CN118669687A - Plant three-dimensional phenotype information measuring device - Google Patents

Abstract

The present invention relates to the technical field of contour measurement, and discloses a plant three-dimensional phenotypic information measuring device, including: a walking trolley, which can be remotely controlled to walk; a vertical moving module, which is provided with two groups and respectively installed on both sides of the walking trolley; a folding mechanism, the vertical moving module is used to vertically move the folding mechanism; a horizontal support table, the folding mechanism is used to push the horizontal support table to approach or away from the walking trolley, and the horizontal support table remains horizontal; a rotating drive mechanism, which is provided with two groups and respectively installed on the folding mechanisms on both sides, and the rotating drive mechanism is used to drive the horizontal support table to rotate horizontally; a three-dimensional measuring instrument, which is provided with two groups and respectively located under the horizontal support tables on both sides; a swing mechanism, which is used to swing the three-dimensional measuring instrument. The present invention realizes bilateral scanning, and the measuring device can be folded, and the folded scanner can be surrounded and protected, which can improve the measurement efficiency and the protection of the scanner.

Description

A device for measuring plant three-dimensional phenotypic information

Technical Field

The invention relates to the technical field of contour measurement, and in particular to a device for measuring three-dimensional phenotypic information of plants.

Background Art

Plant phenotyping is one of the key areas of modern agricultural research. Plant phenotyping mainly involves observing and analyzing the external morphological characteristics of plants to explore aspects such as plant growth and development, variety identification, and stress resistance. Plant phenotyping 3D scanning modeling and contour line 3D dimension measurement can provide more accurate and detailed data support for plant phenotyping. This method can non-destructively classify the main stems, petioles, and leaves of different varieties, and accurately estimate the main growth parameters in three-dimensional space, such as the height, angle, and area of plants and organs.

A 3D laser scanner is used to scan plants. In actual operations, the 3D laser scanner will be installed on a walking cart. Since agricultural research is generally carried out in experimental farmlands, the road surface of the experimental farmlands is relatively flat. Therefore, long-distance scanning and collection can be achieved by remotely controlling the walking cart, which can reduce work intensity.

At present, for small-scale experimental farmland plant 3D scanning, the scanner is simply built on a walking cart, and the scanning is unilateral during the measurement process. Only one row of crops can be scanned each time, resulting in low measurement efficiency.

Summary of the invention

The present invention solves the technical problem in the prior art that a walking trolley can only scan on one side and has low measurement efficiency by providing a plant three-dimensional phenotypic information measuring device, realizes bilateral scanning, and can fold the measuring device and surround and enclose the folded scanner, which can improve both the measurement efficiency and the protection of the scanner.

The present invention provides a plant three-dimensional phenotypic information measuring device, comprising: a walking trolley, which can be remotely controlled for walking; a vertical moving module, which is provided with two groups and respectively installed on both sides of the walking trolley; a folding mechanism, which is provided with two groups and respectively installed on the vertical moving modules on both sides, and the vertical moving modules are used to vertically move the folding mechanisms; a horizontal support table, which is provided with two groups and respectively installed on the folding mechanisms on both sides, and the folding mechanisms are used to push the horizontal support table to approach or move away from the walking trolley, and the horizontal support table remains horizontal; a rotating drive mechanism, which is provided with two groups and respectively installed on the folding mechanisms on both sides, and the rotating drive mechanism is used to drive the horizontal support table to rotate horizontally; a three-dimensional measuring instrument, which is provided with two groups and respectively located below the horizontal supporting platforms on both sides; a swing mechanism, which is provided with two groups and respectively installed on the horizontal supporting platforms on both sides, and the swing mechanism is used to swing the three-dimensional measuring instrument.

