JP2021171049A - Apparatus for acquiring spectral information of field crops - Google Patents

Apparatus for acquiring spectral information of field crops Download PDF

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JP2021171049A
JP2021171049A JP2021009368A JP2021009368A JP2021171049A JP 2021171049 A JP2021171049 A JP 2021171049A JP 2021009368 A JP2021009368 A JP 2021009368A JP 2021009368 A JP2021009368 A JP 2021009368A JP 2021171049 A JP2021171049 A JP 2021171049A
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fixed
platform
axis
bracket
moving mechanism
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JP7067817B2 (en
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劉羽飛
Yufei Liu
何勇
Yong He
唐政
Zheng Tang
岑海燕
Haiyan Cen
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Zhejiang University ZJU
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/045—Allowing translations adapted to left-right translation movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/255—Details, e.g. use of specially adapted sources, lighting or optical systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/02—Details
    • G01J3/0202—Mechanical elements; Supports for optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/02—Details
    • G01J3/0289—Field-of-view determination; Aiming or pointing of a spectrometer; Adjusting alignment; Encoding angular position; Size of measurement area; Position tracking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/28—Investigating the spectrum
    • G01J3/2823—Imaging spectrometer
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

To provide an apparatus for acquiring spectral information of field crops.SOLUTION: The apparatus comprises a platform body 11, a wheelbase adjusting mechanism 51, a platform elevating mechanism 41, and at least two independent traveling mechanisms 31. The independent traveling mechanisms 31 are fixedly connected to the lower ends of the platform elevating mechanisms 41 on both sides of the platform body 11, respectively. The wheelbase adjusting mechanism 51 is movably connected to the platform elevating mechanism 41. The wheelbase adjusting mechanism 51 can move up and down along the platform elevating mechanism 41 and can adjust the width between the independent traveling mechanisms 31 on either side of the platform body 11. The platform body 11 is fixed to the wheelbase adjusting mechanism 51 and is used to place a spectrum camera.SELECTED DRAWING: Figure 1

Description

本発明は、農業用検出装置の技術分野、特に田畑作物のスペクトル情報取得用の装置に関する。 The present invention relates to the technical field of an agricultural detection device, particularly a device for acquiring spectral information of field crops.

プラントキャノピーのスペクトルデータは、キャノピー全体の組成分布、成長状態、キャノピー構造などの包括的な情報を反映でき、スペクトル技術によるキャノピースペクトル情報の取得と分析には、シンプル、高速、直感的、高精度、非破壊的な測定という利点があり、アブラナ、トウモロコシ、モロコシなどの植物スペクトル画像を取得するための重要な手段になって、植物の生育状況のモニタリング、栄養診断、正確な施肥管理、収量の推定、および病気のモニタリング等において、優れた応用の見通しがある。ドローンに基づくスペクトルシステムは、田畑作物のスペクトルデータ取得の分野で広く使用されているが、取得されたスペクトルデータには、詳細と地表近くのキャノピーに関する情報が不足し、このため、当業者は、大規模な実験用スペクトロメータおよび手動の携帯型スペクトロメータを使用して、単一の植物または少数の作物の詳細情報を取得するが、情報取得速度は非常に遅い。 The spectral data of the plant canopy can reflect comprehensive information such as the composition distribution, growth state, and canopy structure of the entire canopy, and the acquisition and analysis of canopy spectral information by spectral technology is simple, fast, intuitive, and highly accurate. With the advantage of non-destructive measurement, it has become an important means for obtaining spectral images of plants such as oilseed rape, corn, and morokoshi, monitoring plant growth, nutritional diagnosis, accurate fertilization management, and yield. There are prospects for excellent applications in estimation and disease monitoring. Drone-based spectral systems are widely used in the field of spectral data acquisition of field crops, but the acquired spectral data lacks details and information about canopies near the surface of the earth. Large experimental and hand-held portable spectrometers are used to obtain detailed information on a single plant or a small number of crops, but the speed of information acquisition is very slow.

