CN111165233A - Small-sized mobile watch type vehicle for plant root system - Google Patents
Small-sized mobile watch type vehicle for plant root system Download PDFInfo
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- CN111165233A CN111165233A CN202010077484.5A CN202010077484A CN111165233A CN 111165233 A CN111165233 A CN 111165233A CN 202010077484 A CN202010077484 A CN 202010077484A CN 111165233 A CN111165233 A CN 111165233A
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- direction moving
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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
- A01G9/28—Raised beds; Planting beds; Edging elements for beds, lawn or the like, e.g. tiles
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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
- A01G31/00—Soilless cultivation, e.g. hydroponics
- A01G31/02—Special apparatus therefor
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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
- A01G31/00—Soilless cultivation, e.g. hydroponics
- A01G31/02—Special apparatus therefor
- A01G31/06—Hydroponic culture on racks or in stacked containers
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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
- A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
- A01G9/027—Pots connected in horizontal rows
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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
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/088—Handling or transferring pots
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Handcart (AREA)
Abstract
A small-sized movable watch-type vehicle for plant roots. The invention comprises a movable integral frame, and a first direction moving device and a second direction moving device which are arranged on the integral frame and are vertical to each other. The first direction moving device and the second direction moving device can be respectively arranged into two groups positioned at two opposite sides of the mobile watch type vehicle. The mobile meter type vehicle can correspondingly move to the position of the root box according to the position and the direction of the root box, and the root system phenotype acquisition device is correspondingly adjusted to the side part of the root box by utilizing the first direction moving device and the second direction moving device, so that the acquisition of plant root system phenotype data in the root box is realized. The invention does not need to move the root box, is suitable for root box mounting platforms with different structures, can be flexibly adjusted by 360 degrees, and realizes watch grabbing with higher accuracy.
Description
Technical Field
The invention relates to the technical field of underground phenotype acquisition, in particular to a small-sized movable watch type vehicle for a plant root system.
Background
Plant phenomics has become one of the major directions in plant research in recent years. The genotype of the crop is displayed through the phenotype, and the variation trend of information such as genome, transcriptome, proteome and the like can be fully mined by searching the matching relation between genotype data and phenotype data through research statistics of phenotype data in the research.
The root is used as a nutritive organ of the plant, the health condition of the plant can be directly determined, and the root system of the plant is difficult to observe under the traditional soil culture condition. Therefore, the observation means of the plant root system is mostly used for water planting plants at present, and the observation can be realized only by designing a specific root box structure. Because the phenotype expression of crops in soil is different from the water culture environment during actual cultivation, the phenotype data acquired by the phenotype acquisition means has larger deviation from the soil culture environment during actual cultivation.
Plant roots phenotype, present generally adopted conveyer belt formula, desk-top, unmanned aerial vehicle formula, vehicular, self-propelled measuring equipment. However, it is generally integrated entirely inside the crop cultivation or phenotype pod, rather than being provided separately. Therefore, the existing phenotype measuring equipment has large development and laying difficulty, is slightly heavy and cannot realize 360-degree free movement. Most of the current phenotype acquisition devices require manual handling of plants to their sampling area. Because the manual handling quantity is limited, the existing phenotype acquisition equipment has low efficiency in acquiring the phenotype data of the crops.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a small-sized movable meter type vehicle for a plant root system, which can keep a root box still by moving the meter type vehicle and adjusting the position of a root system phenotype acquisition device on a new vehicle, and realize the phenotype data acquisition of the root system contained in the plant root box. The invention specifically adopts the following technical scheme.
First, in order to achieve the above object, there is provided a small-sized mobile watch type vehicle for a plant root system, comprising:
the integral framework is provided with four pillars and cross beams arranged among the pillars, and the pillars are connected with the cross beams to form a cuboid;
the moving assemblies are respectively arranged at the lower bottom end of each strut and drive the whole small-sized mobile watch type vehicle to move;
the first direction moving device is horizontally arranged between two adjacent support columns;
the second direction moving device is vertically arranged on the first direction moving device and is driven by the first direction moving device to horizontally translate along the first direction moving device;
the root system phenotype acquisition device is arranged on the second direction moving device, is driven by the second direction moving device to vertically translate to two sides of the root box along the second direction moving device, and acquires phenotype data of the plant root system in the root box;
the root box comprises a plurality of first direction moving devices arranged on the same height in parallel, the surface of the root box is at least partially transparent, the second direction moving devices drive the root phenotype acquisition devices to translate to the same height as the root box and then are driven by the first direction moving devices, the root phenotype acquisition devices are driven by the first direction moving devices to translate from one end of each first direction moving device to the other end, each root box is scanned, and phenotype data of plant roots in each root box are collected.
