CN110181513A - Crop canopies phenotype and assimilation synchro measure robot - Google Patents
Crop canopies phenotype and assimilation synchro measure robot Download PDFInfo
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- CN110181513A CN110181513A CN201910461860.8A CN201910461860A CN110181513A CN 110181513 A CN110181513 A CN 110181513A CN 201910461860 A CN201910461860 A CN 201910461860A CN 110181513 A CN110181513 A CN 110181513A
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- chamber door
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- 238000003384 imaging method Methods 0.000 claims abstract description 17
- 239000002689 soil Substances 0.000 claims description 18
- 239000000463 material Substances 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 abstract description 23
- 230000012010 growth Effects 0.000 abstract description 8
- 230000005068 transpiration Effects 0.000 abstract description 8
- 238000009331 sowing Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 239000002028 Biomass Substances 0.000 description 4
- 238000005286 illumination Methods 0.000 description 4
- 230000005855 radiation Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000000243 photosynthetic effect Effects 0.000 description 3
- 238000002834 transmittance Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000029553 photosynthesis Effects 0.000 description 2
- 238000010672 photosynthesis Methods 0.000 description 2
- 230000035479 physiological effects, processes and functions Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002015 leaf growth Effects 0.000 description 1
- 238000010603 microCT Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0098—Plants or trees
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
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- Medicinal Chemistry (AREA)
- Food Science & Technology (AREA)
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- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
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- Pathology (AREA)
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- Wood Science & Technology (AREA)
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Abstract
The embodiment of the invention provides a kind of crop canopies phenotypes and assimilation synchro measure robot, horizontal, moveable first sliding rail are provided in cabinet, Sensor box is movably disposed on the first sliding rail；It include CO in Sensor box2Concentration sensor, laser radar sensor, GPS positioning device and the first imaging sensor, pass through CO2Concentration sensor and the first imaging sensor combine the Assimilation rate and transpiration rate for determining crop canopies in cabinet, realize the assimilation measurement of crop canopies in cabinet；Meanwhile by laser radar sensor, GPS positioning device and kinect sensor and the second imaging sensor, crop canopies phenotypic information in cabinet is determined, realize crop canopies phenotype measurement in cabinet.Crop canopies phenotype and assimilation synchro measure may be implemented in the crop canopies phenotype and assimilation synchro measure robot provided in the embodiment of the present invention, and realization comprehensively monitors the growth course of crop.
Description
Technical field
The present invention relates to Agricultural Information and intelligent equipment technology field, more particularly, to crop canopies phenotype and assimilation
Synchro measure robot.
Background technique
Highly efficient and productive, high-quality, safe grain-production is the most important purpose of agricultural production, the production process master of crop
It is related to the monitoring and regulation of two aspect content of morphosis and Physiology and biochemistry.Wherein, the morphosis of crop relates generally to
It is monitored to crop ecological structural phenotype, the Physiology and biochemistry of crop is mainly concerned with crop assimilation biomass monitoring, and biomass comes
Source is photosynthesis, converts light energy into chemical energy, and improving conversion of solar energy is the effective way for improving biomass.Therefore, it grinds
System can measure morphosis phenotype and crop Assimilation rate measuring device of the crop under the environment of crop field simultaneously, be of great significance
And application prospect.
It at present include that group's phenotype based on unmanned plane measures, based on nobody in terms of crop pattern structural phenotype measurement
The measurement of crop groups and single plant phenotype, the single plant based on visible light or laser radar and the measurement of group's phenotype of Ground Vehicle are based on
The solutions such as the organizational scale phenotype measurement of Micro-CT scanning.In terms of plant assimilating speed measurement, assimilate Bomass allocation at present
There is important influence to the formation of the growth of crop, competition and structure, is the key that in plant growth and crop growth model
Weak link, most of assimilation biomass allocation models used in ecological models simulation at present are empirical.State
Inside and outside researcher has carried out extensive work in terms of plant assimilating rate measurement, presently mainly passes through building blade
The microenvironment of scale, by measuring CO2The variation of concentration measures single leaf photosynthetic rate, typical products such as PTM48 and LI6800 light
Cooperation measuring system etc., there are also researchers in terms of crop groups scale, proposes a kind of automatic canopy of vertical opening type
Assimilation box and a kind of population photosynthesis gas exchanges measuring system CAPTS-100, can measure the photosynthetic rate of plant population's scale, but
It is above-mentioned assimilation box or measuring system CAPTS-100 in use, to cannot achieve crop canopies phenotype synchronous with assimilation
Measurement, can not the growth course to crop comprehensively monitored.
Summary of the invention
In order to overcome the problems referred above or it at least is partially solved the above problem, the embodiment of the invention provides a kind of crop hats
Layer phenotype and assimilation synchro measure robot.
The embodiment of the invention provides a kind of crop canopies phenotypes and assimilation synchro measure robot, comprising: cabinet；
The cabinet includes chamber door after chamber door and first before top case face, the first left side box surface, the first right side box surface, first,
The under casing face of the cabinet is sky；The first left side box surface is parallel with the described first right side box surface and is vertically arranged, and described
One left side box surface and the first right side box surface are fixedly connected with the top case face, before described first after chamber door and described first
Chamber door is rotatably connected with the top case face；
It is provided with horizontal, moveable first sliding rail at the intracorporal fixed height of case, the two of first sliding rail
End is connect with the described first left side box surface and the first right side box surface respectively；
Sensor box is additionally provided in the cabinet, the Sensor box is movably disposed on first sliding rail；
It include CO in the Sensor box2Concentration sensor, laser radar sensor, GPS positioning device and the first imaging sensor；
In the cabinet close to the described first left side box surface or close to the described first right side box surface be additionally provided with it is vertical, can
Mobile side sensor axis is provided with kinect sensor and the second imaging sensor on the side sensor axis.
Preferably, in the cabinet further include: the second sliding rail and third sliding rail；
Second sliding rail and the third sliding rail are horizontally set on the described first left side box surface and first right side respectively
At the fixed height on side box surface, one end of first sliding rail passes through second sliding rail and the described first left side box surface
Connection, the other end of first sliding rail are connect by the third sliding rail with the described first right side box surface.
Preferably, further includes: first base beam, second base beam and wheel；
The cabinet further include: chamber door after chamber door and second before the second left side box surface, the second right side box surface, second；
The first left side box surface is fixedly connected on above the first base beam, and the first right side box surface is fixedly connected
Above the second base beam；At least two institutes are connected separately with below the first base beam and the second base beam
State wheel；
The outside of the described first left side box surface is arranged in and with the described first left side box surface perpendicular in the second left side box surface
Histogram upward sliding connection, the second right side box surface be arranged in the outside of the described first right side box surface and with it is described first right side
Case face is slidably connected in the vertical direction, the outside of chamber door and with described first before chamber door is arranged in described first before described second
Preceding chamber door is slidably connected in the vertical direction, the outside of chamber door and with described after chamber door is arranged in described first after described second
Chamber door is slidably connected in the vertical direction after one；Chamber door before the second left side box surface, the second right side box surface, described second
Chamber door can extend downward into soil after with described second.
Preferably, further includes: two Athey wheels；
The cabinet further include: chamber door after chamber door and second before the second left side box surface, the second right side box surface, second；
Two Athey wheels are separately positioned on the lower section or side of the described first left side box surface and the first right side box surface
Lower section；
The outside of the described first left side box surface is arranged in and with the described first left side box surface perpendicular in the second left side box surface
Histogram upward sliding connection, the second right side box surface be arranged in the outside of the described first right side box surface and with it is described first right side
Case face is slidably connected in the vertical direction, the outside of chamber door and with described first before chamber door is arranged in described first before described second
Preceding chamber door is slidably connected in the vertical direction, the outside of chamber door and with described after chamber door is arranged in described first after described second
Chamber door is slidably connected in the vertical direction after one；Chamber door before the second left side box surface, the second right side box surface, described second
Chamber door can extend downward into soil after with described second.
It preferably, further include optical sensor, Temperature Humidity Sensor and baroceptor in the Sensor box.
Preferably, fan and blower fan cylinder are additionally provided in the cabinet；
The blower fan cylinder is vertically arranged in the cabinet, and the fan is mounted on one end of the blower fan cylinder, the wind
The other end of machine barrel is towards in the cabinet.
Preferably, further includes: storage battery, the storage battery are fixed on the outer surface of the described first left side box surface or described first
On the outer surface of right side box surface.
Preferably, light compensating lamp is additionally provided in the cabinet, the light compensating lamp is fixed on the top case face.
Preferably, before the top case face, the first left side box surface, the first right side box surface, described first chamber door and
The material of chamber door is translucent material after described first.
Preferably, chamber door and first rear cabinet before the described first left side box surface, the first right side box surface, described first
The edge of door all has attracting device.
A kind of crop canopies phenotype provided in an embodiment of the present invention and assimilation synchro measure robot, are provided in cabinet
Level, moveable first sliding rail, Sensor box are movably disposed on the first sliding rail；It include CO in Sensor box2It is dense
Sensor, laser radar sensor, GPS positioning device and the first imaging sensor are spent, CO is passed through2Concentration sensor and the first figure
The Assimilation rate and transpiration rate of crop canopies in cabinet are determined as sensor combines, and realize the assimilation of crop canopies in cabinet
Measurement；Meanwhile by laser radar sensor, GPS positioning device and kinect sensor and the second imaging sensor, determine
Crop canopies phenotypic information in outlet body realizes crop canopies phenotype measurement in cabinet.The crop provided in the embodiment of the present invention
Crop canopies phenotype and assimilation synchro measure may be implemented in canopy phenotype and assimilation synchro measure robot, realizes the life to crop
Growth process is comprehensively monitored.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural representation of a kind of crop canopies phenotype provided in an embodiment of the present invention and assimilation synchro measure robot
Figure；
Fig. 2 is the structural representation of a kind of crop canopies phenotype provided in an embodiment of the present invention and assimilation synchro measure robot
Figure；
Fig. 3 is that a kind of crop canopies phenotype provided in an embodiment of the present invention is normally being advanced with assimilation synchro measure robot
When structural schematic diagram；
Fig. 4 is a kind of crop canopies phenotype provided in an embodiment of the present invention and assimilation synchro measure robot to work to be measured
Structural schematic diagram when object canopy phenotype and assimilation synchro measure；
Fig. 5 is the structural representation of a kind of crop canopies phenotype provided in an embodiment of the present invention and assimilation synchro measure robot
Figure；
Fig. 6 is that a kind of crop canopies phenotype provided in an embodiment of the present invention is normally being advanced with assimilation synchro measure robot
When structural schematic diagram；
Fig. 7 is a kind of crop canopies phenotype provided in an embodiment of the present invention and assimilation synchro measure robot to work to be measured
Structural schematic diagram when object canopy phenotype and assimilation synchro measure；
Fig. 8 is the structural representation of a kind of crop canopies phenotype provided in an embodiment of the present invention and assimilation synchro measure robot
Figure；
Fig. 9 is the structural representation of a kind of crop canopies phenotype provided in an embodiment of the present invention and assimilation synchro measure robot
Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
In the description of the embodiment of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings,
It is merely for convenience of the description embodiment of the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have
There is specific orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limitation to the embodiment of the present invention.In addition,
Term " first ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the embodiment of the present invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in embodiments of the present invention.
As shown in Figure 1, a kind of crop canopies phenotype and assimilation synchro measure robot to be provided in the embodiment of the present invention
Structural schematic diagram.Crop canopies phenotype and assimilation synchro measure robot in Fig. 1 include: cabinet 1, and cabinet 1 includes top case
The under casing face of 15,1 cabinet of chamber door is after chamber door 14 and first before face 11, the first left side box surface 12, the first right side box surface 13, first
Sky, the first left side box surface 12 is parallel with the first right side box surface 13 and is vertically arranged, the first left side box surface 12 and the first right side box surface
13 are fixedly connected with top case face 11, and chamber door 15 is rotatably connected with top case face 11 after chamber door 14 and first before first；
Horizontal, moveable first sliding rail 16, the both ends point of the first sliding rail 16 are provided at fixed height in cabinet 1
It is not connect with the first left side box surface 12 and the first right side box surface 13；
Sensor box 17 is additionally provided in cabinet 1, Sensor box 17 is movably disposed on the first sliding rail 16；Sensor
It include CO in case 172Concentration sensor, laser radar sensor, GPS positioning device and the first imaging sensor；
Close first left side box surface 12 or close first right side box surface 13 are additionally provided with vertical, moveable in cabinet 1
Side sensor axis 18 is provided with kinect sensor 181 and the second imaging sensor 182 on side sensor axis 18.
Specifically, the cabinet 1 in the embodiment of the present invention includes top case face 11, the first left side box surface 12, the first right side box surface
13, the under casing face of 15,1 cabinet of chamber door is sky, the first left side box surface 12 and the first right side box surface after chamber door 14 and first before first
13 is parallel and be vertically arranged, and the first left side box surface 12 and the first right side box surface 13 are fixedly connected with top case face 11, case before first
Chamber door 15 is fixedly connected or is rotatably connected with top case face 11 after door 14 and first.Chamber door 14 and chamber door after first before first
15 with top case face 11 when being fixedly connected, can direct manual mobile box 1, cabinet 1 is covered on and realizes crop above crop to be measured
Canopy phenotype is measured with synchronous assimilation；When chamber door 15 is rotatably connected with top case face 11 after chamber door 14 and first before first,
It can the rotation of chamber door 15 be broadcast to being higher than on the sowing row after the maximum height of crop along crop after chamber door 14 and first before first
Kind of line direction dragging cabinet 1 is moved to above crop to be measured, then by the rotation of chamber door 15 after chamber door 14 and first before first to perpendicular
Histogram realizes that crop canopies phenotype is measured with synchronous assimilation backward.
Horizontal, moveable first sliding rail 16, the both ends point of the first sliding rail 16 are provided at fixed height in cabinet 1
It is not connect with the first left side box surface 12 and the first right side box surface 13.Wherein, fixed height, which can according to need, is selected, with height
Subject to crop maximum height, such as fixed height can be made to be slightly below box height.First sliding rail 16 is horizontally disposed, and one
End is connect with the first left side box surface 12, and the other end is connect with the first right side box surface 13.The length of first sliding rail 16 can be with first
Chamber door is of same size after preceding chamber door and first, at this time the first sliding rail 16 can before first after chamber door and first between chamber door freely
It is mobile.
Sensor box 17 in cabinet 1 is movably disposed on the first sliding rail 16, and Sensor box 17 can be along the first sliding rail
16 length direction moves freely.It include CO2 concentration sensor, laser radar sensor, GPS positioning device in Sensor box 17
With the first imaging sensor.Wherein, CO2 concentration sensor is used to measure the concentration of CO2 in cabinet 1, and the first imaging sensor is used
In obtain include in cabinet 1 crop image, in two mutually orthogonal directions due to the first sliding rail 16 and Sensor box 17
Move freely, include the image of crop in available multiple cabinets 1, pass through image mosaic and correct available crop hat
Layer top image, is on this basis split crop canopies top image, it can obtains crop canopies in cabinet 1 and covers
Degree.Measure CO in cabinet 12Concentration and cabinet 1 in crop canopies coverage after, can be according to CO2Concentration variation with
And the crop cover degree in cabinet 4, it determines the Assimilation rate and transpiration rate of crop canopies in cabinet 4, realizes in cabinet 4 and make
The assimilation of object canopy measures, and then can realize crop groups assimilation measurement in whole region.
Laser radar sensor is used to obtain point cloud data in cabinet 1 at the top of crop canopies, GPS positioning device for pair
Crop is positioned in cabinet 1.It is combined by laser radar sensor and GPS positioning device, the first sliding rail 16 and Sensor box
17 moving freely in two mutually orthogonal directions, the three-dimensional point cloud in available cabinet 1 at the top of crop canopies.It needs
Illustrate, for the quality for guaranteeing three-dimensional point cloud, the first sliding rail 16 and Sensor box 17 need fixed motion track and
Even movement speed.By being denoised and being divided to three-dimensional point cloud, plant quantity, the plant height of crop in available cabinet 1,
And the distributed in three dimensions at the top of canopy.
Close first left side box surface 12 or close first right side box surface 13 are additionally provided with vertical, moveable in cabinet 1
Side sensor axis 18 is provided with kinect sensor 181 and the second imaging sensor 182 on side sensor axis 18.In case
A sliding rail parallel with the first right side box surface 13 of left side box surface 12 or the first can be set on the top case face 11 of body 1, side passes
One end of sensor axis 18 can be slided on the slide rail, realize the mobility of side sensor axis 18.On side sensor axis 18
The position of kinect sensor 181 and the position of the second imaging sensor 182 can according to need and set, and can specifically lead to
It crosses control device and carries out precise positioning.The depth image in cabinet 1 is obtained by kinect sensor 181, passes through the second image
Sensor 182 obtains the visible images in cabinet 1, carries global position information in depth image and visible images,
The splicing of crop side image in cabinet 1 may be implemented by global position information combination image split-joint method.On this basis,
By the depth information of image and RGB information etc., the section unit information of each plant in crop is extracted, such as leaf growth height, leaf
Length, leaf width, Leaf inclination, leaf azimuth constant pitch per phenotype parameter.Joined using acquired section unit information and section per phenotype
Number, incorporating parametric Geometric Modeling Method and crop organ's three-dimensional template resources bank, may be implemented the Three-dimensional Gravity of crop in cabinet 1
It builds.
The crop canopies phenotype and assimilation synchro measure robot provided in the embodiment of the present invention, is provided with water in cabinet
Flat, moveable first sliding rail, Sensor box are movably disposed on the first sliding rail；It include CO in Sensor box2Concentration
Sensor, laser radar sensor, GPS positioning device and the first imaging sensor, pass through CO2Concentration sensor and the first image
Sensor combines the Assimilation rate and transpiration rate for determining crop canopies in cabinet, realizes that the assimilation of crop canopies in cabinet is surveyed
Amount；Meanwhile by laser radar sensor, GPS positioning device and kinect sensor and the second imaging sensor, determine
Crop canopies phenotypic information in cabinet realizes crop canopies phenotype measurement in cabinet.The crop hat provided in the embodiment of the present invention
Crop canopies phenotype and assimilation synchro measure may be implemented in layer phenotype and assimilation synchro measure robot, realizes the growth to crop
Process is comprehensively monitored.
On the basis of the above embodiments, the crop canopies phenotype and assimilation synchro measure machine provided in the embodiment of the present invention
Device people, in the cabinet further include: the second sliding rail and third sliding rail；
Second sliding rail and the third sliding rail are horizontally set on the described first left side box surface and first right side respectively
At the fixed height on side box surface, one end of first sliding rail passes through second sliding rail and the described first left side box surface
Connection, the other end of first sliding rail are connect by the third sliding rail with the described first right side box surface.
Specifically, water is distinguished in the embodiment of the present invention at the fixed height on the first left side box surface and the first right side box surface
It is flat to be provided with the second sliding rail and third sliding rail, slide one end of the first sliding rail on the second sliding rail, the other end of the first sliding rail
It is slided on third sliding rail, to realize the mobility of the first sliding rail, and both ends are respectively and on the right side of the first left side box surface and first
The connection of case face.
On the basis of the above embodiments, the crop canopies phenotype and assimilation synchro measure machine provided in the embodiment of the present invention
Device people, further includes: first base beam, second base beam and wheel；
The cabinet further include: chamber door after chamber door and second before the second left side box surface, the second right side box surface, second；
The first left side box surface is fixedly connected on above the first base beam, and the first right side box surface is fixedly connected
Above the second base beam；At least two institutes are connected separately with below the first base beam and the second base beam
State wheel；
The outside of the described first left side box surface is arranged in and with the described first left side box surface perpendicular in the second left side box surface
Histogram upward sliding connection, the second right side box surface be arranged in the outside of the described first right side box surface and with it is described first right side
Case face is slidably connected in the vertical direction, the outside of chamber door and with described first before chamber door is arranged in described first before described second
Preceding chamber door is slidably connected in the vertical direction, the outside of chamber door and with described after chamber door is arranged in described first after described second
Chamber door is slidably connected in the vertical direction after one；Chamber door before the second left side box surface, the second right side box surface, described second
Chamber door can extend downward into soil after with described second.
Specifically, as shown in Fig. 2, the first left side box surface 12 is fixedly connected on 19 top of first base beam, the first right side case
Face 13 is fixedly connected on 20 top of second base beam；It is connected separately at least below first base beam 19 and second base beam 20
Two wheels 21, to guarantee that crop canopies phenotype can advance with assimilation synchro measure robot by wheel 21.To guarantee to make
Object canopy phenotype can smoothly advance with assimilation synchro measure robot, need the quantity of the wheel 3 on each base beam extremely
It is less two.Only to be respectively set on first base beam 19 and second base beam 20, there are two said for wheel 21 in Fig. 2
It is bright, in addition to this, can also be respectively set on first base beam 19 and second base beam 20 quantity be greater than 2 wheel 21, first
Wheel count on base beam 19 and second base beam 20, which can according to need, to be selected, can be identical also not identical, this hair
This is not especially limited in bright embodiment.Wheel 21 can specifically use universal wheel, be set up directly on 19 He of first base beam
20 lower section of second base beam；It is also possible to common wheel, is set on the corresponding position of first base beam 19 and second base beam 20
Be equipped with horizontal direction place and perpendicular to the pillar of first base beam, respectively as axletree；It can also be using other forms
Wheel, as long as can guarantee that wheel drives entire crop canopies phenotype and assimilation synchro measure robot normally to advance, this hair
This is not especially limited in bright embodiment.
Second left side box surface is arranged in the outside of the described first left side box surface, the second left side box surface and the first left side box surface
Of same size, the height of the second left side box surface is less than or equal to the height of the first left side box surface, the second left side box surface and the first left side
Case face is slidably connected in the vertical direction；Second right side box surface is arranged in the outside of the first right side box surface, the second right side box surface and
Of same size, height of the height less than or equal to the first right side box surface of the second right side box surface of first right side box surface, the second right side
Case face and the first right side box surface are slidably connected in the vertical direction；The outside of chamber door before chamber door is arranged in first before second, second
Chamber door is of same size before preceding chamber door and first, the height of chamber door before the height of chamber door is less than or equal to first before second, before second
Chamber door is slidably connected in the vertical direction before chamber door and first；The outside of chamber door after chamber door is arranged in first after second, after second
Chamber door is of same size after chamber door and first, the height of chamber door, the second rear cabinet after the height of chamber door is less than or equal to first after second
Chamber door is slidably connected in the vertical direction after door and first；Chamber door and second before second left side box surface, the second right side box surface, second
Chamber door can extend downward into soil afterwards.
When application crop canopies phenotype and assimilation synchro measure robot are to crop canopies phenotype and assimilation synchro measure,
Crop canopies phenotype and the direction of travel for assimilating synchro measure robot are identical as sowing line direction locating for crop, first base
The length direction and crop canopies phenotype of beam 19 and second base beam 20 are identical as the assimilation direction of travel of synchro measure robot,
First base beam 19 and second base beam 20 are located at the two sides of sowing row locating for crop.
Crop canopies phenotype and assimilation synchro measure robot on a certain sowing row when advancing, to guarantee crop canopies table
The crop when normally advancing will not contact type with cabinet with assimilation synchro measure robot, and the under casing face of cabinet 1 is sky, i.e., along work
Object canopy phenotype and assimilation synchro measure robot direction of travel observation, can observe complete crop, not in cabinet 1
There is the seamed edge of cabinet 1 to block crop.Before the first of cabinet 1 after chamber door 14 and first chamber door 15 with the rotatable company in top case face 11
Connect, as shown in figure 3, crop canopies phenotype and assimilation synchro measure robot in normal advance first before chamber door 14 drive second
Preceding chamber door is rotated to the maximum height for being higher than crop on the sowing row, and chamber door is rotated to being higher than after chamber door 15 drives second after first
The maximum height of crop on the sowing row, to prevent cabinet 1 first before after chamber door 14 and first chamber door 15 contacted with crop, scheme
Dotted line is soil surface in 3.When to crop canopies phenotype to be measured and assimilation synchro measure, keep crop canopies phenotype and assimilation same
Step robot measurement is advanced on the sowing row locating for crop to be measured, the crop canopies phenotype when crop to be measured is in cabinet 1
Stop advancing with assimilation synchro measure robot.
When crop canopies phenotype and assimilation synchro measure robot normally advance, the left side box surface of the second of cabinet 1, second
Chamber door is in above soil after chamber door and second before right side box surface, second, to guarantee crop canopies phenotype and assimilate same pacing
It measures robot and above smoothly realizes normal advance in a certain sowing row.Carrying out crop canopies phenotype to be measured and assimilation synchro measure
When, chamber door slides into lower edge and is in soil after chamber door and second before the second left side box surface, the second right side box surface, second,
To guarantee crop canopies phenotype and assimilation synchro measure robot when carrying out crop canopies phenotype to be measured and assimilation synchro measure
The accuracy of obtained measurement result guarantees the airtightness of cabinet 1, avoids cabinet 1 ventilative.As shown in figure 4, in crop canopies table
When type and assimilation synchro measure robot are to crop canopies phenotype to be measured and assimilation synchro measure, the second left side box surface, second right side
Chamber door extends downward into soil after chamber door and second before side box surface, second, and dotted line is soil surface in Fig. 4.
The crop canopies phenotype and assimilation synchro measure robot provided in the embodiment of the present invention, is a kind of travelling crop
Canopy phenotype and assimilation synchronous measuring apparatus, by first base beam, second base beam and below the wheel that connects is realized
The traveling of crop canopies phenotype and assimilation synchro measure robot, may be implemented crop groups field original position CO2The measurement of concentration
With the extraction of crop cover degree, and then realize crop groups field original position Assimilation rate and transpiration rate measurement.Meanwhile cabinet
The second left side box surface, the second right side box surface, chamber door can extend downward into soil after chamber door and second before second, ensure that
Leakproofness of the cabinet in synchro measure.Finally, before the first of cabinet after chamber door and first chamber door with the rotatable company in top case face
It connects, chamber door rotates before when crop canopies phenotype and before assimilating synchro measure robot when normally advancing first, chamber door drives second
To the height for being higher than crop, chamber door is rotated to the height for being higher than crop after chamber door drives second after first, it is ensured that cabinet is just
Normal traveling Shi Buyu crop is in contact.The crop canopies phenotype and assimilation synchro measure machine provided in the embodiment of the present invention
People realizes synchronous with assimilation to crop canopies phenotype in crop canopies phenotype and the traveling process of assimilation synchro measure robot
The crop canopies phenotype and assimilation synchro measure of multiple positions can be realized only with an equipment, crop may be implemented for measurement
The synchro measure of group field original position Assimilation rate and transpiration rate and canopy phenotype, can also be achieved different growth stage crop
The synchro measure of group field original position Assimilation rate and transpiration rate and canopy phenotype improves crop field original position canopy table
The degree of automation of type and assimilation synchro measure reduces measurement cost, while will not have an impact to the natural growth of crop.
On the basis of the above embodiments, the crop canopies phenotype and assimilation synchro measure machine provided in the embodiment of the present invention
Device people, further includes: two Athey wheels；
The cabinet further include: chamber door after chamber door and second before the second left side box surface, the second right side box surface, second；
Two Athey wheels are separately positioned on the lower section or side of the described first left side box surface and the first right side box surface
Lower section；
The outside of the described first left side box surface is arranged in and with the described first left side box surface perpendicular in the second left side box surface
Histogram upward sliding connection, the second right side box surface be arranged in the outside of the described first right side box surface and with it is described first right side
Case face is slidably connected in the vertical direction, the outside of chamber door and with described first before chamber door is arranged in described first before described second
Preceding chamber door is slidably connected in the vertical direction, the outside of chamber door and with described after chamber door is arranged in described first after described second
Chamber door is slidably connected in the vertical direction after one；Chamber door before the second left side box surface, the second right side box surface, described second
Chamber door can extend downward into soil after with described second.
Specifically, as shown in figure 5, two Athey wheels are separately positioned on the first left side box surface 12 and the first right side box surface 13
Lower section or side-lower, to guarantee that crop canopies phenotype can smoothly go with assimilation synchro measure robot by Athey wheel 22
Into.In Fig. 5 only by taking two Athey wheels are separately positioned on the side-lower of the first left side box surface 12 and the first right side box surface 13 as an example into
Row explanation.It include 1 driving wheel and 1 driven wheel on each Athey wheel, the diameter of driving wheel is greater than the diameter of driven wheel.?
Horizontal direction can be set on the corresponding position of the side-lower of one left side box surface 12 and the first right side box surface 13 to place and vertical
Driving wheel and driven wheel rotation are driven respectively as driving shaft and driven shaft in the pillar of side box surface.
When application crop canopies phenotype and assimilation synchro measure robot are to crop canopies phenotype and assimilation synchro measure,
Crop canopies phenotype and the direction of travel for assimilating synchro measure robot are identical as sowing line direction locating for crop, Athey wheel
Length direction and crop canopies phenotype are identical as the assimilation direction of travel of synchro measure robot, and two Athey wheels are located at work
The two sides of sowing row locating for object.
Crop canopies phenotype and assimilation synchro measure robot on a certain sowing row when advancing, to guarantee crop canopies table
The crop in normal advance will not contact type with cabinet with assimilation synchro measure robot, as shown in fig. 6, crop canopies phenotype with
Chamber door is rotated to higher than on the sowing row before chamber door 14 drives second before assimilating synchro measure robot in normal advance first
The maximum height of crop, chamber door is rotated to the maximum height for being higher than crop on the sowing row after chamber door 15 drives second after first,
To prevent cabinet 1 first before after chamber door 14 and first chamber door 15 contacted with crop, dotted line is soil surface in Fig. 6.It is treating
When surveying crop canopies phenotype and assimilation synchro measure, make crop canopies phenotype and assimilation synchro measure robot in crop institute to be measured
It advances on the sowing row at place, when crop to be measured is in cabinet 1, crop canopies phenotype and assimilation synchro measure robot stop
It advances.
When carrying out crop canopies phenotype to be measured and assimilation synchro measure, the second left side box surface, the second right side box surface, second
Chamber door slides into lower edge and is in soil after preceding chamber door and second, to guarantee crop canopies phenotype and assimilation synchro measure machine
The accuracy for the measurement result that device people obtains when carrying out crop canopies phenotype to be measured and assimilation synchro measure, guarantees cabinet 1
Airtightness avoids cabinet 1 ventilative.As shown in fig. 7, being preced in crop canopies phenotype and assimilation synchro measure robot to crop to be measured
When layer phenotype and assimilation synchro measure, chamber door is downward after chamber door and second before the second left side box surface, the second right side box surface, second
It extends in soil, dotted line is soil surface in Fig. 7.
On the basis of the above embodiments, canopy phenotype and assimilation synchro measure are being carried out to the crop to be measured in cabinet 1
When, soil can be smoothly extended downward into for chamber door after chamber door and second before the second left side box surface of guarantee, the second right side box surface, second
In earth, the bottom of chamber door has sharp edge after chamber door and second before the second left side box surface, the second right side box surface, second, i.e.,
Chamber door has sharp lower edge after chamber door and second before second left side box surface, the second right side box surface, second.
On the basis of the above embodiments, the crop canopies phenotype and assimilation synchro measure machine provided in the embodiment of the present invention
Device people further includes optical sensor, Temperature Humidity Sensor and baroceptor in the Sensor box.
Specifically, the intracorporal illumination of case is measured by optical sensor in the embodiment of the present invention, and then determines that case is intracorporal
Illumination variation measures the intracorporal temperature and humidity of case by Temperature Humidity Sensor, and then determines the intracorporal temperature change of case and wet
Degree variation measures the intracorporal air pressure of case by baroceptor, and then determines the intracorporal air pressure change of case.In conjunction with the intracorporal light of case
According to variation, temperature change, humidity variation, air pressure change, box volume, CO2Concentration variation and cabinet 4 in vegetation
Degree, can make in the cabinet 4 determined that the Assimilation rate of crop canopies to be measured and transpiration rate are more accurate, make to whole region
The assimilation measurement of interior crop groups is more acurrate.
On the basis of the above embodiments, the crop canopies phenotype and assimilation synchro measure machine provided in the embodiment of the present invention
Device people is additionally provided with fan and blower fan cylinder in the cabinet；
The blower fan cylinder is vertically arranged in the cabinet, and the fan is mounted on one end of the blower fan cylinder, the wind
The other end of machine barrel is towards in the cabinet.
Specifically, as shown in figure 8, being additionally provided with fan 23 and blower fan cylinder 24 in cabinet 1；Blower fan cylinder 24 is vertically arranged in case
In body 1, specifically it may be provided near the vertical seamed edge of cabinet 1.
Fan 23 is mounted on one end of blower fan cylinder 24, and the other end of blower fan cylinder 24 is towards in cabinet 1.Fan 23 is for stirring evenly
The intracorporal gas of case.
As shown in figure 9, on the basis of the above embodiments, the crop canopies phenotype and assimilation provided in the embodiment of the present invention
Synchro measure robot is additionally provided with light compensating lamp 25 in the cabinet 1, and the light compensating lamp 25 is fixed on the top case face 11,
For crop canopies phenotype and assimilation synchro measure robot carry out crop canopies phenotype and assimilation synchro measure when to cabinet
Interior carry out light filling.
Light together valid radiation sensor can be provided in the embodiment of the present invention inside and outside cabinet, according to the intracorporal light of case
The first measured value for closing Net long wave radiation sensor is compared with the second measured value of the outer light together valid radiation sensor of cabinet, sentences
The opening opportunity of disconnected light compensating lamp.When the first measured value is less than the second measured value, opens light compensating lamp and carry out light filling.When the first measurement
When value is greater than or equal to the second measured value, light filling is carried out without opening light compensating lamp.
The adjustable intracorporal luminous environment of case includes two ways:
(1) cabinet is transparent, under external visible light source, gradually reduces the intensity of light source or increases the intensity of light source；
(2) artificial light source is arranged in the intracorporal light compensating lamp of case.Cabinet is that black is opaque, is carried out by artificial light source
Light filling design.
On the basis of the above embodiments, the crop canopies phenotype and assimilation synchro measure machine provided in the embodiment of the present invention
Device people, further includes: storage battery, the storage battery is fixed on the outer surface of the described first left side box surface or the first right side box surface
On outer surface, the heat generated when to avoid storage battery work has an impact crop canopies phenotype and assimilation synchro measure result.
Wherein, storage battery is connected with each sensor in fan, light compensating lamp and Sensor box respectively, for for crop canopies phenotype and together
Change synchro measure robot and power is provided, and is each sensor power supply in fan, light compensating lamp and Sensor box.
On the basis of the above embodiments, the crop canopies phenotype and assimilation synchro measure machine provided in the embodiment of the present invention
Device people, the top case face, the first left side box surface, the second left side box surface, the first right side box surface, second right side
The material of chamber door is after chamber door and described second after chamber door, described first before chamber door, described second before side box surface, described first
Lightweight translucent material, so that external light source can pass through the first left side box surface, the second left side box surface, the first right side box surface, second
Chamber door is absorbed by the intracorporal crop of case after chamber door and second after chamber door, first before chamber door, second before right side box surface, first, simultaneously
Cabinet can be mitigated to the pressure of wheel, Athey wheel.The light transmittance of lightweight translucent material is controllable, such as electrochromic material, can
To realize that the intracorporal light transmittance of case is controllable.
By being fixed on the light compensating lamp in top case face and the light transmittance of tank material, box house intensity of illumination, measurement are adjusted
Assimilation rate under different illumination intensity is to get to the optical response curve of crop in cabinet.Box house can be integrated multiple photosynthetic
Net long wave radiation sensor is realized the adjustment of luminous environment, is measured and calculated by setting luminous environment and monitoring luminous environment.
On the basis of the above embodiments, the crop canopies phenotype and assimilation synchro measure machine provided in the embodiment of the present invention
Device people, it is the first left side box surface, the second left side box surface, the first right side box surface, the second right side box surface, described
The edge of chamber door all has attracting device after chamber door and described second after chamber door, described first before chamber door, described second before first.
Specifically, in the embodiment of the present invention, when carrying out crop canopies phenotype and assimilation synchro measure, pass through attracting device
It can guarantee that 4 contact edges of vertical direction are closed, avoid breathing freely, guarantee the airtightness of cabinet.Attracting device can be by dust-proof
Set entangles, and avoids the long-time exposure of attracting device.
On the basis of the above embodiments, the crop canopies phenotype and assimilation synchro measure machine provided in the embodiment of the present invention
The width of device people is greater than or equal to the sowing line-spacing of crop to be measured, it is ensured that crop canopies phenotype and assimilation synchro measure robot
It advances unobstructed.
On the basis of the above embodiments, the crop canopies phenotype and assimilation synchro measure machine provided in the embodiment of the present invention
Sealing strip is arranged in the front and back outside of device people, top case face, when carrying out crop canopies phenotype and assimilation synchro measure, is pasted with sealing strip
Firmly top case face and the gap that cabinet door, the first rear box door are connect before first guarantee crop canopies phenotype and assimilation synchro measure
When cabinet leakproofness.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of crop canopies phenotype and assimilation synchro measure robot characterized by comprising cabinet；
The cabinet includes chamber door after chamber door and first before top case face, the first left side box surface, the first right side box surface, first, described
The under casing face of cabinet is sky；The first left side box surface is parallel with the described first right side box surface and is vertically arranged, and described first is left
Side box surface and the first right side box surface are fixedly connected with the top case face, chamber door after chamber door and described first before described first
It is rotatably connected with the top case face；
Horizontal, moveable first sliding rail, the both ends point of first sliding rail are provided at the intracorporal fixed height of case
It is not connect with the described first left side box surface and the first right side box surface；
Sensor box is additionally provided in the cabinet, the Sensor box is movably disposed on first sliding rail；It is described
It include CO in Sensor box2Concentration sensor, laser radar sensor, GPS positioning device and the first imaging sensor；
Close described first left side box surface or close described first right side box surface are additionally provided with vertical, removable in the cabinet
Side sensor axis, be provided with kinect sensor and the second imaging sensor on the side sensor axis.
2. crop canopies phenotype according to claim 1 and assimilation synchro measure robot, which is characterized in that the cabinet
It is interior further include: the second sliding rail and third sliding rail；
Second sliding rail and the third sliding rail are horizontally set on the described first left side box surface and first right side case respectively
At the fixed height on face, one end of first sliding rail is connected by second sliding rail and the described first left side box surface
It connects, the other end of first sliding rail is connect by the third sliding rail with the described first right side box surface.
3. crop canopies phenotype according to claim 1 and assimilation synchro measure robot, which is characterized in that further include:
First base beam, second base beam and wheel；
The cabinet further include: chamber door after chamber door and second before the second left side box surface, the second right side box surface, second；
The first left side box surface is fixedly connected on above the first base beam, and the first right side box surface is fixedly connected on institute
It states above second base beam；At least two vehicles are connected separately with below the first base beam and the second base beam
Wheel；
The outside of the described first left side box surface is arranged in and with the described first left side box surface in vertical side in the second left side box surface
Upward sliding connection, the second right side box surface be arranged in the outside of the described first right side box surface and with the described first right side box surface
Be slidably connected in the vertical direction, before chamber door is arranged in described first before described second the outside of chamber door and with described first before case
Door is slidably connected in the vertical direction, after chamber door is arranged in described first after described second the outside of chamber door and with described first after
Chamber door is slidably connected in the vertical direction；Chamber door and institute before the second left side box surface, the second right side box surface, described second
Chamber door can extend downward into soil after stating second.
4. crop canopies phenotype according to claim 1 and assimilation synchro measure robot, which is characterized in that further include:
Two Athey wheels；
The cabinet further include: chamber door after chamber door and second before the second left side box surface, the second right side box surface, second；
Two Athey wheels are separately positioned on lower section or the side-lower of the described first left side box surface and the first right side box surface；
The outside of the described first left side box surface is arranged in and with the described first left side box surface in vertical side in the second left side box surface
Upward sliding connection, the second right side box surface be arranged in the outside of the described first right side box surface and with the described first right side box surface
Be slidably connected in the vertical direction, before chamber door is arranged in described first before described second the outside of chamber door and with described first before case
Door is slidably connected in the vertical direction, after chamber door is arranged in described first after described second the outside of chamber door and with described first after
Chamber door is slidably connected in the vertical direction；Chamber door and institute before the second left side box surface, the second right side box surface, described second
Chamber door can extend downward into soil after stating second.
5. crop canopies phenotype according to claim 1 and assimilation synchro measure robot, which is characterized in that the sensing
It further include optical sensor, Temperature Humidity Sensor and baroceptor in device case.
6. crop canopies phenotype according to claim 1 and assimilation synchro measure robot, which is characterized in that the cabinet
Inside it is additionally provided with fan and blower fan cylinder；
The blower fan cylinder is vertically arranged in the cabinet, and the fan is mounted on one end of the blower fan cylinder, the blower fan cylinder
The other end towards in the cabinet.
7. crop canopies phenotype according to claim 1 and assimilation synchro measure robot, which is characterized in that further include:
Storage battery, the storage battery are fixed on the outer surface of the described first left side box surface or on the outer surface of the first right side box surface.
8. crop canopies phenotype according to claim 1 and assimilation synchro measure robot, which is characterized in that the cabinet
It is inside additionally provided with light compensating lamp, the light compensating lamp is fixed on the top case face.
9. crop canopies phenotype according to claim 1 and assimilation synchro measure robot, which is characterized in that the top case
The material of chamber door is after chamber door and described first before face, the first left side box surface, the first right side box surface, described first
Translucent material.
10. crop canopies phenotype according to claim 1 to 9 and assimilation synchro measure robot, feature exist
In the edge of chamber door has after chamber door and described first before the first left side box surface, the first right side box surface, described first
There is attracting device.
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