CN113155192B - Intelligent crop table type real-time acquisition device - Google Patents
Intelligent crop table type real-time acquisition device Download PDFInfo
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- CN113155192B CN113155192B CN202110419060.7A CN202110419060A CN113155192B CN 113155192 B CN113155192 B CN 113155192B CN 202110419060 A CN202110419060 A CN 202110419060A CN 113155192 B CN113155192 B CN 113155192B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/006—Mounting of the nozzles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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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
- 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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- Automation & Control Theory (AREA)
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Abstract
The invention relates to an intelligent crop phenotype real-time acquisition device, which effectively solves the problems that the existing phenotype acquisition device has single function and can not timely pre-control the diseases and insect pests of crops according to acquired phenotype information; the technical scheme comprises the following steps: the device carries out phenotype data information acquisition to the crop, and according to the phenotype information of the crop of gathering and the corresponding disease and insect pest control in advance, promptly, give medicine to the crop and still can shelter from the collection system that is used for phenotype information acquisition when giving medicine to the crops, can avoid liquid medicine to spray on collection system and cause the influence to the collection of follow-up phenotype information better.
Description
Technical Field
The invention relates to the technical field of phenotype acquisition, in particular to an intelligent crop phenotype real-time acquisition device.
Background
The acquisition of phenotypic measurements of crops mainly comprises the morphological parameters of the crops, such as: the method has the advantages that information such as crop plant height, leaf area index, planting density and spike number is collected, three-dimensional structure reconstruction of crops in different growth periods can be rapidly achieved by collecting phenotype data information of the crops in different growth periods, all physical, physiological and biochemical characteristics and properties of the crops in the growth and development process can be reflected by collecting the phenotype information of the crops, and then researchers can be better assisted to know the phenotype information of the crops in the key growth process;
particularly, the method is more important for the phenotype information acquisition of crops in the key growth period of the crops, and workers can research the physical, physiological and biochemical characteristics of the crops in the key growth period of the crops by acquiring the phenotype data of the crops in the key growth period and reconstructing a three-dimensional structure (assisting researchers in researching the influence of genes and environment on the phenotype growth of the crops), and can timely perform pre-control on the aspect of preventing diseases and insect pests according to the acquired phenotype data information;
the existing phenotype acquisition device has single function, generally only can acquire crop growth information, cannot perform corresponding pre-control according to the acquired phenotype condition of crops and the occurrence of plant diseases and insect pests, and cannot perform insecticidal treatment on crop plants suffering from the plant diseases and insect pests in time, so that workers need to pay extra effort to perform insecticidal treatment on the crops suffering from the plant diseases and insect pests;
in view of the above, we provide an intelligent real-time crop phenotype acquisition device to solve the above problems.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent crop phenotype real-time acquisition device, which is used for correspondingly pre-controlling plant diseases and insect pests according to acquired phenotype information of crops while acquiring phenotype data information of the crops, namely, the crops are applied with pesticide and the acquisition device for acquiring the phenotype information can be shielded while the pesticide is applied, so that the influence on the subsequent phenotype information acquisition caused by the fact that liquid medicine is sprayed on the acquisition device can be well avoided.
The utility model provides a real-time collection system of intelligent crop table type, longitudinal sliding has the vertical frame that moves including horizontal frame and horizontal frame, its characterized in that, vertical both sides are fixed with circular guide rail and circular guide rail inner circular surface respectively on the vertical frame and rotate with the axle center and install the change, change axial one side is fixed with arc frame and axial opposite side and is fixed with the arc, slidable mounting has the collection board and gathers the board and be connected with the reciprocal transmission who locates on the arc frame in the arc frame inner circular surface, vertical both sides are equipped with respectively with the corresponding interval drive arrangement of change on the vertical frame, interval drive arrangement does not drive the change simultaneously and reciprocal transmission and both cooperations satisfy: after the interval driving device drives the rotating ring to rotate for a certain angle, the reciprocating transmission device drives the collecting plate to move for a distance of half a cycle;
the novel collecting device is characterized in that a plurality of nozzles are arranged on one side of the inner circular surface of the arc-shaped plate and communicated with a medicine box arranged on the arc-shaped plate, two arc-shaped covers are rotatably arranged on the collecting plate and connected with a closing device arranged on the collecting plate, a triggering device matched with the closing device is longitudinally moved on the frame, when the interval driving device rotates reversely, the closing device can be driven by the triggering device to act, the two arc-shaped covers are closed, the interval driving device cannot drive the reciprocating transmission device to act when rotating reversely and can drive the rotating ring to rotate continuously at the moment, and the interval driving device is driven by the motor.
Preferably, the interval driving device comprises sector gears which are respectively rotatably installed on two longitudinal sides of the longitudinal moving frame, a transmission gear is rotatably installed on one longitudinal side of each sector gear, the transmission gear drives a transition gear which is arranged on the longitudinal moving frame in a rotating mode, the transition gear is meshed with a rotating gear which is fixed with the same axle center of the rotating ring, a one-way gear which is rotatably installed on the rotating ring and is arranged with the same axle center of the rotating ring is arranged on the other longitudinal side of each sector gear, and the one-way gear is connected with the reciprocating transmission device through a worm and gear transmission device.
Preferably, trigger device includes with sector gear with the axle center setting and with its vertical slidable mounting's arc ring gear, arc ring gear and sector gear constitute a complete gear jointly and be connected with expanding spring between arc ring gear and the sector gear, the terminal surface is fixed with the butt pole under the arc ring gear, butt pole lower extreme cooperation contact has vertical slidable mounting in the longitudinal movement frame and with the annular slab of the axle center setting of sector gear, the annular slab with indulge be connected with reset spring and annular slab bottom between the frame and rotate and install the trigger lever, the trigger lever other end is connected with closing device.
