CN110741849A - Movable phenotype cabin monitoring system for field crops - Google Patents

Movable phenotype cabin monitoring system for field crops Download PDF

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Publication number
CN110741849A
CN110741849A CN201910998954.9A CN201910998954A CN110741849A CN 110741849 A CN110741849 A CN 110741849A CN 201910998954 A CN201910998954 A CN 201910998954A CN 110741849 A CN110741849 A CN 110741849A
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CN
China
Prior art keywords
greenhouse
track
main
rail
monitoring system
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Pending
Application number
CN201910998954.9A
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Chinese (zh)
Inventor
姜东�
丁艳锋
傅秀清
吴劼
周国栋
毛江美
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Nanjing Huitong Crop Phenotype Research Institute Co Ltd
Nanjing Agricultural University
Original Assignee
Nanjing Huitong Crop Phenotype Research Institute Co Ltd
Nanjing Agricultural University
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Application filed by Nanjing Huitong Crop Phenotype Research Institute Co Ltd, Nanjing Agricultural University filed Critical Nanjing Huitong Crop Phenotype Research Institute Co Ltd
Priority to CN201910998954.9A priority Critical patent/CN110741849A/en
Publication of CN110741849A publication Critical patent/CN110741849A/en
Priority to PCT/CN2020/109257 priority patent/WO2021077871A1/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/14—Greenhouses
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/24—Devices or systems for heating, ventilating, regulating temperature, illuminating, or watering, in greenhouses, forcing-frames, or the like
    • A01G9/246—Air-conditioning systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/24—Devices or systems for heating, ventilating, regulating temperature, illuminating, or watering, in greenhouses, forcing-frames, or the like
    • A01G9/247—Watering arrangements
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B23/00—Easily dismountable or movable tracks, e.g. temporary railways; Details specially adapted therefor
    • E01B23/02—Tracks for light railways, e.g. for field, colliery, or mine use
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B23/00—Easily dismountable or movable tracks, e.g. temporary railways; Details specially adapted therefor
    • E01B23/02—Tracks for light railways, e.g. for field, colliery, or mine use
    • E01B23/04—Fastening or joining means
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B23/00—Easily dismountable or movable tracks, e.g. temporary railways; Details specially adapted therefor
    • E01B23/02—Tracks for light railways, e.g. for field, colliery, or mine use
    • E01B23/06—Switches; Portable switches; Turnouts
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/343—Structures characterised by movable, separable, or collapsible parts, e.g. for transport
    • E04B1/34336—Structures movable as a whole, e.g. mobile home structures
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/343—Structures characterised by movable, separable, or collapsible parts, e.g. for transport
    • E04B1/34336—Structures movable as a whole, e.g. mobile home structures
    • E04B1/34352—Base structures or supporting means therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/25—Greenhouse technology, e.g. cooling systems therefor

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Architecture (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Environmental Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Biochemistry (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Greenhouses (AREA)

Abstract

The invention discloses a field crop mobile phenotype cabin monitoring system, which comprises a mobile track assembly, greenhouse equipment and monitoring equipment, wherein the greenhouse equipment and the monitoring equipment can move relative to the mobile track assembly; the greenhouse equipment comprises a plurality of greenhouse bodies, a plurality of detachable greenhouse doors arranged on the greenhouse bodies, and an automatic greenhouse door dismounting device for mounting and dismounting the greenhouse doors; the monitoring device comprises a radar and a camera. The shed door is detachable and convenient to disassemble and assemble, the culture environment can be switched at any time according to the requirements of a test field, the accurate simulation of the environment is realized, the monitoring equipment can monitor the growth state of crops in many aspects, and the research on the phenotype of the crops is facilitated.

Description

Movable phenotype cabin monitoring system for field crops
Technical Field
The invention belongs to the technical field of crop phenotype research, and particularly relates to a field crop mobile phenotype cabin monitoring system.
Background
Crop phenomics is an emerging field across disciplines, the genome of a crop is an internal cause, the external environment in the growth process of the crop is an external cause, and the interaction of the internal and external causes determines the appearance form, namely the phenotype, of the crop. The research of gene-environment-phenotype interaction mechanism is an effective method for screening and cultivating improved varieties and an effective means for fine agricultural management by means of a modern information technology and an intelligent high-throughput platform which take big data as a core.