本発明は、上記の従来技術における問題を解決し、異なる草丈や植栽幅を有する複数の作物の情報収集に適して、作物の地表近くのキャノピー情報の取得を達成し、そして情報取得の速度を大幅に増加させることができる田畑作物のスペクトル情報取得用の装置を提供することを目的とする。 The present invention solves the above-mentioned problems in the prior art, is suitable for collecting information on a plurality of crops having different plant heights and planting widths, achieves acquisition of canopy information near the surface of the crop, and speed of information acquisition. It is an object of the present invention to provide a device for acquiring spectral information of field crops, which can significantly increase the number of crops.

上記の目的を達成するために、本発明は以下の解決手段を提供する。 In order to achieve the above object, the present invention provides the following solutions.

本発明は、田畑作物のスペクトル情報取得用の装置を提供し、これは、プラットフォーム本体、ホイールベース調整機構、プラットフォーム昇降機構、および少なくとも２つの独立した走行機構を含み、前記独立した走行機構はそれぞれ、前記プラットフォーム本体の両側に設置され、各前記独立した走行機構はそれぞれ、前記プラットフォーム昇降機構の下端に固定接続され、前記ホイールベース調整機構は、前記プラットフォーム昇降機構に可動接続され、前記ホイールベース調整機構は、プラットフォーム昇降機構に沿って上下に移動でき、前記ホイールベース調整機構は、前記プラットフォーム本体の両側にある前記独立した走行機構間の幅を調整でき、前記プラットフォーム本体は、前記ホイールベース調整機構に固定され、前記プラットフォーム本体は、スペクトルカメラを配置するために使用される。 The present invention provides a device for acquiring spectral information of field crops, which includes a platform body, a wheelbase adjustment mechanism, a platform elevating mechanism, and at least two independent traveling mechanisms, each of which is an independent traveling mechanism. , Each of the independent traveling mechanisms installed on both sides of the platform body is fixedly connected to the lower end of the platform elevating mechanism, and the wheelbase adjusting mechanism is movably connected to the platform elevating mechanism to adjust the wheelbase. The mechanism can move up and down along the platform elevating mechanism, the wheelbase adjusting mechanism can adjust the width between the independent traveling mechanisms on both sides of the platform body, and the platform body is the wheelbase adjusting mechanism. Fixed to, the platform body is used to place the spectrum camera.

好ましくは、前記独立した走行機構には、走行輪、サーボモーター、モーター固定ハウジングが含まれ、前記走行輪は前記サーボモーターの出力軸の力を伝動できるように接続され（以下「伝動接続」という）、前記走行輪は前記出力軸と同軸に設置され、前記サーボモーターは前記モーター固定ハウジングの中に固定され、前記モーター固定ハウジングは、ボルトとナットによって前記プラットフォーム昇降機構に固定的に接続されている。 Preferably, the independent traveling mechanism includes a traveling wheel, a servomotor, and a motor fixing housing, and the traveling wheels are connected so as to be able to transmit the force of the output shaft of the servomotor (hereinafter referred to as "transmission connection"). ), The traveling wheel is installed coaxially with the output shaft, the servomotor is fixed in the motor fixing housing, and the motor fixing housing is fixedly connected to the platform elevating mechanism by bolts and nuts. There is.