Optionally, the small-size removal phenotype car for plant roots of any above, wherein, first direction mobile device includes:
a motor base disposed on a side surface of one of the pillars;
the motor is fixed on the motor base and comprises a motor shaft which is vertical to the motor base and extends to the other adjacent strut;
the coupler is sleeved on a motor shaft of the motor and synchronously rotates along the horizontal direction along with the motor shaft;
one end of the ball screw is fixedly connected with the coupler, the other end of the ball screw is horizontally fixed on the other adjacent support, and the ball screw rotates synchronously along with the coupler;
the screw nut is in threaded connection with the ball screw, and correspondingly drives the second direction moving device to horizontally translate between two adjacent support columns along the ball screw along with the rotation of the ball screw;
and the first direction moving device is horizontally arranged above and/or below the ball screw, is connected between two adjacent support columns, and guides the second direction moving device to translate on the first direction moving device along the arrangement direction of the root boxes.
Optionally, the small-size removal watch-type car for plant roots of any above, wherein, first direction guider includes:
the bearing supports comprise at least one pair of bearings fixed on two adjacent support columns, and through holes are formed in the bearing supports;
and the first direction optical axis penetrates through a through hole arranged on the bearing support and is horizontally arranged above and/or below the ball screw, and the first direction optical axis is parallel to the ball screw.
Optionally, the small-size removal phenotype car for plant roots of any above, wherein, the second direction mobile device includes:
the aluminum alloy plate seat is vertically arranged on the first direction moving device, and three mounting plates in the horizontal direction are arranged on the inner side of the aluminum alloy plate seat, wherein two mounting plates on the upper portion of the aluminum alloy plate seat are respectively arranged on the upper side and the lower side of the cross beam, and the other mounting plate is arranged at the lower side end portion of the aluminum alloy plate seat;
the nut seat is arranged in the middle of the outer side of the aluminum alloy plate seat, is fixedly connected with the screw nut, and correspondingly drives the aluminum alloy plate seat to horizontally translate between two adjacent support columns along the ball screw along with the rotation of the ball screw;
the guide support is arranged on the outer side of the aluminum alloy plate seat and is matched with the first-direction optical axis to be arranged on the upper side and/or the lower side of the nut seat, and the guide support is connected with the first-direction optical axis and used for guiding the aluminum alloy plate seat to translate on the first-direction moving device along the arrangement direction of the root boxes;
the fixed seats are respectively arranged on the mounting plates of the aluminum alloy plate seat;
the second direction optical axis is connected with the fixed seat and vertically arranged between the mounting plates of the aluminum alloy plate seat, and the second direction optical axis is parallel to the aluminum alloy plate seat;
the ball screw nut pair is parallel to the optical axis in the second direction and is vertically arranged between the mounting plates of the aluminum alloy plate seat;
and the linear bearing is connected with the ball screw nut pair and the second direction optical axis, and is driven by the ball screw nut pair to drive the root system phenotype acquisition device to vertically translate to the same height as the root box along the second direction optical axis.
Optionally, the aforesaid arbitrary small-size removal table type car that is used for plant roots, wherein, still be provided with aluminum plate between linear bearing and the root system phenotype acquisition device, root system phenotype acquisition device is including fixing the high resolution camera at the aluminum plate inside wall, and the high resolution camera is driven by first direction mobile device after being driven the translation to the height the same with root box by second direction mobile device, and the one end translation of following first direction mobile device is to the other end, scans each root box, gathers each root box in the phenotype data of plant roots.
Optionally, the above-mentioned any small-size removal table type car for plant roots, wherein, the second direction optical axis includes two of parallel arrangement in ball screw nut pair both sides, linear bearing connects two second direction optical axes and middle ball screw nut pair simultaneously.
Optionally, the small-sized mobile wagon for plant roots as in any one of the above, wherein the mobile assembly comprises a universal wheel and a tire seat connected between the universal wheel and the lower bottom end of the pillar; the universal wheel comprises a pneumatic rubber tire.
Optionally, the above-mentioned arbitrary small-size removal table type car that is used for plant roots, wherein, four spinal branch posts of whole frame and the crossbeam that sets up between the pillar are cross hollow section bar, still fixedly connected with triangle-shaped's right angle type hinge between the cross hollow section bar of pillar and crossbeam.
