CN208998846U - The high-throughput plant phenotype system of movable type suitable for multizone - Google Patents
The high-throughput plant phenotype system of movable type suitable for multizone Download PDFInfo
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- CN208998846U CN208998846U CN201822024202.6U CN201822024202U CN208998846U CN 208998846 U CN208998846 U CN 208998846U CN 201822024202 U CN201822024202 U CN 201822024202U CN 208998846 U CN208998846 U CN 208998846U
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Abstract
The utility model discloses a kind of high-throughput plant phenotype systems of the movable type suitable for multizone, comprising: the bottom of portal frame, portal frame is equipped with wheel, and wheel is set to portal frame bottom by rotating disc；Guide rail is laid on the ground, is adapted to the wheel of portal frame bottom, and guide rail includes multipair vertical guide and at least a pair of of cross slide way, and one end of the vertical guide is arranged in cross slide way, and wheel can be slided along the vertical guide and cross slide way respectively；Sensor-based system is movably disposed on the portal frame by a horizontal drive apparatus, and the sensor-based system moves horizontally under the action of the horizontal drive apparatus；PLC controller is electrically connected with the driving device of the wheel, is electrically connected with the sensor-based system, is electrically connected with the horizontal drive apparatus.The system equipment input cost of the utility model is low, and utilization rate is high, and high degree of automation, accuracy of data acquisition and efficiency are relatively high.
Description
Technical field
The utility model relates to the acquisition of the data of plant phenotype and analysis system, espespecially a kind of movements suitable for multizone
Formula high throughput plant phenotype system.
Background technique
Plant phenotype is determined or is influenced by genetic and environmental factor, reflects plant structure and composition, plant growth hair
Educate whole physics, physiology, biochemical character and the character of process and result.
At home, the acquisition of traditional field crops phenotypic data mainly passes through hand dipping and bidimensional image acquisition knot
Group photo is carried out as Data Management Analysis, the indexs such as leaf length of plant, leaf width, leaf area, Leaf inclination is obtained, although the inspection put into
Cost is relatively low for measurement equipment, and still, data acquisition efficiency is low, and collected data precision is low.Also, for small area range
Interior data acquisition, this measurement method have certain operability compared with but for the field crops of large area multizone
The acquisition operability of phenotypic data is very low.
Therefore, the application is dedicated to providing a kind of high-throughput plant phenotype system of the movable type suitable for multizone.
Utility model content
The purpose of the utility model is to provide a kind of high-throughput plant phenotype systems of the movable type suitable for multizone, set
Standby input cost is low, and utilization rate is high, and high degree of automation, accuracy of data acquisition and efficiency are relatively high.
The technical scheme that the utility model is provided is as follows:
The high-throughput plant phenotype system of a kind of movable type suitable for multizone, comprising: portal frame, the bottom of the portal frame
Portion is equipped with wheel, and the wheel is set to the portal frame bottom by rotating disc；Guide rail is laid on the ground, and described
The wheel of portal frame bottom is adapted to, and the guide rail includes multipair vertical guide and at least a pair of of cross slide way, the cross slide way
One end of the vertical guide is set, and the wheel can be slided along the vertical guide and cross slide way respectively；Sensor-based system,
It is movably disposed on the portal frame by a horizontal drive apparatus, the sensor-based system is in the horizontal drive apparatus
It is moved horizontally under effect；PLC controller is electrically connected with the driving device of the wheel, is electrically connected with the sensor-based system, with institute
State horizontal drive apparatus electrical connection.
Preferably, the portal frame includes a pair of of column support, fixed girder and adjusts auxiliary girder, the fixed girder and adjusting
Auxiliary girder is horizontally set between a pair of column support, the lower section for adjusting auxiliary girder and being located at the fixed girder, the adjusting auxiliary girder
Height relative to ground is adjustable, and the sensor-based system is installed on the tune by the horizontal drive apparatus horizontally moveablely
It saves on auxiliary girder.
Preferably, the adjusting auxiliary girder is connected on the column support by vertical driving device, and the vertical driving
Device is electrically connected with the PLC controller, and the vertical driving device drives the adjusting under the control of the PLC controller
Auxiliary girder is moved up and down along the column support.