好ましくは、前記プラットフォーム昇降機構には、接続ロッド、下部サポート、上部サポート、ねじ付きロッド、ねじ付きスリーブ、および本体接続アームが含まれ、前記接続ロッドは前記独立した走行機構に固定接続され、前記接続ロッドは、前記下部サポートの下端に固定され、前記ねじ付きロッドは、前記下部サポートと前記上部サポートとの間に垂直に固定され、前記ねじ付きスリーブは、前記ねじ付きロッドに合わせて外嵌され、前記ねじ付きスリーブと前記ねじ付きロッドはセルフロックを実現でき、前記本体接続アームの一端は、前記ねじ付きロッドに外嵌され、且つ前記ねじスリーブに配置され、前記本体接続アームの他端は、前記ホイールベース調整機構に固定接続されている。 Preferably, the platform elevating mechanism includes a connecting rod, a lower support, an upper support, a threaded rod, a threaded sleeve, and a body connecting arm, the connecting rod being fixedly connected to the independent traveling mechanism. The connecting rod is fixed to the lower end of the lower support, the threaded rod is vertically fixed between the lower support and the upper support, and the threaded sleeve is fitted externally to fit the threaded rod. The threaded sleeve and the threaded rod can be self-locking, one end of the body connecting arm is fitted onto the threaded rod and placed on the threaded sleeve, and the other end of the body connecting arm. Is fixedly connected to the wheel base adjusting mechanism.

好ましくは、前記下部サポートと前記上部サポートとの間に２本の垂直リミットロッドが固定的に設置され、前記本体接続アームが通過できるように２本の前記リミットロッド間に一定の距離がある。 Preferably, two vertical limit rods are fixedly installed between the lower support and the upper support, and there is a certain distance between the two limit rods so that the main body connecting arm can pass therethrough.

好ましくは、前記ねじ付きロッドに接続アーム固定フープが嵌設され、前記接続アーム固定フープの下端は、前記ねじ付きスリーブに固定接続され、前記接続アーム固定フープの開放端に固定ねじが穿設されている。 Preferably, the connecting arm fixing hoop is fitted to the threaded rod, the lower end of the connecting arm fixing hoop is fixedly connected to the threaded sleeve, and the fixing screw is bored at the open end of the connecting arm fixing hoop. ing.

好ましくは、前記ホイールベース調整機構には、リニアガイドレールが含まれ、前記プラットフォーム本体は前記リニアガイドレールに固定され、前記リニアガイドレールは四角い鋼管であり、前記リニアガイドレールの片側に前記本体接続アームがスライドして穿設され、前記リニアガイドの他側に、別の本体接続アームがスライドして穿設され、前記本体接続アームと前記リニアガイドレールの両方に、等間隔に配置された多数の固定穴が設置され、前記本体接続アームと前記リニアガイドレールはすべて、前記固定穴を貫通するボルトで固定接続され、前記本体接続アームの両側にすべて複数のローラーが設置され、前記ローラーはすべて前記リニアガイドレール内で回転する。 Preferably, the wheel base adjusting mechanism includes a linear guide rail, the platform body is fixed to the linear guide rail, the linear guide rail is a square steel pipe, and the body is connected to one side of the linear guide rail. A large number of arms slid and bored, another body connecting arm sliding and drilled on the other side of the linear guide, and evenly spaced on both the body connecting arm and the linear guide rail. The main body connecting arm and the linear guide rail are all fixedly connected by bolts penetrating the fixing hole, and a plurality of rollers are installed on both sides of the main body connecting arm, and all the rollers are installed. It rotates in the linear guide rail.

好ましくは、前記プラットフォーム本体にはカメラ移動機構が設置され、前記カメラ移動機構には、Ｙ軸移動機構、Ｘ軸移動機構、Ｚ軸移動機構が含まれ、前記Ｙ軸移動機構は前記プラットフォーム本体に設置され、前記Ｘ軸移動機構は前記Ｙ軸移動機構に設置され、前記Ｚ軸移動機構は前記Ｘ軸移動機構に設置され、前記スペクトルカメラは前記Ｚ軸移動機構に固定され、前記Ｙ軸移動機構、前記Ｘ軸移動機構、前記Ｚ軸移動機構は、それぞれ前記スペクトラルカメラがＹ軸、Ｘ軸、Ｚ軸方向に沿って移動するように駆動する。 Preferably, the platform body is provided with a camera movement mechanism, the camera movement mechanism includes a Y-axis movement mechanism, an X-axis movement mechanism, and a Z-axis movement mechanism, and the Y-axis movement mechanism is mounted on the platform body. Installed, the X-axis movement mechanism is installed in the Y-axis movement mechanism, the Z-axis movement mechanism is installed in the X-axis movement mechanism, the spectrum camera is fixed to the Z-axis movement mechanism, and the Y-axis movement is The mechanism, the X-axis moving mechanism, and the Z-axis moving mechanism drive the spectral camera so as to move along the Y-axis, X-axis, and Z-axis directions, respectively.

