CN210063187U - Crop canopy assimilation measuring robot - Google Patents
Crop canopy assimilation measuring robot Download PDFInfo
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- CN210063187U CN210063187U CN201920804404.4U CN201920804404U CN210063187U CN 210063187 U CN210063187 U CN 210063187U CN 201920804404 U CN201920804404 U CN 201920804404U CN 210063187 U CN210063187 U CN 210063187U
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Abstract
The embodiment of the utility model provides a crop canopy assimilation measuring robot, include: the wheel support comprises a first base beam, a second base beam, wheels and a box body; at least two wheels are respectively connected below the first base beam and the second base beam; the inner left box surface of the box body is fixedly connected above the first base beam, and the inner right box surface of the box body is fixedly connected above the second base beam; the inner left box surface and the inner right box surface are both fixedly connected with the top box surface, and the inner front box door and the inner rear box door are both rotatably connected with the top box surface; the outer left box surface, the outer right box surface, the outer front box door and the outer rear box door can extend downwards into soil; a sensor box is arranged in the box body. The assimilation measurement of the crop canopy is realized in the advancing process of the crop canopy assimilation measurement robot, the crop canopy assimilation measurement of multiple positions can be realized by only adopting one device, the automation degree of the crop field in-situ assimilation measurement is improved, the measurement cost is reduced, and meanwhile, the influence on the natural growth of crops cannot be generated.
Description
Technical Field
The utility model relates to an agricultural information and intelligent equipment technical field, more specifically relates to crop canopy assimilation measuring robot.
Background
High-yield and high-efficiency grain production is the most important purpose of agricultural production. The biomass is from the photosynthesis to convert light energy into chemical energy, and the improvement of the light energy conversion rate is an effective way for improving the biomass. Most of the assimilation partition models used in current ecosystem model simulations are empirical. The assimilation species distribution has important influence on the growth, competition and structure formation of plants, is the key of plant growth and is a weak link in a plant growth model. Therefore, the development of a device for measuring the plant assimilation rate of a plant in a field environment plays an important role.
At present, researchers at home and abroad carry out a great deal of work on quantitative measurement of plant assimilation rate, and at present, the research scholars mainly construct microenvironment of blade scale and measure CO2The change of concentration is used for determining the photosynthetic rate of a single leaf, typical products such as a PTM48 photosynthetic measurement system and an LI6800 photosynthetic measurement system and the like, but the photosynthetic measurement system such as the PTM48 photosynthetic measurement system and the LI6800 photosynthetic measurement system can only measure the photosynthetic rate of the single leaf in an organ scale, and cannot measure the photosynthetic rate in a plant population scale. For this purpose, researchers have proposed a vertical opening type automatic canopy assimilation box and a group photosynthetic gas exchange measurement system CAPTS-100 in the aspect of crop group dimension, which can measure the photosynthetic rate of the plant group dimension, but the assimilation box or the measurementWhen the measurement system CAPTS-100 is applied, a plurality of assimilation boxes or measurement systems CAPTS-100 are needed if the assimilation rates of crop groups at a plurality of positions need to be measured, the measurement cost is high, and the assimilation boxes or the measurement systems CAPTS-100 need to be placed at the positions of crops to be measured for a long time, so that a certain influence is generated on the natural growth of the crops to be measured.
SUMMERY OF THE UTILITY MODEL
In order to overcome the problems or at least partially solve the problems, the embodiment of the utility model provides a crop canopy assimilation measuring robot.
The embodiment of the utility model provides a crop canopy assimilation measuring robot, include: the wheel support comprises a first base beam, a second base beam, wheels and a box body;
the first base beam and the second base beam are both horizontally arranged, the first base beam and the second base beam are parallel to each other, and at least two wheels are connected below the first base beam and the second base beam respectively;
the box body comprises a top box surface, a left box surface, a right box surface, a front box door and a rear box door, wherein the bottom box surface of the box body is empty, and the left box surface and the right box surface are parallel and vertically arranged and are parallel to the first base beam; the box comprises a left box surface, an outer left box surface, an inner left box surface, a right box surface, an outer right box surface, an inner right box surface, an outer rear box door and an inner rear box door, wherein the left box surface comprises the outer left box surface and the inner left box surface which are connected in a sliding manner in the vertical direction;
the inner left box surface is fixedly connected above the first base beam, and the inner right box surface is fixedly connected above the second base beam; the inner front box door and the inner rear box door are rotatably connected with the top box surface; the outer left box surface, the outer right box surface, the outer front box door and the outer rear box door can all extend downwards into soil;
a sensor box is arranged in the box body and fixed on the top box surface, and CO is contained in the sensor box2A density sensor and an image sensor.