Furthermore, the folding mechanism includes: a support seat, installed on the vertical moving module, and the vertical moving module drives the support seat to move vertically; a folding rod 1, both ends of the folding rod 1 are fixedly connected with a gear 1, the folding rod 1 is provided with multiple gears, and the gears 1 on two adjacent folding rods 1 are meshed with each other, and the gear 1 at one end of the folding rod 1 close to the support seat is rotatably arranged on the support seat; a Z-shaped member, the Z-shaped member is arranged between two adjacent folding rods 1, and the end of the folding rod 1 is hinged to the Z-shaped member; a folding rod 2, each of the folding rods 1 is correspondingly provided with a folding rod 2 parallel to it, the end of the folding rod 2 is hinged to the end of the Z-shaped member, and the end of the folding rod 2 close to the support seat away from the Z-shaped member is hinged to the support seat; a driving motor 1, installed on the support seat, and used to drive the gear 1 on the support seat to rotate.

Furthermore, the rotary drive mechanism includes: a motor support frame, fixed on the Z-shaped part in the folding mechanism that is farthest away from the support seat; a second drive motor, installed on the motor support frame; a rotating rod, rotatably set on the motor support frame, the bottom end of the rotating rod is fixed on the horizontal support platform, and the rotating rod is coaxially connected to the output shaft of the second drive motor.

Furthermore, a protective grid plate is hinged on the folding rod in the folding mechanism that is farthest from the support seat, and the three-dimensional measuring instrument is located between the protective grid plate and the vertical movable module when the folding mechanism is in a folded state.

Furthermore, the swing mechanism includes: a cylinder frame, fixedly mounted on the horizontal support platform; a telescopic cylinder, mounted on the cylinder frame, and the telescopic rod of the telescopic cylinder passes through the horizontal support platform; a flip concave plate, one side of the flip concave plate is concave, and symmetrically arranged vertical plates are fixedly connected to the concave surface of the flip concave plate, and the bottom end of the telescopic rod of the telescopic cylinder is hinged between the tops of the vertical plates on both sides; two push-pull rods are provided and are respectively located on the sides of the vertical plates on both sides away from the telescopic rod, one end of the push-pull rod is hinged to the vertical plate, and the other end is hinged to the horizontal support platform; an inclined rod, one end of which is fixedly connected to one side of the flip concave plate, and the other end is used to install the three-dimensional measuring instrument, and the end of the inclined rod of the three-dimensional measuring instrument in the measuring state is located below the flip concave plate.

Furthermore, the walking trolley includes: two gantries, which are provided and are parallel to each other, and there is a distance between the two gantries; four hub motors are provided and installed in pairs at the bottom of the two gantries; a multi-stage variable pitch rod is hinged between the gantries on both sides; a connecting rod, the tops of the gantries on both sides are fixedly connected to limiting columns, and the two ends of the connecting rod are respectively inserted into the limiting columns on the tops of the gantries on both sides.

Furthermore, the walking trolley also includes support wheels, and the support wheels are installed between the two hub motors at the bottom of each gantry, and the support wheels and the hub motors are respectively located on both sides of the gantry.

Furthermore, the vertical moving module includes: a screw rod, which is vertically arranged and rotatably arranged on the traveling trolley; a light rod, which is vertically arranged and fixed on the traveling trolley, and the light rod is located on one side of the screw rod; a nut seat, which is installed on the screw rod, and the light rod passes through the nut seat, and the folding mechanism is installed on the nut seat; a driving motor three, which is installed on the traveling trolley and is used to drive the screw rod to rotate.

One or more technical solutions provided in the present invention have at least the following technical effects or advantages:

1: Move the horizontal support platform to the preset height and lateral position, use the rotary drive mechanism to rotate the horizontal support platform, and then the three-dimensional measuring instrument below also rotates circumferentially to realize the collection of three-dimensional phenotypic information of crops. The folding mechanism, vertical moving module, rotary drive mechanism and swing mechanism on both sides of the walking trolley can be controlled separately, so that the positions of the three-dimensional measuring instruments on both sides can be adjusted separately, and then it can adapt to the collection of different crops on both sides of the road. The technical problem that the walking trolley can only scan on one side and the measurement efficiency is low in the prior art is solved, and bilateral scanning is realized.

