CN211553770U - Plant phenotype information acquisition device - Google Patents
Plant phenotype information acquisition device Download PDFInfo
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- CN211553770U CN211553770U CN201922207477.8U CN201922207477U CN211553770U CN 211553770 U CN211553770 U CN 211553770U CN 201922207477 U CN201922207477 U CN 201922207477U CN 211553770 U CN211553770 U CN 211553770U
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Abstract
The utility model relates to a plant phenotype information acquisition field discloses a plant phenotype information acquisition device, and this plant phenotype information acquisition device includes: the robot comprises a moving platform and a mechanical arm arranged on the moving platform; the robot arm includes: a plurality of support rods; the supporting rods are sequentially and rotatably connected; each support rod is provided with an image sensor used for acquiring color texture and shape information of the plants. The utility model provides a plant phenotype information acquisition device, through the arm that sets up including a plurality of bracing pieces on mobile platform, with each bracing piece rotatable connection in proper order to all set up image sensor on every bracing piece, make this plant phenotype information acquisition device can route planning by oneself through moving mechanism, cooperation bracing piece and image sensor can realize the automatic acquisition of a plurality of angle images of plant, and then can obtain plant phenotype information through the three-dimensional geometric computation method.
Description
Technical Field
The utility model relates to a plant phenotype information acquisition field especially relates to a plant phenotype information acquisition device.
Background
Plant phenotype is the intermediate link between the study of genotype and environment, and phenotype (trait) is the result of the combined action of genotype and environment. The method is favorable for establishing a plant growth and development model by carrying out lossless, rapid and accurate acquisition on the plant phenotype information, and provides basic morphological data for plant genetic breeding and functional genome analysis.
However, the current plant phenotype measurement process is limited by personnel, tools, environment and technical development, and the current plant phenotype data acquisition mainly depends on manual measurement, so that the automation degree is low, the labor intensity is high, and human errors are difficult to avoid. There is therefore a great need for efficient, accurate and automated phenotypic data acquisition devices.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
In view of above-mentioned technical defect and application demand, the embodiment of the utility model provides a plant phenotype information acquisition device for solve present plant phenotype data acquisition degree of automation low, intensity of labour big and the big scheduling problem of error.
(II) technical scheme
In order to solve the above problem, the utility model provides a plant phenotype information acquisition device, include: the robot comprises a moving platform and a mechanical arm arranged on the moving platform; the robot arm includes: a plurality of support rods; the supporting rods are sequentially and rotatably connected; each support rod is provided with an image sensor used for acquiring color texture and shape information of the plants.
Further, the robot arm further includes: a plurality of vertical rotating mechanisms; the adjacent support rods are rotatably connected through the corresponding vertical rotating mechanisms so as to control the adjacent support rods to rotate along the vertical direction.
Further, the robot arm further includes: a horizontal rotation mechanism; the horizontal rotating mechanism is arranged between the moving platform and the support rod at the bottommost end so as to control all the support rods to rotate along the horizontal direction.
Further, the bottom of moving platform is equipped with the wheel, the wheel includes: the power steering wheel is arranged at the front end of the mobile platform, and the driven wheel is arranged at the rear end of the mobile platform; and the power steering wheel is provided with a hub motor and a driver for providing power for the movement and steering of the mobile platform.
Furthermore, a power supply module, a GPS module and a radar which are electrically connected with each other are arranged in the mobile platform; the GPS module is used for calculating the path between the measured plant and the mobile platform; the radar is used for avoiding obstacles in the moving process of the mobile platform; the power supply module is used for providing power supply.
Furthermore, a communication module which is simultaneously electrically connected with the power supply module, the GPS module and the radar is also arranged in the mobile platform; the communication module is used for uploading the working condition of the mobile platform and the data obtained by the measurement of the image sensor to a remote server and obtaining an action instruction from the remote server.
Furthermore, the mobile platform is also internally provided with a control module which is simultaneously electrically connected with the power module, the GPS module, the radar and the communication module, and the control module is used for controlling the operation of the image sensor, the vertical rotating mechanism, the horizontal rotating mechanism and the power steering wheel through the GPS module, the radar and the communication module.
Further, the vertical rotating mechanism is provided with a first stepping motor and a first driver; the first stepping motor and the first driver control the corresponding adjacent supporting rods to rotate along the vertical direction, and the rotating range is 0-270 degrees.
Further, the horizontal rotating mechanism is provided with a second stepping motor and a second driver; the second stepping motor and the second driver control all the support rods to rotate along the horizontal direction, and the rotation range is 0-360 degrees.
Further, the power steering wheel includes: a hub motor and a third driver; the hub motor and the third driver are used for providing power for the movement and steering of the mobile platform.
(III) advantageous effects
The utility model provides a plant phenotype information acquisition device, through the arm that sets up including a plurality of bracing pieces on mobile platform, with each bracing piece rotatable connection in proper order to all set up image sensor on every bracing piece, make this plant phenotype information acquisition device can route planning by oneself through moving mechanism, cooperation bracing piece and image sensor can realize the automatic acquisition of a plurality of angle images of plant, and then can obtain plant phenotype information through the three-dimensional geometric computation method.
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 plant phenotype information acquisition device provided by an embodiment of the present invention;
description of reference numerals: 1. a mobile platform; 2. a wheel; 3. a horizontal rotation mechanism; 4. a support bar; 5. a vertical rotating mechanism; 6. an image sensor; 7. a plant to be tested.
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 present invention, it is to be noted that, unless otherwise explicitly specified or limited, 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 present invention can be understood in specific cases to those skilled in the art.
The embodiment of the utility model provides a plant phenotype information acquisition device, as shown in fig. 1, this plant phenotype information acquisition device includes: the robot comprises a moving platform 1 and a mechanical arm arranged on the moving platform 1.
Wherein, the arm includes: a plurality of support bars 4. The support rods 4 are connected in turn in a rotatable manner. An image sensor 6 is arranged on each support rod 4. The resolution ratio of the image sensor 6 is 4000 multiplied by 3000 pixels, and the image sensor is used for acquiring color texture and form information of the plant 7 to be measured, and forms approximate annular arrangement according to the height of the plant 7 to be measured by matching with the supporting rod 4 in the measuring process.
The plant 7 to be tested is a plant growing in the cultivation tank or a plant growing in a field environment.
In the process of measuring plant phenotype information, an object form information acquisition device is placed near a plant 7 to be measured, a mobile platform 1 can plan a path by itself, a support rod 4 is matched with an image sensor 6 to automatically acquire a plurality of angle images of the plant 7 to be measured, form 3D point cloud data of the plant can be calculated through plant phenotype image analysis software installed on a remote server, and phenotype data such as the diameter, the length, the volume, the perimeter, the long axial length, the short axial length, the plant height, the leaf area, the leaf length, the leaf width, the included angle of the stem and leaf, the azimuth angle of the leaf and the like can be obtained through a three-dimensional geometric calculation method.
The embodiment of the utility model provides a plant phenotype information acquisition device through the arm that sets up including a plurality of bracing pieces on mobile platform, with each bracing piece rotatable connection in proper order to all set up image sensor on every bracing piece, make this plant phenotype information acquisition device can route planning by oneself through moving mechanism, cooperation bracing piece and image sensor can realize the automatic acquisition of a plurality of angle images of plant, and then can obtain plant phenotype information through the three-dimensional geometric computation method.
Based on the above embodiment, in order to cooperate with the rotatable connection of the support rod, in a preferred embodiment, as shown in fig. 1, the mechanical arm further comprises: a plurality of vertical rotation mechanisms 5. The number of the support rods 4 is 5, and a vertical rotating mechanism 5 is arranged between every two adjacent support rods 4. The adjacent support bars 4 are rotatably connected by corresponding vertical rotating mechanisms 5 to control the adjacent support bars 4 to rotate in the vertical direction. The vertical rotating mechanism 5 is provided with a first stepping motor and a first driver, and has a self-locking function after being electrified. The first stepping motor and the first driver control the corresponding adjacent supporting rods 4 to rotate along the vertical direction, and the rotating range is generally 0-270 DEG
In order to match the operation of the support rod 4, a horizontal rotating mechanism 3 can be additionally arranged. The horizontal rotation mechanism 3 is provided between the moving platform 1 and the lowermost support bar 4 to control all the support bars 4 to rotate in the horizontal direction. The horizontal rotation mechanism 3 is provided with a second stepping motor and a second driver. The second stepping motor and the second driver control the rotation of all the support rods 4 in the horizontal direction, typically in the range of 0-360 °.
In this embodiment, the bottom of moving platform 1 is equipped with wheel 2, and wheel 2 includes: a power steering wheel arranged at the front end of the mobile platform 1 and a driven wheel arranged at the rear end of the mobile platform 1. The number of the power steering wheels is at least 1, and the number of the driven wheels can be adjusted according to actual conditions.
Wherein, the power steering wheel is provided with a hub motor and a driver which provide power for the movement and steering of the mobile platform 1. The power steering wheel includes: a hub motor and a third driver. The hub motor and the third driver are used for providing power for moving and steering the mobile platform 1.
In this embodiment, the mobile platform 1 is provided with a power module, a GPS module, and a radar that are electrically connected to each other. The radar can be laser radar used for avoiding obstacles in the moving process of the mobile platform 1. The GPS module is used for calculating the path between the plant 7 to be detected and the mobile platform 1. The power supply module is used for providing power supply.
In order to cooperate with the whole plant phenotype information acquisition device of remote control, the mobile platform 1 is also internally provided with a communication module which is simultaneously electrically connected with the power module, the GPS module and the radar. The communication module is used for uploading the working condition of the mobile platform 1 and data obtained by the measurement of the image sensor 6 to a remote server and obtaining an action instruction from the remote server.
The mobile platform is also internally provided with a control module which is simultaneously electrically connected with the power supply module, the GPS module, the radar and the communication module, and the control module is used for controlling the operation of the image sensor 6, the vertical rotating mechanism 5, the horizontal rotating mechanism 3 and the power steering wheel through the GPS module, the radar and the communication module.
In the process of measuring the plant phenotype information, the object phenotype information acquisition device is firstly placed near the plant 7 to be measured, and the power module, the GPS module, the radar, the communication module and the control module in the mobile platform 1 correspondingly start the self-route planning. The vertical rotating mechanism 5 and the horizontal rotating mechanism 3 control the position of the supporting rod 4 according to the action instruction, so that the orientation of the image sensor 6 is adjusted, automatic acquisition of multiple angle images of the plant is realized, the shape 3D point cloud data of the plant can be calculated through plant phenotype image analysis software installed on a far-end server, and phenotype data such as the diameter, the length, the volume, the perimeter, the long axis length, the short axis length, the plant height, the leaf area, the leaf length, the leaf width, the stem leaf included angle, the leaf azimuth angle and the like of the stem can be obtained through a three-dimensional geometric calculation method.
To sum up, the embodiment of the utility model provides a plant phenotype information acquisition device through set up the arm including a plurality of bracing pieces on moving platform, with each bracing piece rotatable connection in proper order to all set up image sensor on every bracing piece, make this plant phenotype information acquisition device pass through moving mechanism can be by oneself route planning, cooperation bracing piece and image sensor can realize the automatic acquisition of a plurality of angle images of plant, and then can obtain plant phenotype information through the three-dimensional geometric computation method.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A plant phenotype information acquisition device, comprising:
the robot comprises a moving platform and a mechanical arm arranged on the moving platform;
the robot arm includes: a plurality of support rods; the supporting rods are sequentially and rotatably connected; and each support rod is provided with an image sensor for acquiring color texture and form information of the plant to be detected.
2. The plant phenotype information collection apparatus of claim 1, wherein the robotic arm further comprises: a plurality of vertical rotating mechanisms; the adjacent support rods are rotatably connected through the corresponding vertical rotating mechanisms so as to control the adjacent support rods to rotate along the vertical direction.
3. The plant phenotype information collection apparatus of claim 2, wherein the robotic arm further comprises: a horizontal rotation mechanism; the horizontal rotating mechanism is arranged between the moving platform and the support rod at the bottommost end so as to control all the support rods to rotate along the horizontal direction.
4. The plant phenotype information collection device of claim 3, wherein the bottom of the mobile platform is provided with wheels, and the wheels comprise: the power steering wheel is arranged at the front end of the mobile platform, and the driven wheel is arranged at the rear end of the mobile platform; and the power steering wheel is provided with a hub motor and a driver for providing power for the movement and steering of the mobile platform.
5. The plant phenotype information acquisition device of claim 4, wherein the mobile platform is internally provided with a power module, a GPS module and a radar which are electrically connected with each other;
the GPS module is used for calculating the path between the measured plant and the mobile platform; the radar is used for avoiding obstacles in the moving process of the mobile platform; the power supply module is used for providing power supply.
6. The plant phenotype information acquisition device of claim 5, wherein the mobile platform is further internally provided with a communication module which is electrically connected with the power supply module, the GPS module and the radar at the same time; the communication module is used for uploading the working condition of the mobile platform and the data obtained by the measurement of the image sensor to a remote server and obtaining an action instruction from the remote server.
7. The plant phenotype information collection device of claim 6, wherein the mobile platform further comprises a control module electrically connected to the power module, the GPS module, the radar and the communication module, and the control module is configured to control the operations of the image sensor, the vertical rotation mechanism, the horizontal rotation mechanism and the power steering wheel through the GPS module, the radar and the communication module.
8. The plant phenotype information acquisition apparatus of claim 3, wherein the vertical rotation mechanism is provided with a first stepper motor and a first driver; the first stepping motor and the first driver control the corresponding adjacent supporting rods to rotate along the vertical direction, and the rotating range is 0-270 degrees.
9. The plant phenotype information acquisition apparatus of claim 3, wherein the horizontal rotation mechanism is provided with a second stepping motor and a second driver; the second stepping motor and the second driver control all the support rods to rotate along the horizontal direction, and the rotation range is 0-360 degrees.
10. The plant phenotype information collection apparatus of claim 4, wherein the power steering wheel comprises: a hub motor and a third driver; the hub motor and the third driver are used for providing power for moving and steering the moving platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922207477.8U CN211553770U (en) | 2019-12-10 | 2019-12-10 | Plant phenotype information acquisition device |
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| CN201922207477.8U CN211553770U (en) | 2019-12-10 | 2019-12-10 | Plant phenotype information acquisition device |
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| CN211553770U true CN211553770U (en) | 2020-09-22 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113155192A (en) * | 2021-04-19 | 2021-07-23 | 河南省农业科学院农业经济与信息研究所 | Intelligent crop table type real-time acquisition device |
| CN113985438A (en) * | 2021-11-12 | 2022-01-28 | 河北农业大学 | Plant three-dimensional model reconstruction system and method |
| CN114339004A (en) * | 2022-01-06 | 2022-04-12 | 南京林业大学 | Phenotype platform for omnibearing collection of plant multi-organ morphological structure information |
| CN118362048A (en) * | 2024-06-19 | 2024-07-19 | 慧诺瑞德（北京）科技有限公司 | Self-propelled plant phenotype measuring device and method |
-
2019
- 2019-12-10 CN CN201922207477.8U patent/CN211553770U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113155192A (en) * | 2021-04-19 | 2021-07-23 | 河南省农业科学院农业经济与信息研究所 | Intelligent crop table type real-time acquisition device |
| CN113155192B (en) * | 2021-04-19 | 2022-09-16 | 河南省农业科学院农业经济与信息研究所 | Intelligent crop table type real-time acquisition device |
| CN113985438A (en) * | 2021-11-12 | 2022-01-28 | 河北农业大学 | Plant three-dimensional model reconstruction system and method |
| CN114339004A (en) * | 2022-01-06 | 2022-04-12 | 南京林业大学 | Phenotype platform for omnibearing collection of plant multi-organ morphological structure information |
| CN114339004B (en) * | 2022-01-06 | 2024-03-29 | 南京林业大学 | Phenotype platform for comprehensively acquiring morphological structure information of multiple organs of plant |
| CN118362048A (en) * | 2024-06-19 | 2024-07-19 | 慧诺瑞德（北京）科技有限公司 | Self-propelled plant phenotype measuring device and method |
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Address after: No.1022, science and technology innovation center, Nanjing National Agricultural Innovation Park, No.8 Xingzhi Road, Nanjing, Jiangsu Province, 211800 Co-patentee after: BEIJING RESEARCH CENTER FOR INFORMATION TECHNOLOGY IN AGRICULTURE Patentee after: Nongxin (Nanjing) Intelligent Agricultural Research Institute Co.,Ltd. Address before: 211800 Nongxin (Nanjing) Intelligent Agricultural Research Institute, intersection of Xiangxian road and Wuhe Road, Pukou District, Nanjing City, Jiangsu Province Co-patentee before: BEIJING RESEARCH CENTER FOR INFORMATION TECHNOLOGY IN AGRICULTURE Patentee before: Nongxin (Nanjing) Intelligent Agricultural Research Institute Co.,Ltd. |