At present, a lot of products exist in domestic and foreign countries for crop phenotype high-flux monitoring equipment, but in the aspect of field intelligent mobile large-scale phenotype monitoring equipment, large-scale equipment which can integrate intelligent simulation of crop growth environment, automatic irrigation, shooting imaging and the like is extremely lacking or even absent, and particularly, the method has great limitation in the aspect of intelligent simulation of crop growth environment. The intelligent mobile rain shelter phenotype monitoring equipment represented by France has the advantages that the main body of the greenhouse is a herringbone greenhouse roof, the left side and right side of the greenhouse are shielded by the greenhouse doors, and the front side and the rear side of the greenhouse are open, so that crops cultivated on the front side and the rear side of the greenhouse are more susceptible to the influence of the external environment, such as rainfall, than the middle of the greenhouse, the experimental environment of crop growth normalization cannot be simulated, and accurate research data cannot be obtained; in addition, because the canopy is the open-type, can't carry out the control of specific environment to the plant in the canopy, like the accurate control of humiture, lead to equipment all to have certain limitation in the aspect of environmental simulation. In addition, the existing crop phenotype system lacks complete crop growth form monitoring equipment, cannot carry out real-time monitoring on crops in multiple aspects, and brings difficulty to crop phenotype research.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a field crop mobile phenotype cabin monitoring system, and solves the problems that the existing greenhouse equipment for crop phenotype has no greenhouse door, so that the experimental environment for crop growth normalization cannot be accurately simulated, and the crop phenotype cannot be monitored in real time in many aspects.
The invention provides the following technical scheme:
a field crop mobile phenotype pod monitoring system comprises a mobile track assembly, greenhouse equipment capable of moving relative to the mobile track assembly, and monitoring equipment;
the greenhouse equipment comprises a plurality of greenhouse bodies, a plurality of detachable greenhouse doors arranged on the greenhouse bodies, and an automatic greenhouse door dismounting device for mounting and dismounting the greenhouse doors;
the monitoring device comprises a radar and a camera.
Preferably, the movable track component comprises a plurality of main tracks, a test field is arranged between the main tracks, each main track comprises at least two layers of track beams, the greenhouse body is installed in a matched mode with the track beams and can move relative to the track beams, a sealing groove is formed between the track beams, and liquid is filled in the sealing groove.
Preferably, an external ventilation pipe is arranged outside the main track, the external ventilation pipe comprises a main pipeline and connecting pipelines uniformly distributed on the main pipeline, and the main pipeline is connected with an air conditioner fan; the inner side of the greenhouse body is provided with an inner ventilation pipe, the inner ventilation pipe is communicated with an air inlet pipe extending out of the greenhouse body, and the air inlet pipe is communicated with the connecting pipeline.
Preferably, the moving track assembly further comprises a secondary track and a transit track; the auxiliary tracks are arranged at the end parts of the main tracks; the transfer rail is mounted on the auxiliary rail and can move relative to the auxiliary rail, so that the transfer rail is in butt joint with the end part of any one of the main rails.
Preferably, the automatic shed door dismounting device comprises a cabin body, a butt joint track, a conveying mechanism and a transmission mechanism;
the bin body is provided with a stacking frame for storing shed doors to be transported;
the docking track can dock with the transit track;
the transfer mechanism can move on the butt joint rail, the transfer rail and the main rail, and automatically disassemble or assemble the shed door;
the conveying mechanism is hung on the top of the bin body and can move relative to the bin body, and the conveying mechanism can take and place the shed door from the stacking frame and the conveying mechanism.
Preferably, the migration mechanism comprises a migration body capable of moving relative to the main rail and a first overturning device mounted on the migration body, the first overturning device is capable of overturning a predetermined angle relative to the migration body, and the first overturning device comprises a first gripping mechanism.
Preferably, the conveying mechanism comprises a conveying main body hung on the bin body and a second overturning device installed on the conveying main body, the second overturning device can overturn for a preset angle relative to the conveying main body, and the second overturning device comprises a second gripping mechanism.
Preferably, the greenhouse body comprises a main beam framework, side panels arranged on two side faces of the main beam framework and a slope top arranged at the top of the main beam framework, the slope top is provided with a ventilation chamber, the top of the main beam framework is provided with a hanging buckle, and the top of the greenhouse door is provided with a lifting hook matched with the hanging buckle.
Preferably, the monitoring device further comprises a first sliding frame capable of moving relative to the moving track assembly and a first cross beam arranged above the first sliding frame, a trolley track and a photographing trolley capable of reciprocating on the trolley track are arranged on the first cross beam, the photographing trolley is connected with a telescopic arm, the end of the telescopic arm is provided with the camera device and the radar, and the camera device comprises a visible light camera and a multispectral camera.