2: When there is no need to collect three-dimensional phenotypic information, the two door frames in the walking trolley can be converted to the same horizontal plane, the folding mechanism can be folded, and the three-dimensional measuring instrument on the inclined rod can be flipped to the top of the horizontal support platform. Finally, the two three-dimensional measuring instruments on the walking trolley are surrounded by the folding mechanism, two protective grid plates and two door frames after the two sides are folded, thereby improving the protection of the three-dimensional measuring instrument when the plant three-dimensional phenotypic information measurement device is not in use and reducing the possibility of damage.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structure of a plant three-dimensional phenotypic information measuring device in a measuring state according to an embodiment of the present invention;

FIG2 is a schematic diagram of the structure of part of the structure in FIG1 , mainly showing a schematic diagram of the vertical moving module, the folding mechanism, the horizontal support platform, the rotating drive mechanism, the three-dimensional measuring instrument and the swing mechanism;

FIG3 is a schematic diagram of a part of the structure in FIG2 , mainly illustrating the structure of the folding mechanism;

FIG4 is a schematic diagram of a part of the structure in FIG3 , mainly illustrating the structure of the rotation drive mechanism and the swing mechanism;

FIG5 is a schematic diagram of the overall structure of the plant three-dimensional phenotypic information measuring device after being fully folded according to an embodiment of the present invention;

FIG6 is a schematic diagram of a part of the structure in FIG5 , mainly showing a schematic diagram of the state of the three-dimensional measuring instrument after the folding mechanism is folded;

In the figure: 1. walking trolley; 11. door frame; 111. limit column; 12. hub motor; 13. multi-stage variable pitch rod; 14. connecting rod; 15. support wheel; 2. vertical moving module; 21. screw rod; 22. light rod; 23. nut seat; 24. drive motor three; 3. folding mechanism; 31. support seat; 32. folding rod one; 321. gear one; 33. Z-shaped part; 34. folding rod two; 35. drive motor one; 36. protective grid plate; 4. horizontal support platform; 5. rotating drive mechanism; 51. motor support frame; 52. drive motor two; 53. rotating rod; 6. three-dimensional measuring instrument; 7. swing mechanism; 71. cylinder frame; 72. telescopic cylinder; 721. telescopic rod; 73. flip concave plate; 731. vertical plate; 74. push-pull rod; 75. inclined rod.

DETAILED DESCRIPTION

In order to better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

Referring to Fig. 1, a plant three-dimensional phenotypic information measuring device includes a walking trolley 1, a vertical moving module 2, a folding mechanism 3, a horizontal support platform 4, a rotating drive mechanism 5, a three-dimensional measuring instrument 6, and a swing mechanism 7. The vertical moving module 2, the folding mechanism 3, the horizontal support platform 4, the rotating drive mechanism 5, the three-dimensional measuring instrument 6, and the swing mechanism 7 are each provided with two groups, and are symmetrically arranged on both sides of the walking trolley 1. The walking trolley 1 can travel on the aisle of the experimental farmland, and the three-dimensional measuring instruments 6 on both sides of the walking trolley 1 scan the crops on both sides of the aisle.

2 , the vertical moving module 2 includes a screw rod 21, a polished rod 22, a nut seat 23 and a driving motor 3 24. The screw rod 21 is vertically arranged and rotatably arranged on the traveling trolley 1; the polished rod 22 is vertically arranged and fixed on the traveling trolley 1, and the polished rod 22 is located on one side of the screw rod 21; the nut seat 23 is installed on the screw rod 21, and the polished rod 22 passes through the nut seat 23, and the folding mechanism 3 is installed on the nut seat 23; the driving motor 3 24 is installed on the traveling trolley 1, and the driving motor 3 24 is used to drive the screw rod 21 to rotate.

The driving motor 3 24 drives the nut seat 23 to move up and down, and the nut seat 23 can drive the folding mechanism 3 to move up and down, thereby adjusting the height of the folding mechanism 3.

