CN116772733B - Seedbed type phenotype automatic nondestructive testing system - Google Patents
Seedbed type phenotype automatic nondestructive testing system Download PDFInfo
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- CN116772733B CN116772733B CN202311066061.3A CN202311066061A CN116772733B CN 116772733 B CN116772733 B CN 116772733B CN 202311066061 A CN202311066061 A CN 202311066061A CN 116772733 B CN116772733 B CN 116772733B
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- driving mechanism
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- 238000009659 non-destructive testing Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 210000000078 claw Anatomy 0.000 claims abstract description 21
- 238000007689 inspection Methods 0.000 claims description 7
- 230000001066 destructive effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 235000012055 fruits and vegetables Nutrition 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Crystals, And After-Treatments Of Crystals (AREA)
Abstract
The invention discloses a seedbed type phenotype automatic nondestructive testing system, which relates to the technical field of agricultural detection and comprises a seedbed, wherein a longitudinal movement driving mechanism is arranged on the seedbed, a cantilever is arranged on a moving part of the longitudinal movement driving mechanism, a transverse movement driving mechanism is arranged on the cantilever, a rotary swinging mechanism and a lifting driving mechanism are arranged on a moving part of the transverse movement driving mechanism, a camera is arranged at the free end of the rotary swinging mechanism, a mechanical claw is arranged at the free end of the lifting driving mechanism, and a grabbing rotating mechanism is arranged on the mechanical claw. When the plant is detected, the mechanical claw is driven by the longitudinal and transverse driving mechanisms to move to the preset position, the seedling pot is clamped by the mechanical claw and lifted upwards, the appearance of the plant is photographed by the camera, and the seedling pot is put down after photographing is finished.
Description
Technical Field
The invention relates to the technical field of agricultural detection, in particular to a seedbed type phenotype automatic nondestructive detection system.
Background
Plants are affected by complex interactions of genome, environment, etc., and plant phenotypes can show morphological characteristics of structures, functions, etc. of plants and their change laws under specific conditions. The phenotype technology can study the character growth rule of plants, can provide theoretical support for breeding, cultivation and agricultural production practice, and can better cultivate plants with excellent characters.
In the prior art, chinese patent publication No. CN215525565U discloses an automatic nondestructive testing system for fruit and vegetable seedling phenotypes. The system mainly comprises a seedling tray, a rotating platform, an Azure Kinect, a mechanical arm, an end effector, an electric cabinet and upper computer software. And the upper computer is used for controlling an automatic image picking system to carry and photograph the fruit and vegetable seedlings, and then the image processing and result display functions of the upper computer are used for analyzing and measuring the photographed seedlings and displaying the phenotype data such as seedling height, plant height, stem thickness, hypocotyl height, leaf number, leaf area and She Zhouchang in a software interface.
Although the automatic detection of plants can be realized in the technical scheme, the specific steps of the automatic detection method need to take the seedling pot firstly, and then move the seedling pot to be put back after rotary shooting on a rotary platform, so that the whole detection steps are more, the detection time is longer, and the detection efficiency is seriously influenced.
Disclosure of Invention
Based on the problems, the invention aims to provide a seedbed type phenotype automatic nondestructive testing system, which adopts the following technical scheme:
the invention provides a seedbed type phenotype automatic nondestructive testing system, which comprises a seedbed, wherein a longitudinal movement driving mechanism is arranged on the seedbed, a cantilever is arranged on a moving part of the longitudinal movement driving mechanism, a transverse movement driving mechanism is arranged on the cantilever, a rotary swinging mechanism and a lifting driving mechanism are arranged on a moving part of the transverse movement driving mechanism, a camera is arranged at the free end of the rotary swinging mechanism, a mechanical claw is arranged at the free end of the lifting driving mechanism, and a grabbing rotating mechanism is arranged on the mechanical claw.
Preferably, the longitudinal movement driving mechanism comprises a longitudinal movement support, the top of the longitudinal movement support is fixedly connected with the cantilever, a first guide rod and a first screw rod are arranged on the longitudinal movement support, the first guide rod and the first screw rod are arranged side by side, the end parts of the first guide rod and the first screw rod are connected to the seedbed, the first guide rod is in sliding connection with the longitudinal movement support, the first screw rod is in threaded connection with the longitudinal movement support, one end of the first screw rod is in power connection with a first motor, and the first motor is installed on the seedbed.