Preferably, the column support includes at least two columns disposed in parallel, by least two between two columns
A connecting rod connection disposed in parallel.
Preferably, the high-throughput plant phenotype system of the movable type suitable for multizone further includes a shield, described
Shield is arranged on the portal frame, the outside of the sensor-based system is covered on, for protecting the sensor-based system.
Preferably, the shield is installed on the adjusting auxiliary girder, and the shield is retractable structure, described anti-
The first end of shield is connected on the sensor-based system, and second end is connected to the side of the portal frame, the sensor-based system water
When translation is dynamic, drive the shield flexible.
Preferably, the PLC controller includes a PLC power control cabinet and a controlling terminal, the PLC power control cabinet and the biography
Sensing system electrical connection carries out data acquisition, the water of the PLC power control cabinet and the sensor-based system for controlling the sensor-based system
Flat driving device electrical connection, the horizontal position for controlling the sensor-based system change, the PLC power control cabinet and the wheel
Driving device electrical connection, for controlling the movement of the portal frame, the PLC power control cabinet is electrically connected with the controlling terminal, institute
Controlling terminal is stated to be used to issue control instruction to the PLC power control cabinet and obtain and analyze the information that the PLC power control cabinet conveys,
The PLC power control cabinet is arranged on the portal frame.
Preferably, the sensor-based system is connected on the portal frame by vertical driving device, the vertical driving dress
It sets and is electrically connected with the PLC controller, the vertical driving device drives the sensing system under the control of the PLC controller
System moves up and down.
Preferably, the sensor-based system includes 3D laser radar, RGB imaging unit, thermal infrared imaging unit and multispectral
Imaging unit.
Preferably, the PLC controller is arranged on the portal frame.
Preferably, the high-throughput plant phenotype system of the movable type suitable for multizone further includes at least a pair of of reserve wagon
Wheel, the spare wheel are set on the portal frame by an adjustable structure, and the spare wheel is on the portal frame
Highly adjustable, the spare wheel is for driving the portal frame to move on the ground.
Preferably, the high-throughput plant phenotype system of the movable type suitable for multizone further includes leader, is set to
On the portal frame, for pushing the portal frame.
A kind of high-throughput plant phenotype system of movable type suitable for multizone provided by the utility model can bring with
It is lower at least one the utility model has the advantages that
1, the high-throughput plant phenotype system of movable type for being suitable for multizone of the utility model passes through moveable gantry
Frame drives sensor-based system to carry out data acquisition to target measurement region, and the operation and sensing of portal frame are controlled by PLC controller
The operation of system, high degree of automation, and multiple measured zones are connected by cross slide way, when needing to shift portal frame, only
It needs to rotate the rotating disc on wheel, wheel is made to be diverted to horizontal slide rail from vertical rails, movement is convenient, passes through a set of system
Multiple regions data collection and analysis may be implemented in system, and equipment input cost is low, and utilization rate is high, and collecting method operates just
Victory, and measurement accuracy is high.
2, in the utility model, portal frame overall structure is firm and runs smoothly.
3, in the utility model, PLC controller can effectively control the operation of the operation of portal frame, sensor-based system, automatically
Change degree is high.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to the above-mentioned spy of the utility model
Property, technical characteristic, advantage and its implementation are further described.
Fig. 1 is a kind of more preferred of the high-throughput plant phenotype system of movable type for being suitable for multizone of the utility model
Specific embodiment；
Fig. 2 is the partial structurtes amplification of the high-throughput plant phenotype system of movable type shown in Fig. 1 suitable for multizone
Schematic diagram；
Fig. 3 is a kind of application scenarios of the high-throughput plant phenotype system of movable type shown in Fig. 1 suitable for multizone
Schematic diagram.
Drawing reference numeral explanation:
Portal frame 1, column support 11, column 111, connecting rod 112, fixed girder 12 adjust auxiliary girder 13；
Wheel 2, rotating disc 21, guide rail 3, vertical guide 31, cross slide way 32, sensor-based system 4.
Specific embodiment
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, attached drawing will be compareed below
Illustrate specific embodiment of the present utility model.It should be evident that the accompanying drawings in the following description is only the one of the utility model
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings, and obtains other embodiments.To make simplified form, only schematically showing in each figure
Part relevant to the utility model, they do not represent its practical structures as product.