Preferably, still include irrigation equipment, irrigation equipment is the irrigation portal frame, including can be relative the second frame that slides that moves of removal track subassembly moves and locate the second crossbeam that slides the frame top, install the sprinkler pipe on the second crossbeam.
Compared with the prior art, the invention has the beneficial effects that:
(1) the movable rail type greenhouse is used in field fields, different types of plants can be planted in a test field, the greenhouse body in the greenhouse equipment can move relative to the movable rail assembly, illumination and rainwater shielding can be conveniently carried out on the test field, and the greenhouse and the outdoor mode can be switched at any time according to experiment observation requirements;
(2) the greenhouse equipment comprises the detachable greenhouse doors, whether the greenhouse doors are installed or not and the installation number of the greenhouse doors can be selected according to research requirements, when the greenhouse doors are installed on the greenhouse body, the interior of the greenhouse body is in a closed mode, so that the temperature and the humidity can be accurately controlled, the consistent plant environment feeling in the greenhouse body can be ensured, and the experimental environment control of crop growth normalization can be realized; in addition, the automatic shed door dismounting device is used for mounting and dismounting the shed door, manual dismounting is not needed, and the working efficiency is high;
(3) the monitoring equipment can move relative to the moving track component, phenotype monitoring can be carried out on plants before, during and after cultivation, the camera device can shoot two-dimensional images of crops to obtain crop spectrum information, the radar can monitor three-dimensional stereo images of the crops, multi-aspect monitoring of crop phenotype is achieved, and crop phenotype research is facilitated.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a main track;
FIG. 3 is a schematic cross-sectional view of A in FIG. 2;
FIG. 4 is a schematic structural view of a greenhouse body with a greenhouse door;
FIG. 5 is a schematic view of the internal structure of the greenhouse body;
FIG. 6 is a schematic structural view of the automatic canopy door mounting and dismounting device;
FIG. 7 is a schematic structural view of the migration mechanism;
FIG. 8 is a schematic view of the structure of the transport mechanism;
FIG. 9 is a schematic view of the structure of the canopy door;
FIG. 10 is a schematic view of the structure of the monitoring device;
FIG. 11 is a schematic view of the lower portion of the telescopic arm of FIG. 10;
FIG. 12 is a schematic view of the construction of the irrigation apparatus;
labeled as: 1-1, a greenhouse body; 1-2, a shed door; 1-3, side panels; 1-4, a ventilation chamber; 1-5, an air inlet pipe; 1-6, a main beam framework; 1-7, inner ventilation pipe; 1-8, hanging hooks; 1-9, a hook; 1-10, hanging and buckling; 1-11, top of slope; 2. a main track; 2-1, a track beam; 2-2, show window; 2-3, sealing grooves; 3. a secondary track; 4. transferring the track; 5. monitoring equipment; 5-1, a visible light camera; 5-2, a telescopic arm; 5-3, a photo trolley; 5-4, trolley rails; 5-5, a first sliding frame; 5-6, a first cross beam; 5-7, a multispectral camera; 5-8, radar; 6. irrigation equipment; 6-1, a sprinkler pipe; 6-2, a second cross beam; 6-3, a second sliding frame; 8. the automatic dismounting device of the shed door; 8-1, a bin body; 8-2, stacking frames; 8-3, a transmission mechanism; 8-4, a transfer mechanism; 8-5, butting rails; 8-6, transporting the main body; 8-7, a first turnover device; 8-8, a first gripping mechanism; 8-9, a transmission body; 8-10, a second turnover device; 8-11, a second gripping mechanism; 9. testing field; 10. an outer vent tube.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
It should be noted that in the description of the present invention, the terms "upper", "lower", "inside", "outside", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1 and 11, a field crop mobile phenotype cabin monitoring system comprises a mobile track assembly, greenhouse equipment capable of moving relative to the mobile track assembly and a monitoring device 5; the greenhouse equipment comprises a plurality of greenhouse bodies 1-1, a plurality of detachable greenhouse doors 1-2 arranged on the greenhouse bodies 1-1 and an automatic greenhouse door dismounting device 8 for mounting and dismounting the greenhouse doors 1-2; the monitoring device 5 comprises radar 5-8 and camera means.