Preferably, the seedbed comprises a bed surface, and a bracket is arranged at the bottom of the bed surface.
Preferably, the bed surface is provided with a guide opening, and the longitudinally moving support moves reciprocally along the guide opening.
Preferably, the lateral movement driving mechanism comprises a second screw rod, the second screw rod and the cantilever are arranged side by side, the end part of the second screw rod is connected to the cantilever through a mounting seat, one end of the second screw rod is in power connection with a second motor, the second motor is installed on the cantilever, a lateral movement support is in threaded connection with the second screw rod, the back of the lateral movement support is in sliding connection with the cantilever, and a rotary swing mechanism and a lifting driving mechanism are arranged on the front of the lateral movement support.
Preferably, the lifting driving mechanism comprises a guide sleeve, the guide sleeve is fixedly connected to the transverse moving support, a guide rod is arranged in the guide sleeve, the upper end of the guide rod is connected with the telescopic end of the air cylinder, and the lower end of the guide rod is connected with the mechanical claw.
Preferably, the rotary swinging mechanism is connected to the guide sleeve and comprises a rotating shaft, the rotating shaft is rotationally connected to the guide sleeve, a swinging rod and a gear are arranged on the rotating shaft, the free end of the swinging rod is connected with the camera, a rack is meshed with the gear above the gear, the rack is slidably connected to the guide sleeve, a connecting rod is arranged at one end of the rack, one end of the connecting rod is hinged to the rack, the other end of the connecting rod is eccentrically hinged to the end face of the disc, the disc is arranged on a power output shaft of a third motor, and the third motor is installed on the guide sleeve.
Preferably, the grabbing rotation mechanism comprises a conveying belt assembly, the conveying belt assembly is rotatably connected to the mechanical claw, and the mechanical claw is provided with a fourth motor for driving the conveying belt assembly to rotate.
Compared with the prior art, the invention has the beneficial technical effects that:
when the plant is detected, the mechanical claw is driven by the longitudinal and transverse driving mechanisms to move to the preset position, the seedling pot is clamped by the mechanical claw and lifted upwards, the appearance of the plant is photographed by the camera, and the seedling pot is put down after photographing is finished.
Drawings
The invention is further described with reference to the following description of the drawings.
FIG. 1 is a schematic diagram of a system for automated non-destructive inspection of seedbed phenotypes in accordance with an embodiment of the invention;
FIG. 2 is a schematic diagram showing two configurations of a seedbed-type phenotype automatic nondestructive testing system according to an embodiment of the present invention
FIG. 3 is a schematic view of a structural part of a traverse driving mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a structural part of a lifting driving mechanism according to an embodiment of the present invention;
fig. 5 is a schematic view of a structural part of a rotary swing mechanism according to an embodiment of the present invention.
Reference numerals illustrate: 1. a seedbed; 101. a bed surface; 102. a bracket; 103. a guide opening; 2. a longitudinally moving driving mechanism; 201. longitudinally moving the support; 202. a first guide bar; 203. a first screw; 204. a first motor; 3. a cantilever; 4. a lateral movement driving mechanism; 401. a second screw; 402. a second motor; 403. traversing the support; 5. a rotary swing mechanism; 501. a rotating shaft; 502. swing rod; 503. a gear; 504. a rack; 505. a connecting rod; 506. a disc; 507. a third motor; 6. a lifting driving mechanism; 601. a guide sleeve; 602. a guide rod; 603. a cylinder; 7. a camera; 8. a mechanical claw; 9. a grabbing rotating mechanism; 901. a conveyor belt assembly; 902. and a fourth motor.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments.