好ましくは、前記Ｙ軸移動機構は、Ｙ軸に沿って水平に配置され、互いに平行である第１の駆動同期ベルトおよび第２の同期ベルトを含み、前記プラットフォーム本体に第１のブラケットが固定設置され、前記第１の駆動同期ベルトおよび前記第２の同期ベルトの両端のプーリーは、両方とも前記第１のブラケットと回転可能に接続されており、前記第１の駆動同期ベルトの前記プーリーの１つは、第１のモーターと伝動接続され、前記第１のモーターは前記プラットフォーム本体に固定され、前記第１の駆動同期ベルトおよび前記第２の同期ベルトにはすべて、第１の移動ブロックが固定して設置され、前記Ｘ軸移動機構は、２つの前記第１の移動ブロックに水平に固定されている。 Preferably, the Y-axis moving mechanism includes a first drive synchronization belt and a second synchronization belt that are arranged horizontally along the Y-axis and are parallel to each other, and the first bracket is fixedly installed on the platform body. The pulleys at both ends of the first drive synchronization belt and the second synchronization belt are both rotatably connected to the first bracket, and one of the pulleys of the first drive synchronization belt. One is transmission-connected to the first motor, the first motor is fixed to the platform body, and the first moving block is fixed to the first drive synchronization belt and the second synchronization belt. The X-axis moving mechanism is horizontally fixed to the two first moving blocks.

好ましくは、前記Ｘ軸移動機構には、第２のブラケット及び第２の同期ベルトが含まれ、前記第２のブラケットの両端は、それぞれ２つの前記第１の移動ブロックに固定され、前記第２の同期ベルトはＸ軸に沿って設置され、前記第２の同期ベルトの両端のプーリーはすべて、前記第２のブラケットと回転可能に接続され、前記第２の同期ベルトの前記プーリーの１つは、第２のモーターと伝動接続され、前記第２のモーターは前記第２のブラケットに固定され、前記第２の同期ベルトに第２の移動ブロックが固定して設置され、前記Ｚ軸移動機構は、前記第２の移動ブロックに固定されている。 Preferably, the X-axis moving mechanism includes a second bracket and a second synchronous belt, both ends of the second bracket being fixed to two first moving blocks, respectively, and said second. The synchronization belt is installed along the X axis, all the pulleys at both ends of the second synchronization belt are rotatably connected to the second bracket, and one of the pulleys of the second synchronization belt is , The second motor is transmission-connected to the second motor, the second motor is fixed to the second bracket, the second moving block is fixed to the second synchronization belt, and the Z-axis moving mechanism is installed. , Is fixed to the second moving block.

好ましくは、前記Ｚ軸移動機構には、第３のブラケット及び第３の同期ベルトが含まれ、前記第３のブラケットは、前記第２の移動ブロックに固定され、前記第３の同期ベルトはＺ軸に沿って設置され、前記第３の同期ベルトの両端のプーリーはすべて、前記第３のブラケットと回転可能に接続され、前記第３の同期ベルトの前記プーリーの１つは、第３のモーターと伝動接続され、前記第３のモーターは前記第３のブラケットに固定され、前記第３の同期ベルトに第３の移動ブロックが固定して設置され、前記第３の移動ブロックにカメラ固定ブラケットが固定して設置され、前記スペクトルカメラは前記カメラ固定ブラケットに固定されている Preferably, the Z-axis moving mechanism includes a third bracket and a third sync belt, the third bracket is fixed to the second moving block, and the third sync belt is Z. Installed along the axis, all the pulleys at both ends of the third synchronous belt are rotatably connected to the third bracket, and one of the pulleys of the third synchronous belt is a third motor. The third motor is fixed to the third bracket, the third moving block is fixedly installed on the third synchronization belt, and the camera fixing bracket is fixed to the third moving block. It is fixed and installed, and the spectrum camera is fixed to the camera fixing bracket.