Specific embodiment one
As shown in Figures 1 to 3, this specific embodiment discloses the high-throughput plant phenotype system of movable type suitable for multizone
A kind of more preferred embodiment, including portal frame 1, wheel 2, guide rail 3, sensor-based system 4 and a PLC controller are (in figure not
Show), wheel 2 is set to the bottom of portal frame 1 by rotating disc 21, and guide rail 3 is laid on the ground, with 1 bottom of portal frame
Wheel 2 is adapted to, and guide rail 3 includes multipair vertical guide 31 and two pairs of cross slide ways 32, and two pairs of cross slide ways 32 are separately positioned on perpendicular
The both ends of direction guiding rail 31, wheel 2 can vertically guide rail 31 and cross slide way 32 be advanced respectively, and a measured zone is corresponding a pair of perpendicular
Direction guiding rail 31；Sensor-based system 4 is movably disposed on portal frame 1 by a horizontal drive apparatus, and sensor-based system 4 drives in level
It being moved horizontally under the action of dynamic device, PLC controller is electrically connected with the driving device of wheel 2, it is electrically connected with sensor-based system 4, with
Horizontal drive apparatus electrical connection.
In this embodiment, portal frame 1 includes a pair of of column support 11, fixed girder 12 and adjusts auxiliary girder 13, fixed
Girder 12 and adjusting auxiliary girder 13 are horizontally set between a pair of of column support 11, are adjusted the lower section that auxiliary girder 13 is located at fixed girder 12, are adjusted
Auxiliary girder 13 is adjustable relative to the height on ground, and sensor-based system 4 is installed on adjusting pair by horizontal drive apparatus horizontally moveablely
On beam 13.
It is connected on column support 11 specifically, adjusting auxiliary girder 13 by vertical driving device, and vertical driving device and PLC
Controller electrical connection, vertical driving device drive adjusting auxiliary girder 13 to move up and down along column support 11 under the control of PLC controller,
To further adjust the distance between sensor-based system and plant phenotype.Specifically, column support 11 includes two disposed in parallel
Column 111 is connected by two connecting rods 112 disposed in parallel between two columns 111, and wheel 2 is connected to by rotating disc 21
In the connecting rod 112 of the bottom of two columns 111.
In the present embodiment, sensor-based system 4 is connected on portal frame 1 by vertical driving device, vertical driving device with
PLC controller electrical connection, vertical driving device drive sensor-based system 4 to move up and down under the control of PLC controller.
In the present embodiment, PLC controller includes PLC power control cabinet and controlling terminal, 4 electricity of PLC power control cabinet and sensor-based system
Connection carries out data acquisition for controlling sensor-based system 4, and PLC power control cabinet is electrically connected with the horizontal drive apparatus of sensor-based system 4,
Horizontal position for controlling sensor-based system 4 changes, and PLC power control cabinet is electrically connected with the driving device of wheel 2, for controlling gantry
The movement of frame 1, PLC power control cabinet is connect with the vertical driving device for adjusting auxiliary girder 13, for adjusting the height for adjusting auxiliary girder 13, into
The distance between one step section sensor-based system 4 and vegetation surface, when being arranged in this way, the high degree of automation of whole system, data
Collecting efficiency is high.PLC power control cabinet is electrically connected with controlling terminal, and controlling terminal is used to issue control instruction to PLC power control cabinet and obtain
The information of PLC power control cabinet conveying is taken and analyzes, PLC power control cabinet is arranged on portal frame 1, and controlling terminal is installed on the one of portal frame
On mounting platform, operated convenient for operator.
In the present embodiment, sensor-based system include 3D laser radar, RGB (red, green, blue) imaging unit, heat it is red
Outer imaging unit and multispectral imaging unit.Wherein, 3D laser radar is used to obtain the high-precision 3D solid point cloud letter of plant
Breath, and by dedicated software and algorithm, precisely obtain a variety of phenotypic parameters of plant and information.RGB imaging unit to plant into
Row is from nursery stage to maturity period, whole ground phytomorph Imaging: Monitoring.Thermal infrared imaging unit is red using object itself each section
The sightless heat radiation situation of object is converted to visual thermal image by the difference of external radiation, to realize: crop growth prison
Survey, nursery greenhouse monitoring, diseases and pests of agronomic crop prevention, soil application and irrigate judgement etc..In multispectral imaging unit
Multispectral camera uses green, red, the visible and invisible image on red side and near infrared band capture crop and vegetation.