2 and 3, the folding mechanisms 3 on both sides of the traveling trolley 1 are respectively installed on the nut seats 23 in the vertical moving modules 2 on both sides. The folding mechanism 3 includes a support seat 31, a folding rod 1 32, a Z-shaped member 33, a folding rod 2 34, a driving motor 1 35 and a protective grid plate 36. The support seat 31 is installed on the nut seat 23 in the vertical moving module 2, and the movement of the nut seat 23 can drive the vertical movement of the support seat 31. The folding rod 32 is a bar-shaped rod, and both ends of the folding rod 32 are fixedly connected with a gear 321. There are multiple folding rods 32, and one end of one of the folding rods 32 is rotatably set on the support seat 31. The driving motor 35 is installed on the support seat 31. The driving motor 35 drives the gear 321 at the end of the folding rod 32 on the support seat 31 to rotate, so that the folding rod 32 on the support seat 31 can be switched between a vertical state and a horizontal state. The other folding rods 32 are adjacent to each other in sequence, and the gears 321 at the ends of two adjacent folding rods 32 are meshed with each other. The Z-shaped member 33 is in a Z shape, and a Z-shaped member 33 is set between two adjacent folding rods 32. The ends of the two adjacent folding rods 32 that are close to each other are respectively hinged at the corners of the Z-shaped member 33. Each folding rod 1 32 is provided with a corresponding folding rod 2 34, and the folding rod 2 34 is parallel to the folding rod 1 32. Two adjacent folding rods 2 34 are respectively located at the upper and lower sides of the two adjacent folding rods 1 32. The ends of the folding rod 2 34 are hinged to the ends of the Z-shaped member 33, and the end of the folding rod 2 34 on the side of the folding rod 1 32 on the support seat 31 away from the Z-shaped member 33 is hinged to the support seat 31. The protective grid plate 36 is hinged to the folding rod 1 32 farthest from the support seat 31 in the folding mechanism 3. When the folding mechanism 3 is folded, the folding rod 1 32 is in a vertical state, the protective grid plate 36 is in a vertical state and the length direction is perpendicular to the folding rod 1 32, and the three-dimensional measuring instrument 6 is located between the protective grid plate 36 and the vertical moving module 2.

A parallelogram is formed between the folding rod 1 32, the folding rod 2 34 and the two Z-shaped parts 33. Therefore, when the driving motor 1 35 drives the folding rod 32 on the support seat 31 to swing, the gear 1 321 at the end of the folding rod 32 will drive the adjacent gear 1 321 to rotate, and then drive the adjacent folding rods 32 to swing, so that each folding rod 32 can be unfolded into a horizontal shape, or folded into a vertical shape (as shown in Figure 5), and in the process of folding or unfolding the folding mechanism 3, the angle of the Z-shaped part 33 remains unchanged during the movement.

Referring to Figures 3 and 4, the rotary drive mechanism 5 includes a motor support frame 51, a second drive motor 52 and a rotating rod 53. The motor support frame 51 is fixed to the Z-shaped member 33 which is the farthest from the support seat 31 in the folding mechanism 3, so that when the folding mechanism 3 is folded or unfolded, the motor support frame 51 also moves with it, and the angle remains unchanged. The second drive motor 52 is installed on the motor support frame 51, and the output shaft of the second drive motor 52 is vertically downward. The rotating rod 53 is rotatably arranged on the motor support frame 51, and the bottom end is located below the motor support frame 51, and the output shaft of the second drive motor 52 is coaxially connected with the rotating rod 53. The horizontal support platform 4 is fixed to the bottom end of the rotating rod 53, and the horizontal support platform 4 is horizontal. The second drive motor 52 drives the rotating rod 53 to rotate, and the rotating rod 53 drives the horizontal support platform 4 to rotate horizontally.