従来技術と比較して、本発明は以下の技術的効果を達成した。 Compared with the prior art, the present invention has achieved the following technical effects.

本発明は、プラットフォーム昇降機構を介してプラットフォーム本体の高さを調整することで異なる草丈の作物に適し、ホイールベース調整機構を介して独立した走行機構間の幅を調整することで、異なる植栽幅の作物に適し、プラットフォーム本体は、独立した走行機構によって駆動され、作物間を移動し、作物の地表近くのキャノピー情報を収集および取得し、これにより、情報取得の速度が大幅に向上できる。 The present invention is suitable for crops of different plant heights by adjusting the height of the platform body via the platform elevating mechanism, and different planting by adjusting the width between independent traveling mechanisms via the wheelbase adjusting mechanism. Suitable for wide crops, the platform body is driven by an independent travel mechanism to move between crops and collect and acquire canopy information near the surface of the crop, which can significantly improve the speed of information acquisition.

本発明の実施例または従来技術における技術的解決手段をより明確に説明するために、以下に、実施例に必要な図面を簡単に紹介する。明らかに、以下の説明の図面は、本発明の一部の実施例にすぎない。当業者では、創造的な作業なしで、これらの図面に基づいて他の図面を得ることができる。 In order to more clearly explain the examples of the present invention or the technical solutions in the prior art, the drawings required for the examples will be briefly introduced below. Obviously, the drawings described below are only partial embodiments of the present invention. Those skilled in the art can obtain other drawings based on these drawings without any creative work.

本発明による田畑作物スペクトル情報取得用の装置の構造の模式図である。It is a schematic diagram of the structure of the apparatus for acquiring the field crop spectrum information by this invention. 本発明におけるプラットフォーム本体の構造模式図である。It is a structural schematic diagram of the platform body in this invention. 本発明における独立した走行機構の構造模式図である。It is a structural schematic diagram of the independent traveling mechanism in this invention. 本発明におけるプラットフォーム昇降機構の構造模式図である。It is a structural schematic diagram of the platform elevating mechanism in this invention. 本発明におけるねじ付きスリーブの構造模式図である。It is a structural schematic diagram of the threaded sleeve in this invention. 本発明におけるホイールベース調整機構の構造模式図である。It is a structural schematic diagram of the wheelbase adjustment mechanism in this invention. 本発明におけるリニアガイドレールの構造模式図である。It is a structural schematic diagram of the linear guide rail in this invention.

ここで、１１−プラットフォーム本体、２１−カメラ移動機構、３１−独立した走行機構、４１−プラットフォーム昇降機構、５１−ホイールベース調整機構、１２−第１の駆動同期ベルト、２２−第２の同期ベルト、３２−第３の同期ベルト、４２−カメラ固定ブラケット、１４−走行輪、２４−サーボモーター、３４−モーター固定ハウジング、５１−ねじ付きロッド、５２−ねじ付きスリーブ、５３−本体接続アーム、５４−接続アーム固定フープ、５５−リミットロッド、５６−トップカバー、９１−ローラー、９２−リニアガイドレール Here, 11-platform body, 21-camera movement mechanism, 31-independent traveling mechanism, 41-platform elevating mechanism, 51-wheel base adjustment mechanism, 12-1st drive synchronization belt, 22nd second synchronization belt. , 32-Third Synchronous Belt, 42-Camera Fix Bracket, 14-Running Wheel, 24-Servo Motor, 34-Motor Fixed Housing, 51-Screwed Rod, 52-Screwed Sleeve, 53-Main Body Connection Arm, 54 -Connecting arm fixed hoop, 55-Limit rod, 56-Top cover, 91-Roller, 92-Linear guide rail

