transmission link;

The functional module is used for identifying the unique identification code of the crop to be tested and carrying out corresponding functional treatment on the crop to be tested when the crop to be tested on the transmission link is detected to be transmitted to the corresponding functional treatment point, wherein the functional treatment comprises watering treatment and weighing treatment.

In one embodiment, the imaging module comprises a moving servo and a moving camera, the moving servo is correspondingly arranged with the moving camera, and the moving servo is used for driving the moving camera to move around the crop to be detected, so that the moving camera can complete 3D imaging of the crop to be detected.

In one embodiment, the imaging module comprises a visible light imaging module, wherein the visible light imaging module comprises a box body, a plurality of traversing cameras, a plurality of traversing servos, a lifting camera, a lifting servo, a turntable servo and a jacking servo;

Each transverse moving servo is arranged in one-to-one correspondence with each transverse moving camera, the transverse moving cameras and the transverse moving servo are sequentially arranged on the box body from bottom to top in a vertical sequence, and the transverse moving servo is used for driving the corresponding transverse moving camera to horizontally move around crops to be detected;

The lifting cameras are arranged in one-to-one correspondence with the lifting servos, and the lifting servos are used for driving the lifting cameras to vertically move along the box body based on crops to be detected;

the turntable servo is positioned at the top of the box body and used for driving the carrier to carry crops to be tested to rotate;

and the jacking servo is positioned at the bottom of the box body and used for lifting the crops to be tested.

In one embodiment, the imaging module comprises a spectrum imaging module, wherein the spectrum imaging module comprises a box body, a rotation servo, a jacking servo, a lifting servo, a traversing servo, a first spectrum camera and a depth camera;

the rotating servo is positioned at the bottom of the box body and used for driving the carrier to carry crops to be tested to rotate;

The jacking servo is connected with the bottom of the box body and is used for lifting crops to be tested;

The first spectrum camera and the depth camera are integrated on the traversing servo and the lifting servo, and the traversing servo and the lifting servo drive the first spectrum camera and the depth camera to move.

In one embodiment, the platform further comprises a blocking mechanism, the blocking mechanism comprises a first blocking mechanism, a second blocking mechanism and a third blocking mechanism, wherein the first blocking mechanism, the second blocking mechanism and the third blocking mechanism are sequentially arranged on the conveying link in the moving sequence of the crops to be detected, and the first blocking mechanism is adjacent to the functional mechanism and the imaging module:

The first blocking mechanism is used for blocking the crops to be detected, and releasing the crops to be detected when the crops to be detected are detected to need imaging treatment through the unique identification code;

The second blocking mechanism is used for intercepting and separating the subsequent crops to be tested on the conveying link when the first blocking mechanism detects that the crops to be tested need to be put;

The third blocking mechanism comprises at least one third sub-blocking mechanism, all the third sub-blocking mechanisms are sequentially arranged on the conveying link, and the third sub-blocking mechanism is used for separating two adjacent groups of crops to be detected from each other in the conveying process of the crops to be detected.

In a second aspect, the application also provides a crop three-dimensional imaging method. Applied to a seat three-dimensional imaging platform as described above, the method comprising:

After detecting that a carrier on a conveying link reaches a preset feeding unit, identifying a unique identification code on the carrier through identification equipment in the feeding unit, and binding the unique identification code with a crop to be detected corresponding to the carrier, wherein the crop to be detected and the carrier are in one-to-one correspondence;

And transmitting the crop to be detected through a preset transmission link, and after the imaging module completes identification of the unique identification code of the crop to be detected, performing imaging processing on the crop to be detected based on the preset imaging module, wherein the imaging processing comprises 3D imaging processing.

In one embodiment, after the imaging processing is performed on the crop to be tested based on the preset imaging module, the method further includes:

After the end of the test of the crop to be tested is detected, controlling the crop to be tested to reach a preset blanking unit through a transmission link;

The unique identification code on the carrier is identified through the identification equipment, the unique identification code is unbinding with the crop to be tested corresponding to the carrier, and the crop to be tested is controlled to be subjected to blanking treatment.

In one embodiment, the imaging module comprises a rotary servo, a mobile servo and a mobile camera, wherein the mobile servo and the mobile camera are correspondingly arranged, and the imaging module is used for imaging the crop to be detected and comprises the following steps:

the crop to be detected is controlled to rotate through the rotation servo, and after the rotation of the crop to be detected by a preset angle is detected, the movement servo is controlled to drive the movement camera to shoot the crop to be detected until 360-degree 3D shooting imaging of the crop to be detected is completed.

