CN217931404U - Plant phenotype detection robot - Google Patents
Plant phenotype detection robot Download PDFInfo
- Publication number
- CN217931404U CN217931404U CN202221434977.0U CN202221434977U CN217931404U CN 217931404 U CN217931404 U CN 217931404U CN 202221434977 U CN202221434977 U CN 202221434977U CN 217931404 U CN217931404 U CN 217931404U
- Authority
- CN
- China
- Prior art keywords
- module
- plant phenotype
- robot
- phenotype detection
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides a plant phenotype inspection robot belongs to the robotechnology field, plant phenotype inspection robot includes: the robot comprises a robot main body, a walking module and a sensor module, wherein the walking module and the sensor module are fixed below the robot main body; the robot main body comprises a path navigation module and a data storage and transmission module; the sensor module is used for acquiring plant phenotype detection data and sending the plant phenotype detection data to the data storage and transmission module; the path navigation module is connected with the walking module and provides navigation data for the walking module; the data storage and transmission module is used for storing and forwarding the plant phenotype detection data. The utility model discloses a mobile robot detects the plant phenotype to a plurality of positions, acquires plant phenotype test data at a plurality of positions, can conveniently acquire more plant phenotype test samples.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a plant phenotype inspection robot.
Background
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 data for plant genetic breeding and functional genome analysis.
Due to the limitations of sites, capital cost and technical development, plant phenotype acquisition devices in the greenhouse facility environment are all fixedly installed at specific positions at present, so that the number of detection samples is limited, and the plant phenotype detection development in the greenhouse facility environment is limited.
SUMMERY OF THE UTILITY MODEL
The utility model provides a plant phenotype inspection robot for fixed mounting mode leads to detecting the limited defect of sample quantity among the solution prior art, realizes the convenient more plant phenotype inspection samples that acquire.
The utility model provides a plant phenotype inspection robot, include: the robot comprises a robot main body, a walking module and a sensor module, wherein the walking module and the sensor module are fixed below the robot main body; the robot main body comprises a path navigation module and a data storage and transmission module;
the sensor module is used for acquiring plant phenotype detection data and sending the plant phenotype detection data to the data storage and transmission module;
the path navigation module is connected with the walking module and provides navigation data for the walking module;
the data storage and transmission module is used for storing and forwarding the plant phenotype detection data.
Optionally, according to the utility model provides a plant phenotype detection robot, the sensor module includes: multispectral sensors, depth sensors, and industrial cameras.
Optionally, according to the utility model provides a plant phenotype detection robot, the robot main part still includes: a remote control module;
the remote control module is used for receiving action instructions and controlling the walking module to act based on the action instructions.
Optionally, according to the utility model provides a pair of plant phenotype detection robot still includes one or more environment surveillance camera machine, the environment surveillance camera machine is fixed in the top of robot main part, each the environment surveillance camera machine all with data storage transmission module communication connection.
Optionally, according to the utility model provides a plant phenotype detection robot, one or more environmental monitoring camera includes a panoramic camera.
Optionally, according to the utility model provides a plant phenotype detection robot, still include: a mechanical arm and a close-range camera module; one end of the mechanical arm is connected with the lower surface of the robot main body, and the other end of the mechanical arm is connected with the close-range camera module;
the remote control module is also used for receiving a mechanical arm control instruction and controlling the mechanical arm to act based on the mechanical arm control instruction;
the close-range camera module is in communication connection with the data storage and transmission module.
Optionally, according to the utility model provides a plant phenotype inspection robot, the arm has 4 degrees of freedom.
Optionally, according to the utility model provides a plant phenotype inspection robot, close-range camera module includes: monitoring a camera and a microscopic camera in real time;
the real-time monitoring camera is used for acquiring an integral image of the target blade;
the microscopic camera is used for acquiring a local image of the target blade.
Optionally, according to the utility model provides a pair of plant phenotype inspection robot, data storage transmission module includes storage module and transmission module, storage module with transmission module communication connection, transmission module is used for plant phenotype inspection robot communicates with external equipment.
Optionally, according to the utility model provides a plant phenotype detection robot, the robot main part still includes: a power supply module;
the power supply module is used for supplying working voltage to each module in the plant phenotype detection robot.
The utility model provides a plant phenotype detection robot can remove a plurality of positions of robot to greenhouse facility environment through route navigation module and walking module, and then sensor module can detect the plant phenotype in a plurality of positions, acquires plant phenotype test data to can save and forward plant phenotype test data, can realize a plurality of positions detection plant phenotypes in greenhouse facility environment, can conveniently acquire more plant phenotype test samples.
Drawings
In order to illustrate the technical solutions of the present invention or the prior art more clearly, the drawings used in the following embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a plant phenotype detection robot provided by the present invention.