Preferably, the closing device includes two the horizontal one side of arc cover rotates the closed rod and the closed rod other end of installation and rotates and install the slider, the slider along arc frame radial sliding install gather the board and with gather between the board be connected with closed spring, an organic whole is equipped with the arc arch on the slider, the protruding cooperation of arc has the butt ring with the axle center setting of circular guide rail, butt ring fixed mounting has the arc pole of installing on circular guide rail with the axle center setting of arc frame and rotation, the arc pole other end rotates the installation with the trigger bar.
Preferably, the sector gear is provided with an electromagnet and an arc gear ring, the corresponding position of the lower end face of the sector gear is provided with an iron sheet, the electromagnet is connected in series in the voltage stabilizing loop and is longitudinally moved to be provided with a control device for controlling the on-off of the voltage stabilizing loop, and the control device meets the following requirements: when the motor drives the sector gear to rotate reversely, the voltage stabilizing loop is controlled to be electrified.
Preferably, controlling means includes that respectively fixed mounting indulges the vertical both sides of frame and matched with magnet, and two matched with magnets set up to different magnetic poles in opposite directions one side, indulge move and rotate on the frame and install and be connected through first one-way bearing between the annular cylinder and the sector gear axle with the axle center setting of sector gear, vertical interval is equipped with two annular conducting strip and annular conducting strip fixed mounting has the current conducting plate, two in the annular cylinder fixed mounting has square coil on current conducting plate axial symmetry sets up and two current conducting plates, square coil, annular conducting strip, current conducting plate establish ties in electric property return circuit jointly.
Preferably, the rotating ring is provided with a third belt transmission connected with the worm and gear transmission device, the third belt transmission drives a gear set rotatably installed on the arc-shaped frame, the reciprocating transmission device comprises a reciprocating belt pulley set driven by the gear set, the reciprocating belt pulley set drives an L-shaped rod, and the L-shaped rod is installed between the collecting plate and the collecting plate in a rotating matching mode, and a friction damping ring is arranged at the rotating installation position.
Preferably, the spray head comprises a pipeline communicated with the medicine box and arranged on the inner circular surface of the arc-shaped plate, the pipeline is connected with a nozzle rotatably arranged on the pipeline through a hose, the nozzle coaxially rotates to form a direction adjusting gear, and the direction adjusting gear is connected with a reciprocating lifting device arranged on the arc-shaped plate.
Preferably, reciprocal elevating gear includes that vertical slidable mounting encircles and is equipped with a plurality of lugs in the plectane and the plectane up end interval of arc, be connected with between plectane and the arc and rotate on lifting spring and the arc and install the initiative board that sets up with the axle center with the plectane, the terminal surface interval encircles and is equipped with the arc piece and the initiative board with a plurality of lug matched with and is connected with outer ring gear through the one-way bearing of second under the initiative board, be equipped with the dentition with outer ring gear meshing on the interior circular guide rail up end, the plectane bottom be fixed with a plurality of lifting rack that turn to gear engagement.
The beneficial effects of the technical scheme are as follows:
(1) the device can automatically realize the collection of the phenotype information of the crops, the whole process does not need manual intervention, and the device can realize 360-degree panoramic scanning of the crops so as to ensure no dead angle and ensure that the data collection of the phenotype information of the crops is more accurate and perfect;
(2) the device can correspondingly pre-control plant diseases and insect pests according to the acquired phenotype information of the crops while acquiring the phenotype data information of the crops, namely, the crops are applied with pesticide and the acquisition device for acquiring the phenotype information can be shielded while applying the pesticide, so that the influence on the acquisition of subsequent phenotype information data caused by the fact that liquid medicine is sprayed on the acquisition device (the influence on the acquisition of images caused by the fact that the liquid medicine is sprayed on a lens) can be well avoided;
(3) in this scheme, can realize respectively through the positive and negative rotation of control motor that phenotype information data acquisition (motor corotation) to the crop and carry out the application of medicine (motor reversal) to the crop that has the plant diseases and insect pests to when the motor reversal is applied medicine to the crop, can drive a plurality of nozzles of installing on the arc and carry out the luffing motion, make the liquid medicine that sprays can cover the whole covers in the region of sheltering from of crop blade lower part as far as, improve the degree of consistency that the liquid medicine sprayed.
Drawings
FIG. 1 is a schematic view of the present invention in operation;
FIG. 2 is a schematic view of another aspect of the apparatus of the present invention;
FIG. 3 is a schematic view of the relationship between two circular guide rails and a longitudinal frame according to the present invention;
FIG. 4 is a schematic view of another perspective of the invention showing the relationship between two circular guide rails and a longitudinally movable frame;
FIG. 5 is a schematic view of the fitting relationship of the sector gear, the transmission gear and the one-way gear according to the present invention;
FIG. 6 is a schematic view of the relationship between the collecting plate and the arc frame;
FIG. 7 is a cross-sectional view of an abutment ring, circular guide rail, transition of the present invention;
FIG. 8 is a schematic view showing the positional relationship of the arcuate ring gear, sector gear, and ring plate of the present invention;
FIG. 9 is a schematic diagram of the relationship between the square coil and the magnet according to the present invention;
FIG. 10 is a schematic view of the present invention with the driving plate and the circular plate separated;
FIG. 11 is a schematic view of the relationship between the direction-adjusting gear and the lifting rack;
FIG. 12 is a schematic view of the assembly of the collecting plate and the reciprocating pulley set according to the present invention;
FIG. 13 is a schematic view of the relationship between the positions of the arc-shaped cover and the collecting plate according to the present invention;
FIG. 14 is a schematic view of the arcuate cover of the present invention closed;
FIG. 15 is a schematic view of the present invention with the directional coil and the toroidal tube separated;
FIG. 16 is a top view of the arcuate ring gear and sector gear of the present invention;
fig. 17 is another perspective view of the arcuate ring gear and sector gear of the present invention.