Optionally, any one of the above-mentioned small-size removal phenotype car for plant roots, wherein, the cross hollow section bar includes:
the section bar body is a section bar pipe with a rectangular cross section, and the inside of the section bar pipe is hollow;
the first corner section is fixedly connected with a first corner of the section body and provided with two first corner section outer connecting plates which are respectively parallel to two side walls of the first corner, a first corner section reinforcing rib is connected between the two first corner section outer connecting plates, and the first corner section reinforcing rib is connected to the first corner of the section body from the inner side of a right-angle structure formed by the first corner section outer connecting plates;
the second corner section is fixedly connected with a second corner of the section body and is provided with two second corner section external connecting plates which are respectively parallel to two side walls of the second corner, a second corner section reinforcing rib is connected between the two second corner section external connecting plates, and the second corner section reinforcing rib is connected to the second corner of the section body from the inner side of a right-angle structure formed by the second corner section external connecting plates;
the third corner section is fixedly connected with a third corner of the section body and provided with two third corner section outer connecting plates which are respectively parallel to two side walls of the third corner, a third corner section reinforcing rib is connected between the two third corner section outer connecting plates, and the third corner section reinforcing rib is connected to the third corner of the section body from the inner side of a right-angled structure formed by the third corner section outer connecting plates;
and the fourth corner section bar is fixedly connected with the fourth corner of the section bar body, is provided with two fourth corner section bar outer connecting plates which are respectively parallel to two side walls of the fourth corner, and a fourth corner section bar reinforcing rib is connected between the two fourth corner section bar outer connecting plates and is connected to the fourth corner of the section bar body by the inner side of a right-angle structure formed by the fourth corner section bar outer connecting plates.
Optionally, the small-size removal table type car for plant roots, wherein, the section bar body of cross hollow section bar, first bight section bar, second bight section bar, third bight section bar, fourth bight section bar integrated into one piece to be provided with inside sunken mounting groove along the axial of section bar body respectively in the outside of the right angle structure that first bight section bar outer fishplate bar formed in the first bight section bar, the outside of the right angle structure that second bight section bar outer fishplate bar formed in the second bight section bar, the outside of the right angle structure that third bight section bar outer fishplate bar formed in the third bight section bar, the outside of the right angle structure that fourth bight section bar outer fishplate bar formed in the fourth bight section bar.
Advantageous effects
The invention utilizes a movable integral frame, and a first direction moving device and a second direction moving device which are arranged on the integral frame and are vertical to each other, the first direction moving device and the second direction moving device are respectively arranged into two groups which are positioned at two opposite sides of a mobile phenotype vehicle, the mobile phenotype vehicle is correspondingly moved to the position of a root box according to the position and the direction of the root box, and the first direction moving device and the second direction moving device are utilized to correspondingly adjust a root system phenotype acquisition device to the side part of the root box, thereby realizing the acquisition of plant root system phenotype data in the root box. The invention does not need to move the root box, is suitable for root box mounting platforms with different structures, can be flexibly adjusted by 360 degrees, and realizes watch grabbing with higher accuracy.
Further, in order to ensure that the root phenotype acquisition device does not influence the acquisition of the root phenotype due to the turnover angle in the moving process, the invention further arranges a first direction guiding device and a second direction optical axis 37 on the first direction moving device and the second direction moving device respectively, and guides the linear bearings 36 arranged on the second direction moving device and the root phenotype acquisition device respectively. Therefore, the method can more stably acquire the phenotype data of the plant root system.
The universal wheel of the moving assembly is also arranged to be an inflatable rubber tire, so that the stability in the maneuvering process can be maintained, the noise can be reduced to a certain extent, and the stable operation of the root phenotype acquisition device is maintained to acquire root phenotype data. The section bar of the integral frame is designed into a cross-shaped hollow structure and comprises a section bar body with a quadrangular hollow structure and four corner section bar bodies respectively arranged at four corners of the section bar body. The corner section itself can further be formed into a hollow structure by providing grooves. Therefore, the mobile watch type vehicle can save materials and ensure the strength and the rigidity.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view showing the overall structure of a small-sized mobile wagon for plant roots according to the present invention;
FIG. 2 is a schematic view of an overall frame structure in the small-sized portable watch type vehicle of FIG. 1;
FIG. 3 is a view of the small mobile wagon for plant roots of the present invention from an x-axis view;
FIG. 4 is a schematic view of a pillar structure employed in the small-sized portable watch vehicle of FIG. 1;
FIG. 5 is a schematic view of a second direction moving device in the small-sized moving watch type vehicle of FIG. 1;
fig. 6 is a schematic view of a first direction moving device in the small-sized moving watch type vehicle of fig. 1.
In the drawings, 1 denotes an integral frame; 11 denotes a pillar; 12 denotes a cross beam; 13 denotes a right-angle hinge; 14 denotes a tire seat; 15 denotes a universal wheel; 2, a root phenotype acquisition device; 3 denotes a second direction moving means; 31 an aluminum alloy plate holder; 32 denotes a guide support; 33, a nut seat; 34 denotes a fixing base; 35 denotes an aluminum plate; 36 denotes a linear bearing; 37 denotes a second-direction optical axis; 38 represents a ball screw nut pair; 4 denotes a first direction moving means; 41 denotes a motor; 42 denotes a motor base; 43 denotes a coupling; 44 denotes a feed screw nut; 45 denotes a bearing support; 46 denotes a ball screw; 47 denotes a screw spindle bearing block; and 48 denotes a first-direction optical axis.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" in the present invention means that the respective single or both of them exist individually or in combination.