As shown in fig. 2 and 3, the movable track assembly comprises a plurality of main tracks 2, a test field 9 is arranged between the main tracks 2, each main track 2 comprises at least two layers of track beams 2-1, the greenhouse body 1-1 and the track beams 2-1 are installed in a matched mode and can move relative to the track beams 2-1, a sealing groove 2-3 is formed between the track beams 2-1, liquid is filled in the sealing groove 2-3, good sealing between the two sides of the greenhouse body 1-1 and the outside can be achieved, and the sealing environment required by temperature and humidity and dry hot air control in the greenhouse body 1-1 can be met. The main track 2 also comprises a show window 2-2 arranged below the track beam 2-1, so that the growth condition of crops in the test field in the greenhouse body 1-1 can be observed conveniently.
As shown in fig. 4, 5 and 9, the greenhouse body 1-1 comprises a main beam framework 1-6, side panels 1-3 arranged on two side surfaces of the main beam framework 1-6 and a slope top 1-11 arranged on the top of the main beam framework 1-6, wherein the side panels 1-3 and the slope top 1-11 are made of transparent corrugated plates, so that crops in the greenhouse body 1-1 can receive illumination conveniently; the slope top 1-11 is provided with a ventilation chamber 1-4, and the ventilation chamber 1-4 is used for exchanging cold air and hot air for the interior of the greenhouse body 1-1, so that the culture environment is more real; the top of the main beam framework 1-6 is provided with a hanging buckle 1-10, and the top of the shed door 1-2 is provided with a lifting hook 1-9 matched with the hanging buckle 1-10 and used for installing the shed door 1-2.
As shown in fig. 1, 4 and 5, an external ventilation pipe 10 is arranged outside the main track 2, the external ventilation pipe 10 comprises a main pipe and connecting pipes uniformly distributed on the main pipe, and the main pipe is connected with an air conditioner fan; the inner side of the greenhouse body 1-1 is provided with an inner ventilation pipe 1-7, the inner ventilation pipe 1-7 is communicated with an air inlet pipe 1-5 extending out of the greenhouse body 1-1, and the air inlet pipe 1-5 is communicated with a connecting pipeline. When crops in the field are in a culture state, the greenhouse body 1-1 moves to a test field 9, the air inlet pipe 1-5 is communicated with the connecting pipeline, and air generated by the air conditioning fan is introduced into the greenhouse body 1-1 through the main pipeline, the connecting pipeline, the air inlet pipe 1-5 and the internal ventilation pipe 1-7, so that dry hot air in the greenhouse body 1-1 can be conveniently controlled; the design also avoids the movement of a refrigerating device (an air conditioning fan), can simultaneously carry out environmental control on a plurality of greenhouse bodies, and greatly improves the utilization rate of the refrigerating device; the inner ventilation pipes 1-7 are provided with uniformly distributed air holes, so that uniform air supply to the interior of the greenhouse body 1-1 can be realized, and the uniformity of temperature sensed by plants is ensured.
As shown in fig. 1, the moving rail assembly further includes a sub rail 3 and a transit rail 4; the auxiliary tracks 3 are arranged at the end parts of the main tracks 2; transfer track 4 is installed on vice track 3, and transfer track 4 bottom is equipped with the removal wheel, can make transfer track 4 and arbitrary main track 2's tip butt joint for vice track 3 motion to make things convenient for switching of big-arch shelter body 1-1 and automatic dismouting device 8 of canopy door on different main tracks 2, can select suitable big-arch shelter body quantity and the quantity of the canopy door of installing according to the demand and the specification in experimental plot.
As shown in fig. 1 and 6, the automatic shed door dismounting device 8 comprises a cabin body 8-1, a butt joint rail 8-5, a transfer mechanism 8-4 and a transmission mechanism 8-3; the bin body 8-1 is provided with a stacking frame 8-2 for storing shed doors to be transported; the butt joint rail 8-5 can be in butt joint with the transfer rail 4; the transfer mechanism 8-4 can move on the butt joint rail 8-5, the transfer rail 4 and the main rail 2 and automatically disassemble or assemble the shed door 1-2; the conveying mechanism 8-3 is hung on the top of the bin body 8-1 and can move relative to the bin body 8-1, and the conveying mechanism 8-3 can pick and place the shed door from the stacking frame 8-2 and the transfer mechanism 8-4.