High-precision ecological location may be implemented in the sensor-based system used in the present embodiment, precisely obtains the 3D point cloud letter of plant
Breath, multispectral data provide beneficial way for analysis plant phenotype parameter.Following effect may be implemented in agricultural: identification has
Evil biology, disease and weeds；Optimize Pesticide use by early detection and crop is spraying；Data in relation to soil fertility are provided,
And by detection nutritional deficiency come Optimum；Help land management, if produced or changed the line of production crop etc.；Calculate plant simultaneously
Determine crop quantity or plantation pitch problems；Measurement is irrigated, and suspects the area of water stress by identification to control crop irrigation
Deng.
It in the present embodiment, further include two pairs of spare wheels suitable for the high-throughput plant phenotype system of the movable type of multizone
(not shown), a column support 11 of portal frame 1 are equipped with a pair of of spare wheel, and spare wheel is set by adjustable structure
It is placed on column support 11, height of the spare wheel on column support 11 is adjustable, and spare wheel can drive portal frame 1 on the ground
It is mobile, when the wheel 2 of portal frame 1 can normally advance along guide rail 3, by adjusting adjustable structure, improve spare wheel
Height, it is adjustable by adjusting when the wheel 2 of portal frame 1 normally can not normally advance along guide rail 3 away from ground
Section structure reduces the height of spare wheel, and spare wheel is made to prop up portal frame 1, and portal frame 1 can be driven mobile, certainly, spare
Wheel can also be assisted during wheel is advanced along guide rail.Specifically, being suitable for the mobile high pass of multizone
Measuring plant phenotype system further includes leader's (not shown), and handle is set on portal frame, consequently facilitating pushing portal frame.
It in the present embodiment, further include a shield (figure suitable for the high-throughput plant phenotype system of the movable type of multizone
In be not shown), shield is arranged on the adjusting auxiliary girder 13 of portal frame 1, the outside of the sensor-based system 4 is covered on, for protecting
The sensor-based system 4.It is adjusted on auxiliary girder 13 specifically, shield is installed on, and shield is retractable structure, the of shield
One end is connected on sensor-based system 4, and second end is connected to the side of portal frame 1, when sensor-based system 4 moves horizontally, drives protection
Cover is flexible.
It is a kind of specifically the answering of the high-throughput plant phenotype system of movable type for being suitable for multizone in the present embodiment below
With method, comprising steps of
S10:PLC controller controls the mesh that portal frame 1 is moved to target measurement region by the driving device of control wheel 2
Cursor position；
The adjustment of S20:PLC controller adjusts the height of auxiliary girder 13, so as to adjust between sensor-based system 4 and plant surface away from
From；
S30:PLC controller drives sensor-based system 4 along 13 water of adjusting auxiliary girder of portal frame 1 by control water-driven device
Translation is dynamic, while controlling sensor-based system 4 and obtaining plant phenotype data when moving and plant phenotype data are sent to control eventually
End carries out the storage and analysis of data；
S40:PLC controller controls 1 advance pre-determined distance of portal frame；
S50: sequentially step S30 and step S40 is repeated until completing the plant phenotype data acquisition of the first measured zone；
S60: portal frame 1 is moved on cross slide way 32, is rotated wheel 2 by rotating disc 21, is made the traveling side of wheel 2
It to the extending direction along cross slide way 32, is moved to portal frame 1 at another measured zone, is rotated further by wheel 2, make wheel 2
Direction of travel along the vertical guide 31 in another measured zone extending direction；
S70: sequentially repeating step S10 to step S50 until completing the plant phenotype data acquisition of the second measured zone；
S80: sequentially step S60 and step S70 is repeated until completing the plant phenotype data acquisition of all measured zones.
The high-throughput plant phenotype system altitude automation of the movable type for being suitable for multizone in this specific embodiment, can be with
It realizes the non-destructive testing to the sample of large area multizone, to magnanimity breeding phenotype sample, passes through high-throughput and high-precision field
Between phenotype measurement and Eco Environmental Factors monitoring, by genotype, phenotype, environmental factor three's association analysis, so that realizing has
Plan ground design and context and guides crop production, solves current thremmatology and phenomics research urgent need.In the present embodiment
The collecting method high degree of automation of disclosed mobile high-throughput plant phenotype, compared to traditional collected by hand data
Mode, the method data acquisition efficiency in the present embodiment is high, and data precision is high.In addition, the movable type in the present embodiment is high
Flux plant phenotype system is acquired especially suitable for outdoor plant phenotype data.
It of courses, other in the high-throughput plant phenotype system of movable type for being suitable for multizone of the utility model are specific
In embodiment, the structure of portal frame can be adjusted according to specific needs；A pair can be only arranged in cross slide way, and setting is perpendicular
One end of direction guiding rail；The concrete composition of sensor-based system can also be according to being specifically arranged；Shield and handle etc.
The property of can choose setting；Controlling terminal in PLC controller can be not provided on the gantry, the concrete composition of PLC controller
Also it can according to need adjustment；Spare wheel can be directly fixedly installed on portal frame, it is of course also possible to be not provided with reserve wagon
Wheel；In addition, those skilled in the art can make other improvements on the basis of the present embodiment, no longer repeat one by one herein.
Specific embodiment two
Present embodiment discloses the another of the high-throughput plant phenotype system of movable type for being suitable for multizone of the utility model
The movable type high-throughput plant phenotype system for being suitable for multizone in a kind of outer specific embodiment, structure and specific embodiment one
Unite essentially identical, the difference is that, in two embodiments the adjustment structure of the distance between sensor-based system and plant surface and
Regulative mode is different.Specifically, without adjusting auxiliary girder in the present embodiment, sensor-based system is connected to gantry by vertical driving device
On frame, vertical driving device is electrically connected with PLC controller, and vertical driving device drives sensing system under the control of PLC controller
System moves up and down, to adjust the distance between sensor-based system and plant surface.
It should be noted that above-described embodiment can be freely combined as needed.The above is only the utility model
Preferred embodiment, it is noted that for those skilled in the art, do not departing from the utility model principle
Under the premise of, several improvements and modifications can also be made, these improvements and modifications also should be regarded as the protection scope of the utility model.
Claims (8)
1. a kind of high-throughput plant phenotype system of movable type suitable for multizone characterized by comprising
The bottom of portal frame, the portal frame is equipped with wheel, and the wheel is set to the portal frame bottom by rotating disc；
Guide rail is laid on the ground, is adapted to the wheel of the portal frame bottom, and the guide rail includes multipair vertical guide and extremely
One end of the vertical guide is arranged in few a pair of cross slide way, the cross slide way, and the wheel can be respectively along described vertical
Guide rail and cross slide way sliding；
Sensor-based system is movably disposed on the portal frame by a horizontal drive apparatus, and the sensor-based system is described
It is moved horizontally under the action of horizontal drive apparatus；
PLC controller is electrically connected with the driving device of the wheel, is electrically connected with the sensor-based system, with the horizontal drive
Device electrical connection.
2. the high-throughput plant phenotype system of the movable type according to claim 1 suitable for multizone, it is characterised in that:
The portal frame includes a pair of of column support, fixed girder and adjusts auxiliary girder, and the fixed girder is horizontally set with auxiliary girder is adjusted
Between a pair of column support, the lower section for adjusting auxiliary girder and being located at the fixed girder, the adjusting auxiliary girder is relative to ground
Height it is adjustable, the sensor-based system is installed on the adjusting auxiliary girder horizontally moveablely by the horizontal drive apparatus.
3. the high-throughput plant phenotype system of the movable type according to claim 2 suitable for multizone, it is characterised in that:
The adjusting auxiliary girder is connected on the column support by vertical driving device, and the vertical driving device with it is described
PLC controller electrical connection, the vertical driving device drive the adjusting auxiliary girder described under the control of the PLC controller
Column support moves up and down.
4. the high-throughput plant phenotype system of the movable type according to claim 2 suitable for multizone, it is characterised in that:
The column support includes at least two columns disposed in parallel, disposed in parallel by least two between two columns
Connecting rod connection.