Preferably, the crop canopy assimilation measurement robot further comprises: four triangular fixing frames;
interior left side case face is in through two triangle mount fixed connection first base roof beam top, interior right side case face is in through two triangle mount fixed connection in addition second base roof beam top.
Preferably, in the crop canopy assimilation measuring robot, the sensor box further comprises an illumination sensor, a temperature and humidity sensor and an air pressure sensor.
Preferably, in the crop canopy assimilation measurement robot, a fan and a fan barrel are further arranged in the box body;
the fan barrel is vertically arranged in the box body, the fan is installed at one end of the fan barrel, and the other end of the fan barrel faces the inside of the box body.
Preferably, the crop canopy assimilation measurement robot further comprises: and the storage battery is fixedly connected to the first base beam or the second base beam.
Preferably, in the crop canopy assimilation measuring robot, a light supplement lamp is further arranged in the box body and fixed on the top box surface.
Preferably, in the crop canopy assimilation measurement robot, the top box surface, the left box surface, the right box surface, the front box door and the rear box door are made of light-transmitting materials.
Preferably, in the crop canopy assimilation measuring robot, the edges of the left box surface, the right box surface, the front box door and the rear box door are all provided with suction devices.
Preferably, in the crop canopy assimilation measuring robot, the width of the crop canopy assimilation measuring robot is greater than or equal to the sowing row spacing of the crop to be measured.
Preferably, in the crop canopy assimilation measurement robot, sealing strips are arranged on the front outer side and the rear outer side of the top box surface.
The embodiment of the utility model provides a pair of crop canopy assimilation measuring robot is a marching type crop canopy assimilation measuring device, realizes advancing of crop canopy assimilation measuring robot through the wheel of first base roof beam, second base roof beam and below connection, can realize crop colony field normal position CO2And measuring the concentration and extracting the crop coverage, thereby realizing the measurement of the field in-situ assimilation rate and the transpiration rate of the crop population. Simultaneously, the box all can downwardly extending to in the soil outside left side case face, outside right side case face, outer front box door and the outer back chamber door of box, has guaranteed the leakproofness of box when assimilation is measured. And finally, the inner front box door and the inner rear box door of the box body are both rotatably connected with the top box surface, when the object canopy homogenization measuring robot normally travels, the inner front box door drives the whole front box door to rotate to a height higher than the height of the crops, and the inner rear box door drives the whole rear box door to rotate to a height higher than the height of the crops, so that the box body is ensured not to contact with the crops when the box body normally travels. The embodiment of the utility model provides an in the embodiment provide a crop canopy assimilation measuring robot, the in-process of marcing at crop canopy assimilation measuring robot realizes the crop canopy assimilation and measures, only adopt a equipment can realize the crop canopy assimilation measurement of a plurality of positions, can realize the measurement of crop population field normal position assimilation rate and transpiration rate, still can realize the measurement of different growth period crop population field normal position assimilation rate and transpiration rate, the degree of automation of crop field normal position assimilation measurement has been promoted, the measurement cost is reduced, can not exert an influence to the natural growth of crop simultaneously.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a crop canopy assimilation measurement robot provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a crop canopy assimilation measurement robot provided by an embodiment of the present invention during normal traveling;
fig. 3 is a schematic structural diagram of a crop canopy assimilation measurement robot according to an embodiment of the present invention when performing assimilation measurement on a crop canopy to be measured;
fig. 4 is a schematic structural diagram of a crop canopy assimilation measurement robot provided by an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a crop canopy assimilation measurement robot provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a crop canopy assimilation measurement robot provided by an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a crop canopy assimilation measurement robot provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the embodiments of the present invention can be understood in specific cases by those skilled in the art.
When the assimilation box or the measurement system CAPTS-100 in the prior art is applied, the assimilation rates of crop groups at multiple positions cannot be measured conveniently, the measurement cost is high, and even the natural growth of crops to be measured is influenced. Therefore, the embodiment of the utility model provides a crop canopy assimilation measuring robot to solve the problem among the prior art, realize the more convenient crop colony assimilation rate of measuring a plurality of positions, can reduce cost moreover, can not exert an influence to the natural growth of the crop that awaits measuring yet.
As shown in fig. 1, the present invention provides a schematic structural diagram of a crop canopy assimilation measurement robot according to an embodiment of the present invention. The crop canopy assimilation measurement robot in fig. 1 includes: a first base beam 1, a second base beam 2, wheels 3 and a box body 4;
first base roof beam 1 and the equal level setting of second base roof beam 2, first base roof beam 1 and the mutual parallel arrangement of second base roof beam 2, and be connected with two at least wheels 3 respectively in first base roof beam 1 and second base roof beam 2 below.
The box body 4 comprises a top box surface 41, a left box surface 42, a right box surface 43, a front box door 44 and a rear box door 45, the bottom box surface of the box body 4 is empty, and the left box surface 42 and the right box surface 43 are parallel and vertically arranged and are parallel to the first base beam 1;
left side case face 42 specifically includes outer left side case face and interior left side case face, outer left side case face and interior left side case face sliding connection in vertical direction, right side case face 43 specifically includes outer right side case face and interior right side case face, outer right side case face and interior right side case face sliding connection in vertical direction, front box door 44 specifically includes outer front box door and interior front box door, outer front box door and interior front box door sliding connection in vertical direction, back box door 45 specifically includes outer back box door and interior back box door, outer back box door and interior back box door sliding connection in vertical direction.
The inner left box surface is fixedly connected above the first base beam, and the inner right box surface is fixedly connected above the second base beam; the inner left box surface and the inner right box surface are both fixedly connected with the top box surface, and the inner front box door and the inner rear box door are both rotatably connected with the top box surface; the outer left box surface, the outer right box surface, the outer front box door and the outer rear box door can extend downwards into soil;
a sensor box 46 is arranged in the box body 4, the sensor box 46 is fixed on the top box surface 41, and CO is contained in the sensor box 462A density sensor and an image sensor.
Specifically, in the embodiment of the utility model, in order to guarantee that crop canopy assimilation measuring robot can advance, be fixed with first base roof beam 1 and second base roof beam 2 under box 4, equally divide on first base roof beam 1 and the second base roof beam 2 and do not be provided with wheel 3. In order to ensure that the crop canopy assimilation measurement robot can travel smoothly, the number of wheels 3 on each base beam is required to be at least two. In fig. 1, only two wheels 3 are disposed on the first base beam 1 and the second base beam 2, respectively, for illustration, in addition, the wheels 3 with a number greater than 2 may be disposed on the first base beam 1 and the second base beam 2, respectively, the number of the wheels on the first base beam 1 and the second base beam 2 may be selected according to needs, and may be the same or different, which is not specifically limited in the embodiment of the present invention. The wheels 3 can be universal wheels and are directly arranged below the first base beam 1 and the second base beam 2; or a common wheel, wherein pillars which are horizontally arranged and vertical to the first base beam are arranged at corresponding positions of the first base beam 1 and the second base beam 2 and are respectively used as wheel shafts; can also adopt the wheel of other forms, as long as can guarantee that the wheel drives whole crop canopy and assimilates measuring robot and normally march can, the embodiment of the utility model provides an in not specifically limit this.