Specifically, as shown in fig. 1, 7 and 8, the transfer mechanism 8-4 comprises a transfer main body 8-6 capable of moving relative to the main track 2 and a first turning device 8-7 mounted on the transfer main body 8-6, a transfer wheel set capable of moving on the main track 2 is arranged at the bottom of the transfer main body 8-6, the first turning device 8-7 can turn a predetermined angle relative to the transfer main body 8-6, and the first turning device 8-7 comprises a first gripping mechanism 8-8. The conveying mechanism 8-3 comprises a conveying main body 8-9 hung on the bin body 8-1 and a second overturning device 8-10 installed on the conveying main body 8-9, the conveying main body 8-9 moves on the top of the bin body 8-1 through a sliding rail, the second overturning device 8-10 can overturn for a preset angle relative to the conveying main body 8-9, and the second overturning device 8-10 comprises a second grabbing mechanism 8-11. Two side surfaces of the shed door 1-2 are respectively provided with a hook 1-8, and the hooks 1-8 can be hung with the first gripping mechanism 8-8 and the second gripping mechanism 8-11.
As shown in fig. 1 and 6-8, when the shed door 1-2 is installed by using the automatic shed door dismounting device 8, the second gripping mechanism 8-11 of the second turnover device 8-10 grips the shed door stored on the stacking rack 8-2 and turns the shed door to the vertical direction, the transmission main body 8-9 drives the second turnover device 8-10 to move along the slide rail at the top of the bin body 8-1, and the shed door is transmitted to the transportation mechanism 8-4; the first grabbing mechanism 8-8 of the first overturning device 8-7 grabs the greenhouse door and overturns the greenhouse door for 90 degrees, so that the greenhouse door 1-2 is horizontally placed, the stability of transportation is guaranteed, at the moment, the transportation main body 8-6 enters the main rail 2 along the butt joint rail 8-5 and the transfer rail 4, the greenhouse door 1-2 is transported to the greenhouse door installation position of the greenhouse body 1-1, the first overturning device 8-7 overturns for 90 degrees again, so that the greenhouse door 1-2 is in a vertical state, and the lifting hook 1-9 on the greenhouse door 1-2 is hung on the hanging buckle 1-10 of the greenhouse body 1-1, so that the automatic installation of the greenhouse door is completed.
As shown in fig. 10 and 11, the monitoring device 5 further includes a first sliding frame 5-5 capable of moving relative to the moving track assembly and a first beam 5-6 disposed above the first sliding frame 5-5, the first beam 5-6 is provided with a trolley track 5-4 and a photo trolley 5-3 capable of reciprocating on the trolley track 5-4, the photo trolley 5-3 is connected with a telescopic arm 5-2, a camera device and a radar 5-8 are mounted at an end of the telescopic arm 5-2, and the camera device includes a visible light camera 5-1 and a multispectral camera 5-7. The radar 5-8 is used for monitoring a three-dimensional image of a crop, the visible light camera 5-1 is used for shooting a two-dimensional color photo of the crop, and the multispectral camera 5-7 can be used for shooting the spectral characteristics of the crop; the first sliding frame 5-5 can move on the moving track assembly, the photographing trolley 5-3 can move along the trolley track 5-4, and therefore phenotype monitoring of crops at different positions is achieved, and in addition, the length of the telescopic arm 5-2 can be adjusted according to different heights of the crops.
As shown in fig. 12, the field crop movement phenotype cabin monitoring system provided by this embodiment further includes an irrigation device 6, the irrigation device 6 is an irrigation gantry, and includes a second sliding frame 6-3 capable of moving relative to the rail assembly and a second beam 6-2 disposed above the second sliding frame 6-3, a sprinkler 6-1 is mounted on the second beam 6-2, and the irrigation gantry is capable of moving relative to the rail assembly to simulate rainfall in the test field 9.
The field crop mobile phenotype cabin monitoring system is used for field fields, different types of plants can be planted in a test field, a greenhouse body in greenhouse equipment can move relative to a mobile track assembly, illumination and rainwater shielding can be conveniently carried out on the test field, and a greenhouse and an outdoor mode can be switched at any time according to experimental observation requirements; the greenhouse equipment comprises detachable greenhouse doors, whether the greenhouse doors are installed or not and the installation number of the greenhouse doors can be selected according to research requirements, when the greenhouse doors are installed on the greenhouse body, the interior of the greenhouse body is in a closed mode, so that the temperature and the humidity can be accurately controlled, the consistent plant environment feeling in the greenhouse body can be ensured, and the experimental environment control of crop growth normalization can be realized; the automatic shed door dismounting device is used for mounting and dismounting the shed door, does not need manual dismounting, and has high working efficiency; monitoring facilities can carry out the phenotype monitoring for moving the track subassembly motion before, in, the plant after the cultivation, and wherein camera device can shoot two-dimensional image to the crop, and the radar can monitor the three-dimensional stereograph of crop, realizes the many-sided monitoring of crop phenotype, is favorable to crop phenotype research.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A field crop mobile phenotype cabin monitoring system is characterized by comprising a mobile track assembly, greenhouse equipment and monitoring equipment, wherein the greenhouse equipment and the monitoring equipment can move relative to the mobile track assembly;
the greenhouse equipment comprises a plurality of greenhouse bodies, a plurality of detachable greenhouse doors arranged on the greenhouse bodies, and an automatic greenhouse door dismounting device for mounting and dismounting the greenhouse doors;
the monitoring device comprises a radar and a camera.