The meaning of "inside and outside" in the present invention means that the direction pointing to the inside of the frame is inside, and vice versa, with respect to the entire frame of the small-sized mobile wagon for plant roots per se; and not as a specific limitation on the mechanism of the device of the present invention.
The meaning of "front and rear" in the present invention means that the left side of the user is left and the right side of the user is right when the user is facing the direction of arrangement of the root box in the small-sized mobile watch type vehicle for the plant root system, not the specific limitation of the mechanism of the device of the present invention.
The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.
The meaning of "up and down" in the invention refers to that when a user scans the moving direction of the root system phenotype device when the phenotype is obtained by a small-sized mobile phenotype vehicle, the direction of the root system phenotype device pointed to the middle cross beam of the frame by the universal wheel is up, otherwise, the root system phenotype device is down, and the invention is not specially limited to the device mechanism of the invention.
Fig. 1 is a small mobile watch type vehicle for plant roots according to the invention, comprising:
the integral framework 1 comprises four supporting columns 11 and cross beams 12 arranged among the supporting columns, wherein the supporting columns and the cross beams are connected to form a cuboid;
the moving assemblies are respectively arranged at the lower bottom end of each strut 11 and drive the whole small-sized mobile watch type vehicle to move;
the first direction moving device 4 is horizontally arranged between two adjacent support columns 11 and realizes the movement along the x axis;
the second direction moving device 3 is vertically arranged on the first direction moving device 4, and is driven by the first direction moving device 4 to horizontally translate along the first direction moving device 4 so as to realize the movement along the y axis;
the root system phenotype acquisition device 2 is arranged on the second direction moving device 3, is driven by the second direction moving device 3 to vertically translate to two sides of the root box along the second direction moving device 3, and acquires phenotype data of the plant root system in the root box;
the root box comprises a plurality of first direction moving devices 4 which are parallel to the root box, the first direction moving devices 4 are arranged on the same height, at least one side of the surface of the root box, which is just opposite to the first direction moving devices 4, is partially arranged to be transparent, the second direction moving devices 3 drive the root phenotype acquisition devices 2 to be driven by the first direction moving devices 4 after being translated to the height same as that of the root box, the root phenotype acquisition devices 2 are driven to be translated to the other end from one ends of the first direction moving devices 4, each root box is scanned, and phenotype data of plant roots in each root box are collected.
Therefore, the small-sized movable watch type vehicle provided by the invention can save cost, the originally fixedly arranged watch type acquisition platform is lightened into a trolley structure which can be flexibly moved in the field or a greenhouse, the movement and the position adjustment in the two directions of the x axis and the y axis are realized on the trolley, and the watch type acquisition of the plant root system is convenient.
Referring to fig. 2, the monolithic frame 1, in order to reduce the weight of the monolithic platform, make it as light as possible and maintain a certain structural strength, has chosen to use cross hollow profiles to connect the four uprights 11 that realize the monolithic frame 1 and the cross beams 12 arranged between the uprights. A triangular right-angle hinge 13 is fixedly connected between the cross hollow profiles of the strut 11 and the cross beam 12, so that the firmness of connection between the strut and the cross beam is enhanced.
The beams and the pillars are made of aluminum alloy materials, and the designed cross hollow type can save materials and ensure strength and rigidity according to the principle of material mechanics. The connecting cross beam and the support are connected by a right-angle hinge so as to fix the position.
Referring to fig. 2, the bottom end of the pillar is connected with tires through tire seats, the four tires are designed as universal wheels and can independently steer, the flexibility and the maneuverability of the trolley are guaranteed, and the material of the pillar is the pneumatic rubber tire, so that the stability in the maneuvering process can be maintained, and the noise can be reduced to a certain extent. The tire seat is connected between the universal wheel 15 and the lower bottom end of the strut 11, can turn 360 degrees, and is convenient to move the trolley to a proper position.