本発明の実施例における技術的解決手段を、本発明の実施例おける添付の図面と併せて以下に明確かつ完全に説明する。明らかに、記載された実施例は、すべての実施例ではなく、本発明の実施例の一部にすぎない。本発明の実施例に基づいて、創造的な努力なしに当業者によって得られる他のすべての実施例は、本発明の保護範囲に含まれるものとする。 The technical solutions in the examples of the present invention will be described clearly and completely below together with the accompanying drawings in the examples of the present invention. Obviously, the examples described are not all examples, but only some of the examples of the present invention. Based on the examples of the present invention, all other examples obtained by those skilled in the art without creative effort shall be included in the scope of protection of the present invention.

本発明の上記の目的、特徴および利点をより明白かつ理解可能にするために、本発明を、添付の図面および発明を実施するための形態と併せて、以下でさらに詳細に説明する。 In order to make the above objectives, features and advantages of the invention more clear and understandable, the invention will be described in more detail below, along with the accompanying drawings and embodiments for carrying out the invention.

図１−図７に示すように、本実施例は、田畑作物のスペクトル情報取得用の装置を提供し、これは、プラットフォーム本体１１、ホイールベース調整機構５１、プラットフォーム昇降機構４１、および少なくとも２つの独立した走行機構３１を含み、独立した走行機構３１はそれぞれ、プラットフォーム本体１１の両側に設置され、各独立した走行機構３１はそれぞれ、プラットフォーム昇降機構４１の下端に固定接続され、ホイールベース調整機構５１は、プラットフォーム昇降機構４１に可動接続され、ホイールベース調整機構５１は、プラットフォーム昇降機構４１に沿って上下移動でき、ホイールベース調整機構５１は、プラットフォーム本体１１の両側にある独立した走行機構３１間の幅を調整でき、プラットフォーム本体１１は、ホイールベース調整機構５１に固定され、プラットフォーム本体１１は、スペクトルカメラを配置するために使用される。具体的には、図１に示すように、この実施例における独立した走行機構３１は、４つ設置され、それに応じて４つのプラットフォーム昇降機構４１が設置され、独立した走行機構３１は、プラットフォーム昇降機構４１と、１対１に対応して接続され、プラットフォーム本体１１は、長方形の中空鋼フレームであり、独立した走行機構３１とプラットフォーム昇降機構４１とがそれぞれ接続されてなった４つのグループは、それぞれ、長方形の中空鋼フレームの四隅に設置され、そして、ホイールベース調整機構５１は２つ設置され、プラットフォーム本体１１の前端にある２つのプラットフォーム昇降機構４１は、同じホイールベース調整機構５１の両側にそれぞれ取り付けられ、プラットフォーム本体１１の後端にある２つのプラットフォーム昇降機構４１は、もう一つのホイールベース調整機構５１の両側にそれぞれ取り付けられ、プラットフォーム昇降機構４１を介してプラットフォーム本体１１の高さを調整することで異なる草丈の作物に適することとなって、ホイールベース調整機構５１を介してプラットフォーム本体１１両側の独立した走行機構３１間の幅を調整することで異なる植栽幅の作物に適することとなり、よって作物の間を走行することができることを確実にし、プラットフォーム本体１１は、独立した走行機構３１によって駆動され、作物間を移動し、作物の地表近くのキャノピー情報を収集および取得し、これにより、情報取得の速度が大幅に向上できる。 As shown in FIGS. 1-7, the present embodiment provides a device for acquiring spectral information of field crops, which includes a platform body 11, a wheelbase adjusting mechanism 51, a platform elevating mechanism 41, and at least two. The independent traveling mechanism 31 including the independent traveling mechanism 31 is installed on both sides of the platform main body 11, and each independent traveling mechanism 31 is fixedly connected to the lower end of the platform elevating mechanism 41, and the wheelbase adjusting mechanism 51 is provided. Is movably connected to the platform elevating mechanism 41, the wheelbase adjusting mechanism 51 can move up and down along the platform elevating mechanism 41, and the wheelbase adjusting mechanism 51 is between independent traveling mechanisms 31 on both sides of the platform body 11. The width can be adjusted, the platform body 11 is fixed to the wheelbase adjustment mechanism 51, and the platform body 11 is used for arranging the spectrum camera. Specifically, as shown in FIG. 1, four independent traveling mechanisms 31 in this embodiment are installed, and four platform elevating mechanisms 41 are installed accordingly, and the independent traveling mechanism 31 is a platform elevating mechanism 31. The four groups, which are connected to the mechanism 41 in a one-to-one correspondence, the platform body 11 is a rectangular hollow steel frame, and the independent traveling mechanism 31 and the platform elevating mechanism 41 are connected to each other, are composed of four groups. Each is installed at the four corners of a rectangular hollow steel frame, and two wheelbase adjustment mechanisms 51 are installed, and the two platform elevating mechanisms 41 at the front end of the platform body 11 are on both sides of the same wheelbase adjustment mechanism 51. The two platform elevating mechanisms 41, each of which is attached to the rear end of the platform main body 11, are attached to both sides of the other wheelbase adjusting mechanism 51, respectively, and adjust the height of the platform main body 11 via the platform elevating mechanism 41. By doing so, it becomes suitable for crops of different plant heights, and by adjusting the width between the independent traveling mechanisms 31 on both sides of the platform body 11 via the wheelbase adjusting mechanism 51, it becomes suitable for crops of different planting widths. The platform body 11 is driven by an independent travel mechanism 31 to move between crops and collect and obtain canopy information near the surface of the crop, thereby ensuring that it can travel between crops. , The speed of information acquisition can be greatly improved.