The box body 4 includes a top box surface 41, a left box surface 42, a right box surface 43, a front box door 44 and a rear box door 45, wherein the left box surface 42 and the right box surface 43 are vertically arranged and are parallel to the first base beam 1. The left box surface 42 specifically comprises an outer left box surface and an inner left box surface, the width of the outer left box surface is the same as that of the inner left box surface, the height of the outer left box surface is smaller than or equal to that of the inner left box surface, the outer left box surface is in sliding connection with the inner left box surface in the vertical direction, and the maximum height of the left box surface 42 is larger than the distance from the top box surface 41 to the soil surface. The right box surface 43 specifically comprises an outer right box surface and an inner right box surface, the width of the outer right box surface is the same as that of the inner right box surface, the height of the outer right box surface is smaller than or equal to that of the inner right box surface, the outer right box surface is connected with the inner right box surface in a sliding mode in the vertical direction, and the maximum height of the right box surface 43 is larger than the distance from the top box surface 41 to the soil surface. The front box door 44 specifically comprises an outer front box door and an inner front box door, the width of the outer front box door is the same as that of the inner front box door, the height of the outer front box door is less than or equal to that of the inner front box door, the outer front box door and the inner front box door are connected in a sliding mode in the vertical direction, and the maximum height of the front box door 44 is greater than the distance from the top box surface 41 to the soil surface. The rear box door 45 specifically comprises an outer rear box door and an inner rear box door, the width of the outer rear box door is the same as that of the inner rear box door, the height of the outer rear box door is less than or equal to that of the inner rear box door, the outer rear box door and the inner rear box door are connected in a sliding mode in the vertical direction, and the maximum height of the rear box door 45 is greater than the distance from the top box surface 41 to the soil surface. Because the maximum heights of the left box surface 42, the right box surface 43, the front box door 44 and the rear box door 45 are all larger than the distance from the top box surface 41 to the soil surface, the outer left box surface, the outer right box surface, the outer front box door and the outer rear box door can all extend downwards into the soil.
When the crop canopy assimilation measuring robot is used for assimilating and measuring crop canopies, the advancing direction of the crop canopy assimilation measuring robot is the same as the direction of a sowing row where crops are located, the length directions of the first base beam 1 and the second base beam 2 are the same as the advancing direction of the crop canopy assimilation measuring robot, and the first base beam 1 and the second base beam 2 are respectively located on two sides of the sowing row where the crops are located.
When crop canopy assimilation measuring robot marchs on a certain seeding row, for guaranteeing that crop canopy assimilation measuring robot when normally marcing crop can not contact with the box, the bottom case face of box 4 is empty, observes along crop canopy assimilation measuring robot advancing direction promptly, can observe complete crop in box 4, and does not have the edge of box 4 to shelter from the crop. The outer front door of the front door 44 and the outer rear door of the rear door 45 of the box 4 are rotatably connected with the top box surface 41, as shown in fig. 2, when the crop canopy assimilation measurement robot normally travels, the inner front door drives the front door 44 to rotate to a height higher than the highest height of the crop on the sowing row, the inner rear door drives the rear door 45 to rotate to a height higher than the highest height of the crop on the sowing row, so that the front door 44 and the rear door 45 of the box 4 are prevented from contacting with the crop, and a dotted line in fig. 2 is a soil surface. When the crop canopy to be measured is subjected to assimilation measurement, the crop canopy assimilation measurement robot is enabled to move on the seeding row where the crop to be measured is located, and when the crop to be measured is located in the box body 4, the crop canopy assimilation measurement robot stops moving.
The embodiment of the utility model provides an in box 4's left side case face 42, right side case face 43, preceding chamber door 44 and back chamber door 45 all have the function of can stretching the shrink, when thing canopy assimilation measuring robot normally marchs, box 4's left side case face 42, right side case face 43, preceding chamber door 44 and back chamber door 45 all are in the shrink state, outer left side case face, outer right side case face, outer preceding chamber door and outer back chamber door all are located the soil top promptly to guarantee that crop canopy assimilation measuring robot realizes normally marcing smoothly on a certain seeding line. When carrying out the crop canopy assimilation that awaits measuring and measuring, outer left side case face, outer right side case face, outer front box door and outer back box door all are in the extending state, and outer left side case face, outer right side case face, outer front box door and outer back box door all slide to lower limb in soil promptly to guarantee the accuracy of the measuring result that the crop canopy assimilation measuring robot obtained when carrying out the crop canopy assimilation that awaits measuring, guarantee the seal of box 4, avoid box 4 to breathe freely. As shown in fig. 3, when the crop canopy assimilation measuring robot assimilates and measures the crop canopy to be measured, the left box surface, the right box surface, the front box door and the rear box door are all vertically arranged and are in a stretching state, and extend downwards into soil, and the dotted line in fig. 3 is the soil surface.
A sensor box 46 is arranged in the box body 4, the sensor box 46 is fixed on the top box surface 41, and CO is contained in the sensor box 462Concentration sensor and image sensor, CO2The concentration sensor is used for measuring CO in the box body 42The image sensor is used for acquiring an image of the crops contained in the box body 4, and the coverage of the crops in the box body 4 can be extracted from the image. Measuring CO in the tank 42According to the concentration of the carbon dioxide and the crop coverage in the box body 4, according to the CO2The assimilation rate and the transpiration rate of the crop canopy to be measured in the box body 4 are determined according to the concentration change and the crop coverage in the box body 4, the assimilation measurement of the crop canopy to be measured in the box body 4 is achieved, and then the assimilation measurement of the crop group in the whole area can be achieved.
The embodiment of the utility model provides a crop canopy assimilation measuring robot is a marching type crop canopy assimilation measuring device, realizes advancing of crop canopy assimilation measuring robot through the wheel of first base roof beam, second base roof beam and below connection, can realize crop colony field normal position CO2And measuring the concentration and extracting the crop coverage, thereby realizing the measurement of the field in-situ assimilation rate and the transpiration rate of the crop population. Simultaneously, the box all can downwardly extending to in the soil outside left side case face, outside right side case face, outer front box door and the outer back chamber door of box, has guaranteed the leakproofness of box when assimilation is measured. Finally, the inner front box door and the inner rear box door of the box body are both rotatably connected with the top box surface, the inner front box door drives the whole front box door to rotate to a height higher than the height of crops when the object canopy homogenization measuring robot normally travels, and the inner rear box door drives the whole rear box doorThe box body rotates to a height higher than the height of the crops, so that the box body can be ensured not to be contacted with the crops when the box body normally travels. The embodiment of the utility model provides an in the embodiment provide a crop canopy assimilation measuring robot, the in-process of marcing at crop canopy assimilation measuring robot realizes the crop canopy assimilation and measures, only adopt a equipment can realize the crop canopy assimilation measurement of a plurality of positions, can realize the measurement of crop population field normal position assimilation rate and transpiration rate, still can realize the measurement of different growth period crop population field normal position assimilation rate and transpiration rate, the degree of automation of crop field normal position assimilation measurement has been promoted, the measurement cost is reduced, can not exert an influence to the natural growth of crop simultaneously.
On the basis of the above embodiment, when assimilating and measuring the crop canopy to be measured in the box 4, in order to ensure that the left box surface 42, the right box surface 43, the front box door 44 and the rear box door 45 can smoothly extend downwards into the soil, the bottoms of the left box surface 42, the right box surface 43, the front box door 44 and the rear box door 45 have sharp edges, that is, the outer left box surface, the outer right box surface, the outer front box door and the outer rear box door have sharp lower edges.
As shown in fig. 4, on the basis of the above embodiment, the crop canopy assimilation measurement robot provided in the embodiment of the present invention further includes: four triangular fixing frames 5. Wherein, the interior left side case face on the box 4 passes through two triangle mount fixed connection wherein and is in the fixed top of first base roof beam 1, and the interior right side case face on the box 4 passes through two other triangle mount fixed connection 2 tops on the second base roof beam.
Specifically, the utility model discloses crop canopy assimilation measuring robot in the embodiment passes through triangle mount fixed connection between box 4 and first base roof beam 1, second base roof beam 2, can make more firm the fixing on first base roof beam 1, second base roof beam 2 of box.
The embodiment of the utility model provides an in four triangle mounts 5 specifically are right angle triangle mount, two right-angle sides of right angle triangle mount respectively with the vertical edge of interior left side case face, interior right side case face or 1, 2 fixed connection of second base roof beam. The four triangular fixing frames can be arranged in the box body 4, namely, the structure shown in fig. 4, and can also be arranged outside the box body 4.
On the basis of the above-mentioned embodiment, the embodiment of the utility model provides an in the crop canopy assimilation measuring robot that provides, the sensor incasement still includes illumination sensor, temperature and humidity sensor and baroceptor.
Specifically, the embodiment of the utility model provides an in through the illumination in the illumination sensor measuring box body, and then confirm that the illumination in the box changes, through temperature and humidity in the temperature and humidity sensor measuring box body, and then confirm temperature variation and the humidity change in the box, through atmospheric pressure in the baroceptor measuring box body, and then confirm the atmospheric pressure change in the box. Light change, temperature change, humidity change, air pressure change and CO in the box body are combined2The determined assimilation rate and transpiration rate of the crop canopy to be detected in the box body 4 can be more accurate due to the concentration change and the crop coverage in the box body 4, and the assimilation measurement of the crop group in the whole area is more accurate.
As shown in fig. 5, on the basis of the above embodiment, the crop canopy assimilation measurement robot provided in the embodiment of the present invention further includes a fan 47 and a blower tube 48 disposed in the box 4. The fan drum 48 is vertically arranged in the casing 4, and may be arranged in particular near a vertical edge of the casing 4. The fan 47 is mounted at one end of a fan drum 48, the other end of the fan drum 48 facing into the case 4. The fan 47 is used to homogenize the gas inside the tank.
As shown in fig. 6, on the basis of the above-mentioned embodiment, the utility model provides an in the embodiment, the crop canopy assimilation measuring robot, still be provided with light filling lamp 49 in the box, light filling lamp 49 is fixed on top box face 41 for carry out the light filling to the box when crop canopy assimilation measuring robot assimilates the crop canopy and measures.
The embodiment of the utility model provides an in can all be provided with photosynthetic active radiation sensor outside the box, the photosynthetic active radiation sensor's in the box first measured value and the box outside photosynthetic active radiation sensor's second measured value are compared according to the box, judge opening opportunity of light filling lamp. And when the first measurement value is smaller than the second measurement value, turning on a light supplement lamp for light supplement. When the first measurement value is greater than or equal to the second measurement value, the light supplement lamp does not need to be turned on to supplement light.
As shown in fig. 7, on the basis of the above embodiment, the crop canopy assimilation measurement robot provided in the embodiment of the present invention further includes: the storage battery 6 and the storage battery 6 are fixedly connected to the first base beam 1 or the second base beam 2, and can be fixedly connected to the first base beam 1 or the second base beam 2 on two sides of the box body and also can be fixedly connected to the first base beam 1 or the second base beam 2 below the box body. For avoiding the heat that 6 during operations of storage battery produced to produce the influence to crop canopy assimilation measuring result, as preferred scheme, the embodiment of the utility model provides an in can be with 6 fixed connection of storage battery on the first base roof beam 1 or the second base roof beam 2 of box both sides, as shown in figure 7. Wherein, fig. 7 only shows the situation that the battery 6 is fixedly connected on the second base beam 2 at one side of the box body. The storage battery 6 is respectively connected with the fan 47, the light supplement lamp 49 and each sensor in the sensor box 46, and is used for providing power for the crop canopy assimilation measuring robot and supplying power for the fan 47, the light supplement lamp 49 and each sensor in the sensor box 46. It should be noted that fig. 7 only shows the relative position relationship among the battery 6, the fan 47, the fill-in light 49, and the sensor box 46, and does not show the connection lines between the battery 6 and the fan 47, the fill-in light 49, and the sensor box 46.
On the basis of the embodiment, the utility model provides an in the embodiment provide a crop canopy assimilation measuring robot, the top case face the left side case face the right side case face the front box door with the material of back chamber door is light printing opacity material to make external light source can be absorbed through the crop of top case face, left side case face, right side case face, front box door and back chamber door in by the box, can alleviate the box simultaneously to the pressure of first base roof beam, second base roof beam and wheel.
On the basis of the above-mentioned embodiment, the embodiment of the utility model provides a crop canopy assimilation measuring robot, the left side case face the right side case face the front chamber door with the edge of back chamber door all has the actuation device.
Specifically, the embodiment of the utility model provides an in, when carrying out crop canopy assimilation measurement, 4 contact sides that can guarantee vertical direction through the actuation device are airtight, avoid ventilative, guarantee the seal of box. The suction device can be sleeved by the dustproof sleeve, so that the long-time exposure of the suction device is avoided.
On the basis of the above-mentioned embodiment, the embodiment of the utility model provides an in the width of the crop canopy assimilation measuring robot that provides be greater than or equal to the seeding row spacing of the crop that awaits measuring, can guarantee that the crop canopy assimilation measuring robot travels unobstructed.
On the basis of the embodiment, the embodiment of the utility model provides a crop canopy assimilation measuring robot, the outside sets up the sealing strip around the top case face, when carrying out crop canopy assimilation and measure, pastes the gap that top case face and preceding box door, back box door are connected with the sealing strip, the leakproofness of box when guaranteeing crop canopy assimilation and measure.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. A crop canopy assimilation measurement robot, comprising: the wheel support comprises a first base beam, a second base beam, wheels and a box body;
the first base beam and the second base beam are both horizontally arranged, the first base beam and the second base beam are parallel to each other, and at least two wheels are connected below the first base beam and the second base beam respectively;
the box body comprises a top box surface, a left box surface, a right box surface, a front box door and a rear box door, wherein the bottom box surface of the box body is empty, and the left box surface and the right box surface are parallel and vertically arranged and are parallel to the first base beam; the box comprises a left box surface, an outer left box surface, an inner left box surface, a right box surface, an outer right box surface, an inner right box surface, an outer rear box door and an inner rear box door, wherein the left box surface comprises the outer left box surface and the inner left box surface which are connected in a sliding manner in the vertical direction;
the inner left box surface is fixedly connected above the first base beam, and the inner right box surface is fixedly connected above the second base beam; the inner front box door and the inner rear box door are rotatably connected with the top box surface; the outer left box surface, the outer right box surface, the outer front box door and the outer rear box door can all extend downwards into soil;
a sensor box is arranged in the box body and fixed on the top box surface, and CO is contained in the sensor box2A density sensor and an image sensor.
2. The crop canopy assimilation measurement robot of claim 1, further comprising: four triangular fixing frames;
interior left side case face is in through two triangle mount fixed connection first base roof beam top, interior right side case face is in through two triangle mount fixed connection in addition second base roof beam top.
3. The crop canopy assimilation measurement robot of claim 1, wherein the sensor box further comprises an illumination sensor, a temperature and humidity sensor, and a pressure sensor.
4. The crop canopy assimilation measurement robot of claim 1, wherein a fan and a blower barrel are further provided in the box;
the fan barrel is vertically arranged in the box body, the fan is installed at one end of the fan barrel, and the other end of the fan barrel faces the inside of the box body.
5. The crop canopy assimilation measurement robot of claim 1, further comprising: and the storage battery is fixedly connected to the first base beam or the second base beam.
6. The crop canopy assimilation measurement robot of any one of claims 1-5, wherein a light supplement lamp is further arranged in the box body and fixed on the top box surface.
7. The crop canopy assimilation measurement robot of any one of claims 1-5, wherein the top box face, the left box face, the right box face, the front box door, and the back box door are all made of a light-transmissive material.
8. The crop canopy assimilation measurement robot of any one of claims 1-5, wherein edges of the left box face, the right box face, the front box door, and the back box door all have a suction device.
9. The crop canopy assimilation measurement robot of any one of claims 1-5, wherein the crop canopy assimilation measurement robot has a width greater than or equal to a seeding row spacing of a crop to be measured.
10. The crop canopy assimilation measurement robot according to any one of claims 1 to 5, wherein a weather strip is provided on the front and rear outer sides of the top box surface.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181513A (en) * | 2019-05-30 | 2019-08-30 | 北京农业信息技术研究中心 | Crop canopies phenotype and assimilation synchro measure robot |
| CN110239640A (en) * | 2019-05-30 | 2019-09-17 | 北京农业信息技术研究中心 | Crop canopies assimilates robot measurement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181513A (en) * | 2019-05-30 | 2019-08-30 | 北京农业信息技术研究中心 | Crop canopies phenotype and assimilation synchro measure robot |
| CN110239640A (en) * | 2019-05-30 | 2019-09-17 | 北京农业信息技术研究中心 | Crop canopies assimilates robot measurement |
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