Detailed Description
The foregoing and other technical matters, features and effects of the present invention will be apparent from the following detailed description of the embodiments with reference to the accompanying drawings, in which reference is made to the accompanying drawings.
Example 1, this embodiment provides an intelligent real-time crop phenotype collecting device, when a worker usually cultivates a crop variety to be researched indoors or in a greenhouse and when the crop variety grows to a key node period, collects phenotype information thereof to reconstruct three-dimensional structure information of the crop (to obtain physical and physiological properties of the crop), we can set a traverse frame 1 (which is a U-shaped structure) at a position of a crop planting area to be researched (the crop can be planted in the incubator or on the ground), that is, the traverse frame 1 is laterally slidably mounted on the incubator or a track is laid on the ground and the traverse frame 1 is moved along the track (regarding the setting mode of the traverse frame 1, those skilled in the art can perform corresponding setting according to the actual crop planting mode), as shown in fig. 1, a longitudinal moving frame 2 is longitudinally and slidably mounted on a transverse moving frame 1, circular guide rails 3 are respectively fixed on two longitudinal sides of the longitudinal moving frame 2 at intervals (when crops are cultivated, the distance between two adjacent crops is the same as the distance between the centers of the two circular guide rails 3, so that phenotypic data acquisition can be simultaneously performed on two columns of crops), as shown in fig. 3, a rotating ring 4 is coaxially and rotatably mounted in each circular guide rail 3, an arc frame 5 is fixed on one axial side of the rotating ring 4, and an arc plate 6 is fixed on the other axial side of the rotating ring 4, as shown in fig. 2, when the transverse moving frame 1 is arranged, the vertical part of the transverse moving frame can be set into a telescopic structure, so that the height of the longitudinal moving frame 2 from the root of the crops can be adjusted, so that the arc frame 5 can completely cover the crops from the root to the top (as phenotypic data acquisition is performed on more key nodes of the crop, the plant height of the crops when the crops grow to the key nodes is basically determined, and the technicians in the field can set the plant height of the crops when the crops grow to the key nodes according to the plant height of the crops when the arc-shaped frames 5 and the arc-shaped plates 6 are set by the technicians in the field);
when the device works specifically, firstly, a worker adjusts the position of the transverse frame 1 (the transverse frame 1 can be driven by a driving device arranged on an incubator, for example, a motor drives a screw rod matched with the thread of the vertical part of the transverse frame 1 to realize the effect of driving the transverse frame 1 to move) so that two circular guide rails 3 are just positioned at the corresponding positions of two adjacent crops to be collected, namely, as shown in the attached drawing 2, the crops are positioned right below a circular track and positioned between the matched arc-shaped frame 5 and the arc-shaped plate 6, the collecting plate 7 is rotatably arranged on the inner circular surface of the arc-shaped frame 5, a scanning probe (used for collecting the phenotype of the crops to carry out the reconstruction of a three-dimensional structure) and a video head (used for observing and video recording the branches and leaves of the crops) are arranged on the collecting plate 7, the scanning probe and the video head are both electrically connected with a computer processing system (used for collecting the information scanned by the scanning probe and carrying out the three-dimensional reconstruction, and judge whether there is pest and disease damage on the crop through the video of the video head), when the worker has adjusted the position of the two circular guide rails 3, then through controlling the movement of the interval driving device (the motor is electrically connected with the computer processing system, the worker sends an instruction to the motor through the computer processing system to drive the interval driving device to operate), along with the movement of the interval driving device, the interval driving device firstly drives the reciprocating transmission device to operate and drives the collecting plate 7 to move along the arc-shaped frame 5 through the reciprocating transmission device, we set that initially, the two collecting plates 7 are located at the top position of the arc-shaped frame 5, and along with the operation of the reciprocating transmission device, the collecting plate 7 initially located at the top position of the arc-shaped frame 5 is driven to move downwards along the arc-shaped frame 5 and finally move to the lower end position of the arc-shaped frame 5, as shown in figure 2, at the moment, the interval driving device stops driving the reciprocating transmission device and drives the reciprocating transmission device to complete the operation of a half cycle (so that the collection plate 7 moves from the upper end position to the lower end position of the arc-shaped frame 5), then the interval driving device starts to drive the rotating ring 4 to rotate and rotate for a certain angle (the angle is smaller than or equal to the visual angle range of the crop which can be scanned by the scanning probe and the video head so as to ensure that no scanning dead angle exists), then the interval driving device drives the collection plate 7 at the lower end position of the arc-shaped frame 5 to move from the bottom to the initial position (the process is a data collection process of the collection plate 7 for the phenotype of the other region position of the crop from the bottom to the top) again, so that when the interval driving device stops driving the reciprocating transmission device again (at the moment, the interval driving device drives the reciprocating transmission device to complete the action of a complete cycle and drives the collection plate 7 to move to the initial position);