The crop three-dimensional imaging platform comprises an imaging module, a transmission link and a feeding unit, wherein the identification equipment in the feeding unit is used for identifying the unique identification code on the carrier bearing the crop to be detected and binding the unique identification code with the crop to be detected corresponding to the carrier. The imaging module is used for carrying out imaging processing on crops to be detected, wherein the imaging processing comprises 3D imaging processing, and the conveying link is used for conveying the crops to be detected. According to the application, the unique identification code is bound with the crops to be detected, so that the data detected by the three-dimensional imaging platform can be bound with the corresponding crops to be detected, and the tracing of the detection data of the crops to be detected is realized. Furthermore, the application can finish the 3D imaging processing of each crop to be tested through the imaging module on the transmission link.

Drawings

FIG. 1 is a schematic structural view of a three-dimensional imaging platform for crops in one embodiment;

FIG. 2 is a schematic diagram of a visible light imaging module according to an embodiment;

FIG. 3 is a schematic diagram of a visible light imaging module according to an embodiment;

FIG. 4 is a schematic diagram of a spectrum imaging module in an embodiment;

FIG. 5 is a schematic diagram of a spectrum imaging module in an embodiment;

FIG. 6 is a schematic view of a three-dimensional imaging platform for crops in a preferred embodiment;

FIG. 7 is a flow chart of a method for three-dimensional imaging of crops in one embodiment;

FIG. 8 is a schematic flow chart of a feeding process in one embodiment;

FIG. 9 is a flow diagram of an imaging process in one embodiment;

fig. 10 is a schematic flow chart of a blanking process in an embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

In one embodiment, as shown in FIG. 1, a three-dimensional imaging platform for crops is provided, which comprises an imaging module 12, a transmission link 13 and a feeding unit 11, wherein the transmission link is respectively connected with the imaging module and the feeding unit;

And the conveying link is used for conveying crops to be tested.

The device comprises a conveying chain, a loading unit, a servo jacking mechanism, a recognition device, an industrial personal computer, a computer display, a detection proximity switch and the like, wherein the loading unit is used for loading crops to be tested, the loading unit comprises, but not limited to, a weighing sensor, a loading blocking mechanism, a servo jacking mechanism, a recognition device, the industrial personal computer, the computer display and the detection proximity switch and the like, the weighing sensor is used for detecting the weight of the crops to be tested, the conveying chain is a whole conveying belt, the loading blocking mechanism is used for fixing the crops to be tested at a loading point corresponding to the loading unit, the loading blocking mechanism is prevented from being carried to other positions by the conveying chain when the loading of the crops to be tested is not finished, the servo jacking mechanism is used for jacking the carriers of the crops to be tested, so that weighing and other detection processing are conveniently carried out on the crops to be tested, the recognition device is a code scanning device or a camera, so that recognition of unique identification codes is realized, the industrial personal computer is a common industrial personal computer in the field and can be used for data acquisition and processing, executing control commands and the like according to preset programs or real-time data, the industrial personal computer is generally connected with the computer display and serves as an interface, the state, the detection device and the control command is received, the control commands of an operator and the like are used for detecting the control commands and the detection device and the control device are used for detecting the detection device and the control device is used for the detection of the detection device and the detection device.

Specifically, the identification device is used for identifying a unique identification code on a carrier bearing crops to be tested, the unique identification code can be a two-dimensional code, a bar code and the like, and is generally printed on the carrier, and the unique identification code is used as a unique identification of the corresponding crops to be tested, so that the statistics of related data detected by the crops to be tested is conveniently carried out through the unique identification code, and the tracing of the data of each pot of crops to be tested is also conveniently carried out. In practical application, binding the unique identification code and the corresponding crop to be tested includes various methods, such as planting each crop to be tested in a flowerpot, printing the corresponding identification code on the flowerpot, placing the flowerpot on a carrier printed with the unique identification code, identifying the identification code on the flowerpot and the unique identification code on the carrier at the same time, binding the flowerpot identification code and the unique identification code of the carrier, thereby realizing binding the unique identification code and the corresponding crop to be tested, or setting the carrier on a transmission link as the flowerpot with the unique identification code, directly planting the crop to be tested in the carrier, thereby realizing binding the unique identification code and the corresponding crop to be tested, and the like.

Further, after the feeding unit finishes the feeding treatment of the crops to be detected, the conveying link drives the crops to be detected to run to the imaging module. The imaging module comprises at least one imaging unit, the imaging unit comprises but not limited to 3D imaging, 2D imaging and the like, and the type of the imaging unit can be set according to actual needs in practical application. The imaging module firstly recognizes the unique identification code of the crop to be detected, and then performs imaging treatment on the crop to be detected, so that the imaging result and the unique identification code are bound, the detection result of the same crop to be detected can be counted conveniently, and the detection result and the detection data related to the crop to be detected can be traced.