The cross hollow profile, in some implementations, can be arranged with reference to the structure shown in fig. 4. It includes:
the section bar body is a section bar pipe with a rectangular cross section, and the inside of the section bar pipe is hollow;
the first corner section is fixedly connected with a first corner of the section body and provided with two first corner section outer connecting plates which are respectively parallel to two side walls of the first corner, a first corner section reinforcing rib is connected between the two first corner section outer connecting plates, and the first corner section reinforcing rib is connected to the first corner of the section body from the inner side of a right-angle structure formed by the first corner section outer connecting plates;
the second corner section is fixedly connected with a second corner of the section body and is provided with two second corner section external connecting plates which are respectively parallel to two side walls of the second corner, a second corner section reinforcing rib is connected between the two second corner section external connecting plates, and the second corner section reinforcing rib is connected to the second corner of the section body from the inner side of a right-angle structure formed by the second corner section external connecting plates;
the third corner section is fixedly connected with a third corner of the section body and provided with two third corner section outer connecting plates which are respectively parallel to two side walls of the third corner, a third corner section reinforcing rib is connected between the two third corner section outer connecting plates, and the third corner section reinforcing rib is connected to the third corner of the section body from the inner side of a right-angled structure formed by the third corner section outer connecting plates;
and the fourth corner section bar is fixedly connected with the fourth corner of the section bar body, is provided with two fourth corner section bar outer connecting plates which are respectively parallel to two side walls of the fourth corner, and a fourth corner section bar reinforcing rib is connected between the two fourth corner section bar outer connecting plates and is connected to the fourth corner of the section bar body by the inner side of a right-angle structure formed by the fourth corner section bar outer connecting plates.
In order to avoid the insufficient connection strength between the connection structures, the cross hollow section bar can further integrate the section bar body, the first corner section bar, the second corner section bar, the third corner section bar and the fourth corner section bar.
In order to further reduce the weight of the section bar and facilitate the installation of connecting pieces such as bolts, screws and the like. The invention can also be respectively provided with an inward concave mounting groove along the axial direction of the section body at the outer side of the right-angle structure formed by the first corner section external connecting plate in the first corner section, the outer side of the right-angle structure formed by the second corner section external connecting plate in the second corner section, the outer side of the right-angle structure formed by the third corner section external connecting plate in the third corner section and the outer side of the right-angle structure formed by the fourth corner section external connecting plate in the fourth corner section. Bolt screw accessible mounting groove is realized being connected with the section bar, can also further reduce the whole weight of section bar.
In this embodiment, the y-axis in the vertical direction of the watch-type vehicle shown in fig. 3 may be set as the first direction, and the x-axis in the horizontal direction may be set as the second direction. The root system phenotype acquisition device is erected in an x-y plane of the frame and moves in the whole plane through the moving devices in two directions. FIG. 3 is a diagram of a mobile watch type cart configuration from a view along the x-axis.
The moving means in the x-axis may be arranged to move the means 4 in a first direction as shown in fig. 5. It can be specifically set up to include:
a motor base 42 provided on a side surface of one of the columns 11;
a motor 41 fixed on the motor base 42 and including a motor shaft perpendicular to the motor base 42 and extending toward the other adjacent pillar 11;
a coupling 43, which is sleeved on the motor shaft of the motor 41 and rotates along the horizontal direction along with the motor shaft synchronously;
one end of the ball screw 46 is fixedly connected with the coupler 43, the other end of the ball screw 46 is horizontally fixed on the other adjacent support 11, and the ball screw 46 rotates synchronously along with the coupler 43;
a screw nut 44, which is connected with the ball screw 46 by screw thread, and correspondingly drives the second direction moving device 3 to horizontally translate between two adjacent support columns 11 along the ball screw 46 along with the rotation of the ball screw 46;
and a first direction guide means horizontally disposed above and/or below the ball screw 46 and connected between the adjacent two support posts 11 for guiding the second direction moving means 3 to be translated on the first direction moving means 4 in the direction of the arrangement of the root boxes. In some exemplary implementations, the first direction guiding device may be simply configured to include: a bearing support 45 and a first direction optical axis 48 arranged in a horizontal direction and fixed by the bearing support 45.
The bearing supports 45 comprise at least one pair of bearings fixed on two adjacent support columns 11, and through holes are formed in the bearing supports 45; and a first direction optical axis 48, which passes through a through hole provided on the bearing support 45, is horizontally provided above and/or below the ball screw 46, and the first direction optical axis 48 is parallel to the ball screw 46.
The first direction moving device can reduce friction and increase the rigidity of the device by adopting the design of the screw rod nut, and has higher positioning precision and repeated positioning precision by the control of the servo motor. One end of a screw rod is connected with the servo motor through a coupler, the other end of the screw rod is connected with the strut through a screw rod bearing seat, and a middle nut can be connected with the y-axis moving device through a matched nut matching seat to play a main moving role. And the servo motor is arranged on the support column through a motor support. Two bearing supports are uniformly distributed on the strut screw rod, the total number of the bearing supports is four, and the bearing supports can be connected with an aluminum alloy plate seat of the y-axis moving device through shafts and bearings, so that the supporting and auxiliary moving effects are achieved. Wherein the motor mount and bearing mount mounting positions are adjustable to adjust the initial position of the y-axis moving device.
The moving means in the y-axis may be arranged to move the means 3 in the second direction as shown in fig. 6. It can be specifically set up to include:
the aluminum alloy plate seat 31 is vertically arranged on the first direction moving device 4, and three mounting plates in the horizontal direction are arranged on the inner side of the aluminum alloy plate seat 31, wherein two mounting plates on the upper part of the aluminum alloy plate seat 31 are respectively arranged on the upper side and the lower side of the cross beam 12, and the other mounting plate is arranged at the lower side end part of the aluminum alloy plate seat 31;
the nut seat 33 is arranged in the middle of the outer side of the aluminum alloy plate seat 31, is fixedly connected with the screw nut 44, and correspondingly drives the aluminum alloy plate seat 31 to horizontally translate between two adjacent support columns 11 along the ball screw 46 along with the rotation of the ball screw 46;
the guide support 32 is arranged on the outer side of the aluminum alloy plate seat 31 and is matched with the first-direction optical axis 48 to be arranged on the upper side and/or the lower side of the nut seat 33, and the guide support 32 is connected with the first-direction optical axis 48 and guides the aluminum alloy plate seat 31 to translate on the first-direction moving device 4 along the arrangement direction of the root boxes;
fixing seats 34 respectively provided on the respective mounting plates of the aluminum alloy plate seat 31;
the second direction optical axis 37 is connected with the fixed seat 34 and vertically arranged between the mounting plates of the aluminum alloy plate seat 31, and the second direction optical axis 37 is parallel to the aluminum alloy plate seat 31;
a ball screw nut pair 38, which is parallel to the second direction optical axis 37 and vertically arranged between the mounting plates of the aluminum alloy plate holder 31;
and the linear bearing 36 is connected with the ball screw nut pair 38 and the second direction optical axis 37, and the linear bearing 36 is driven by the ball screw nut pair 38 to drive the root system phenotype acquisition device 2 to vertically translate to the same height as the root box along the second direction optical axis 37.
To avoid the root phenotype acquisition device rotating on the ball screw nut pair 38, the second direction optical axis 37 may be set to include two parallel-arranged at both sides of the ball screw nut pair 38, and the linear bearing 36 connects the two second direction optical axes 37 and the middle ball screw nut pair 38 at the same time.
The ball screw nut pair structure can reduce the whole weight of the trolley and simultaneously has no loss of strength and rigidity, the ball screw is integrally arranged on a plate seat made of aluminum alloy, and a bearing support and a matched nut seat are arranged on the back surface of the plate seat and are connected with a screw and a bearing in an x-axis moving device. The double-layer design can be realized through the mounting plate on the front surface of the lead screw, the lead screw moving part is separated from the coupler and the servo motor, the lead screw is arranged below the cross beam, and the coupler and the servo motor are arranged at the height position near the cross beam. Two optical axes can distribute in the lead screw both sides, and the optical axis passes through the fixing base to be fixed on aluminum plate, plays the effect of support and supplementary removal. Linear bearing is equipped with on the optical axis, and lead screw nut and linear bearing pass through nut seat and pedestal mounting on an aluminum plate, set up aluminum plate 35 between linear bearing 36 and root system phenotype acquisition device 2, from driving aluminum plate through linear bearing 36 and driving root system phenotype acquisition device 2 and move on the y axle.
Root system phenotype acquisition device 2 can set up to fix the high resolution camera at aluminum plate 35 inside wall, and the high resolution camera is driven by second direction mobile device 3, and translation is driven by first direction mobile device 4 after to the height the same with the root box, and along the one end translation of first direction mobile device 4 to the other end, each root box of scanning under the interact of second direction mobile device 3 and first direction mobile device 4, the phenotype data of plant root system in each root box is gathered. Meanwhile, the collected root phenotype information can be stored and uploaded to a data processing library of researchers.
Therefore, the small-sized phenotype trolley for the plant root system can be used in fields, greenhouses and climatic chambers and can move freely. Through the servo motors respectively arranged on the X axis and the Y axis, the ball screw nut pair is driven to move under the instruction of servo drive, and the accurate positioning phenotype in the xy plane can be realized by driving the high-resolution camera through the mutual cooperation between the two axes. The collected root system information can be stored and uploaded to a researcher data processing library.
The trolley of the invention has the following characteristics:
1. the trolley can move towards all directions, 360-degree movement is realized, and convenience and lightness are realized;
2. the system for capturing phenotype data can be moved in the x and y axes to be accurate to a point on the xy plane, enabling accurate phenotype capture and localization.
3. The storage and the uploading of the phenotype data can be realized.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (10)
1. A small mobile watch type vehicle for plant roots, comprising:
the integral framework (1) is provided with four pillars (11) and cross beams (12) arranged among the pillars, and the pillars and the cross beams are connected to form a cuboid;
the moving assemblies are respectively arranged at the lower bottom end of each strut (11), and the moving assemblies drive the whole small-sized mobile watch type vehicle to move;
a first direction moving device (4) horizontally arranged between two adjacent pillars (11);
the second direction moving device (3) is vertically arranged on the first direction moving device (4) and is driven by the first direction moving device (4) to horizontally translate along the first direction moving device (4);
the root system phenotype acquisition device (2) is arranged on the second direction moving device (3), is driven by the second direction moving device (3) to vertically translate to two sides of the root box along the second direction moving device (3), and acquires phenotype data of the plant root system in the root box;
the root box comprises a plurality of first direction moving devices (4) which are arranged on the same height in parallel, the surface of the root box is at least right opposite to one side of each first direction moving device (4) and is partially arranged to be transparent, and each second direction moving device (3) drives the root phenotype acquisition device (2) to translate to the height same as that of the root box and then is driven by the first direction moving device (4) to drive the root phenotype acquisition device (2) to translate to the other end from one end of each first direction moving device (4), so that each root box is scanned, and phenotype data of a plant root system in each root box are acquired.
2. The small mobile wagon for plant roots according to claim 1, wherein the first direction moving device (4) comprises:
a motor base (42) provided on the side surface of one of the pillars (11);
the motor (41) is fixed on the motor base (42) and comprises a motor shaft which is vertical to the motor base (42) and extends to the other adjacent pillar (11);
a coupling (43) which is sleeved on a motor shaft of the motor (41) and synchronously rotates along the horizontal direction along with the motor shaft;
one end of the ball screw (46) is fixedly connected with the coupler (43), the other end of the ball screw is horizontally fixed on the other adjacent strut (11), and the ball screw (46) rotates along with the coupler (43) synchronously;
the screw nut (44) is in threaded connection with the ball screw (46) and correspondingly drives the second direction moving device (3) to horizontally translate between two adjacent support columns (11) along the ball screw (46) along with the rotation of the ball screw (46);
and a first direction guide device which is horizontally arranged above and/or below the ball screw (46), is connected between two adjacent support columns (11), and guides the second direction moving device (3) to translate on the first direction moving device (4) along the arrangement direction of the root boxes.
3. A small mobile watch vehicle for plant roots according to claims 1-2, characterised in that the first direction guide means comprise:
the bearing supports (45) comprise at least one pair of bearing supports fixed on two adjacent support columns (11), and through holes are formed in the bearing supports (45);
and a first direction optical axis (48) which penetrates through a through hole arranged on the bearing support (45) and is horizontally arranged above and/or below the ball screw (46), wherein the first direction optical axis (48) is parallel to the ball screw (46).
4. A small mobile watch vehicle for plant roots according to claims 1-3, characterised in that the second direction moving means (3) comprise:
the aluminum alloy plate seat (31) is vertically arranged on the first direction moving device (4), and three mounting plates in the horizontal direction are arranged on the inner side of the aluminum alloy plate seat (31), wherein two mounting plates on the upper part of the aluminum alloy plate seat (31) are respectively arranged on the upper side and the lower side of the cross beam (12), and the other mounting plate is arranged at the lower side end part of the aluminum alloy plate seat (31);
the nut seat (33) is arranged in the middle of the outer side of the aluminum alloy plate seat (31), is fixedly connected with the screw nut (44), and correspondingly drives the aluminum alloy plate seat (31) to horizontally translate between two adjacent support columns (11) along the ball screw (46) along with the rotation of the ball screw (46);
the guide support (32) is arranged on the outer side of the aluminum alloy plate seat (31), is arranged on the upper side and/or the lower side of the nut seat (33) in a manner of matching with the first-direction optical axis (48), and is connected with the first-direction optical axis (48) to guide the aluminum alloy plate seat (31) to translate along the arrangement direction of the root boxes on the first-direction moving device (4);
fixing seats (34) respectively arranged on the mounting plates of the aluminum alloy plate seat (31);
the second direction optical axis (37) is connected with the fixed seat (34) and vertically arranged between the mounting plates of the aluminum alloy plate seat (31), and the second direction optical axis (37) is parallel to the aluminum alloy plate seat (31);
a ball screw nut pair (38) which is parallel to the second direction optical axis (37) and is vertically arranged between the mounting plates of the aluminum alloy plate seat (31);
and the linear bearing (36) is connected with the ball screw nut pair (38) and the second direction optical axis (37), and the linear bearing (36) is driven by the ball screw nut pair (38) to drive the root system phenotype acquisition device (2) to vertically translate to the height same as that of the root box along the second direction optical axis (37).
5. The small-sized mobile watch type vehicle for plant roots according to claim 4, wherein an aluminum plate (35) is further disposed between the linear bearing (36) and the root system phenotype acquisition device (2), the root system phenotype acquisition device (2) comprises a high-resolution camera fixed on the inner side wall of the aluminum plate (35), the high-resolution camera is driven by the first direction moving device (4) after being driven by the second direction moving device (3) to translate to the same height as the root box, one end of the first direction moving device (4) translates to the other end, each root box is scanned, and phenotype data of the plant roots in each root box are acquired.
6. A small-sized mobile watch vehicle for plant roots according to claims 4-5, characterised in that the second direction optical axis (37) comprises two parallel ball screw nut pairs (38) on either side, the linear bearing (36) connecting both second direction optical axes (37) and the middle ball screw nut pair (38) simultaneously.
7. The small-sized mobile watch vehicle for plant roots according to claim 1, wherein the moving assembly comprises a universal wheel (15) and a tire seat connected between the universal wheel and the lower bottom end of the pillar (11); the universal wheel (15) comprises a pneumatic rubber tire.
8. The small mobile watch vehicle for plant roots according to claims 1-7, characterised in that the four uprights (11) of the monoblock frame (1) and the cross-beams (12) arranged between them are all cross hollow profiles, and that a triangular right-angle hinge (13) is fixedly connected between the uprights (11) and the cross hollow profiles of the cross-beams (12).
9. The small mobile watch vehicle for plant roots according to claim 8, characterised in that the cross hollow profile comprises:
the section bar body is a section bar pipe with a rectangular cross section, and the inside of the section bar pipe is hollow;
the first corner section is fixedly connected with a first corner of the section body and provided with two first corner section outer connecting plates which are respectively parallel to two side walls of the first corner, a first corner section reinforcing rib is connected between the two first corner section outer connecting plates, and the first corner section reinforcing rib is connected to the first corner of the section body from the inner side of a right-angle structure formed by the first corner section outer connecting plates;
the second corner section is fixedly connected with a second corner of the section body and is provided with two second corner section external connecting plates which are respectively parallel to two side walls of the second corner, a second corner section reinforcing rib is connected between the two second corner section external connecting plates, and the second corner section reinforcing rib is connected to the second corner of the section body from the inner side of a right-angle structure formed by the second corner section external connecting plates;
the third corner section is fixedly connected with a third corner of the section body and provided with two third corner section outer connecting plates which are respectively parallel to two side walls of the third corner, a third corner section reinforcing rib is connected between the two third corner section outer connecting plates, and the third corner section reinforcing rib is connected to the third corner of the section body from the inner side of a right-angled structure formed by the third corner section outer connecting plates;
and the fourth corner section bar is fixedly connected with the fourth corner of the section bar body, is provided with two fourth corner section bar outer connecting plates which are respectively parallel to two side walls of the fourth corner, and a fourth corner section bar reinforcing rib is connected between the two fourth corner section bar outer connecting plates and is connected to the fourth corner of the section bar body by the inner side of a right-angle structure formed by the fourth corner section bar outer connecting plates.
10. The small-sized mobile watch vehicle for plant roots according to claim 9, wherein the cross hollow profile body, the first corner profile, the second corner profile, the third corner profile and the fourth corner profile are integrally formed, and inwardly recessed mounting grooves are respectively formed in the first corner profile outside the right-angled structure formed by the first corner profile outer joint plate, the second corner profile outer joint plate, the third corner profile outer joint plate and the fourth corner profile outer joint plate along the axial direction of the profile body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010077484.5A CN111165233A (en) | 2020-01-29 | 2020-01-29 | Small-sized mobile watch type vehicle for plant root system |
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| CN202010077484.5A CN111165233A (en) | 2020-01-29 | 2020-01-29 | Small-sized mobile watch type vehicle for plant root system |
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| CN111637342A (en) * | 2020-06-10 | 2020-09-08 | 山东农业大学 | Self-propelled crop phenotype acquisition equipment and method for field |
| CN111942833A (en) * | 2020-06-19 | 2020-11-17 | 南京慧瞳作物表型组学研究院有限公司 | Transfer trolley based on automatic photographing line of transparent root system cultivation container |
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| WO2021253608A1 (en) * | 2020-06-19 | 2021-12-23 | 南京星土科技有限公司 | Buffer rack device based on automated photography line for transparent root system cultivation containers |
| CN114061483A (en) * | 2021-11-08 | 2022-02-18 | 华中农业大学 | Artificial intelligence-based crop whole phenotype group high-throughput detection system and method |
| CN115152468A (en) * | 2022-07-26 | 2022-10-11 | 上海市农业科学院 | Device and method for acquiring underground phenotype of agricultural crop |
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Application publication date: 20200519 |