the action processes are alternately carried out, so that 360-degree panoramic scanning and video recording of the crop phenotype data information are realized, and because the two interval driving devices are driven by the motor, the phenotype data information of two adjacent crops can be synchronously acquired, and attention needs to be paid to the following steps: the arc-shaped plates 6 and the arc-shaped frame 5 are axially and symmetrically arranged at two sides of the rotating ring 4, so that when the interval driving device drives the collecting plate 7 to move along the arc-shaped frame 5 through the reciprocating transmission device, the arc-shaped plates 6 at the opposite sides of the arc-shaped frames 5 can shield branches and leaves and branches of adjacent crops, so that when a scanning probe and a video head are used for collecting phenotype data of the crops at the position right below the circular guide rail 3, the branches, leaves and stems of adjacent crops are scanned together, so that the phenotypic data of the crops are acquired more accurately, the width of the arc-shaped plate 6 is determined according to the visual angle range of the scanning probe and the video head which can scan and record so as to shield the visual angle range which can be collected by the scanning probe and the video head, the arc-shaped plate 6 and the arc-shaped frame 5 are axially and symmetrically arranged, so that the arc-shaped plate 6 is always positioned at the opposite side of the acquisition plate 7 and the shielding effect is realized;
the interval driving device is set to drive the rotating ring 4 to rotate 1+ N (N is an even number, such as 2, 4, 6, 8 and 10 … …) times, so that the crop phenotype information can be completely collected (namely, the crop phenotype information can be completely scanned by 360 degrees), and after the rotating ring 4 rotates 1+ N times, the collecting plate 7 rotatably mounted on the arc-shaped frame 5 moves to the initial position again (namely, is positioned at the upper end of the arc-shaped frame 5);
as shown in fig. 3, a plurality of nozzles 8 are vertically arranged on the inner circumferential surface of the arc-shaped plate 6 at intervals, the nozzles 8 are communicated with a medicine box 9 arranged on the outer circumferential surface of the arc-shaped plate 6 (the medicine box 9 stores medicine liquid, and workers correspondingly prepare the medicine liquid according to plant diseases and insect pests which are easily suffered by crops during key growth nodes of the crops and store the medicine liquid in the medicine box 9), the medicine box 9 is electrically connected with a computer processing system, and the computer processing system judges whether the crops suffer from the plant diseases and insect pests according to video information of phenotype of the crops recorded by a video recording head, so as to control whether the medicine box 9 is started;
after the interval driving device drives the rotating ring 4 to rotate for 1+ N times (complete collection of phenotype information of crops is realized), the computer processing system judges according to the collected video information, if the collected crops are detected to suffer from plant diseases and insect pests, the computer processing system controls the motor to rotate reversely (the motor rotates reversely to drive the interval driving device to rotate synchronously) and controls the medicine box 9 to start working, so that the medicine liquid stored in the medicine box 9 is sprayed out through a plurality of nozzles 8 and is sprayed to the surfaces of the crops, when the interval driving device starts to rotate reversely, the rotating ring 4 can be driven to rotate continuously, namely, the rotating ring 4 can be driven to rotate uninterruptedly for a whole circle (in the process that the rotating ring 4 rotates for a whole circle, the nozzles 8 arranged on the arc-shaped plate 6 spray the medicine liquid to the surfaces of the crops so as to realize the effect of pre-controlling the crops suffering from the plant diseases and insect pests), it should be noted here that: when the interval driving device rotates reversely, the interval driving device cannot drive the transmission device to act, namely, the acquisition plate 7 is always kept still and is positioned at an initial position;
when the motor drives the interval driving device to rotate reversely, the trigger device arranged on the longitudinally moving frame 2 can drive the closing device to act and drive the two arc-shaped covers 10 to close, so that the scanning probe and the video head arranged on the acquisition board 7 are shielded (as shown in figure 14), when a plurality of spray heads 8 positioned on the arc-shaped board 6 are well prevented from spraying liquid medicine outwards, hydraulic pressure is sprayed on the scanning probe and the video head to influence acquisition of next crop phenotype information data (if the scanning probe and the video head are not shielded and protected, the liquid medicine attached to the scanning probe and the video head can cause the scanning image quality and the video quality to be influenced, the acquired video information and the phenotype data information are unclear, subsequent experiments of workers are influenced), when the interval driving device drives the interval driving device to rotate for N times (liquid medicine spraying on crops suffering from plant diseases and insect pests is completed, the computer processing system controls the motor to stop working, when the motor stops rotating, the closing device is opened again under the action of the trigger device, namely, the arc-shaped cover 10 does not shield the arc-shaped cover, as shown in figure 13), and at the same time, the computer processing system controls the transverse moving frame 1 to move forwards for a corresponding distance and starts to collect phenotype data of the next group of crops (when the transverse moving frame 1 moves to the corresponding distance, the computer processing system controls the motor to rotate forwards again and drives the interval driving device to rotate forwards, and the following actions repeat the data collection process to realize uninterrupted collection of the phenotype information of the crops);
because this scheme can carry out phenotype data acquisition to two adjacent crops simultaneously, computer processing system carries out the liquid medicine according to the information that gathers and selective to corresponding crop and sprays, if two adjacent crops all detect to have the plant diseases and insect pests, then, when the motor drives interval drive arrangement reversal, two medical kit 9 are whole under computer processing system's control start-up work and carry out the liquid medicine spraying to the crop, if only one of them crop has the plant diseases and insect pests, then computer processing system control corresponding medical kit 9 starts, another medical kit 9 does not start (only carries out the liquid medicine to the crop that has the plant diseases and insect pests and sprays).