Reference numerals:
101: a robot main body; 102: a walking module; 103: a sensor module; 104: a panoramic camera; 105: a mechanical arm; 106: a close-range camera module.
Detailed Description
To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "length," "width," "thickness," "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or component being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Fig. 1 is a schematic structural diagram of a plant phenotype detection robot provided by the present invention, as shown in fig. 1, the robot includes: the robot comprises a robot main body 101, a walking module 102 and a sensor module 103, wherein the walking module and the sensor module are fixed below the robot main body; the robot main body comprises a path navigation module and a data storage and transmission module;
the sensor module is used for acquiring plant phenotype detection data and sending the plant phenotype detection data to the data storage and transmission module;
the path navigation module is connected with the walking module and provides navigation data for the walking module;
the data storage and transmission module is used for storing and forwarding the plant phenotype detection data.
Specifically, the path navigation module may store preset navigation information, where the preset navigation information may include one or more target positions in the greenhouse facility environment, the path navigation module may generate navigation data based on the preset navigation information, and send the navigation data to the walking module, and the walking module may move the robot based on the navigation data, so that the robot passes through each of the target positions; the sensor module can then acquire plant phenotype detection data at each target location and send the plant phenotype detection data to the data storage and transmission module to enable acquisition of plant phenotype detection data at multiple locations in a greenhouse facility environment.
Optionally, as shown in fig. 1, the walking module may be a wheel-type walking module, the wheel-type walking module may include a driving unit, a motor, a transmission unit and a wheel-type walking unit, the driving unit may receive the navigation data and drive the electrodes to act, the motor may provide kinetic energy for the transmission unit, and the transmission unit may drive the wheel-type walking unit to move, so that the mobile plant phenotype detection robot may be implemented.
The utility model provides a plant phenotype detection robot can remove a plurality of positions of robot to greenhouse facility environment through route navigation module and walking module, and then sensor module can detect the plant phenotype in a plurality of positions, acquires plant phenotype test data to can save and forward plant phenotype test data, can realize a plurality of positions detection plant phenotypes in greenhouse facility environment, can conveniently acquire more plant phenotype test samples.
Optionally, the sensor module comprises: multispectral sensors, depth sensors, and industrial cameras.
In particular, the sensor module may include a variety of sensors that can acquire a variety of plant phenotype detection data at a variety of locations in a greenhouse facility environment.
For example, in the case where the robot moves to a location in a greenhouse facility environment, a spectral image of the plant at the location may be acquired by a multispectral sensor, the spectral image may characterize the physiological and biochemical phenotype of the plant, a point cloud data of the plant at the location may be acquired by a depth sensor, the point cloud data may characterize the three-dimensional morphological structure of the plant, an appearance image of the plant at the location may be imaged by an industrial camera, the appearance image may characterize the color texture and morphological data of the plant.
Alternatively, the spectral range of the multispectral sensor may be 400-1000nm.
Alternatively, the depth sensor may have built-in three-dimensional point cloud generating means.
Alternatively, the resolution of the industrial camera may be 4000 × 3000 pixels.
Therefore, by the various sensors in the sensor module, various plant phenotype detection data can be acquired at various positions in the greenhouse facility environment, and more diversified plant phenotype detection samples can be acquired.
Optionally, the robot main body further comprises: a remote control module;
the remote control module is used for receiving action instructions and controlling the walking module to act based on the action instructions.
Specifically, the remote control module can receive action instructions sent by an external device, and then can send the action instructions to the walking module, so that the walking module can be controlled to move the robot.
Optionally, the remote control module may receive a deactivation command and send the deactivation command to the route guidance module, so that the route guidance module stops working (or performs a sleep state).
It can be understood that after the path navigation module stops working, the path navigation module stops sending navigation data to the walking module, and in this case, the walking module only receives an action instruction sent by the remote control module.
Alternatively, the remote control module may receive a deactivation command and send an activation command to the route guidance module to operate the route guidance module (or exit from the sleep state).
It can be understood that, by sending the action instruction to the remote control module, the walking module can be controlled to move the robot to the designated position, and then plant phenotype detection data can be obtained at the designated position.
Optionally, the robot further comprises one or more environment monitoring cameras, the environment monitoring cameras are fixed above the robot main body, and each environment monitoring camera is in communication connection with the data storage and transmission module.
Specifically, the data storage and transmission module can forward the environmental image data to the control center, the control center can acquire the environmental conditions around the robot, and further can determine the action instruction of the mobile robot to the specified position according to the environmental conditions around the robot, and send the action instruction to the remote control module, the remote control module can control the walking module to move the robot to the specified position, the remote control robot can be moved, and plant phenotype detection data can be acquired at the specified position.