As shown in fig. 1 to 3, a seedbed-type phenotype automatic nondestructive inspection system is disclosed in this embodiment, including a seedbed 1, the seedbed 1 includes a bed surface 101, a support 102 is provided at the bottom of the bed surface 101, a guide opening 103 is provided on the bed surface 101, a longitudinal movement driving mechanism 2 is provided in the guide opening 103, a cantilever 3 is provided on a moving part of the longitudinal movement driving mechanism 2, a traversing driving mechanism 4 is provided on the cantilever 3, a rotary swinging mechanism 5 and a lifting driving mechanism 6 are provided on a moving part of the traversing driving mechanism 4, a camera 7 is provided at a free end of the rotary swinging mechanism 5, a gripper 8 is provided at a free end of the lifting driving mechanism 6, and a grabbing rotating mechanism 9 is provided on the gripper 8.
When the device works, when plants need to be detected, the longitudinal movement driving mechanism 2 drives the cantilever 3 to longitudinally move, and the transverse movement driving mechanism 4 drives the rotary swinging mechanism 5 and the lifting driving mechanism 6 to transversely move; the seedling pot is clamped by the mechanical claw 8, lifted upwards by the lifting driving mechanism 6, photographed by the camera 7, and put down after photographing.
As shown in fig. 2, the longitudinal movement driving mechanism 2 includes a longitudinal movement support 201, and the longitudinal movement support 201 reciprocates along the guide opening 103; the top of indulging and moving support 201 passes through bolt fixed connection with cantilever 3, indulges and is provided with first guide bar 202 and first screw 203 on moving support 201, and first guide bar 202 and first screw 203 arrange side by side, and the tip of first guide bar 202 and first screw 203 is all installed on seedbed 1, and first guide bar 202 and indulging and moving support 201 sliding connection, first screw 203 and indulging and moving support 201 threaded connection, and first screw 203 one end and first motor 204 power connection, first motor 204 is installed on seedbed 1.
As shown in fig. 3, the traversing driving mechanism 4 includes a second screw 401, the second screw 401 is arranged side by side on one side of the cantilever 3, the end of the second screw 401 is connected to the cantilever 3 through a mounting seat, one end of the second screw 401 is in power connection with a second motor 402, the second motor 402 is mounted on the cantilever 3, the second screw 401 is in threaded connection with a traversing support 403, the back of the traversing support 403 is in sliding connection with the cantilever 3, and the front of the traversing support 403 is provided with a rotary swinging mechanism 5 and a lifting driving mechanism 6.
As shown in fig. 4, the lifting driving mechanism 6 comprises a guide sleeve 601, the guide sleeve 601 is fixedly connected to the transverse moving support 403, a guide rod 602 is arranged in the guide sleeve 601, the upper end of the guide rod 602 is connected with the telescopic end of the air cylinder 603, and the lower end of the guide rod is connected with the mechanical claw 8.
The gripper 8 can realize an automatic gripping action. The grabbing and rotating mechanism 9 is arranged on the mechanical claw 8, the structure of the grabbing and rotating mechanism mainly comprises a conveying belt assembly 901, the conveying belt assembly 901 is rotatably connected to the mechanical claw 8, and the mechanical claw 8 is provided with a fourth motor 902 for driving the conveying belt assembly 901 to rotate. In order to realize more comprehensive detection, after the seedling pot is clamped by the mechanical claw 8, a user can start the fourth motor 902 to drive the conveying belt of the conveying belt assembly 901 to rotate at the moment, so that the seedling pot rotates. The fourth motor 902 may be a micro motor.