Further, the transmission link is used for transmitting crops to be tested, the transmission link can be in a closed loop structure or an open loop structure, and the structural form of the transmission link is determined according to actual needs. And a plurality of crops to be detected generally exist on the transmission link at the same time, and each crop to be detected corresponds to a unique identification code.

The embodiment can realize automatic code scanning binding and automatic detection processing of each crop to be tested, data statistics and tracing of each crop to be tested, and a plurality of crops to be tested can automatically circulate on the crop three-dimensional imaging platform to concentrate feeding and discharging. Furthermore, the imaging module in the embodiment can realize 360-degree 3D imaging of each crop to be detected, overcomes the common problems of crop leaf shielding and depth information missing in the prior art, and ensures the accuracy of crop structure description.

In some embodiments, the transmission link is in a closed loop structure, and the identifying device is further configured to unbind the unique identifier and the crop to be detected after identifying the unique identifier when the crop to be detected is in the blanking state.

Specifically, in this embodiment, the transmission link is in a closed loop structure, and preferably, the positions of the feeding unit and the discharging unit are coincident at this time, that is, the feeding unit can perform feeding processing and discharging processing. After all required detection treatments are finished on the crops to be detected, the crops to be detected are transmitted back to the blanking unit through the transmission link, the unique identification codes are identified through the identification equipment at the blanking unit, and the unique identification codes and the crops to be detected are unbinding. The centralized loading and unloading treatment of a plurality of crops to be tested can be realized through the embodiment, and the unique identification code can be recovered, so that the subsequent recycling is facilitated.

In some embodiments, the crop three-dimensional imaging platform further comprises a functional module, wherein the functional module is arranged on the transmission link;

Specifically, a functional module is further arranged on a preset point position of the conveying link, when the crop to be detected is conveyed to the corresponding point position, the functional module identifies the unique identification code of the crop to be detected, and after identification is completed, corresponding functional treatment such as watering, weighing and the like is performed on the crop to be detected. It can be understood that the embodiment may include a plurality of functional modules, where different functional modules execute different functions, and specific types of the functional modules are set according to actual needs, and after the functional processing is completed, the processing result is bound with the unique identification code, for example, when the functional module is a watering module, relevant data of the watering processing can be bound with the unique identification code, and when the functional module is a weighing module, relevant data of weighing can be bound with the unique identification code. The functions of the crop three-dimensional imaging platform are further expanded through the embodiment, the platform can be flexibly adapted to different application scenes, and when partial functions are required to be added, the functions can be directly added on a conveying link without affecting the overall structure of the platform.

In some embodiments, the imaging module includes a moving servo and a moving camera, the moving servo is set corresponding to the moving camera, and the moving servo is used for driving the moving camera to move around the crop to be tested, so that the moving camera can complete 3D imaging of the crop to be tested.

Specifically, the imaging module comprises a point for placing the crop to be tested, when the crop to be tested is detected to be located at the designated place point, imaging is started to be performed on the crop to be tested through the moving servo and the moving camera, wherein preferably, the crop to be tested can be carried to the preset place point through the moving servo for carrying the crop to be tested, and the moving servo for carrying the crop to be tested comprises but is not limited to a traversing servo and a jacking servo. Further, the imaging module includes a plurality of moving servos and moving cameras, the moving cameras and the moving servos are in one-to-one or many-to-one relation, that is, at least one moving camera is installed on one moving servo, and the installation positions of the moving cameras and the moving servos in the imaging module can be determined by related technicians according to actual needs, for example, the moving cameras and the moving servos can be installed in sequence along an axis perpendicular to the horizontal plane direction, or can be installed in sequence along an axis having a preset included angle with the ground, and the like. The mobile camera is fixed on the mobile servo, and the mobile servo drives the mobile camera to move around the crop to be detected, so that 3D imaging of the crop to be detected is completed. In some embodiments, the imaging module may include a plurality of different imaging modes, such as a 3D visible light imaging module, a 3D spectrum imaging module, etc., and in this embodiment, the imaging modules of different imaging modes all include the above-mentioned plurality of moving servos and corresponding moving cameras, so as to implement more comprehensive 3D imaging on the crop to be tested.