Optionally, each environment monitoring camera is fixed above the robot main body, each environment monitoring camera can have a certain monitoring view angle, and the environment image data around the robot can be collected through the angle of each environment monitoring camera which is reasonably arranged.
It can be understood that, since the action command is determined by the control center based on the environment condition around the robot, the robot can avoid collision with plants or obstacles during moving, and can safely move to a specified position.
Optionally, the one or more environmental monitoring cameras comprise a panoramic camera.
Specifically, as shown in fig. 1, the panoramic camera 104 may be installed above the robot main body to provide a real-time image in a direction of 360 ° around the robot main body, the image may be transmitted back to a screen of the control center in real time through the data storage and transmission module, and then the control center may determine a movement instruction of the mobile robot to a designated position according to a real-time image, and send the movement instruction to the remote control module, and the remote control module may control the walking module to move the robot to the designated position, so as to implement remote control of the movement of the robot, and obtain plant phenotype detection data at the designated position.
Optionally, the plant phenotype detection robot further comprises: a mechanical arm and a close-range camera module; one end of the mechanical arm is connected with the lower surface of the robot main body, and the other end of the mechanical arm is connected with the close-range camera module;
the remote control module is also used for receiving a mechanical arm control instruction and controlling the mechanical arm to act based on the mechanical arm control instruction;
the close-range camera module is in communication connection with the data storage and transmission module.
Specifically, as shown in fig. 1, the plant phenotype detection robot further includes a mechanical arm 105 and a close-range camera module 106, one end of the mechanical arm 105 is connected to the lower surface of the robot main body 101, the other end of the mechanical arm 105 is connected to the close-range camera module 106, the remote control module can receive a mechanical arm control instruction, and then can send the mechanical arm control instruction to the mechanical arm, so that the mechanical arm moves to drive the close-range camera module to move, and then can move the close-range camera module to a position close to a leaf of the plant, and then the close-range camera module can acquire a leaf surface pore image of the plant (the image can represent the form of a leaf surface pore), and send the leaf surface pore image to the data storage and transmission module.
It can be understood that by additionally arranging the mechanical arm and the close-range camera module, besides plant phenotype data such as images, point clouds and spectrums can be acquired, the mechanical arm can be controlled in real time to acquire plant microscopic phenotype data, and the dimensionality of phenotype data acquisition is increased.
Optionally, the robotic arm has 4 degrees of freedom.
Specifically, the arm can have 4 degrees of freedom, has higher motion flexibility, and then the arm can drive close-range camera module and remove to make close-range camera module obtain better shooting angle, can obtain the blade surface gas pocket image of preferred.
Optionally, the close-range camera module comprises: monitoring a camera and a microscopic camera in real time;
the real-time monitoring camera is used for acquiring an overall image of the target blade;
the microscopic camera is used for acquiring a local image of the target blade.
Specifically, the real-time monitoring camera can collect the whole image of the target blade and send the whole image to the control center through the data storage and transmission module, the control center can determine the mechanical arm control instruction according to the whole image of the target blade, and then the remote control module can send the mechanical arm control instruction to the mechanical arm, so that the mechanical arm moves and then drives the close-range camera module to move, the close-range camera module can be moved to a better shooting position, the micro-camera can collect the local image of the target blade, and the air hole image on the surface of the plant blade can be obtained in a close range.
Optionally, the data storage and transmission module includes a storage module and a transmission module, the storage module is in communication connection with the transmission module, and the transmission module is used for the plant phenotype detection robot to communicate with an external device.
Alternatively, the transmission module may forward the plant phenotype detection data received from the sensor to an external device.
Alternatively, the transmission module may forward the image received from the environmental monitoring camera to an external device.
Alternatively, the transmission module may forward the image received from the close-range camera module to the external device.
Alternatively, the transmission module may transmit the data in the storage module to an external device.
Optionally, the robot main body further comprises: a power supply module;
the power supply module is used for providing working voltage for each module in the plant phenotype detection robot.
Alternatively, the power supply module may supply power to each of the walking module, the sensor module, and the robot main body.
The utility model provides a plant phenotype detection robot can remove a plurality of positions of robot to greenhouse facility environment through route navigation module and walking module, and then sensor module can detect the plant phenotype in a plurality of positions, acquires plant phenotype test data to can save and forward plant phenotype test data, can realize a plurality of positions detection plant phenotypes in greenhouse facility environment, can conveniently acquire more plant phenotype test samples.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
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 the same; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand 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 plant phenotype detection robot, comprising: the robot comprises a robot main body, a walking module and a sensor module, wherein the walking module and the sensor module are fixed below the robot main body; the robot main body comprises a path navigation module and a data storage and transmission module;
the sensor module is used for acquiring plant phenotype detection data and sending the plant phenotype detection data to the data storage and transmission module;
the path navigation module is connected with the walking module and provides navigation data for the walking module;
the data storage and transmission module is used for storing and forwarding the plant phenotype detection data.