5. the high-throughput plant phenotype system of the movable type according to claim 3 suitable for multizone, it is characterised in that:
It further include a shield, the shield is arranged on the portal frame, the outside of the sensor-based system is covered on, for preventing
Protect the sensor-based system.
6. the high-throughput plant phenotype system of the movable type according to claim 5 suitable for multizone, it is characterised in that:
The shield is installed on the adjusting auxiliary girder, and the shield be retractable structure, the first of the shield
End is connected on the sensor-based system, and second end is connected to the side of the portal frame, when the sensor-based system moves horizontally, band
It is flexible to move the shield.
7. the high-throughput plant phenotype system of the movable type according to claim 1 suitable for multizone, it is characterised in that:
The PLC controller includes a PLC power control cabinet and a controlling terminal, and the PLC power control cabinet is electrically connected with the sensor-based system
It connects, carries out data acquisition, the horizontal drive apparatus of the PLC power control cabinet and the sensor-based system for controlling the sensor-based system
Electrical connection, the horizontal position for controlling the sensor-based system change, the driving device electricity of the PLC power control cabinet and the wheel
Connection, for controlling the movement of the portal frame, the PLC power control cabinet is electrically connected with the controlling terminal, the controlling terminal
For issuing control instruction to the PLC power control cabinet and obtaining and analyze the information that the PLC power control cabinet conveys, the PLC electricity
Cabinet is controlled to be arranged on the portal frame；
And/or；
The sensor-based system is connected on the portal frame by vertical driving device, the vertical driving device and the PLC
Controller electrical connection, the vertical driving device drive the sensor-based system to move up and down under the control of the PLC controller；
And/or；
The sensor-based system includes 3D laser radar, RGB imaging unit, thermal infrared imaging unit and multispectral imaging unit；
And/or；
The PLC controller is arranged on the portal frame.
8. the high-throughput plant phenotype system of the movable type according to claim 1 suitable for multizone, it is characterised in that:
It further include at least a pair of of spare wheel, the spare wheel is set on the portal frame by an adjustable structure, institute
It is highly adjustable on the portal frame to state spare wheel, the spare wheel is for driving the portal frame to move on the ground；
And/or；
Further include leader, be set on the portal frame, for pushing the portal frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822024202.6U CN208998846U (en) | 2018-12-04 | 2018-12-04 | The high-throughput plant phenotype system of movable type suitable for multizone |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822024202.6U CN208998846U (en) | 2018-12-04 | 2018-12-04 | The high-throughput plant phenotype system of movable type suitable for multizone |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110513580A (en) * | 2019-09-06 | 2019-11-29 | 东北农业大学 | A kind of multiple degrees of freedom plant phenotype acquisition platform |
| CN110741849A (en) * | 2019-10-21 | 2020-02-04 | 南京慧瞳作物表型组学研究院有限公司 | Movable phenotype cabin monitoring system for field crops |
| WO2021151286A1 (en) * | 2020-01-29 | 2021-08-05 | 南京慧瞳作物表型组学研究院有限公司 | Field crop root phenotype acquisition system |
| WO2023148352A1 (en) * | 2022-02-04 | 2023-08-10 | Sylvabot | Agricultural robotic gantry system for multispan greenhouse |
-
2018
- 2018-12-04 CN CN201822024202.6U patent/CN208998846U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110513580A (en) * | 2019-09-06 | 2019-11-29 | 东北农业大学 | A kind of multiple degrees of freedom plant phenotype acquisition platform |
| CN110741849A (en) * | 2019-10-21 | 2020-02-04 | 南京慧瞳作物表型组学研究院有限公司 | Movable phenotype cabin monitoring system for field crops |
| WO2021151286A1 (en) * | 2020-01-29 | 2021-08-05 | 南京慧瞳作物表型组学研究院有限公司 | Field crop root phenotype acquisition system |
| WO2023148352A1 (en) * | 2022-02-04 | 2023-08-10 | Sylvabot | Agricultural robotic gantry system for multispan greenhouse |
| FR3132415A1 (en) * | 2022-02-04 | 2023-08-11 | Sylvabot | AGRICULTURAL ROBOTIZED GANTRY SYSTEM FOR MULTI-CHAPEL GREENHOUSE. |
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