CN212180636U - Five-dimensional data acquisition vehicle for field crop phenotype - Google Patents
Five-dimensional data acquisition vehicle for field crop phenotype Download PDFInfo
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- CN212180636U CN212180636U CN202020223818.0U CN202020223818U CN212180636U CN 212180636 U CN212180636 U CN 212180636U CN 202020223818 U CN202020223818 U CN 202020223818U CN 212180636 U CN212180636 U CN 212180636U
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Abstract
A field crop phenotype five-dimensional data acquisition vehicle. The utility model realizes the position adjustment of the field crop phenotype five-dimensional data acquisition vehicle along the first direction and the height adjustment along the second direction through the walking support systems arranged on the two sides of the field; adjusting the specific position of the integrated mobile sampling system on the collection vehicle in the third direction through a travelling frame erected on the travelling support system; the angles of the crop phenotype data acquired by the phenotype acquisition equipment are correspondingly adjusted through rotating shafts in two directions arranged on the integrated mobile sampling system, so that high-throughput, high-precision and low-cost crop phenotype acquisition is realized in 5 dimensions. The utility model is used for the field crop can realize the last accurate monitoring of phenotype characteristic and physiological parameter of each organ growth in the inside and outside crop growth process of field climate cabin, accurate tracking contrast crop whole life cycle internal phenotype characteristic and physiological parameter.
Description
Technical Field
The utility model relates to a field phenotype acquires technical field, particularly relates to a five-dimensional data acquisition of field crop phenotype car.
Background
The crop phenotype is a part or all of identifiable physical, physiological and biochemical characteristics and traits generated by interaction of genes and the environment, including the structure, composition and growth and development process of crops, and not only reflects expression regulation and control on a molecular level, but also reflects complex traits of physiology, biochemistry, morphological anatomy, stress resistance and the like of plants.
The development of functional genomics and genetic technology in the field of crop breeding is the most convenient and effective means for increasing the yield of grains. Phenotype is the external expression of a crop gene, and is the result of the co-action of the crop's own gene and the external environment. Therefore, it becomes important to explore the relationship between crop genotypes, environmental factors and crop phenotypic characteristics and traits.
At present, the phenotypic research of field crops mainly focuses on four aspects of obtaining plant type information and physiological parameters, identifying plants, detecting weeds, monitoring plant diseases and insect pests, predicting yield and the like.
The traditional artificial climate chamber is generally used for monitoring and controlling the crop growth environment, has the function of adjusting and controlling environmental factors such as temperature, humidity, illuminance, CO2 concentration, soil water content and the like in the chamber, and can be applied to tests such as gene improvement, new species cultivation and the like of crops. However, the artificial climate chamber almost completely avoids the influence of the natural environment, and the test data of the artificial climate chamber are greatly different from the growth condition of crops in the natural environment.
In natural environment, the physical characteristics of crops are mainly observed and measured manually at present, so that the relationship among crop genotypes, environmental factors and crop phenotypes is recorded. In the prior art, plant type information of plants needs to be obtained by a manual measurement mode, such as measuring the plant height, the leaf width, the leaf length and the like by using a ruler, and the manual measurement mode depends on personal accumulated experience and brings measurement deviation inevitably.
In the research of crop phenotype, gene and environmental factors, the characteristics of roots, stems, leaves, flowers, fruits and the like of crops and weeds are often observed and compared, and the crops and the weeds are identified and classified in the aspects of color, characters, taste and the like; observing and finding pests and evaluating the degree of the pests; and the yield prediction and the like are carried out by various manual sampling yield estimation modes such as visual estimation, counting prediction, cutting prediction and the like. The research work often depends on manual detection of individual traits of small-sample plants, and due to low efficiency and limited data volume of manual measurement, the collected data samples of the manual monitoring mode often have large deviation, and the comprehensive analysis of various traits of the plants is difficult to carry out. And the human factors introduced by the manual mode are very easy to cause errors of the measured data.
The data samples in the existing crop phenotype research have the defects of small analyzable data sample scale, high cost, time and labor waste for data sample collection, lack of standardization and low measurement precision, and become bottlenecks which restrict the plant genome function analysis and the molecular breeding development.
With the rapid development of plant genomics research and molecular breeding, a phenotype analysis device with high throughput, high precision and low cost is urgently needed to meet the requirement of acquiring phenotype data related to plant growth, yield, quality, tolerance to biotic and abiotic stresses and the like.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to prior art's not enough, provide a five dimension data acquisition cars of field crop phenotype, the utility model discloses a five dimension data acquisition driving cooperation resolution ratio imaging device can realize the continuous measurement to the change of the phenotype characteristic of its organ growth in the weather cabin under-deck, the extravehicular vegetation in-process and physiological parameter, accurate monitoring field plant growth cycle internal phenotype characteristic and physiological parameter. The utility model discloses specifically adopt following technical scheme.
First, in order to achieve the above object, a field crop phenotype five-dimensional data collection cart is provided, which includes:
the walking support systems comprise at least one pair of walking support systems which are oppositely arranged on two sides of the field, and each walking support system comprises a pulley which is arranged on the edge of the field and moves along a first direction and a hydraulic support rod which is arranged above the pulley and extends or compresses along a second direction;
the travelling crane frame stretches across two sides of the field, two ends of the travelling crane frame are respectively connected and fixed with the tops of hydraulic support rods of travelling support systems arranged on two sides of the field, and the travelling crane frame is driven by the hydraulic support rods to be lifted along with the extension of the hydraulic support rods or to be lowered along with the contraction of the hydraulic support rods in a second direction;
the integrated mobile sampling system is arranged on the traveling frame and used for translating in a third direction, rotating in a fourth direction or rotating in a fifth direction, and in the process, acquiring the phenotype data of the field crops.
Optionally, the field crop phenotype five-dimensional data collection vehicle as described in any of the above, wherein the integrated mobile sampling system specifically includes:
a linear guide rail provided along a lower side edge of the traveling frame;
the sliding block is arranged on the linear guide rail and translates along the linear guide rail in a third direction;
the sliding plate is fixedly connected below the sliding block and synchronously translates along the sliding block in a third direction along the linear guide rail;
the 360-degree adjustable platform is connected below the sliding plate, a fourth direction rotating shaft is connected between the 360-degree adjustable platform and the lower surface of the sliding plate, and the fourth direction rotating shaft rotates to drive the 360-degree adjustable platform to rotate in a fourth direction relative to the sliding plate;
and a fifth direction rotating shaft is connected between the upper part of the image acquisition equipment integration platform and the lower part of the 360-degree adjustable platform, the fifth direction rotating shaft is perpendicular to the fourth direction rotating shaft and rotates in a fifth direction relative to the 360-degree adjustable platform, phenotype acquisition equipment is arranged at the lower part of the image acquisition equipment integration platform, and the phenotype acquisition equipment rotates along with the image acquisition equipment integration platform in the fifth direction to a phenotype acquisition angle to acquire phenotype data of the field crops.
Optionally, the field crop phenotype five-dimensional data collection vehicle as described in any one of the above, wherein the first direction, the second direction and the third direction are perpendicular to each other, the first direction is parallel to the length direction of the field, the second direction is perpendicular to the field ground, and the third direction is transverse to the width direction of the field; the fourth direction rotating shaft is parallel to the second direction, and the fifth direction rotating shaft is parallel to the plane formed by the first direction and the third direction.
Optionally, the field crop phenotype five-dimensional data collection vehicle as described in any of the above, wherein the walking support system comprises:
the walking support rails are arranged on the two side edges of the field along the length direction of the field;
the pulleys comprise at least one pair of pulleys arranged on the walking support rail, and the pulleys are fixed on the support base and rotate along the walking support rail;
the first motor is fixed on the supporting base, a motor shaft of the first motor is connected with a wheel shaft of the pulley, and the pulley is driven to rotate by the rotation of the motor shaft of the first motor;
a hydraulic power unit disposed on the support base;
the hydraulic support rods comprise at least one pair of hydraulic support rods which are perpendicular to the support base and arranged along the second direction, the hydraulic support rods are connected with the hydraulic power unit, and each pair of hydraulic support rods synchronously receive hydraulic drive output by the hydraulic power unit and synchronously extend or compress along the second direction;
and the steel inclined struts are symmetrically arranged on the support base and are connected and supported between the lower part of the hydraulic support rod and the support base.
Optionally, the field crop phenotype five-dimensional data collection cart as described in any above, wherein the 360 ° adjustable platform comprises:
the upper end of the fourth-direction rotating shaft is fixedly connected with the lower surface of the sliding plate;
a platform main body connected with the lower end of the fourth direction rotating shaft and suspended below the sliding plate,
the rotary mechanism is arranged in the platform main body and comprises a rotating part and a second motor, the rotating part is fixedly connected with the lower end of the fourth-direction rotating shaft, the second motor is fixedly connected with the platform main body, a motor shaft of the second motor is connected with a transmission part meshed with the rotating part, the second motor drives the transmission part to rotate, and the driving rotating part drives the fourth-direction rotating shaft to drive the platform main body to rotate in the fourth direction relative to the sliding plate.
Optionally, the field crop phenotype five-dimensional data collection vehicle as described in any of the above, wherein the image collection device integrates a platform comprising:
the upper part of the platform connecting structure is fixedly connected with the lower part of the 360-degree adjustable platform, and connecting arms which vertically extend downwards are respectively arranged on two sides of the lower part of the platform connecting structure;
a fifth direction rotating shaft which is perpendicular to the fourth direction rotating shaft and is connected between the connecting arms of the platform connecting structure;
the third motor is arranged on a fifth-direction rotating shaft, and a motor shaft of the third motor is fixedly connected with the fifth-direction rotating shaft and drives the fifth-direction rotating shaft to rotate in a fifth direction relative to the 360-degree adjustable platform;
the upper part of the equipment integration platform body is fixedly connected with the fifth-direction rotating shaft and synchronously rotates along with the fifth-direction rotating shaft in the fifth direction, and the lower part of the equipment integration platform body is provided with phenotype acquisition equipment which rotates along with the image acquisition equipment integration platform in the fifth direction to a phenotype acquisition angle to acquire phenotype data of the field crops.
Optionally, the field crop phenotype five-dimensional data collection vehicle as described in any of the above, wherein the phenotype acquisition device comprises: any one of an RGB camera, a presentation laser radar, an infrared thermal imager, a multispectral camera, or a combination thereof.
Optionally, the five-dimensional data collecting vehicle for phenotype of field crops as described above, wherein the lower surface of the device integration platform body is configured as a planar structure, each phenotype acquisition device is configured on the planar structure, and each phenotype acquisition device acquires phenotype data of a field crop at a same phenotype acquisition angle.
Optionally, as for any one of the above field crop phenotype five-dimensional data acquisition vehicles, the driving frame includes beret frames crossing two sides of the field, two ends of each beret frame are respectively connected and fixed with tops of hydraulic support rods of walking support systems arranged on two sides of the field, the beret frames are driven by the hydraulic support rods to be lifted along with extension of the hydraulic support rods or to be lowered along with contraction of the hydraulic support rods in the second direction, outer sides of two lower chords of the beret frames are respectively and fixedly connected with the linear guide rails, grooves are respectively arranged in middle parts of upper surfaces and lower surfaces of the linear guide rails, an opening is arranged on one side of each sliding block, an outer edge of the opening is inwardly contracted and clamped in the grooves to be connected to the linear guide rails, and the sliding block is translated in the third direction along the linear guide rails.
Optionally, the field crop phenotype five-dimensional data collection vehicle as described above, wherein the first motor, the hydraulic support rod, the slider, the second motor and the fourth direction rotating shaft connected thereto, the third motor and the fifth direction rotating shaft connected thereto are independent of each other, and respectively drive the phenotype acquisition device to move in five different dimensions.
Advantageous effects
The utility model realizes the position adjustment of the field crop phenotype five-dimensional data acquisition vehicle along the first direction and the height adjustment along the second direction through the walking support systems arranged on the two sides of the field; adjusting the specific position of the integrated mobile sampling system on the collection vehicle in the third direction through a travelling frame erected on the travelling support system; through the axis of rotation of two directions that set up on the integrated form removal sampling system, the angle that crop phenotype data was gathered to corresponding regulation phenotype acquisition equipment, from this, the utility model discloses can realize high flux, high accuracy and low-cost crop phenotype acquisition in 5 dimensions. The utility model is used for the field crop can realize the accurate monitoring that lasts of phenotype characteristic and physiological parameter to the growth of each organ in field climate cabin, the extravehicular crop growth process, and accurate tracking contrast crop whole life cycle internal phenotype characteristic and physiological parameter.
The utility model discloses can realize the direction to walking braced system through the walking support track that sets up in the field both sides, make the utility model discloses a collection car can be in field climate under-deck portion and the outer steady removal of climate under-deck, the contrastive analysis to the growth of the extra-cabin crop. The height of the phenotype acquisition equipment can be correspondingly adjusted according to the crop height and the phenotype data acquisition requirement by the hydraulic support rods arranged in the walking support system, so that the scanning of the overall growth condition of the field crops and the accurate data acquisition of the individual samples are realized.
The utility model discloses set up crop phenotype acquisition equipment at 360 adjustable platforms and can follow on fifth direction axis of rotation pivoted image acquisition equipment integrated platform, carry out 360 shootings to single trunk or many trunk crops through 360 adjustable platforms, realize the regulation to shooting the angle of pitch through fifth direction axis of rotation, the utility model discloses can adjust through five dimensions and acquire the optimal shooting angle. From this, cooperation high resolution image device, the utility model discloses can realize the continuous measurement to the change of its organ growth's in-cabin explant growth process phenotype characteristic and physiological parameter, accurate monitoring field plant growth cycle interior phenotype characteristic and physiological parameter.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, together with the embodiments of the invention for the purpose of explanation and not limitation of the invention. In the drawings:
FIG. 1 is a schematic view of the operation state of a field crop phenotype five-dimensional data acquisition vehicle of the present invention between a field and a field climate chamber;
FIG. 2 is a schematic diagram of the overall structure of the field crop phenotype five-dimensional data acquisition vehicle of the present invention;
FIG. 3 is a schematic view of a field crop phenotype five-dimensional data collection cart of the present invention from another perspective;
FIG. 4 is a partial schematic view of the five dimensional data collection cart for field crop phenotypes of FIG. 3;
FIG. 5 is a schematic view of a travel support system in a field crop phenotype five-dimensional data collection cart of the present invention;
FIG. 6 is a schematic view of a 360 adjustable platform in a field crop phenotype five-dimensional data collection cart of the present invention;
FIG. 7 is a schematic diagram of an image acquisition device integration platform in a field crop phenotype five-dimensional data acquisition vehicle according to the present invention;
fig. 8 is the schematic diagram of the mobile working mode of the integrated platform of the image acquisition device in the field crop phenotype five-dimensional data acquisition vehicle.
In the drawings, 1 denotes a walking support system; i denotes a first electric machine; 11 denotes a hydraulic support rod; 12 represents a steel sprag; 13 denotes a hydraulic power unit; 14 denotes a pulley; 2 denotes a travelling crane frame; 21 denotes a bailey bracket; 231 a linear guide; 232 denotes a slider; 233 denotes a slide plate; 3 denotes an integrated mobile sampling system; 31, an image acquisition device integration platform; 311 denotes an RGB camera; 312 denotes a laser radar; 313 denotes an infrared thermal imager; 314 denotes a multispectral camera; 32 denotes a 360 ° adjustable platform; 321 denotes a turning mechanism; 322 denotes an encoder; II represents a second electric machine; III denotes a third electric machine; 33 denotes a third-direction slide rail; 34 denotes a fourth-direction rotating shaft; 35 denotes a fifth directional rotation shaft; and 4, a walking support rail.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the following description will clearly and completely describe the technical solution of the embodiments of the present invention by combining the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" in the present invention means that they exist individually or both at the same time.
The utility model discloses in when the meaning of "left and right" indicate the user just to the integrated platform collection direction of image acquisition equipment, the user's the left side is left promptly, the user's the right is right promptly, and is not right the utility model discloses a device mechanism's specific injecing.
The term "connected" as used herein may mean either a direct connection between elements or an indirect connection between elements through other elements.
The utility model discloses in the meaning of "upper and lower" mean by the orientation of the directional bailey frame in big field face, the integrated platform of image acquisition equipment promptly for last, otherwise promptly for down, and not right the utility model discloses a device mechanism's specific injecing.
Fig. 1 and 2 show a crop phenotype five-dimensional data collection vehicle for field according to the present invention, which comprises:
the walking support systems 1 comprise at least one pair of walking support systems which are oppositely arranged on two sides of the field, and each walking support system 1 comprises a pulley 14 which is arranged on the edge of the field and moves along a first direction and a hydraulic support rod 11 which is arranged above the pulley 14 and extends or compresses along a second direction;
the travelling crane frame 2 stretches across two sides of the field, two ends of the travelling crane frame 2 are respectively connected and fixed with the tops of hydraulic support rods 11 of the travelling support systems 1 arranged on two sides of the field, and the travelling crane frame 2 is driven by the hydraulic support rods 11 to be lifted along with the extension of the hydraulic support rods 11 or to be lowered along with the contraction of the hydraulic support rods 11 in a second direction;
the integrated mobile sampling system 3 is arranged on the travelling frame 2 and comprises two rotating shafts which are perpendicular to each other. The integrated mobile sampling system 3 is provided with various crop phenotype acquisition devices, and can be driven by a travelling crane frame, a walking support system and two rotating shafts, so that the crop phenotype acquisition devices can adjust the positions and the angles in five degrees of freedom, and accurately acquire the phenotype data of crops at the optimal sampling angle.
Referring to fig. 5, in the above crop phenotype five-dimensional data collection vehicle, the walking support system 1 for adjusting the height of the field in the first direction and the second direction mainly includes:
a traveling support rail 4 provided at both side edges of the field in the longitudinal direction of the field;
pulleys 14, which include at least one pair arranged on the walking support rail 4, wherein the pulleys 14 are fixed on the support base and rotate along the walking support rail 4;
the first motor I is fixed on the supporting base, a motor shaft of the first motor I is connected with a wheel shaft of the pulley 14, and the pulley 14 is driven to rotate by the rotation of the motor shaft of the first motor I;
a hydraulic power unit 13 provided on the support base;
the hydraulic support rods 11 comprise at least one pair which is perpendicular to the support base and arranged along the second direction, the hydraulic support rods 11 are connected with the hydraulic power unit 13, and each pair of hydraulic support rods 11 synchronously receive hydraulic drive output by the hydraulic power unit 13 and synchronously extend or compress along the second direction;
and the steel inclined struts 12 are symmetrically arranged on the support base, and are connected and supported between the lower part of the hydraulic support rod 11 and the support base.
In the above solution, the crane frame 2 for adjusting the position of the field relative to the crop at the third position can be specifically adjusted by setting the following structure shown in fig. 3:
a linear guide 231 provided along a lower side edge of the traveling frame 2;
a slider 232 disposed on the linear guide 231 to translate in a third direction along the linear guide 231;
and the sliding plate 233 is fixedly connected below the sliding block 232, and synchronously translates along the linear guide rail 231 in the third direction along with the sliding block 232, so as to bear the integrated mobile sampling system 3 and adjust the position of the integrated mobile sampling system for obtaining the phenotype of the crops in the field.
Wherein the third direction may be disposed in a direction across the field; the fourth direction can be set as a direction of rotary shooting, namely a direction in which the rotary mechanism drives the image acquisition equipment platform to horizontally rotate for 360 degrees; the fifth direction can be set as the regulation and control of the pitch angle, and the regulation and control are realized by driving the image acquisition equipment platform to rotate by 180 degrees in the vertical direction.
In a more specific implementation, the integrated mobile sampling system 3, which can be configured in the manner described with reference to fig. 4, 6 and 7, includes two parts, namely a 360 ° adjustable platform 32 and an image capturing device integrated platform 31.
The 360-degree adjustable platform 32 is connected below the sliding plate 233, a fourth direction rotating shaft 34 is connected between the 360-degree adjustable platform 32 and the lower surface of the sliding plate 233, and the fourth direction rotating shaft 34 rotates to drive the 360-degree adjustable platform 32 to rotate in a fourth direction relative to the sliding plate 233;
the upper portion of the image acquisition device integration platform 31 and the lower portion of the 360-degree adjustable platform 32 are connected through a fifth-direction rotating shaft 35, the fifth-direction rotating shaft 35 is perpendicular to the fourth-direction rotating shaft 34 and rotates in a fifth direction relative to the 360-degree adjustable platform 32, the lower portion of the image acquisition device integration platform 31 is provided with a phenotype acquisition device, and the phenotype acquisition device rotates along with the image acquisition device integration platform 31 in the fifth direction to a phenotype acquisition angle to acquire phenotype data of the field crops.
In a more specific implementation, referring to fig. 6, the 360 ° adjustable platform 32 includes:
a fourth direction rotating shaft 34 whose upper end is fixedly connected to the lower surface of the slide plate 233;
a platform main body connected to a lower end of the fourth direction rotating shaft 34, suspended below the sliding plate 233,
The image capturing device integration platform 31, as shown in fig. 4 and 7, includes:
the upper part of the platform connecting structure is fixedly connected with the lower part of the 360-degree adjustable platform 32, and connecting arms which vertically extend downwards are respectively arranged on two sides of the lower part of the platform connecting structure;
a fifth direction rotating shaft 35 connected between the connecting arms of the platform connecting structure perpendicularly to the fourth direction rotating shaft 34;
a third motor III, which is disposed on a fifth direction rotating shaft 35, and a motor shaft of the third motor III is fixedly connected to the fifth direction rotating shaft 35, and drives the fifth direction rotating shaft 35 to rotate in a fifth direction relative to the 360 ° adjustable platform 32;
the upper part of the equipment integration platform body is fixedly connected with the fifth-direction rotating shaft 35 and synchronously rotates along with the fifth-direction rotating shaft 35 in the fifth direction, and the lower part of the equipment integration platform body is provided with phenotype acquisition equipment, and the phenotype acquisition equipment rotates along with the image acquisition equipment integration platform 31 in the fifth direction to a phenotype acquisition angle to acquire phenotype data of the field crops.
Wherein the phenotype acquisition device includes: any one of an RGB camera 311, a presentation laser radar 312, an infrared thermal imager 313, a multispectral camera 314, or a combination thereof. The lower surface of the equipment integration platform body can be arranged to be a plane structure, and each phenotype acquisition equipment is arranged on the plane structure, so that each phenotype acquisition equipment can acquire phenotype data of crops in a field at the same phenotype acquisition angle.
In the above solution, the first direction, the second direction and the third direction are perpendicular to each other, the first direction may be selected to be parallel to the length direction of the field, the second direction may be selected to be perpendicular to the ground of the field, and the third direction may be set to be across the width direction of the field; the fourth direction rotating shaft 34 is parallel to the second direction, so that the crop phenotype acquisition equipment can horizontally rotate for 360 degrees to surround a certain crop or a certain group of crops for shooting to acquire the phenotype information of the crops, and the plane formed by the fifth direction rotating shaft 35 being parallel to the first direction and the third direction can adjust the pitch angle of the crop phenotype acquisition equipment for shooting and acquiring the crop phenotype data so as to avoid distortion of images or avoid influence of a single visual angle on correct reading of external structural features of the crops by comprehensively evaluating the crop phenotype data at different visual angles.
Under the above five dimensions, the first motor, the hydraulic support rod 11, the slider 232, the second motor and the fourth direction rotating shaft connected thereto, the third motor and the fifth direction rotating shaft connected thereto are mutually independent, and can cooperate with each other to respectively drive the phenotype acquisition device to move or rotate in five different dimensions.
In a more specific implementation, the traveling crane frame 2 of the present invention, which can be selected as a beret frame spanning both sides of the field as shown in fig. 8, is provided. The Bailey frames are composed of a plurality of groups of Bailey frames, the assembling mode adopts Bailey pins for connection, and the span of the longitudinal beam can be adjusted according to actual requirements. The both ends of bailey frame are connected fixedly with the top of the hydraulic support rod 11 of the walking braced system 1 that the field both sides set up respectively, bailey frame is raised or descends along with the shrink of pressure bracing piece 11 along with the hydraulic support rod 11 extension on the second direction by the drive of hydraulic support rod 11, the outside of two lower chords of bailey frame is fixed connection respectively linear guide 231, the upper surface of linear guide 231 and the middle part of lower surface are provided with the recess respectively, one side of slider 232 is provided with the opening, and the joint is connected on linear guide 231 in the recess to the inside shrink of open-ended outer fringe, follows linear guide 231 translates in the third direction.
Under other implementation manners, the utility model discloses to plant genomics research and molecular breeding's demand and current phenotype acquisition technique not enough, through five dimensions data acquisition driving frame and set up first direction mobile device, second direction mobile device, elevating gear, 360 adjustable platforms, every single move device and resolution ratio image device on it, can provide one kind and be used for the five dimensions data acquisition driving that high flux, high accuracy field crop phenotype were obtained. Wherein:
the first direction moving device comprises a first motor I and a pulley block, is carried on a preset guide rail in the field through a pulley, and can drive the five-dimensional data acquisition traveling crane to linearly move along the first direction according to acquisition requirements.
The third direction moving device comprises a linear guide rail, a sliding plate and a sliding block. The linear guide rail is arranged on the side face of the main body frame along the second direction, the sliding plate is matched with the linear guide rail through the sliding block, and the position of the image acquisition equipment in the second direction is adjusted according to the image acquisition requirement;
the lifting device consists of a hydraulic support rod, a hydraulic power unit and a steel inclined strut, is vertically arranged on the second direction moving device, can control the hydraulic support rod to move in the second direction through the hydraulic power unit according to the image acquisition requirement, and regulates and controls the shooting height in real time;
the 360-degree adjustable platform comprises a second motor II, a slewing mechanism and an encoder. The swing mechanism is driven by a second motor II, and can adjust the horizontal shooting angle of the image acquisition equipment integration platform in real time according to the imaging requirement, so that 360-degree shooting of field crops is realized, and the images of the field crops are acquired;
the pitching device comprises a third motor III and an image acquisition equipment integrated platform. The third motor III can adjust the pitching angle of the image acquisition equipment integration platform according to experimental requirements. The image acquisition equipment integration platform can control the resolution imaging device in real time according to the acquisition requirements of the top view phenotype data of organs such as plant stems and leaves, and the like, so that the acquisition of multiple groups of plant top view phenotype data is realized.
The resolution imaging device comprises an RGB camera, a multispectral camera, an infrared thermal imager and a laser radar. A large amount of plant sample point clouds can be rapidly collected, and point clouds data are integrated with the following components: three-dimensional coordinates, temperature, spectrum, fluorescence intensity, etc. Meanwhile, the system also carries out pretreatment on part of the phenotype, such as plant height, plant spacing, water stress, chlorophyll content, chlorophyll fluorescence parameters and the like.
The utility model discloses the accessible above-mentioned driving structure that has degree of freedom in five dimensions direction cooperates resolution ratio image device, realizes the continuous measurement to the phenotype characteristic and the physiological parameter of the growth of the in-cabin explant in-process organ of growing, can its situation of change of accurate tracking, accurate monitoring field plant growth cycle internal type characteristic and physiological parameter. The utility model provides a exist in the current climatic chamber can not develop the field big batch experiment, can not develop the problem of accuracy, automatic acquisition and analysis crop phenotype.
The above description is only for the embodiments of the present invention, and the description is specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several changes and modifications can be made, which all fall within the scope of the present invention.
Claims (10)
1. A field crop phenotype five-dimensional data collection cart, comprising:
the walking support systems (1) comprise at least one pair of walking support systems which are oppositely arranged on two sides of the field, and each walking support system (1) comprises a pulley (14) which is arranged on the edge of the field and moves along a first direction and a hydraulic support rod (11) which is arranged above the pulley (14) and extends or compresses along a second direction;
the travelling crane frame (2) stretches across two sides of the field, two ends of the travelling crane frame (2) are respectively connected and fixed with the tops of hydraulic support rods (11) of the travelling support systems (1) arranged on two sides of the field, and the travelling crane frame (2) is driven by the hydraulic support rods (11) to be lifted along with the extension of the hydraulic support rods (11) or to be lowered along with the contraction of the hydraulic support rods (11) in a second direction;
and the integrated mobile sampling system (3) is arranged on the traveling frame (2) and is used for translating in a third direction, rotating in a fourth direction or rotating in a fifth direction, and in the process, acquiring the phenotype data of the field crops.
2. Five-dimensional data acquisition vehicle of the phenotype of crops in fields according to claim 1, characterized in that said integrated mobile sampling system (3) comprises in particular:
a linear guide (231) provided along the lower edge of the traveling frame (2);
a slider (232) arranged on a linear guide (231) and translating along the linear guide (231) in a third direction;
a slide plate (233) fixedly connected below the slider (232) and synchronously translated in a third direction along the linear guide (231) with the slider (232);
the 360-degree adjustable platform (32) is connected below the sliding plate (233), a fourth direction rotating shaft (34) is connected between the 360-degree adjustable platform (32) and the lower surface of the sliding plate (233), and the fourth direction rotating shaft (34) rotates to drive the 360-degree adjustable platform (32) to rotate in a fourth direction relative to the sliding plate (233);
the upper portion of the image acquisition device integration platform (31) and the lower portion of the 360-degree adjustable platform (32) are connected through a fifth direction rotating shaft (35), the fifth direction rotating shaft (35) is perpendicular to the fourth direction rotating shaft (34) and rotates in a fifth direction relative to the 360-degree adjustable platform (32), the lower portion of the image acquisition device integration platform (31) is provided with a phenotype acquisition device, and the phenotype acquisition device rotates along with the image acquisition device integration platform (31) in the fifth direction to a phenotype acquisition angle to acquire phenotype data of the field crops.
3. The field crop phenotype five-dimensional data collection cart of claim 1, wherein the first direction, the second direction, and the third direction are perpendicular to each other, the first direction being parallel to a length direction of the field, the second direction being perpendicular to a field ground, the third direction being transverse to a width direction of the field; the fourth direction rotating shaft (34) is parallel to the second direction, and the fifth direction rotating shaft (35) is parallel to the planes formed by the first direction and the third direction.
4. Five-dimensional data acquisition vehicle of the phenotype of crops in fields according to claim 1, characterized in that said walking support system (1) comprises:
a traveling support rail (4) which is arranged on the two side edges of the field along the length direction of the field;
the pulleys (14) comprise at least one pair of pulleys arranged on the walking support rail (4), and the pulleys (14) are fixed on the support base and rotate along the walking support rail (4);
the first motor (I) is fixed on the supporting base, a motor shaft of the first motor (I) is connected with a wheel shaft of the pulley (14), and the pulley (14) is driven to rotate by the rotation of the motor shaft of the first motor (I);
a hydraulic power unit (13) arranged on the support base;
the hydraulic support rods (11) comprise at least one pair which is perpendicular to the support base and arranged along the second direction, the hydraulic support rods (11) are connected with the hydraulic power unit (13), and each pair of hydraulic support rods (11) synchronously receive hydraulic drive output by the hydraulic power unit (13) and synchronously extend or compress along the second direction; and the steel inclined struts (12) are symmetrically arranged on the support base and are connected and supported between the lower part of the hydraulic support rod (11) and the support base.
5. The field crop phenotype five-dimensional data collection cart of claim 2, wherein the 360 ° adjustable platform (32) comprises:
a fourth direction rotating shaft (34), the upper end of which is fixedly connected with the lower surface of the sliding plate (233);
a platform main body connected to a lower end of the fourth direction rotating shaft (34) and suspended below the slide plate (233),
rotation mechanism (321), it sets up in the platform main part, including rotary part and second motor (II), rotary part and the lower extreme fixed connection of fourth direction axis of rotation (34), second motor (II) and platform main part fixed connection, the motor shaft of second motor (II) is connected with the transmission part with rotary part engaged with, and second motor (II) drives the transmission part and rotates, and drive rotary part promotes fourth direction axis of rotation (34) and drives platform main part relative sliding plate (233) are rotatory with the fourth direction.
6. The field crop phenotype five-dimensional data collection cart as claimed in claim 2, characterized in that the image collection device integration platform (31) comprises:
the upper part of the platform connecting structure is fixedly connected with the lower part of the 360-degree adjustable platform (32), and connecting arms which vertically extend downwards are respectively arranged on two sides of the lower part of the platform connecting structure;
a fifth direction turning shaft (35) connected between the connecting arms of the platform connecting structure perpendicularly to the fourth direction turning shaft (34);
the third motor (III) is arranged on a fifth-direction rotating shaft (35), and a motor shaft of the third motor (III) is fixedly connected with the fifth-direction rotating shaft (35) and drives the fifth-direction rotating shaft (35) to rotate in a fifth direction relative to the 360-degree adjustable platform (32);
the upper part of the equipment integration platform body is fixedly connected with the fifth-direction rotating shaft (35) and synchronously rotates along with the fifth-direction rotating shaft (35) in the fifth direction, and the lower part of the equipment integration platform body is provided with phenotype acquisition equipment which rotates along with the image acquisition equipment integration platform (31) in the fifth direction to a phenotype acquisition angle to acquire phenotype data of the field crops.
7. The field crop phenotype five-dimensional data collection cart of claim 5, wherein the phenotype acquisition device comprises: any one or combination of an RGB camera (311), a presentation lidar (312), an infrared thermal imager (313), a multispectral camera (314).
8. The field crop phenotype five-dimensional data collection vehicle of claim 5, wherein the lower surface of the device integration platform body is configured as a planar structure, each phenotype acquisition device is configured on the planar structure, and each phenotype acquisition device acquires phenotype data of a field crop at a same phenotype acquisition angle.
9. The field crop phenotype five-dimensional data acquisition vehicle as claimed in claim 2, wherein the traveling frame (2) comprises bailey frames crossing two sides of the field, two ends of the bailey frames are respectively connected and fixed with the tops of hydraulic support rods (11) of the walking support systems (1) arranged on two sides of the field, the bailey frames are driven by the hydraulic support rods (11) to be lifted along with the extension of the hydraulic support rods (11) or to be lowered along with the contraction of the hydraulic support rods (11) in the second direction, the outer sides of two lower chords of the bailey frames are respectively and fixedly connected with the linear guide rails (231), the middle parts of the upper surface and the lower surface of the linear guide rails (231) are respectively provided with grooves, one side of the sliding block (232) is provided with an opening, the outer edge of the opening is inwards contracted and clamped in the grooves and connected to the linear guide rails (231), translates in a third direction along the linear guide (231).
10. The field crop phenotype five-dimensional data collection vehicle as claimed in any one of claims 1 to 8, wherein the first motor, the hydraulic support bar (11), the slide block (232), the second motor and the fourth direction rotating shaft connected with the second motor, the third motor and the fifth direction rotating shaft connected with the third motor are independent of each other, and respectively drive the phenotype acquisition device to move in five different dimensions.
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| CN202020223818.0U CN212180636U (en) | 2020-02-28 | 2020-02-28 | Five-dimensional data acquisition vehicle for field crop phenotype |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272221A (en) * | 2020-02-28 | 2020-06-12 | 南京慧瞳作物表型组学研究院有限公司 | Five-dimensional data acquisition vehicle for field crop phenotype |
| WO2022141193A1 (en) * | 2020-12-30 | 2022-07-07 | 广东视场科技有限公司 | Crop multispectral collection and analysis system based on unmanned vehicle platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272221A (en) * | 2020-02-28 | 2020-06-12 | 南京慧瞳作物表型组学研究院有限公司 | Five-dimensional data acquisition vehicle for field crop phenotype |
| WO2022141193A1 (en) * | 2020-12-30 | 2022-07-07 | 广东视场科技有限公司 | Crop multispectral collection and analysis system based on unmanned vehicle platform |
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