As shown in fig. 4 and 5, the rotary swing mechanism 5 is connected to the guide sleeve 601, the rotary swing mechanism 5 includes a rotating shaft 501, the rotating shaft 501 is rotatably connected to the guide sleeve 601 through a bearing structure, a swing rod 502 and a gear 503 are arranged on the rotating shaft 501, a free end of the swing rod 502 is connected to the camera 7 in a mounting manner, a rack 504 is meshed with the gear 503, the rack 504 is slidably connected to the guide sleeve 601, a connecting rod 505 is arranged at one end of the rack 504, one end of the connecting rod 505 is hinged to the rack 504, the other end is eccentrically hinged to an end face of the disc 506, the disc 506 is arranged on a power output shaft of the third motor 507, and the third motor 507 is arranged on the guide sleeve 601.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (7)
1. The utility model provides a seedbed type phenotype automatic nondestructive test system, includes seedbed (1), its characterized in that, be provided with on seedbed (1) and indulge and move actuating mechanism (2), indulge and move and be provided with cantilever (3) on the motion of actuating mechanism (2), be provided with sideslip actuating mechanism (4) on cantilever (3), be provided with rotatory swing mechanism (5) and lift actuating mechanism (6) on the motion of sideslip actuating mechanism (4), the free end of rotatory swing mechanism (5) is provided with camera (7), the free end of lift actuating mechanism (6) is provided with gripper (8), be provided with on gripper (8) and snatch slewing mechanism (9);
the grabbing rotating mechanism (9) comprises a conveying belt assembly (901), the conveying belt assembly (901) is rotatably connected to the mechanical claw (8), and the mechanical claw (8) is provided with a fourth motor (902) for driving the conveying belt assembly (901) to rotate.
2. The automated, non-destructive inspection system of the seedbed phenotype of claim 1 wherein: the longitudinal movement driving mechanism (2) comprises a longitudinal movement support (201), the top of the longitudinal movement support (201) is fixedly connected with the cantilever (3), a first guide rod (202) and a first screw rod (203) are arranged on the longitudinal movement support (201), the first guide rod (202) and the first screw rod (203) are arranged side by side, the ends of the first guide rod (202) and the first screw rod (203) are connected to the seedbed (1), the first guide rod (202) is in sliding connection with the longitudinal movement support (201), the first screw rod (203) is in threaded connection with the longitudinal movement support (201), one end of the first screw rod (203) is in power connection with a first motor (204), and the first motor (204) is arranged on the seedbed (1).
3. The automated, non-destructive inspection system of the seedbed phenotype of claim 2, wherein: the seedbed (1) comprises a bed surface (101), and a bracket (102) is arranged at the bottom of the bed surface (101).
4. A seedbed phenotype automatic nondestructive testing system according to claim 3 wherein: the bed surface (101) is provided with a guide opening (103), and the longitudinal support (201) reciprocates along the guide opening (103).
5. The automated, non-destructive inspection system of the seedbed phenotype of claim 1 wherein: the transverse moving driving mechanism (4) comprises a second screw rod (401), the second screw rod (401) is arranged side by side with the cantilever (3), the end part of the second screw rod (401) is connected to the cantilever (3) through a mounting seat, one end of the second screw rod (401) is in power connection with a second motor (402), the second motor (402) is installed on the cantilever (3), a transverse moving support (403) is connected to the second screw rod (401) through threads, the back of the transverse moving support (403) is in sliding connection with the cantilever (3), and a rotary swinging mechanism (5) and a lifting driving mechanism (6) are arranged on the front of the transverse moving support (403).
6. The automated, non-destructive inspection system of the seedbed phenotype of claim 5, wherein: the lifting driving mechanism (6) comprises a guide sleeve (601), the guide sleeve (601) is fixedly connected to the transverse moving support (403), a guide rod (602) is arranged in the guide sleeve (601), the upper end of the guide rod (602) is connected with the telescopic end of the air cylinder (603), and the lower end of the guide rod is connected with the mechanical claw (8).