2. The plant phenotype detection robot of claim 1, wherein the sensor module comprises: multispectral sensors, depth sensors, and industrial cameras.
3. The plant phenotype detection robot of claim 1 or 2, wherein the robot body further comprises: a remote control module;
the remote control module is used for receiving action instructions and controlling the walking module to act based on the action instructions.
4. The plant phenotype detection robot of claim 3, further comprising one or more environmental monitoring cameras, wherein the environmental monitoring cameras are fixed above the robot body, and each environmental monitoring camera is in communication connection with the data storage and transmission module.
5. The plant phenotype detection robot of claim 4, wherein the one or more environmental monitoring cameras comprise a panoramic camera.
6. The plant phenotype detection robot of claim 4, further comprising: a mechanical arm and a close-range camera module; one end of the mechanical arm is connected with the lower surface of the robot main body, and the other end of the mechanical arm is connected with the close-range camera module;
the remote control module is also used for receiving a mechanical arm control instruction and controlling the mechanical arm to act based on the mechanical arm control instruction;
the close-range camera module is in communication connection with the data storage and transmission module.
7. The plant phenotype detection robot of claim 6, wherein the robotic arm has 4 degrees of freedom.
8. The plant phenotype detection robot of claim 6, wherein the close-range camera module comprises: monitoring a camera and a microscopic camera in real time;
the real-time monitoring camera is used for acquiring an overall image of the target blade;
the microscopic camera is used for acquiring a local image of the target blade.
9. The plant phenotype detection robot of any one of claims 1, 2, or 4-8, wherein the data storage and transmission module comprises a storage module and a transmission module, the storage module and the transmission module are in communication connection, and the transmission module is used for the plant phenotype detection robot to communicate with an external device.
10. The plant phenotype detection robot of any one of claims 1, 2, or 4-8, wherein the robot body further comprises: a power supply module;
the power supply module is used for providing working voltage for each module in the plant phenotype detection robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221434977.0U CN217931404U (en) | 2022-06-08 | 2022-06-08 | Plant phenotype detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221434977.0U CN217931404U (en) | 2022-06-08 | 2022-06-08 | Plant phenotype detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217931404U true CN217931404U (en) | 2022-11-29 |
Family
ID=84181429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221434977.0U Active CN217931404U (en) | 2022-06-08 | 2022-06-08 | Plant phenotype detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217931404U (en) |
-
2022
- 2022-06-08 CN CN202221434977.0U patent/CN217931404U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105492985B (en) | A kind of system and method for the control loose impediment in environment | |
| CN212195683U (en) | Power distribution inspection robot | |
| CN105659020B (en) | Stability augmentation platform and the method for keeping load stabilization | |
| CN107234625B (en) | The method of visual servo positioning and crawl | |
| CN113232547A (en) | Unmanned aerial vehicle battery replacement system and method | |
| CN106625673A (en) | Narrow space assembly system and assembly method | |
| CN111624994A (en) | Robot inspection method based on 5G communication | |
| CN108776491A (en) | Unmanned plane multiple target monitoring system and monitoring method based on dynamic image identification | |
| CN209063109U (en) | A kind of file administration robot | |
| US20200366815A1 (en) | Environment acquisition system | |
| CN109843726A (en) | Flying body, organism detection system, organism detection method, program and recording medium | |
| CN111624597A (en) | Ice structure detection robot and detection method | |
| JP6603847B1 (en) | Aircraft system comprising a plurality of connectable aircraft | |
| CN110162081A (en) | Mobile device control method and device, mobile terminal and mobile device | |
| CN110171006A (en) | A kind of pig farm crusing robot and method for inspecting | |
| CN115202376A (en) | Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes | |
| CN113148156A (en) | Many rotor unmanned aerial vehicle with barrier function is kept away to laser intelligence | |
| CN106989728A (en) | A kind of building ground mapping system based on unmanned plane | |
| CN217931404U (en) | Plant phenotype detection robot | |
| CN111531560B (en) | Patrol and examine robot applied to indoor and outdoor environment of transformer substation | |
| CN209589073U (en) | A kind of high-throughput crop phenotype robot based on field | |
| CN111103608A (en) | Positioning device and method used in forestry surveying work | |
| JP2019093471A (en) | Robot system and method for creating article using the same | |
| CN111975776A (en) | Robot movement tracking system and method based on deep learning and Kalman filtering | |
| JP2022173470A (en) | Flight body system comprising a plurality of connectable flight bodies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |