CN110239640A - Crop canopies assimilates robot measurement - Google Patents
Crop canopies assimilates robot measurement Download PDFInfo
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- CN110239640A CN110239640A CN201910461861.2A CN201910461861A CN110239640A CN 110239640 A CN110239640 A CN 110239640A CN 201910461861 A CN201910461861 A CN 201910461861A CN 110239640 A CN110239640 A CN 110239640A
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- 238000005259 measurement Methods 0.000 title claims abstract description 108
- 239000002689 soil Substances 0.000 claims abstract description 18
- 238000003860 storage Methods 0.000 claims description 11
- 238000009331 sowing Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000012010 growth Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 4
- 238000011065 in-situ storage Methods 0.000 abstract description 3
- 230000005068 transpiration Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000029553 photosynthesis Effects 0.000 description 4
- 238000010672 photosynthesis Methods 0.000 description 4
- 230000000243 photosynthetic effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008635 plant growth Effects 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 239000002028 Biomass Substances 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008828 contractile function Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000000056 organ Anatomy 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
-
- 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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- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
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- Health & Medical Sciences (AREA)
- Remote Sensing (AREA)
- Analytical Chemistry (AREA)
- Wood Science & Technology (AREA)
- Radar, Positioning & Navigation (AREA)
- Multimedia (AREA)
- Food Science & Technology (AREA)
- Medicinal Chemistry (AREA)
- Botany (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The embodiment of the invention provides a kind of crop canopies to assimilate robot measurement, comprising: first base beam, second base beam, wheel and cabinet；At least two wheels are connected separately with below first base beam and second base beam；The interior left side box surface of cabinet is fixedly connected on above first base beam, and the interior right side box surface of cabinet is fixedly connected on above second base beam；Interior left side box surface and interior right side box surface are fixedly connected with top case face, and interior preceding chamber door and interior rear chamber door are rotatably connected with top case face；Outer left side box surface, external right side case face, outer preceding chamber door and outer rear chamber door can extend downward into soil；Sensor box is provided in cabinet.It realizes to assimilate crop canopies in the traveling process of crop canopies assimilation robot measurement and measure, the crop canopies assimilation measurement of multiple positions can be realized only with an equipment, improve crop field the degree of automation that assimilation measures in situ, measurement cost is reduced, while the natural growth of crop will not be had an impact.
Description
Technical field
The present invention relates to Agricultural Information and intelligent equipment technology field, assimilate measuring machine more particularly, to crop canopies
Device people.
Background technique
Highly efficient and productive grain-production is the most important purpose of agricultural production.The source of biomass is photosynthesis by light
It can be converted into chemical energy, improving conversion of solar energy is the effective way for improving biomass.Institute in ecological models simulation at present
Most of assimilatory filaments models are empirical.Assimilatory filaments have the formation of the growth of plant, competition and structure
Important influence is the key that the weak link in plant growth and plant-growth model.Therefore, developing can measure plant
Plant assimilating rate measurement device under the environment of crop field, plays a significant role.
Currently, researcher has carried out extensive work in terms of plant assimilating rate measurement both at home and abroad, it is main at present
If by the microenvironment of building leaf scale, by measuring CO2The variation of concentration measures single leaf photosynthetic rate, and typical products are such as
PTM48 and LI6800 photosynthesis measuring system etc., but the photosynthesis measuring system such as PTM48 and LI6800, are only capable of measuring
Single leaf photosynthetic rate of organ scale, cannot achieve the measurement of plant population's scale photosynthetic rate.For this purpose, there is researcher making
In terms of object population measure, a kind of automatic canopy assimilation box of vertical opening type and a kind of population photosynthesis gas exchanges measurement system are proposed
Unite CAPTS-100, can measure the photosynthetic rate of plant population's scale, but above-mentioned assimilation box or measuring system CAPTS-100
In use, the crop groups Assimilation rate for if desired measuring multiple positions just needs multiple assimilation boxs or measuring system CAPTS-
100, measurement cost is higher, and above-mentioned assimilation box or measuring system CAPTS-100 need to be placed on for a long time and to be measured make level
It sets, certain influence is generated to the natural growth of crop to be measured.
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 works
Object canopy assimilates robot measurement.
The embodiment of the invention provides a kind of crop canopies to assimilate robot measurement, comprising: first base beam, second base
Beam, wheel and cabinet；
The first base beam and the second base beam are horizontally disposed, the first base beam and the second base
Beam is parallel to each other, and is connected separately at least two wheels below the first base beam and the second base beam；
The cabinet includes top case face, left side box surface, right side box surface, preceding chamber door and rear chamber door, the under casing face of the cabinet
For sky, the left side box surface is parallel with the right side box surface and is vertically arranged, and with first base Liangping row；The left side
Side box surface includes outer left side box surface and interior left side box surface, and the outer left side box surface and the interior left side box surface are slided in the vertical direction
Dynamic connection, right side case face include external right side case face and interior right side box surface, external right side case face and described in vertical direction
On be slidably connected, the preceding chamber door includes outer preceding chamber door and interior preceding chamber door, and the outer preceding chamber door and the interior preceding chamber door are vertical
It is slidably connected on direction, chamber door after the rear chamber door includes outer rear chamber door and is interior, the outer rear chamber door and the interior rear chamber door exist
It is slidably connected on vertical direction；
The interior left side box surface is fixedly connected on above the first base beam, and the interior right side box surface is fixedly connected on institute
It states above second base beam；The interior left side box surface and the interior right side box surface are fixedly connected with the top case face, described interior
Preceding chamber door and the interior rear chamber door are rotatably connected with the top case face；The outer left side box surface, external right side case face, institute
Stating outer preceding chamber door and the outer rear chamber door can extend downward into soil；
Sensor box is provided in the cabinet, the Sensor box is fixed on the top case face, the Sensor box
Interior includes CO2Concentration sensor and imaging sensor.
Preferably, the crop canopies assimilates robot measurement further include: four triangular fixing frames；
The interior left side box surface is fixedly connected on above the first base beam by two triangular fixing frames, the interior right side
Side box surface is fixedly connected on above the second base beam by another two triangular fixing frame.
It preferably, further include optical sensor, temperature in the Sensor box in the crop canopies assimilation robot measurement
Humidity sensor and baroceptor.
Preferably, in the crop canopies assimilation robot measurement, 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, in the crop canopies assimilation robot measurement further include: storage battery, the storage battery are fixedly connected on described
On first base beam or the second base beam.
Preferably, in the crop canopies assimilation robot measurement, light compensating lamp, the light filling are additionally provided in the cabinet
Lamp is fixed on the top case face.
Preferably, in the crop canopies assimilation robot measurement, the top case face, the left side box surface, the right side
The material in case face, the preceding chamber door and the rear chamber door is translucent material.
Preferably, in crop canopies assimilation robot measurement, the left side box surface, the right side box surface, it is described before
The edge of chamber door and the rear chamber door all has attracting device.
Preferably, in the crop canopies assimilation robot measurement, the width of the crop canopies assimilation robot measurement
More than or equal to the sowing line-spacing of crop to be measured.
Preferably, in the crop canopies assimilation robot measurement, sealing strip is set on the outside of the front and back in the top case face.
A kind of crop canopies provided in an embodiment of the present invention assimilates robot measurement, is a kind of travelling crop canopies assimilation
Measuring device, by first base beam, second base beam and below the wheel that connects realizes that crop canopies assimilates measuring machine
Crop groups field original position CO may be implemented in the traveling of device people2The measurement of concentration and the extraction of crop cover degree, and then realize and make
The measurement of object group field original position Assimilation rate and transpiration rate.Meanwhile the outer left side box surface of cabinet, external right side case face, it is outer before
Chamber door and outer rear chamber door can extend downward into soil, ensure that leakproofness of the cabinet when assimilating measurement.Finally, cabinet
Interior preceding chamber door and interior rear chamber door are rotatably connected with top case face, interior when crop canopies assimilation robot measurement is in normal advance
Preceding chamber door drives entire preceding chamber door to rotate to the height higher than crop, and interior rear chamber door drives entire rear chamber door to rotate to higher than crop
Height, it is ensured that cabinet is in contact in normal traveling Shi Buyu crop.The crop canopies provided in the embodiment of the present invention is same
Change robot measurement, is realized in the traveling process of crop canopies assimilation robot measurement and measurement is assimilated to crop canopies, only adopted
The crop canopies assimilation measurement that multiple positions can be realized with an equipment, may be implemented crop groups field original position Assimilation rate
With the measurement of transpiration rate, the survey of different growth stage crop groups field original position Assimilation rate and transpiration rate can also be achieved
Amount improves crop field the degree of automation that assimilation measures in situ, reduces measurement cost, while will not be to the nature of crop
Growth has an impact.
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 schematic diagram that a kind of crop canopies provided in an embodiment of the present invention assimilates robot measurement；
Fig. 2 is that a kind of structure of the crop canopies assimilation robot measurement provided in an embodiment of the present invention in normal advance is shown
It is intended to；
Fig. 3 is that a kind of crop canopies provided in an embodiment of the present invention assimilates robot measurement to crop canopies to be measured progress
Structural schematic diagram when assimilation measurement；
Fig. 4 is the structural schematic diagram that a kind of crop canopies provided in an embodiment of the present invention assimilates robot measurement；
Fig. 5 is the structural schematic diagram that a kind of crop canopies provided in an embodiment of the present invention assimilates robot measurement；
Fig. 6 is the structural schematic diagram that a kind of crop canopies provided in an embodiment of the present invention assimilates robot measurement；
Fig. 7 is the structural schematic diagram that a kind of crop canopies provided in an embodiment of the present invention assimilates robot measurement.
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.
Since assimilation box existing in the prior art or measuring system CAPTS-100 are in use, can not be more easily
Realize the crop groups Assimilation rate for measuring multiple positions, and measurement cost caused to get higher, in addition can to crop to be measured from
So growth has an impact.For this purpose, a kind of crop canopies assimilation robot measurement is provided in the embodiment of the present invention, it is existing to solve
The problems in technology, realization more easily measure the crop groups Assimilation rate of multiple positions, and can reduce cost, also not
The natural growth of crop to be measured can be had an impact.
As shown in Figure 1, a kind of crop canopies to provide in the embodiment of the present invention assimilates the structural representation of robot measurement
Figure.Crop canopies assimilation robot measurement in Fig. 1 includes: first base beam 1, second base beam 2, wheel 3 and cabinet 4；
First base beam 1 and second base beam 2 are horizontally disposed, and first base beam 1 and second base beam 2 are parallel to each other and set
It sets, and is connected separately at least two wheels 3 below first base beam 1 and second base beam 2.
Cabinet 4 includes top case face 41, left side box surface 42, right side box surface 43, preceding chamber door 44 and rear chamber door 45, the bottom of cabinet 4
Case face is sky, and left side box surface 42 is parallel with right side box surface 43 and is vertically arranged, and parallel with first base beam 1；
Left side box surface 42 specifically includes outer left side box surface and interior left side box surface, and outer left side box surface and interior left side box surface are vertical
It is slidably connected on direction, right side box surface 43 specifically includes external right side case face and interior right side box surface, external right side case face and interior right side case
Face is slidably connected in the vertical direction, and preceding chamber door 44 specifically includes outer preceding chamber door and interior preceding chamber door, outer preceding chamber door and interior preceding chamber door
It is slidably connected in the vertical direction, rear chamber door 45 specifically includes outer rear chamber door and interior rear chamber door, and outer rear chamber door and interior rear chamber door exist
It is slidably connected on vertical direction.
Interior left side box surface is fixedly connected on above first base beam, and interior right side box surface is fixedly connected on second base beam
Side；Interior left side box surface and interior right side box surface are fixedly connected with top case face, and interior preceding chamber door and interior rear chamber door can be revolved with top case face
Turn connection；Outer left side box surface, external right side case face, outer preceding chamber door and outer rear chamber door can extend downward into soil；
Sensor box 46 is provided in cabinet 4, Sensor box 46 is fixed on top case face 41, includes in Sensor box 46
CO2Concentration sensor and imaging sensor.
Specifically, it can advance in the embodiment of the present invention to guarantee that crop canopies assimilates robot measurement, it is solid under cabinet 4
Surely there are first base beam 1 and second base beam 2, be respectively arranged with wheel 3 on first base beam 1 and second base beam 2.To protect
Card crop canopies assimilation robot measurement can smoothly advance, and the quantity of the wheel 3 on each base beam is needed to be at least two
It is a.Only to be respectively set on first base beam 1 and second base beam 2 there are two being illustrated for wheel 3 in Fig. 1, except this it
Outside, the wheel 3 that quantity is greater than 2, first base beam 1 and second can also be respectively set on first base beam 1 and second base beam 2
Wheel count on base beam 2, which can according to need, to be selected, can be identical also not identical, in the embodiment of the present invention not to this
Make specific limit.Wheel 3 can specifically use universal wheel, be set up directly on 2 lower section of first base beam 1 and second base beam；?
It can be common wheel, horizontal direction be provided on the corresponding position of first base beam 1 and second base beam 2 and is placed and vertical
In the pillar of first base beam, respectively as axletree；The wheel of other forms can also be used, as long as can guarantee that wheel drives
Entire crop canopies assimilation robot measurement is normally advanced, and is not especially limited in the embodiment of the present invention to this.
Cabinet 4 includes top case face 41, left side box surface 42, right side box surface 43, preceding chamber door 44 and rear chamber door 45, left side box surface 42
It is vertically arranged with right side box surface 43, and parallel with first base beam 1.Left side box surface 42 specifically includes outer left side box surface and an interior left side
Side box surface, outer left side box surface and interior left side box surface it is of same size, the height of outer left side box surface is less than or equal to interior left side box surface
Highly, outer left side box surface and interior left side box surface are slidably connected in the vertical direction, and the maximum height of left side box surface 42 is greater than top case
The distance of soil surface is arrived in face 41.Right side box surface 43 specifically includes external right side case face and interior right side box surface, external right side case face and interior
Right side box surface it is of same size, the height in external right side case face is less than or equal to the height of interior right side box surface, external right side case face and the interior right side
Side box surface is slidably connected in the vertical direction, and the maximum height of right side box surface 43 is greater than the distance that soil surface is arrived in top case face 41.
Preceding chamber door 44 specifically includes outer preceding chamber door and interior preceding chamber door, of same size, the height of outer preceding chamber door of outer preceding chamber door and interior preceding chamber door
Degree is less than or equal to the height of interior preceding chamber door, and outer preceding chamber door and interior preceding chamber door are slidably connected in the vertical direction, and preceding chamber door 44 is most
Big height is greater than the distance that soil surface is arrived in top case face 41.Chamber door 45 specifically includes outer rear chamber door and interior rear chamber door, outer rear cabinet afterwards
Door and it is interior after chamber door it is of same size, it is outer after chamber door height be less than or equal to it is interior after chamber door height, it is outer after chamber door and interior rear cabinet
Door is slidably connected in the vertical direction, and the maximum height of rear chamber door 45 is greater than the distance that soil surface is arrived in top case face 41.Due to a left side
Side box surface 42, right side box surface 43, preceding chamber door 44 and rear chamber door 45 maximum height be all larger than top case face 41 and arrive soil surface
Distance, therefore can guarantee that outer left side box surface, external right side case face, outer preceding chamber door and outer rear chamber door can extend downward into soil
It is interior.
When application crop canopies assimilation robot measurement carries out assimilation measurement to crop canopies, crop canopies assimilation measurement
The direction of travel of robot is identical as sowing line direction locating for crop, the length direction of first base beam 1 and second base beam 2
Identical as the crop canopies assimilation direction of travel of robot measurement, first base beam 1 and second base beam 2 are located at crop institute
The two sides of the sowing row at place.
Crop canopies assimilates robot measurement when advancing on a certain sowing row, to guarantee crop canopies assimilation measurement machine
People crop in normal advance will not contact with cabinet, and the under casing face of cabinet 4 is sky, i.e., assimilates robot measurement along crop canopies
Direction of travel observation, can observe complete crop, there is no the seamed edges of cabinet 4 to block crop in cabinet 4.Cabinet 4
Chamber door is rotatably connected with top case face 41 after the outer preceding chamber door of preceding chamber door 44 and the outer of rear chamber door 45, as shown in Fig. 2, crop is preced with
Layer assimilates robot measurement, and in normal traveling, chamber door 44 is rotated to most higher than crop on the sowing row before interior preceding chamber door drive
Height, the rotation of chamber door 45 is to the maximum height for being higher than crop on the sowing row after interior rear chamber door drives, before preventing cabinet 4
Chamber door 44 and rear chamber door 45 are contacted with crop, and dotted line is soil surface in Fig. 2.Assimilation measurement is being carried out to crop canopies to be measured
When, so that crop canopies assimilation robot measurement is advanced on the sowing row locating for crop to be measured, when crop to be measured is in cabinet 4
When crop canopies assimilation robot measurement stop advance.
All have can for the left side box surface 42 of cabinet 4, right side box surface 43, preceding chamber door 44 and rear chamber door 45 in the embodiment of the present invention
Stretch contractile function, when crop canopies assimilation robot measurement is normally advanced, the left side box surface 42 of cabinet 4, right side box surface 43,
Preceding chamber door 44 and rear chamber door 45 are in contraction state, i.e., outer left side box surface, external right side case face, outer preceding chamber door and outer rear chamber door are equal
Above soil, to guarantee that crop canopies assimilation robot measurement above smoothly realizes normal advance in a certain sowing row.Into
When row crop canopies assimilation to be measured measures, outer left side box surface, external right side case face, outer preceding chamber door and outer rear chamber door are in stretch-like
State, i.e., outer left side box surface, external right side case face, outer preceding chamber door and outer rear chamber door slide into lower edge and are in soil, to guarantee
Crop canopies assimilates robot measurement in the accuracy of the measurement result obtain when crop canopies assimilation measurement to be measured, guarantees
The airtightness of cabinet 4 avoids cabinet 4 ventilative.As shown in figure 3, in crop canopies assimilation robot measurement to crop canopies to be measured
When carrying out assimilation measurement, left side box surface, right side box surface, preceding chamber door and rear chamber door are vertically arranged, and are in extended state, downwards
It extends in soil, dotted line is soil surface in Fig. 3.
Sensor box 46 is provided in cabinet 4, Sensor box 46 is fixed on top case face 41, includes in Sensor box 46
CO2Concentration sensor and imaging sensor, CO2Concentration sensor is for measuring CO in cabinet 42Concentration, imaging sensor is used for
The image in cabinet 4 comprising crop is obtained, from the crop cover degree that can extract in image in cabinet 4.It measures in cabinet 4
CO2Concentration and cabinet 4 in crop cover degree after, can be according to CO2Concentration variation and cabinet 4 in vegetation
Degree determines the Assimilation rate and transpiration rate of crop canopies to be measured in cabinet 4, realizes the same of crop canopies to be measured in cabinet 4
Change measurement, and then can realize crop groups assimilation measurement in whole region.
The crop canopies assimilation robot measurement provided in the embodiment of the present invention is a kind of travelling crop canopies assimilation survey
Device is measured, by first base beam, second base beam and below the wheel that connects realizes crop canopies assimilation measurement machine
Crop groups field original position CO may be implemented in the traveling of people2The measurement of concentration and the extraction of crop cover degree, and then realize crop
The measurement of group field original position Assimilation rate and transpiration rate.Meanwhile outer left side box surface, external right side case face, the outer preceding case of cabinet
Door and outer rear chamber door can extend downward into soil, ensure that leakproofness of the cabinet when assimilating measurement.Finally, cabinet is interior
Preceding chamber door and interior rear chamber door are rotatably connected with top case face, before interior when crop canopies assimilation robot measurement is in normal advance
Chamber door drives entire preceding chamber door to rotate to the height higher than crop, and interior rear chamber door drives entire rear chamber door to rotate to higher than crop
Highly, it is ensured that cabinet is in contact in normal traveling Shi Buyu crop.The crop canopies assimilation provided in the embodiment of the present invention
Robot measurement, crop canopies is assimilated in realization in the traveling process of crop canopies assimilation robot measurement measures, only with
One equipment can be realized multiple positions crop canopies assimilation measurement, may be implemented crop groups field original position Assimilation rate and
The measurement of transpiration rate can also be achieved the measurement of different growth stage crop groups field original position Assimilation rate and transpiration rate,
Crop field the degree of automation that assimilation measures in situ is improved, reduces measurement cost, while will not be to the natural raw of crop
Length has an impact.
On the basis of the above embodiments, left to guarantee when carrying out assimilation measurement to the crop canopies to be measured in cabinet 4
Side box surface 42, right side box surface 43, preceding chamber door 44 and rear chamber door 45 can be extended downward into smoothly in soil, left side box surface 42, the right side
The bottom of side box surface 43, preceding chamber door 44 and rear chamber door 45 has a sharp edge, i.e., outer left side box surface, external right side case face, it is outer before
Chamber door and outer rear chamber door have sharp lower edge.
As shown in figure 4, on the basis of the above embodiments, the crop canopies assimilation measuring machine provided in the embodiment of the present invention
In device people further include: four triangular fixing frames 5.Wherein, the interior left side box surface on cabinet 4 passes through two triangular fixing frames therein
It is fixedly connected on the fixed top of first base beam 1, the interior right side box surface on cabinet 4 connects by the way that other two triangular fixing frame is fixed
It connects above second base beam 2.
Specifically, crop canopies in the embodiment of the present invention assimilates robot measurement, in cabinet 4 and first base beam 1, the
Be fixedly connected between two base beams 2 by triangular fixing frame, can make cabinet it is more firm be fixed on first base beam 1, second
On base beam 2.
Four triangular fixing frames 5 in the embodiment of the present invention are specially right angle trigonometry fixed frame, right angle trigonometry fixed frame
Two right-angle sides are solid with interior left side box surface, the vertical seamed edge of interior right side box surface or first base beam 1, second base beam 2 respectively
Fixed connection.Wherein, four triangular fixing frames both can be set in cabinet 4, i.e., structure as shown in Figure 4 can also be arranged in
Outside cabinet 4.
On the basis of the above embodiments, in the crop canopies assimilation robot measurement provided in the embodiment of the present invention, institute
State further includes optical sensor, Temperature Humidity Sensor and baroceptor in 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, CO2Concentration variation and cabinet 4 in crop cover degree, can make
The Assimilation rate of crop canopies to be measured and transpiration rate are more accurate in the cabinet 4 determined, make to crop group in whole region
The assimilation measurement of body is more acurrate.
As shown in figure 5, on the basis of the above embodiments, the crop canopies assimilation measuring machine provided in the embodiment of the present invention
Device people is additionally provided with fan 47 and blower fan cylinder 48 in the cabinet 4.Blower fan cylinder 48 is vertically arranged in cabinet 4, specific settable
Near the vertical seamed edge of cabinet 4.Fan 47 is mounted on one end of blower fan cylinder 48, and the other end of blower fan cylinder 48 is towards in cabinet 4.
Fan 47 is for stirring evenly the intracorporal gas of case.
As shown in fig. 6, on the basis of the above embodiments, the crop canopies assimilation measuring machine provided in the embodiment of the present invention
Device people is additionally provided with light compensating lamp 49 in the cabinet, and light compensating lamp 49 is fixed on top case face 41, surveys for assimilating in crop canopies
To carrying out light filling in cabinet when amount robot carries out assimilation measurement to crop canopies.
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.
As shown in fig. 7, on the basis of the above embodiments, the crop canopies assimilation measuring machine provided in the embodiment of the present invention
Device people, further includes: storage battery 6, storage battery 6 are fixedly connected on first base beam 1 or the second base beam 2, can specifically fix
It is connected on the first base beam 1 or second base beam 2 of cabinet two sides, the first base that can also be fixedly connected below cabinet
On beam 1 or second base beam 2.Heat to avoid storage battery 6 from generating when working assimilates measurement result to crop canopies and has an impact,
Preferably, storage battery 6 can be fixedly connected on to first base beam 1 or the second bottom of cabinet two sides in the embodiment of the present invention
On seat beam 2, as shown in Figure 7.Wherein, it illustrate only storage battery 6 in Fig. 7 to be fixedly connected on the second base beam 2 of cabinet side
The case where.Wherein, storage battery 6 is connected with each sensor in fan 47, light compensating lamp 49 and Sensor box 46 respectively, for being to make
Object canopy assimilates robot measurement and provides power, and supplies for each sensor in fan 47, light compensating lamp 49 and Sensor box 46
Electricity.It should be noted that illustrate only in Fig. 7 opposite between storage battery 6, fan 47, light compensating lamp 49 and Sensor box 46
Positional relationship does not show that the connecting line of storage battery 6 Yu fan 47, light compensating lamp 49 and Sensor box 46.
On the basis of the above embodiments, the crop canopies assimilation robot measurement provided in the embodiment of the present invention, it is described
Top case face, the left side box surface, the right side box surface, the preceding chamber door and it is described after the material of chamber door be lightweight light transmission material
Material, so that external light source can be by top case face, left side box surface, right side box surface, preceding chamber door and rear chamber door by the intracorporal crop of case
It absorbs, while cabinet can be mitigated to the pressure of first base beam, second base beam and wheel.
On the basis of the above embodiments, the crop canopies assimilation robot measurement provided in the embodiment of the present invention, it is described
Left side box surface, the right side box surface, the preceding chamber door and it is described after the edge of chamber door all have attracting device.
Specifically, in the embodiment of the present invention, when carrying out crop canopies assimilation measurement, can guarantee to erect by attracting device
Histogram to 4 contact edges it is closed, avoid breathing freely, guarantee the airtightness of cabinet.Attracting device can be entangled by dirt-proof boot, be avoided
The long-time exposure of attracting device.
On the basis of the above embodiments, the width of the crop canopies assimilation robot measurement provided in the embodiment of the present invention
More than or equal to the sowing line-spacing of crop to be measured, it is ensured that it is unobstructed that crop canopies assimilates robot measurement traveling.
On the basis of the above embodiments, the crop canopies assimilation robot measurement provided in the embodiment of the present invention, top case
Sealing strip is set on the outside of the front and back in face, when carrying out crop canopies assimilation measurement, with sealing strip touch top case face and preceding cabinet door,
The gap of rear box door connection guarantees the leakproofness of cabinet when crop canopies assimilation measurement.
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 assimilates robot measurement characterized by comprising first base beam, second base beam, wheel and
Cabinet；
The first base beam and the second base beam are horizontally disposed, the first base beam and the second base beam phase
It is mutually parallel, and at least two wheels are connected separately with below the first base beam and the second base beam；
The cabinet includes top case face, left side box surface, right side box surface, preceding chamber door and rear chamber door, and the under casing face of the cabinet is sky,
The left side box surface is parallel with the right side box surface and is vertically arranged, and with first base Liangping row；The left side case
Face includes outer left side box surface and interior left side box surface, the outer left side box surface and the interior left side box surface company of sliding in the vertical direction
It connects, right side case face includes external right side case face and interior right side box surface, external right side case face and described is slided in the vertical direction
Dynamic connection, the preceding chamber door includes outer preceding chamber door and interior preceding chamber door, and the outer preceding chamber door and the interior preceding chamber door are in vertical direction
On be slidably connected, it is described after chamber door include it is outer after chamber door and it is interior after chamber door, it is described it is outer after chamber door and it is described it is interior after chamber door vertical
It is slidably connected on direction；
The interior left side box surface is fixedly connected on above the first base beam, and the interior right side box surface is fixedly connected on described the
Above two base beams；The interior left side box surface and the interior right side box surface are fixedly connected with the top case face, the interior preceding case
Door and the interior rear chamber door are rotatably connected with the top case face；It is the outer left side box surface, external right side case face, described outer
Preceding chamber door and the outer rear chamber door can extend downward into soil；
Sensor box is provided in the cabinet, the Sensor box is fixed on the top case face, packet in the Sensor box
Include CO2Concentration sensor and imaging sensor.
2. crop canopies according to claim 1 assimilates robot measurement, which is characterized in that further include: four triangles are solid
Determine frame；
The interior left side box surface is fixedly connected on above the first base beam by two triangular fixing frames, the interior right side case
Face is fixedly connected on above the second base beam by another two triangular fixing frame.
3. crop canopies according to claim 1 assimilates robot measurement, which is characterized in that also wrapped in the Sensor box
Include optical sensor, Temperature Humidity Sensor and baroceptor.
4. crop canopies according to claim 1 assimilates robot measurement, which is characterized in that be additionally provided in the cabinet
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.
5. crop canopies according to claim 1 assimilates robot measurement, which is characterized in that further include: storage battery, the electricity
Bottle is fixedly connected on the first base beam or the second base beam.
6. crop canopies according to any one of claims 1-5 assimilates robot measurement, 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.
7. crop canopies according to any one of claims 1-5 assimilates robot measurement, which is characterized in that the top case
Face, the left side box surface, the right side box surface, the preceding chamber door and it is described after the material of chamber door be translucent material.
8. crop canopies according to any one of claims 1-5 assimilates robot measurement, which is characterized in that the left side
Case face, the right side box surface, the preceding chamber door and it is described after the edge of chamber door all have attracting device.
9. crop canopies according to any one of claims 1-5 assimilates robot measurement, which is characterized in that the crop
The width that canopy assimilates robot measurement is greater than or equal to the sowing line-spacing of crop to be measured.
10. crop canopies according to any one of claims 1-5 assimilates robot measurement, which is characterized in that the top
Sealing strip is set on the outside of the front and back in case face.
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| CN201910461861.2A CN110239640A (en) | 2019-05-30 | 2019-05-30 | Crop canopies assimilates robot measurement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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