Embodiment 2, on the basis of embodiment 1, as shown in fig. 3 and 4, the interval driving device includes sector gears 11 rotatably installed on two longitudinal sides of the longitudinal moving frame 2, the motor drives two sector gears 11 through the second belt transmission 38 (as shown in fig. 5), when the computer processing system controls the motor to start (rotate forward), the two sector gears 11 are synchronously driven to rotate through the second belt transmission 38 (initially, the sector gears 11 are not meshed with the one-way gear 15 and the transmission gear 12), so that the sector gears 11 are firstly meshed with the one-way gear 15 (it is set that the motor drives the sector gears 11 to start to rotate and then meshed with the one-way gear 15), the worm and gear transmission 16 is driven to act through the one-way gear 15, and the reciprocating transmission device is driven to operate along with the action of the worm and gear transmission device 16, so as to drive the collecting plate 7 to move from the initial position located at the upper end of the arc-shaped frame 5 to the lower end position (during moving process) Multi-crop phenotype data information is collected), so that when the sector gear 11 is separated from the one-way gear 15 (at this time, the reciprocating transmission device drives the collecting plate 7 to move to the lower end of the arc-shaped frame 5, as shown in fig. 4, the collecting plate 7 is driven to complete the movement of a half cycle), then the collecting plate 7 stops acting, the sector gear 11 starts to be meshed with the transmission gear 12 (it is set that when the sector gear 11 is just separated from the one-way gear 15, the sector gear starts to be meshed with the transmission gear 12), then the transmission gear 12 realizes the effect of driving the transition gear 13 to rotate through a first belt transmission 37 (as shown in fig. 5) connected with the transmission gear 12, and the rotating ring 4 is driven to rotate on the inner circular surface of the circular track through a rotating gear 14 meshed with the transition gear 13 along with the rotation of the transition gear 13 (the arc-shaped frame 5 is driven to rotate, so that the collecting plate 7 is moved to another region to be collected of crops);
we set that when the sector gear 11 is just separated from the transmission gear 12, the arc-shaped frame 5 can be driven to rotate by a certain angle, the angle is smaller than or equal to the visual range which can be covered by the scanning probe and the video head, meanwhile, the sector gear 11 is meshed with the one-way gear 15 again and drives the acquisition plate 7 at the lower end of the arc-shaped frame 5 to move from bottom to top, and then the acquisition of the crop phenotype data is started (when the sector gear 11 is separated from the one-way gear again, the acquisition plate 7 is driven to complete the other half of the acquisition processAnPeriodic movement and moving the pickup plate 7 upwards to the initial position)；
Referring to fig. 4, the circular orbit, the shift and the one-way gear 15 are coaxially arranged so that when the sector gear 11 is disengaged from the one-way gear 15 and the rotation of the rotary ring 4 is driven by the transmission gear 12, the one-way gear 15 is synchronously driven to rotate (at this time, relative rotation between the one-way gear 15 and the rotary ring 4 is not generated) along with the rotation of the rotary ring 4, so that the sector gear 11 can be engaged with the one-way gear 15 again after the rotation of the rotary ring 4 is stopped and the sector gear 11 is disengaged from the transmission gear 12.
when the arc-shaped gear ring 17 moves downwards under the control of a computer processing system and forms a complete gear with the sector gear 11, the complete gear formed by the arc-shaped gear ring 17 and the sector gear 11 is also synchronously meshed with the transmission gear 12, and as the arc-shaped gear ring 17 starts to move downwards, the sector gear 11 is just separated from the one-way gear 15 and is not meshed with the transmission gear 12, the arc-shaped gear ring 17 moves downwards quickly at the moment, so that teeth arranged on the arc-shaped gear ring can be matched with the teeth on the transmission gear 12 and the one-way gear 15 exactly (namely, the teeth on the two gears are mutually inserted together when the two gears are meshed together), namely, the teeth on the arc-shaped gear ring 17 are not collided with the teeth on the transmission gear 12 and the one-way gear 15 in the process of moving downwards quickly the arc-shaped gear ring 17;
when the motor starts to rotate reversely, the transmission gear 12 is synchronously driven to rotate through the complete gear formed by the arc-shaped gear ring 17 and the sector gear 11, the transmission gear 12, the transition gear 13 and the rotating gear 14 drive the rotating ring 4 to rotate continuously and uninterruptedly on the inner circular surface of the circular track, in the continuous and uninterrupted rotating process of the rotating ring 4, liquid medicine is sprayed to the surface of crops through the plurality of spray heads 8, the crops with plant diseases and insect pests are subjected to insecticidal treatment, and after the motor is controlled to drive the rotating ring 4 to rotate for a whole circle under the control of the computer processing system, the motor stops rotating (at the moment, the insecticidal treatment on the crops with plant diseases and insect pests is played);
it is to be noted here that: the arc-shaped gear ring 17 moves downwards and simultaneously forces the annular plate 20 to move downwards (so that the reset spring 21 is compressed) through the abutting rod 19, the trigger rod 23 arranged at the bottom of the annular plate 20 is rotated to drive the closing device to act along with the downward movement of the annular plate 20 (so that the two arc-shaped covers 10 are switched from the open state to the closed state, namely, the state shown in the attached drawing 13 is switched to the state shown in the attached drawing 14), thereby shielding the scanning probe and the video head arranged on the acquisition plate 7, when the plurality of spray heads 8 arranged on the inner circular surface of the arc-shaped plate 6 spray liquid medicine on crops, the liquid medicine can be better prevented from being sprayed on the scanning probe and the video head, interference and influence on the subsequent phenotype data information acquisition of other crops are prevented, after the rotating ring 4 rotates for a whole circle, a computer processing system does not apply acting force on the arc-shaped gear ring 17 any more, so that the arc-shaped gear ring 17 moves upwards (moves to the initial position) rapidly under the action of the expansion spring 18, referring to fig. 17, a limiting plate 54 is integrally arranged on the upper end face of a rod which is vertically and slidably mounted on the arc-shaped gear ring 17, the arc-shaped gear ring 17 can be limited by matching with the extension spring 18, and along with the upward movement of the arc-shaped gear ring 17, the annular plate 20 is not abutted by the abutting rod 19 any more, so that the annular plate 20 synchronously moves upward (moves to an initial position) under the action of the return spring 21 and drives the closing device to act through the trigger rod 23, so that the two arc-shaped covers 10 are opened and do not shield the scanning probe and the video head any more.
it is to be noted here that: when the motor drives the rotating ring 4 to rotate reversely, the collecting plate 7 is at an initial position, that is, at the upper end position of the arc frame 5 (as shown in fig. 8), and the abutting ring 29 is arranged to be matched with the arc protrusion 28, so that no matter where the arc frame 5 fixedly mounted with the rotating ring 4 rotates, the abutting ring 29 moves downwards, the arc protrusion 28 can be extruded and the two arc covers 10 are driven to rotate, thereby shielding the scanning probe and the video head (as shown in fig. 3 and 4, when the arc frame 5 is at the initial position, the collecting plate 7 finishes half cycle of action and collects phenotype data of crops, when the collection of the phenotype data of crops is finished finally, the position of the arc frame 5 is no longer the initial position, that is, when one crop phenotype data is collected each time, the positions of the arc frame 5 relative to the circular track are different), when the computer processing system no longer exerts a force on the arc-shaped gear ring 17, i.e. the arc-shaped gear ring 17 moves upwards under the action of the extension spring 18 and synchronously drives the connecting rod 22 to move upwards, finally the abutting ring 29 moves upwards and does not abut against the arc-shaped bulge 28 any more, so that the slide block 26 moves towards the direction close to the scanning probe under the action of the closing spring 27, and the two arc-shaped covers 10 are opened again.
when the spraying of the liquid medicine to the crops is finished and the motor is stopped under the control of the computer processing system, the control device controls the voltage stabilizing circuit to lose power and the electromagnetic force to disappear, so that the arc-shaped gear ring 17 moves up rapidly to the height of the initial position under the action of the extension spring 18.
when the motor drives the rotating ring 4 to rotate for one circle and stop working under the action of the computer processing system, the sector gear 11 synchronously stops rotating along with the rotating ring, the annular cylinder 32 stops rotating along with the rotating ring, the square coil 36 stops rotating at the moment, current is not generated in an electric loop, the electromagnet 31 is powered off, the electromagnetic force disappears, the arc-shaped gear ring 17 rapidly moves up to the initial position under the action of the telescopic spring 18, and resetting is completed;
preferably, a protective cover (not shown) is arranged on the longitudinal moving frame, so that an electric loop formed by the sector gear 11, the arc-shaped gear ring 17, the two magnets 31, the square coil 36 and the annular cylinder 32 and arranged on the upper end surface of the longitudinal moving frame 2 is sealed, and the situation that when the liquid medicine is sprayed by the plurality of spray heads 8, the liquid medicine is splashed on the structure and influences are caused on the electric loop is avoided.
the one-way gear 15 and the third belt gear 39 are connected by the worm gear 16, so that when the abutting ring 29 forces the arc-shaped protrusion 28 to move and drives the two arc-shaped covers 10 to close (when the abutting ring 29 extrudes the arc-shaped protrusion 28, an interaction force is applied to the acquisition plate 7), the acquisition plate 7 moves relative to the arc-shaped frame 5, and the one-way transmission principle of the worm gear can just avoid the above situation;
referring to fig. 12, the sector gear 11 and the one-way gear 15 are disengaged from each other by meshing to enable the collecting plate 7 to be driven to move from the upper end of the arc frame 5 to the lower end of the arc frame 5, and we divide the reciprocating band into two parts, that is, two points I in fig. 12 are taken as dividing points and the lengths of the two end bands between the two dividing points are equal, initially when the collecting plate 7 is at the upper end of the arc frame 5, the connecting portion of the reciprocating band with the L-shaped rod 42 is located at the position I above in fig. 12, and when the sector gear 11 drives the collecting plate 7 to move through the one-way gear 15, that is, at the lower end of the arc frame 5, the connecting portion of the reciprocating band with the L-shaped rod 42 is located at the position I below in fig. 12, that is, the motor drives the collecting plate 7 to move through the sector gear 11 for half a period, and the displacement is: the connecting part of the reciprocating belt and the L-shaped rod 42 moves from the point I at the upper end of the arc-shaped frame 5 to the point I at the lower end of the arc-shaped frame 5, the collecting plate 7 moves from the point H at the upper end to the point H at the lower end in the attached figure 12, when the collecting plate 7 is positioned at the point H at the upper end of the arc-shaped frame 5, the connecting part of the L-shaped rod 42 and the reciprocating belt is positioned at the point I at the upper end, when the reciprocating pulley set 41 is started, the L-shaped rod 42 is firstly driven to move from the point I at the upper end to the point H at the upper end (relative rotation is generated between the L-shaped rod 42 and the collecting plate 7 in the process), then when the collecting plate 7 moves downwards to the point H (the collecting plate 7 stops moving, a sliding groove matched with the collecting plate 7 is arranged on the inner circular surface of the arc-shaped frame 5, so that the collecting plate 7 can only move in the range of the sliding groove), at the moment, the reciprocating belt can continuously drive the L-shaped rod 42 to move and the connecting part of the reciprocating belt and the L-shaped rod 42 moves to the point I at the lower end, the reciprocating belt then stops moving (completing a half cycle action).