2. The field crop movement phenotype cabin monitoring system of claim 1, wherein the movement track assembly comprises a plurality of main tracks, a test field is arranged between the main tracks, the main tracks comprise at least two layers of track beams, the greenhouse body is mounted with the track beams in a matched manner and can move relative to the track beams, a sealing groove is formed between the track beams, and liquid is filled in the sealing groove.
3. The field crop moving phenotype cabin monitoring system according to claim 2, wherein an external ventilation pipe is arranged outside the main track, the external ventilation pipe comprises a main pipeline and connecting pipelines uniformly distributed on the main pipeline, and the main pipeline is connected with an air conditioner fan; the inner side of the greenhouse body is provided with an inner ventilation pipe, the inner ventilation pipe is communicated with an air inlet pipe extending out of the greenhouse body, and the air inlet pipe is communicated with the connecting pipeline.
4. The field crop mobile phenotype cabin monitoring system of claim 2, wherein the mobile rail assembly further comprises a secondary rail and a transit rail; the auxiliary tracks are arranged at the end parts of the main tracks; the transfer rail is mounted on the auxiliary rail and can move relative to the auxiliary rail, so that the transfer rail is in butt joint with the end part of any one of the main rails.
5. The field crop mobile phenotype cabin monitoring system of claim 4, wherein the automatic shed door disassembly and assembly device comprises a cabin body, a docking track, a transfer mechanism and a transmission mechanism;
the bin body is provided with a stacking frame for storing shed doors to be transported;
the docking track can dock with the transit track;
the transfer mechanism can move on the butt joint rail, the transfer rail and the main rail, and automatically disassemble or assemble the shed door;
the conveying mechanism is hung on the top of the bin body and can move relative to the bin body, and the conveying mechanism can take and place the shed door from the stacking frame and the conveying mechanism.
6. The field crop mobile phenotype cabin monitoring system of claim 5, wherein the migration mechanism comprises a migration body movable relative to the main track and a first flipping device mounted on the migration body, the first flipping device being capable of flipping a predetermined angle relative to the migration body, the first flipping device comprising a first gripping mechanism.
7. The field crop moving phenotype cabin monitoring system according to claim 5, wherein the conveying mechanism comprises a conveying body hung on the cabin body and a second overturning device mounted on the conveying body, the second overturning device can overturn relative to the conveying body by a preset angle, and the second overturning device comprises a second gripping mechanism.
8. The field crop movement phenotype cabin monitoring system according to claim 1, wherein the greenhouse body comprises a main beam framework, side panels arranged on two side surfaces of the main beam framework, and a slope top arranged on the top of the main beam framework, the slope top is provided with a ventilation chamber, the top of the main beam framework is provided with a hanging buckle, and the top of the greenhouse door is provided with a lifting hook matched with the hanging buckle.
9. The field crop movement phenotype cabin monitoring system of claim 1, wherein the monitoring equipment further comprises a first sliding frame capable of moving relative to the movement track assembly and a first cross beam arranged above the first sliding frame, a trolley track and a photo trolley capable of reciprocating on the trolley track are arranged on the first cross beam, the photo trolley is connected with a telescopic arm, the camera device and the radar are mounted at the end of the telescopic arm, and the camera device comprises a visible light camera and a multispectral camera.
10. The system for monitoring the mobile phenotype cabin of field crops according to claim 1, further comprising an irrigation device, wherein the irrigation device is an irrigation gantry, and comprises a second sliding frame capable of moving relative to the mobile track assembly and a second cross beam arranged above the second sliding frame, and a sprinkler pipe is arranged on the second cross beam.
CN201910998954.9A 2019-10-21 2019-10-21 Movable phenotype cabin monitoring system for field crops Pending CN110741849A (en)

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