7. The automated, non-destructive inspection system of the seedbed phenotype of claim 6, wherein: the rotary swinging mechanism (5) is connected to the guide sleeve (601), the rotary swinging mechanism (5) comprises a rotating shaft (501), the rotating shaft (501) is rotationally connected to the guide sleeve (601), a swinging rod (502) and a gear (503) are arranged on the rotating shaft (501), the free end of the swinging rod (502) is connected with the camera (7), a rack (504) is meshed with the gear (503), the rack (504) is slidably connected to the guide sleeve (601), a connecting rod (505) is arranged at one end of the rack (504), one end of the connecting rod (505) is hinged to the rack (504), the other end of the connecting rod is eccentrically hinged to the end face of the disc (506), the disc (506) is arranged on a power output shaft of a third motor (507), and the third motor (507) is installed on the guide sleeve (601).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311066061.3A CN116772733B (en) | 2023-08-23 | 2023-08-23 | Seedbed type phenotype automatic nondestructive testing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311066061.3A CN116772733B (en) | 2023-08-23 | 2023-08-23 | Seedbed type phenotype automatic nondestructive testing system |
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| Publication Number | Publication Date |
|---|---|
| CN116772733A CN116772733A (en) | 2023-09-19 |
| CN116772733B true CN116772733B (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311066061.3A Active CN116772733B (en) | 2023-08-23 | 2023-08-23 | Seedbed type phenotype automatic nondestructive testing system |
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000209970A (en) * | 1999-01-26 | 2000-08-02 | Shin Meiwa Ind Co Ltd | Three-dimensional hydroponics facility |
| JP6614283B1 (en) * | 2018-06-20 | 2019-12-04 | 株式会社椿本チエイン | Inspection device, transplantation device, inspection method, and computer program |
| CN212107611U (en) * | 2020-04-30 | 2020-12-08 | 北京易盛泰和科技有限公司 | Laboratory-type full-automatic high-throughput plant phenotype platform |
| CN213842060U (en) * | 2020-12-14 | 2021-07-30 | 武汉谷丰光电科技有限公司 | Gantry type full-automatic rice plant phenotype detection device |
| CN215525565U (en) * | 2021-09-02 | 2022-01-14 | 华中农业大学 | Automatic nondestructive testing system for fruit and vegetable seedling phenotype |
| CN217216756U (en) * | 2022-03-21 | 2022-08-16 | 宁波云笈科技有限公司 | AI intelligent analysis plant nutrient abundance or insufficiency data detection control system |
| CN218411078U (en) * | 2022-08-26 | 2023-01-31 | 北京市农林科学院信息技术研究中心 | Seedbed type plant phenotype nondestructive testing system |
| CN115681748A (en) * | 2022-10-26 | 2023-02-03 | 南京林业大学 | Self-propelled multi-degree-of-freedom plant phenotype information acquisition platform and method |
| CN218819428U (en) * | 2022-09-09 | 2023-04-07 | 北京市农林科学院信息技术研究中心 | Gantry type plant phenotype detection device |
| CN116147490A (en) * | 2023-04-17 | 2023-05-23 | 慧诺瑞德（北京）科技有限公司 | High-flux plant phenotype information acquisition and measurement system and method |
-
2023
- 2023-08-23 CN CN202311066061.3A patent/CN116772733B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000209970A (en) * | 1999-01-26 | 2000-08-02 | Shin Meiwa Ind Co Ltd | Three-dimensional hydroponics facility |
| JP6614283B1 (en) * | 2018-06-20 | 2019-12-04 | 株式会社椿本チエイン | Inspection device, transplantation device, inspection method, and computer program |
| CN212107611U (en) * | 2020-04-30 | 2020-12-08 | 北京易盛泰和科技有限公司 | Laboratory-type full-automatic high-throughput plant phenotype platform |
| CN213842060U (en) * | 2020-12-14 | 2021-07-30 | 武汉谷丰光电科技有限公司 | Gantry type full-automatic rice plant phenotype detection device |
| CN215525565U (en) * | 2021-09-02 | 2022-01-14 | 华中农业大学 | Automatic nondestructive testing system for fruit and vegetable seedling phenotype |
| CN217216756U (en) * | 2022-03-21 | 2022-08-16 | 宁波云笈科技有限公司 | AI intelligent analysis plant nutrient abundance or insufficiency data detection control system |
| CN218411078U (en) * | 2022-08-26 | 2023-01-31 | 北京市农林科学院信息技术研究中心 | Seedbed type plant phenotype nondestructive testing system |
| CN218819428U (en) * | 2022-09-09 | 2023-04-07 | 北京市农林科学院信息技术研究中心 | Gantry type plant phenotype detection device |
| CN115681748A (en) * | 2022-10-26 | 2023-02-03 | 南京林业大学 | Self-propelled multi-degree-of-freedom plant phenotype information acquisition platform and method |
| CN116147490A (en) * | 2023-04-17 | 2023-05-23 | 慧诺瑞德（北京）科技有限公司 | High-flux plant phenotype information acquisition and measurement system and method |
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| CN116772733A (en) | 2023-09-19 |
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