Example 8, on the basis of example 1, as shown in fig. 9, the spray head 8 includes a pipe 43 communicating with the medicine box 9 and disposed on the inner circumferential surface of the arc-shaped plate 6, the pipe 43 is connected to a nozzle 44 rotatably mounted on the pipe 43 through a hose, and the nozzle 44 coaxially rotates with a direction-adjusting gear 45 (as shown in fig. 11), when the medicine box 9 starts spraying the liquid medicine (i.e., when the motor drives the sector gear 11 to rotate reversely and drives the rotating ring 4 to rotate reversely in the circular track), the direction-adjusting gear 45 is driven to rotate reciprocally through a reciprocating lifting device disposed on the arc-shaped plate 6, so that the nozzle 44 can swing reciprocally up and down, thereby the liquid medicine (in an atomized state) sprayed out from the nozzle 44 can be sprayed to the crops suffering from diseases and insect pests from various angles, so that the liquid medicine can cover the areas on the crops shielded by branches and leaves, the nozzle 44 is connected to the pipe 43 through a hose, nor does it interfere with the upward and downward oscillation of nozzle 44.
only when the motor drives the sector gear 11 to rotate reversely and the rotating ring 4 rotates reversely in the circular track, the gear system 53 arranged on the circular track can transmit power to the driving plate 49 through the external gear ring 51 meshed with the gear system, and along with the rotation of the driving plate 49, the arc block 50 is matched with the lug 47 arranged on the circular plate 46 and the lifting spring 48 connected between the arc plate 6 and the circular plate 46, so that the circular plate 46 is forced to do reciprocating lifting movement in the vertical direction, and along with the vertical lifting reciprocating movement of the circular plate 46, the lifting gear system 53 fixedly arranged with the circular plate is driven to drive the direction-adjusting gears 45 to do reciprocating positive and reverse rotation, and therefore, the effect of driving the nozzles 44 to swing in the vertical direction in a reciprocating manner is achieved.
The above description is only for the purpose of illustrating the present invention, and it should be understood that the present invention is not limited to the above embodiments, and various modifications conforming to the spirit of the present invention are within the scope of the present invention.
Claims (9)
1. An intelligent crop table type real-time acquisition device comprises a transverse moving frame (1), wherein a longitudinal moving frame (2) longitudinally slides on the transverse moving frame (1), the transverse moving frame (1) is slidably mounted on an incubator, and the intelligent crop table type real-time acquisition device is characterized in that circular guide rails (3) are respectively fixed on two longitudinal sides of the longitudinal moving frame (2), rotating rings (4) are rotatably mounted on the inner circular surfaces of the circular guide rails (3) coaxially, an arc frame (5) is fixed on one axial side of each rotating ring (4), an arc plate (6) is fixed on the other axial side of each rotating ring, the arc plates (6) on the opposite sides of the arc frames (5) shield branches and leaves of adjacent crops, so that the tables of the adjacent crops are prevented from being acquired together, an acquisition plate (7) is slidably mounted on the inner circular surfaces of the arc frames (5), a scanning probe and a video head are mounted on the acquisition plate (7), the acquisition plate (7) is connected with a reciprocating transmission device arranged on the arc frames (5), longitudinally both sides are equipped with the interval drive arrangement corresponding with change (4) respectively on the frame (2) that indulges, interval drive arrangement does not drive change (4) and reciprocal transmission simultaneously and both cooperations satisfy: after the interval driving device drives the rotating ring (4) to rotate for a certain angle, the reciprocating transmission device drives the collecting plate (7) to move for a distance of half a cycle, so that the collecting plate (7) moves from the upper end to the lower end of the arc-shaped frame (5), and then the interval driving device drives the rotating ring (4) to rotate for a certain angle, wherein the angle is smaller than or equal to the visual angle range of crops which can be scanned by the scanning probe and the video head, so that no scanning dead angle exists;
arc (6) inner disc one side is equipped with medical kit (9) that a plurality of shower nozzle (8) and a plurality of shower nozzle (8) intercommunication have on locating arc (6) disc outward, it installs two arc covers (10) and two arc covers (10) to rotate on collection board (7) and is connected with the closing device who locates on collection board (7), and closing device satisfies: it produces the action and realizes avoiding spraying the liquid medicine on scanning probe, video head when spouting the medicine, indulges to be equipped with on the frame (2) that moves and to be equipped with closing device matched with trigger device and when interval drive arrangement reversal, can drive the closing device action and make two arc cover (10) closed, two through motor drive, realize gathering crop phenotype data when control motor corotation, realize spouting the medicine to the crop that has the plant diseases and insect pests when the motor reversal, but a plurality of shower nozzles (8) of synchronous drive carry out the luffing motion when the motor reversal to the realization shelters from regional whole covers with crop blade below, improves and sprays the degree of consistency.
2. The intelligent crop table type real-time acquisition device as claimed in claim 1, wherein the interval driving device comprises sector gears (11) rotatably mounted on two longitudinal sides of the longitudinal moving frame (2) respectively, one longitudinal side of each sector gear (11) is rotatably mounted with a transmission gear (12), the transmission gear (12) drives a transition gear (13) which rotates on the longitudinal moving frame (2), the transition gear (13) is meshed with a rotating gear (14) which is coaxially fixed with the rotating ring (4), the other longitudinal side of each sector gear (11) is provided with a one-way gear (15) which is rotatably mounted on the rotating ring (4) and coaxially arranged with the rotating ring, and the one-way gear (15) is connected with the reciprocating transmission device through a worm and gear transmission device (16).