Continuing to refer to FIG. 3 and FIG. 4 , the swing mechanism 7 includes a cylinder frame 71, a telescopic cylinder 72, a flip concave plate 73, a push-pull rod 74 and a diagonal rod 75. The cylinder frame 71 is fixedly mounted on the horizontal support platform 4. The cylinder frame 71 can be composed of two columns, a top plate and a movable plate. The two columns are vertically fixed on the horizontal support platform 4, the top plate is fixed on the top of the two columns, the movable plate is located between the top plate and the horizontal support platform 4, and the columns pass through the movable plate. The telescopic cylinder 72 is mounted on the top plate of the cylinder frame 71, and the telescopic rod 721 in the telescopic cylinder 72 passes through the horizontal support platform 4 and is fixed to the movable plate. The flip concave plate 73 is located below the horizontal support platform 4, one side of the flip concave plate 73 is concave, and a symmetrically arranged vertical plate 731 is fixed on the concave surface of the flip concave plate 73, and the bottom end of the telescopic rod 721 of the telescopic cylinder 72 is hinged between the tops of the vertical plates 731 on both sides. There are two push-pull rods 74, which are respectively located on the side of the two side vertical plates 731 away from the telescopic rod 721. One end of the push-pull rod 74 is hinged on the vertical plate 731, and the other end is hinged on the bottom surface of the horizontal support platform 4. One end of the inclined rod 75 is fixed to one side of the flip concave plate 73, and the other end is used to install the three-dimensional measuring instrument 6. The three-dimensional measuring instrument 6 is located below the flip concave plate 73 in the measuring state.

When the telescopic rod 721 of the telescopic cylinder 72 is pushed downward, it will drive the flip concave plate 73 to flip to one side. As the telescopic rod 721 continues to be pushed downward, the flip concave plate 73 will eventually flip 180 degrees. At this time, the end of the inclined rod 75 away from the flip concave plate 73 will flip to the top of the horizontal support platform 4 and be located on one side of the cylinder frame 71. By controlling the flipping angle of the flip concave plate 73, the swing angle of the inclined rod 75 can be controlled, and then the position of the three-dimensional measuring instrument 6 on the inclined rod 75 can be changed. When the rotating drive mechanism 5 rotates the horizontal support platform 4, the rotation diameter of the three-dimensional measuring instrument 6 can also be adjusted, so that crops of different sizes can be scanned.

As shown in FIG. 1 and FIG. 5 , the traveling trolley 1 includes a gantry 11, a wheel hub motor 12, a multi-stage margin rod, a connecting rod 14 and a supporting wheel 15. Two gantry 11 are provided, and the two gantry 11 are parallel to each other, and there is a spacing between the two gantry 11. Four wheel hub motors 12 are provided, two of which are installed at the bottom of one gantry 11, and the other two are installed at the bottom of the other gantry 11. Two multi-stage pitch rods 13 are provided, and the two multi-stage pitch rods 13 are hinged between the gantry 11 on both sides, and the two multi-stage pitch rods 13 are parallel to each other and arranged up and down, and the two multi-stage pitch rods 13 are located at the end position of one end of the gantry 11. The top of the gantry 11 on both sides of the connecting rod 14 is fixedly connected to the limiting column 111, and the two ends of the connecting rod 14 are respectively inserted into the limiting column 111 on the top of the gantry 11 on both sides, and the connecting rod 14 can be used to fix the end of the gantry 11 on both sides away from the multi-stage margin rod. A support wheel 15 is installed between the two hub motors 12 at the bottom of each gantry 11 . The support wheel 15 and the hub motor 12 are respectively located on both sides of the gantry 11 . The support wheel 15 can support the movement of the individual gantry 11 .

The two gantries 11 in the traveling trolley 1 can be converted to the same horizontal plane. The conversion process is to first remove the top connecting rods 14 of the gantries 11 on both sides, then extend the multi-stage variable pitch rod 13, and then flip the gantries 11 on one side, and finally flip them so that the gantries 11 on both sides are in the same horizontal plane (as shown in Figure 5). Finally, the folding mechanisms 3 on the two gantries 11 can be located on the same side and parallel to each other.

The present invention can be explained by the following operation mode:

When crop scanning is required, the wheel hub motor 12 can be remotely controlled to control the walking trolley 1, so that the walking trolley 1 can be moved on the road between the crops on both sides of the farmland, and then the drive motor 1 35 can be started to unfold the folding mechanism 3, so that the horizontal support platform 4 can be moved to one side of the crop. At the same time, under the control of the height of the folding mechanism 3 by the vertical moving module 2, the horizontal support platform 4 can finally be moved to the preset height position and horizontal position, and then the rotating drive mechanism 5 is used to rotate the horizontal support platform 4, and then the three-dimensional measuring instrument 6 below also rotates circumferentially to realize the collection of three-dimensional phenotypic information of the crop. In addition, by using the swing mechanism 7 to control the flip angle of the flip concave plate 73, the swing angle of the inclined rod 75 can be controlled, so that the position of the three-dimensional measuring instrument 6 on the inclined rod 75 can be changed, so that the rotation diameter of the three-dimensional measuring instrument 6 can also be adjusted, and then scanning can be performed for crops of different sizes. Furthermore, the folding mechanism 3, the vertical moving module 2, the rotating drive mechanism 5 and the swing mechanism 7 on both sides of the walking vehicle 1 can be controlled separately, so that the positions of the three-dimensional measuring instruments 6 on both sides can be adjusted separately, thereby adapting to the collection of different crops on both sides of the road.

In addition, when there is no need to collect three-dimensional phenotypic information, the two door frames 11 in the walking trolley 1 can be converted to the same horizontal plane (as shown in Figure 5). At this time, the folding mechanisms 3 on the two door frames 11 are located on the same side and parallel to each other, and the folding mechanisms 3 are folded, and the three-dimensional measuring instrument 6 on the inclined rod 75 is flipped to the top of the horizontal support platform 4 through the swing mechanism 7 (as shown in Figure 6). Finally, the two three-dimensional measuring instruments 6 on the walking trolley 1 are surrounded by the folded folding mechanisms 3 on both sides, two protective grid plates 36 and two door frames 11, so that the more expensive three-dimensional measuring instruments 6 can be protected, thereby improving the protection of the three-dimensional measuring instruments 6 when the plant three-dimensional phenotypic information measuring device is not in use and reducing the possibility of damage.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

What has been described above are only preferred specific implementations of the embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, can make equivalent replacements or changes based on the technical solutions and concepts of the present invention, which should be covered by the protection scope of the present invention.

Claims (8)

1. A plant three-dimensional phenotypic information measuring device, comprising: A walking trolley (1) can be remotely controlled to move; Two vertically movable modules (2) are provided and are respectively installed on both sides of the traveling trolley (1); A folding mechanism (3) is provided with two groups and is respectively installed on the vertically movable modules (2) on both sides, and the vertically movable modules (2) are used to vertically move the folding mechanism (3); A horizontal support platform (4) is provided with two groups and is respectively installed on the folding mechanisms (3) on both sides, wherein the folding mechanisms (3) are used to push the horizontal support platform (4) toward or away from the walking trolley (1), and the horizontal support platform (4) is kept horizontal; A rotation drive mechanism (5), which is provided with two groups and is respectively installed on the folding mechanism (3) on both sides, and the rotation drive mechanism (5) is used to drive the horizontal support platform (4) to rotate horizontally; A three-dimensional measuring instrument (6), which is provided with two groups and is respectively located below the horizontal support platform (4) on both sides; The swing mechanism (7) is provided with two groups and is respectively installed on the horizontal support platform (4) on both sides. The swing mechanism (7) is used to swing the three-dimensional measuring instrument (6). 2. A plant three-dimensional phenotypic information measuring device according to claim 1, characterized in that the folding mechanism (3) comprises: A support seat (31) is mounted on the vertically movable module (2), and the vertically movable module (2) drives the support seat (31) to move vertically; A folding rod (32), both ends of the folding rod (32) being fixedly connected with a gear (321), a plurality of folding rods (32) are provided, and the gears (321) on two adjacent folding rods (32) are meshed with each other, and the gear (321) at one end of the folding rod (32) close to the support seat (31) is rotatably provided on the support seat (31); A Z-shaped member (33), wherein each Z-shaped member (33) is disposed between two adjacent folding rods (32), and an end of each folding rod (32) is hingedly connected to the Z-shaped member (33); A folding rod (34), each of the folding rods (32) is correspondingly provided with a folding rod (34) parallel thereto, the end of the folding rod (34) being hinged to the end of the Z-shaped member (33), and the end of the folding rod (34) close to the support seat (31) and away from the Z-shaped member (33) being hinged to the support seat (31); A driving motor (35) is mounted on the support base (31) and is used to drive a gear (321) on the support base (31) to rotate. 3. A plant three-dimensional phenotypic information measuring device according to claim 2, characterized in that the rotation drive mechanism (5) comprises: A motor support frame (51) is fixed on a Z-shaped member (33) in the folding mechanism (3) that is farthest away from the support seat (31); A second driving motor (52) is mounted on the motor support frame (51); The rotating rod (53) is rotatably arranged on the motor support frame (51), the bottom end of the rotating rod (53) is fixed on the horizontal support platform (4), and the rotating rod (53) is coaxially connected to the output shaft of the second driving motor (52). 4. A plant three-dimensional phenotypic information measuring device as described in claim 2, characterized in that a protective grid plate (36) is hinged on the folding rod (32) in the folding mechanism (3) that is farthest away from the support seat (31), and the three-dimensional measuring instrument (6) is located between the protective grid plate (36) and the vertical movable module (2) when the folding mechanism (3) is in a folded state. 5. A plant three-dimensional phenotypic information measuring device according to claim 1, characterized in that the swing mechanism (7) comprises: A cylinder frame (71) is fixedly mounted on the horizontal support platform (4); A telescopic cylinder (72) is installed on the cylinder frame (71), and a telescopic rod (721) of the telescopic cylinder (72) passes through the horizontal support platform (4); A flip concave plate (73), one side of the flip concave plate (73) is concave, and symmetrically arranged vertical plates (731) are fixedly connected to the concave surface of the flip concave plate (73), and the bottom end of the telescopic rod (721) of the telescopic cylinder (72) is hinged between the tops of the vertical plates (731) on both sides; Two push-pull rods (74) are provided and are respectively located on the side of the two side vertical plates (731) away from the telescopic rod (721), one end of the push-pull rod (74) is hinged on the vertical plate (731), and the other end is hinged on the horizontal support platform (4); The inclined rod (75) has one end fixedly connected to one side of the flip concave plate (73) and the other end used to install the three-dimensional measuring instrument (6). When the three-dimensional measuring instrument (6) is in a measuring state, the end of the inclined rod (75) away from the flip concave plate (73) is located below the flip concave plate (73). 6. A plant three-dimensional phenotypic information measuring device according to claim 5, characterized in that the walking vehicle (1) comprises: Two door frames (11) are provided and are parallel to each other, and there is a distance between the two door frames (11); Four wheel hub motors (12) are provided and are installed in pairs at the bottom of the two door frames (11); A multi-stage pitch-changing rod (13) is hinged between the door frames (11) on both sides; A connecting rod (14) is fixedly connected to the limiting columns (111) at the tops of the door frames (11) on both sides, and both ends of the connecting rod (14) are respectively inserted into the limiting columns (111) at the tops of the door frames (11) on both sides. 7. A plant three-dimensional phenotypic information measuring device as described in claim 6, characterized in that the walking trolley (1) also includes a support wheel (15), and the support wheel (15) is installed between the two hub motors (12) at the bottom of each gantry (11), and the support wheel (15) and the hub motor (12) are respectively located on both sides of the gantry (11). 8. A plant three-dimensional phenotypic information measuring device according to claim 1, characterized in that the vertical moving module (2) comprises: A screw rod (21) is vertically arranged and rotatably arranged on the traveling trolley (1); A polished rod (22) is vertically arranged and fixed on the traveling trolley (1), and the polished rod (22) is located on one side of the screw rod (21); A nut seat (23) is mounted on the screw rod (21), and the smooth rod (22) passes through the nut seat (23), and the folding mechanism (3) is mounted on the nut seat (23); A driving motor three (24) is mounted on the walking trolley (1) and is used to drive the screw rod (21) to rotate.