In some embodiments, the imaging module comprises a visible light imaging module, wherein the visible light imaging module comprises a box, a plurality of traversing cameras, a plurality of traversing servos, a lifting camera, a lifting servo, a turntable servo and a jacking servo;

Specifically, both FIG. 2 and FIG. 3 are schematic structural diagrams of the visible light imaging module, which include 01-traversing camera 1, 02-traversing camera 2, 03-traversing camera 3, 04-traversing camera 4, 05-traversing camera 5, 06-traversing camera 6, 07-traversing camera 7, 08-traversing camera 8, 09-lifting camera 9, 10-lifting servo, 11-traversing servo 1, 12-traversing servo 2, 13-traversing servo 3, 14-traversing servo 4, 15-traversing servo 5, 16-traversing servo 6, 17-traversing servo 7, 18-traversing servo 8, 19-lifting servo 9, 20-turntable servo, 21-annular camera backlight, 22-box 1 station blocking motor mechanism, 23-carrier, 24-crops to be tested.

As can be seen from the figure, the visible light imaging module in this embodiment includes a plurality of traversing cameras and a plurality of traversing servos, the traversing servos and the traversing cameras are in a one-to-one correspondence, the traversing cameras and the traversing servos are sequentially arranged and installed from bottom to top along an axis perpendicular to a horizontal plane, in some preferred embodiments, one end of the traversing servos is fixed on the box, the other end of the traversing servos is provided with a corresponding traversing camera, and the traversing servos can drive the traversing cameras to horizontally move around the crops to be tested.

The lifting camera is arranged on the lifting servo, one end of the lifting servo is slidably arranged on an axis vertical to the horizontal plane, the lifting camera is arranged at the other end of the lifting servo, and the lifting servo can drive the lifting camera to vertically move around crops to be detected.

The jacking servo 10 is located at the bottom of the box body, when crops to be detected reach a preset working position in the visible light imaging module, the jacking servo 10 jacks up the carrier carrying the crops to be detected to a preset height and then keeps static, so that the transverse moving camera and the lifting camera can finish 3D visible light imaging of the crops to be detected, and the transverse moving camera automatically moves to a specified position through the corresponding transverse moving servo to perform 3D imaging.

The carousel servo is installed at the box top for take the crop that awaits measuring that the carrier carried and rotate, in some preferred embodiments, when the visible light imaging module carries out 3D formation of image to the crop that awaits measuring, the carousel servo can drive the crop that awaits measuring and carry out the uniform velocity rotation, if can rotate certain angle (like 5) sideslip camera and lift camera and take a picture the crop that awaits measuring, thereby accomplish the 360 3D visible light formation of image that takes a picture of the crop that awaits measuring.

The 21-ring camera backlight is preferably mounted at the side wall of the cabinet at an angle perpendicular to the ground for providing a light source when visible light imaging is performed. The 22-box 1 station blocking direct current motor mechanism is arranged at the bottom of the box and used for fixing crops to be tested and carriers thereof at preset placement points convenient for imaging.

The embodiment provides a 3D visible light imaging module which can be arranged along a transmission link in a crop three-dimensional imaging platform provided by the application, single-frame imaging and 3D imaging of each crop to be detected are automatically completed, and each camera in an imaging system is fixed on a mobile servo motor mechanism, so that independent and flexible automatic adjustment of each camera can be realized.

In some embodiments, the imaging module comprises a spectral imaging module comprising a box, a rotation servo, a lift servo, a traversing servo, a first spectral camera, and a depth camera;

Specifically, fig. 4 and fig. 5 are schematic structural diagrams of a spectrum imaging module, which include 101-a first spectrum camera, 102-a depth camera, 103-a traversing servo 10, 104-a lifting servo 11, 105-a top light source lifting servo, 106-a top light source, 107-a box 2 station lifting servo, 108-a carrier, 109-a box 2 station direct current motor blocking mechanism, and 110-a box 2 station rotating servo.

As can be seen from the figure, the first spectrum camera and the depth camera are both installed on the lifting servo and the traversing servo, and can be driven to move by the lifting servo and the traversing servo, and in some preferred embodiments, the first spectrum camera may be a multispectral camera, and the depth camera may be an RGB-D camera.

The rotary servo is located the bottom half, and rotary servo is used for driving the carrier to carry on the crop to be tested and rotates, and with reason jacking servo also being located the bottom half for rise the crop to be tested, it is static after the appointed position to rise, and the first spectrum camera of being convenient for and degree of depth camera accomplish the 3D spectrum imaging to the crop to be tested, and first spectrum camera and degree of depth camera are through sideslip servo and lift servo automatic operation to appointed position on, carry out 3D imaging. In some preferred embodiments, when the spectrum imaging module performs 3D imaging on the crop to be detected, the rotation servo can drive the crop to be detected to perform uniform rotation within a range of 0-360 degrees, for example, the first spectrum camera and the depth camera can perform photographing on the crop to be detected every time the first spectrum camera and the depth camera rotate by a certain angle (for example, 5 degrees), so that 360-degree 3D spectrum photographing imaging on the crop to be detected is completed.