3. The intelligent crop table type real-time collection device according to claim 2, the trigger device comprises an arc-shaped gear ring (17) which is coaxially arranged with the sector gear (11) and vertically and slidably mounted with the sector gear, the arc-shaped gear ring (17) and the sector gear (11) jointly form a complete gear, a telescopic spring (18) is connected between the arc-shaped gear ring (17) and the sector gear (11), a butt joint rod (19) is fixed on the lower end face of the arc-shaped gear ring (17), the lower end of the butt joint rod (19) is in matched contact with an annular plate (20) which is vertically and slidably arranged on the longitudinal moving frame (2) and is coaxial with the sector gear (11), and a return spring (21) is connected between the annular plate (20) and the longitudinal moving frame (2), a trigger rod (23) is rotatably arranged at the bottom of the annular plate (20), and the other end of the trigger rod (23) is connected with a closing device.
4. An intelligent crop table type real-time acquisition device as claimed in claim 3, wherein the closing device comprises two closing rods (25) rotatably installed at one side of the arc-shaped cover (10) in the transverse direction, and a sliding block (26) is rotatably installed at the other end of each closing rod (25), the sliding block (26) is arranged on the acquisition plate (7) in a sliding way along the radial direction of the arc-shaped frame (5) and is connected with a closed spring (27) between the acquisition plate (7) and the sliding block, an arc-shaped bulge (28) is integrally arranged on the sliding block (26), the arc-shaped bulge (28) is matched with an abutting ring (29) which is coaxial with the circular guide rail (3), the butt joint ring (29) is fixedly provided with an arc rod (30) which is coaxially arranged with the arc frame (5) and is rotatably arranged on the circular guide rail (3), and the other end of the arc rod (30) is rotatably arranged with the trigger rod (23).
5. The intelligent crop gauge type real-time acquisition device according to claim 4, wherein the sector gear (11) is provided with an electromagnet (31), an iron sheet is arranged at a corresponding position of the lower end face of the arc-shaped gear ring (17), the electromagnet (31) is connected in series in the voltage stabilizing loop, the longitudinally moving frame (2) is provided with a control device for controlling the on-off of the voltage stabilizing loop, and the control device meets the following requirements: when the motor drives the sector gear (11) to rotate reversely, the voltage stabilizing loop is controlled to be electrified.
6. The intelligent crop table type real-time collection device according to claim 5, the control device comprises magnets which are respectively and fixedly arranged at the two longitudinal sides of the longitudinal moving frame (2) and are matched with each other, one opposite sides of the two matched magnets are set to be different magnetic poles, an annular cylinder (32) which is coaxially arranged with the sector gear (11) is rotatably arranged on the longitudinal moving frame (2), the annular cylinder (32) is connected with the shaft of the sector gear (11) through a first one-way bearing (33), two annular conducting strips (34) are vertically arranged in the annular cylinder (32) at intervals, conducting plates (35) are fixedly arranged on the annular conducting strips (34), the two conducting plates (35) are axially and symmetrically arranged, square coils (36) are fixedly arranged on the two conducting plates (35), the square coil (36), the annular conducting strip (34) and the conducting plate (35) are connected in series in an electric loop.
7. The real-time intelligent crop form acquisition device according to claim 4, wherein a third belt transmission (39) connected with the worm gear transmission device (16) is arranged on the rotating ring (4), the third belt transmission (39) drives a gear set (40) rotatably mounted on the arc-shaped frame (5), the reciprocating transmission device comprises a reciprocating belt wheel set (41) driven by the gear set (40), the reciprocating belt wheel set (41) drives an L-shaped rod (42), and the L-shaped rod (42) is rotatably mounted with the acquisition plate (7) in a matching manner, and a friction damping ring is arranged at a rotating mounting position.
8. The intelligent crop watch type real-time acquisition device according to claim 1, wherein the spray head (8) comprises a pipeline (43) which is communicated with the medicine box (9) and is arranged on the inner circular surface of the arc-shaped plate (6), the pipeline (43) is connected with a nozzle (44) which is rotatably arranged on the pipeline (43) through a hose, the nozzle (44) coaxially rotates to form a direction adjusting gear (45), and the direction adjusting gear (45) is connected with a reciprocating lifting device which is arranged on the arc-shaped plate (6).
9. The intelligent crop table type real-time collection device of claim 8, the reciprocating lifting device comprises a circular plate (46) which is vertically and slidably arranged on the arc-shaped plate (6), a plurality of convex blocks (47) are arranged on the upper end surface of the circular plate (46) in an encircling way at intervals, a lifting spring (48) is connected between the circular plate (46) and the arc-shaped plate (6), a driving plate (49) which is coaxial with the circular plate (46) is rotatably arranged on the arc-shaped plate (6), arc-shaped blocks (50) matched with the plurality of lugs (47) are arranged on the lower end face of the driving plate (49) in a surrounding mode at intervals, the driving plate (49) is connected with an outer gear ring (51) through a second one-way bearing (52), the inner circular surface of the upper end of the circular guide rail (3) is provided with a gear system (53) meshed with the outer gear ring (51), and the bottom of the circular plate (46) is fixed with a lifting rack (55) meshed with the direction-adjusting gears (45).
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| CN115585835B (en) * | 2022-12-12 | 2023-03-28 | 西安比尔电子科技有限公司 | Ecological space comprehensive monitoring device under open space |
| CN116806791B (en) * | 2023-06-27 | 2024-02-02 | 南京晓庄学院 | Crop pest identification method and system based on deep learning |
| CN117837572B (en) * | 2024-03-07 | 2024-05-14 | 雷波县林业和草原局 | Full-coverage type tree trunk lime sulphur agent spraying device for pest control |
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