The top light source is used to provide a light source for facilitating 3D spectral imaging. 109-box 2 station direct current motor blocks mechanism installs in the box bottom for fix the crop that awaits measuring and its carrier in the position of the place of the imaging of being convenient for of predetermineeing.

The embodiment provides a 3D spectrum imaging module which can be arranged along a transmission link in a crop three-dimensional imaging platform provided by the application, and can automatically complete single-frame imaging and 3D imaging for each crop to be tested. And the 3D spectrum imaging module in this embodiment can include multiple vision cameras, and the required vision camera can be set according to actual need to the person skilled in the art, realizes more comprehensive 3D imaging.

In some embodiments, the three-dimensional imaging platform further comprises a blocking mechanism, the blocking mechanism comprises a first blocking mechanism, a second blocking mechanism and a third blocking mechanism, wherein the first blocking mechanism, the second blocking mechanism and the third blocking mechanism are sequentially arranged on the conveying link in the moving sequence of the crop to be detected, and the first blocking mechanism is adjacent to the functional mechanism and the imaging module:

Specifically, a plurality of blocking mechanisms are further arranged on the conveying link in the crop three-dimensional imaging platform, and each blocking mechanism can comprise a plurality of blocking units. The first blocking mechanism, the second blocking mechanism and the third blocking mechanism are sequentially arranged on the conveying link by taking the conveying sequence of crops to be detected along the conveying link as a reference. The first blocking mechanism, the second blocking mechanism and the third blocking mechanism may be different mechanism devices from each other, may be the same mechanism, and may be the dc motor blocking mechanism described above. The first blocking mechanism, the second blocking mechanism and the third blocking mechanism are mainly distinguished by different positions and different functions.

The first blocking mechanism is close to the functional mechanism and the imaging module and is used for intercepting the crop to be detected on the conveying link, enabling the crop to be detected to stay at a station of the first blocking mechanism, identifying a unique identification code of the crop to be detected, and releasing the crop to be detected when the first blocking mechanism detects that the crop to be detected needs to be subjected to subsequent imaging processing operation, otherwise, removing the crop to be detected from the conveying link. The second blocking mechanism is positioned at the other side of the first blocking mechanism, namely when the crop to be detected is conveyed along the conveying link, the crop to be detected firstly reaches the second blocking mechanism, then reaches the first blocking mechanism, and finally is released to the functional mechanism and the imaging module by the first blocking mechanism. The second blocking mechanism mainly plays a role in blocking and separating, when the first blocking mechanism detects that the crops to be detected need to be put, the second blocking mechanism can block the carrier behind the crops to be detected and the follow-up crops to be detected, so that the follow-up crops to be detected and the crops to be detected which need to be put at present are mutually separated, and the follow-up crops to be detected are prevented from being put to the functional mechanism and the imaging module in a wrong way. The third blocking mechanism is located at the other side of the second blocking mechanism, namely when the crops to be detected are conveyed along the conveying link, the crops to be detected firstly reach the third blocking mechanism, then reach the second blocking mechanism and then reach the first blocking mechanism, finally the crops to be detected are released to the functional mechanism and the imaging module by the first blocking mechanism, the third blocking mechanism generally comprises a plurality of third sub blocking mechanisms, all the third sub blocking mechanisms are sequentially arranged on the conveying link at preset intervals, the third sub blocking mechanisms are used for separating adjacent crops to be detected on the conveying link, a certain distance is kept between the adjacent crops to be detected, and therefore excessive carriers and overlarge impact force are prevented, and the blocking mechanisms are damaged when blocked by the blocking mechanisms.

Fig. 6 is a schematic structural view of a three-dimensional imaging platform for crops in a preferred embodiment.

The figure comprises a manual feeding and discharging station, a 05-cross split-flow jacking mechanism 1, a 06-speed doubling chain 1 motor, a 07-third sub blocking mechanism 5, a 08-speed doubling chain 2, a 09-third sub blocking mechanism 4, a 10-third sub blocking mechanism 3, a 11-second blocking mechanism 2, a 12-buffer station code scanning camera, a 13-first blocking mechanism 1, a 14-cross split-flow jacking mechanism 2, a 15-speed doubling chain 2 motor, a 16-speed doubling chain 3, a 17-functional mechanism, a 18-functional mechanism blocking mechanism, a 19-speed doubling chain 3 motor, a 20-cross split-flow jacking mechanism 3, a 21-box 1 inlet code scanning camera, the device comprises a 22-box body 1 buffer station blocking direct current motor, a 23-visible light imaging module working position, a 24-visible light imaging module, a 25-double speed chain 4, a 26-box body 2 inlet code scanning camera, a 27-box body 2 buffer station blocking direct current motor, a 28-spectrum imaging module working position, a 29-spectrum imaging module, a 31-cross shunt jacking mechanism 4, a 32-double speed chain 4 motor and a 04-double speed chain 1, wherein the manual feeding and discharging station comprises a 01-feeding weighing, code scanning binding and discharging code scanning unbinding station, a 02-flowerpot identification code scanning camera, a 03-feeding and discharging station carrier unique identification code scanning camera, a third-generation carrier unique identification code scanning camera, a fourth-generation carrier unique identification code scanning camera and a fourth-generation carrier, 30-industrial personal computer & display. It can be understood that the cross-shaped shunt jacking mechanisms are all arranged at corners and are used for shunting crops to be tested, and in order to adapt to different sections of the transmission link, the cross-shaped shunt jacking mechanisms have jacking functions and are convenient to adjust based on different heights of different sections of the transmission link; the speed multiplying motor corresponds to the speed multiplying chain, the speed multiplying motor is used for driving the speed multiplying chain to move and plays a role of conveying the carrier, the third sub blocking mechanism comprises three parts which are all used for separating adjacent crops to be tested on the conveying chain to enable the adjacent crops to be tested to keep a certain distance, the second blocking mechanism is arranged between the third blocking mechanism and the first blocking mechanism and used for blocking the carrier behind the crops to be tested and the subsequent crops to be tested to enable the subsequent crops to be tested to be separated from the crops to be tested which are required to be tested at present, the first blocking mechanism is used for intercepting the crops to be tested on the conveying chain to enable the crops to be tested to stay at the station of the 12-buffer station code scanning camera and identifying unique identification codes of the crops to be tested, when the first blocking mechanism detects that the crops to be tested need to be tested are subjected to subsequent imaging processing operation, the crops to be tested are released, otherwise, the 17-functional mechanism is used for blocking the direct current motor including a watering station code scanning camera and a watering station blocking direct current motor to enable the crops to be tested to be blocked. The 21-box 1 entrance code scanning camera is used for identifying whether the crop to be detected needs 3D imaging through the unique identification code, if yes, the direct current motor is blocked from intercepting the crop to be detected through the 22-box 1 buffer station, the crop to be detected is fixed at the working position of the 23-visible light imaging module, and 3D imaging processing is carried out on the crop to be detected through the 24-visible light imaging module. Similarly, the 26-box 2 entrance code scanning camera recognizes whether the crop to be detected needs 3D imaging through the unique identification code, if so, the 27-box 2 buffer station blocks the direct current motor from intercepting the crop to be detected, so that the crop to be detected is fixed at the working position of the 28-spectrum imaging module, and 3D imaging processing is performed on the crop to be detected through the 29-spectrum imaging module. in sum, according to the identification of the unique identification code of the crop to be detected by the code scanning cameras of the modules, the detection result and the processing result of the crop to be detected can be bound with the unique identification code, so that statistics and traceability of related data of the crop to be detected are facilitated.

It should be understood that, although the functions of the block diagrams according to the embodiments described above are sequentially shown as indicated by arrows, the steps are not necessarily sequentially performed in the order indicated by the arrows. These functions are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least a part of functions in the block diagrams according to the embodiments described above may include a plurality of sub functions, which are not necessarily performed at the same time, but may be performed at different times, and the order of the execution of the sub functions is not necessarily sequential, but may be performed in turn or alternately with other sub functions or at least a part of the sub functions among other sub functions.

Based on the same inventive concept, the embodiment of the application also provides a crop three-dimensional imaging method for realizing the crop three-dimensional imaging platform. The implementation of the solution provided by the method is similar to the implementation described in the above platform, so the specific limitation in the embodiments of the three-dimensional imaging method for one or more crops provided below may be referred to the limitation of the three-dimensional imaging platform for crops hereinabove, and will not be described herein.

In one embodiment, as shown in fig. 7, a crop three-dimensional imaging method is provided for the crop three-dimensional imaging platform described above, comprising:

step S710, after detecting that a carrier on a transmission link reaches a preset feeding unit, identifying a unique identification code on the carrier through identification equipment in the feeding unit, and binding the unique identification code with a crop to be detected corresponding to the carrier, wherein the crop to be detected and the carrier are in one-to-one correspondence;

Step S720, conveying the crop to be detected through a preset conveying link, and after the imaging module completes identification of the unique identification code of the crop to be detected, performing imaging processing on the crop to be detected based on the preset imaging module, wherein the imaging processing comprises 3D imaging processing.

Specifically, fig. 8 is a schematic flow chart of a feeding process in an embodiment.

Step S810, after the equipment initialization is completed, detecting whether the carrier on the transmission link reaches the feeding unit, if so, jumping to step S820, and if not, waiting for the carrier to reach the feeding unit.

Step S820, the unique identification code is identified through the identification equipment in the feeding unit. In some preferred embodiments, the carrier is also weighed when the unique identification code is identified, if the carrier is not abnormally weighed, the step is skipped to step S830, and if the carrier is abnormally weighed, the step is skipped to step S840.

Step S830, detecting whether the flowerpot weight carrying the crop to be detected is abnormal, if so, jumping to step S840, and if not, jumping to step S850.

Step S840, manual forced release.

Step S850, binding the unique identification code of the carrier with the identification code of the flowerpot, and synchronizing the release signal to the PLC, namely, binding the unique identification code with the crop to be detected.

Step S860, releasing the crop to be tested manually or automatically, and completing the feeding process.

Further, as shown in fig. 9, the present embodiment also provides a flow chart of the imaging process.

Step S910, after detecting that the feeding is completed, the crop to be tested arrives at the station of the functional mechanism, and identifying whether the crop to be tested needs to be functionally processed through the unique identification code, if yes, performing functional processing through the functional mechanism, where the functional processing includes, but is not limited to, watering, accurate weighing of the crop to be tested, and the like. If not, the method is directly released.

In step S920, the carrier carries the crop to be tested and conveys the crop to the first entrance buffer position through the conveying link, the visible light imaging mechanism identifies the unique identification code, whether the crop to be tested needs to be subjected to visible light imaging processing is detected, if yes, the crop to be tested is subjected to visible light imaging processing through the visible light imaging module, and if not, the crop to be tested is directly released.

In step S930, the carrier carries the crop to be tested and conveys the crop to the second entrance buffer position through the conveying link, the spectral imaging mechanism identifies the unique identification code, detects whether the crop to be tested needs to be subjected to spectral imaging processing, if yes, the spectral imaging processing is performed on the crop to be tested through the spectral imaging module, and if not, the crop to be tested is directly released.

Step S940, detecting whether the 3D imaging processing preset for the crop to be detected is finished through the unique identification code, if yes, ending the imaging flow, otherwise, not carrying out blanking processing, and repeating the steps S920 to S940 along with the conveying link.

In some embodiments, the method further comprises:

Specifically, as shown in fig. 10, the embodiment further provides a schematic flow chart of the blanking process.

Step S1010, after detecting that all the crops to be detected on the carrier are detected, automatically entering a blanking process.

In step S1020, the carrier reaches the discharging unit.

Step S1030, unbinding the carrier and the crop to be detected, preferably, identifying the unique identification code of the carrier and the identification code of the flowerpot at the same time, and performing a sexual unbinding operation on the unique identification code and the identification code of the flowerpot.

And step S1040, after the unbinding success is detected, the crop to be tested is discharged.

In step S1050, after detecting that all crops to be tested are completely blanked, the blanking process is finished.

In some embodiments, the imaging module comprises a rotary servo, a mobile servo and a mobile camera, wherein the mobile servo is arranged corresponding to the mobile camera, and the imaging module is used for imaging the crop to be detected and comprises the following steps:

Specifically, when 3D imaging is performed on the crop to be detected, the crop to be detected is controlled to rotate within a range of 0-360 degrees through a rotation servo, a movement servo is controlled to drive a mobile camera to move to a preset position every time the crop to be detected rotates by a certain angle (such as 5 degrees), and shooting is performed on the crop to be detected until 360-degree 3D shooting imaging of the crop to be detected is completed, wherein the movement servo is controlled to include, but not limited to, a traversing servo, a lifting servo and the like. The 2 3D imaging modes of 'camera rotation movement, plant fixation' and 'camera fixation, plant rotation movement' can be realized through the embodiment. The application has strong compatibility, is suitable for the phenotype research of small-to-medium-sized plants in situ or in a culture container, and is also suitable for various imaging modes.

The user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. The crop three-dimensional imaging platform is characterized by comprising an imaging module, a transmission link and a feeding unit, wherein the transmission link is respectively connected with the imaging module and the feeding unit;

The feeding unit comprises identification equipment, wherein the identification equipment is used for identifying a unique identification code on a carrier bearing crops to be detected and binding the unique identification code with the crops to be detected corresponding to the carrier, and the crops to be detected and the carrier are in one-to-one correspondence;

the imaging module is used for identifying the unique identification code of the crop to be detected and carrying out imaging processing on the crop to be detected, wherein the imaging processing comprises 3D imaging processing;

The conveying link is used for conveying the crops to be tested.

2. The crop three-dimensional imaging platform according to claim 1, wherein the transmission link is of a closed loop structure, and the identifying device is further configured to unbind the unique identification code from the crop to be detected after identifying the unique identification code when the crop to be detected is in a blanking state.

3. The crop three-dimensional imaging platform of claim 1, further comprising a functional module disposed on the conveyor link;

the functional module is used for identifying the unique identification code of the crop to be tested and carrying out corresponding functional treatment on the crop to be tested when the crop to be tested on the conveying link is detected to be conveyed to the corresponding functional treatment point, and the functional treatment comprises watering treatment and weighing treatment.

4. The crop three-dimensional imaging platform of claim 1, wherein the imaging module comprises a movement servo and a movement camera, the movement servo is arranged corresponding to the movement camera, and the movement servo is used for driving the movement camera to move around the crop to be detected so that the movement camera can complete 3D imaging of the crop to be detected.

5. The three-dimensional imaging platform of claim 1, wherein the imaging module comprises a visible light imaging module comprising a box, a plurality of traversing cameras, a plurality of traversing servos, a lifting camera, a lifting servo, a turntable servo, and a jacking servo;

Each transverse moving servo is arranged in one-to-one correspondence with each transverse moving camera, the transverse moving cameras and the transverse moving servo are sequentially arranged on the box body from bottom to top in a vertical sequence, and the transverse moving servo is used for driving the corresponding transverse moving cameras to horizontally move around crops to be detected;

The lifting cameras are arranged in one-to-one correspondence with the lifting servos, and the lifting servos are used for driving the lifting cameras to vertically move along the box body based on the crops to be detected;

The turntable servo is positioned at the top of the box body and is used for driving the carrier to carry the crops to be tested to rotate;

the lifting servo is positioned at the bottom of the box body and used for lifting the crops to be tested.

6. The three-dimensional imaging platform of claim 1, wherein the imaging module comprises a spectral imaging module comprising a box, a rotation servo, a lifting servo, a traversing servo, a first spectral camera and a depth camera;

The rotating servo is positioned at the bottom of the box body and is used for driving the carrier to carry the crops to be tested to rotate;

the jacking servo is arranged at the bottom of the box body and is used for lifting the crops to be tested;

7. The crop three-dimensional imaging platform of claim 1, further comprising a blocking mechanism comprising a first blocking mechanism, a second blocking mechanism, and a third blocking mechanism, wherein the first blocking mechanism, the second blocking mechanism, and the third blocking mechanism are sequentially arranged on the conveyor link in the order of movement of the crop to be tested, and the first blocking mechanism is adjacent to the functional mechanism and the imaging module:

The first blocking mechanism is used for blocking the crop to be detected, and releasing the crop to be detected when the unique identification code detects that the crop to be detected needs imaging treatment;

8. A method of three-dimensional imaging of a crop, for use with the three-dimensional imaging platform of any one of claims 1 to 7, the method comprising:

And transmitting the crop to be detected through a preset transmission link, and after the imaging module finishes identifying the unique identification code of the crop to be detected, performing imaging processing on the crop to be detected based on the preset imaging module, wherein the imaging processing comprises 3D imaging processing.

9. The method of three-dimensional imaging of crops according to claim 8, wherein after the imaging of the crops to be tested based on the preset imaging module, the method further comprises:

after the end of the test of the crop to be tested is detected, controlling the crop to be tested to reach a preset blanking unit through the conveying link;

And identifying the unique identification code on the carrier through the identification equipment, unbinding the unique identification code and the crop to be tested corresponding to the carrier, and controlling the crop to be tested to carry out blanking treatment.

10. The method of claim 8, wherein the imaging module comprises a rotation servo, a movement servo and a movement camera, the movement servo is arranged corresponding to the movement camera, and the imaging processing of the crop to be detected by the imaging module comprises:

And controlling the rotation of the crop to be detected through the rotation servo, and controlling the movement servo to drive the movement camera to shoot the crop to be detected after detecting that the crop to be detected rotates by a preset angle until 360-degree 3D shooting imaging of the crop to be detected is completed.