具体的には、独立した走行機構３１には、走行輪１４、サーボモーター２４、モーター固定ハウジング３４が含まれ、走行輪１４はサーボモーター２４の出力軸と伝動接続され、走行輪１４は出力軸と同軸に設置され、サーボモーター２４はモーター固定ハウジング３４の中に固定され、モーター固定ハウジング３４は、ボルトとナットによってプラットフォーム昇降機構に固定的に接続されている。サーボモーター２４の速度を制御することにより、田畑でのプラットフォーム本体１１の移動速度を制御することができ、プラットフォーム本体１１の操舵動作は、差動操舵方式を採用しており、具体的には、各独立した走行機構３１のサーボモーター２４を制御して速度差を発生させることにより操舵動作を実現することができる。 Specifically, the independent traveling mechanism 31 includes a traveling wheel 14, a servomotor 24, and a motor fixed housing 34, the traveling wheel 14 is transmission-connected to the output shaft of the servomotor 24, and the traveling wheel 14 is an output shaft. The servomotor 24 is fixed in the motor fixing housing 34, and the motor fixing housing 34 is fixedly connected to the platform elevating mechanism by bolts and nuts. By controlling the speed of the servomotor 24, the moving speed of the platform main body 11 in the field can be controlled, and the steering operation of the platform main body 11 adopts a differential steering method. Steering operation can be realized by controlling the servomotors 24 of each independent traveling mechanism 31 to generate a speed difference.

具体的には、プラットフォーム昇降機構４１には、接続ロッド、下部サポート、上部サポート、ねじ付きロッド５１、ねじ付きスリーブ５２、および本体接続アーム５３が含まれ、接続ロッドは独立した走行機構３１に固定接続され、接続ロッドは、下部サポートの下端に固定され、ねじ付きロッド５１は、下部サポートと上部サポートとの間に垂直に固定され、ねじ付きスリーブ５２は、ねじ付きロッド５１に合わせて外嵌され、ねじ付きスリーブ５２とねじ付きロッド５１はセルフロックを実現でき、本体接続アーム５３の一端は、ねじ付きロッド５１に外嵌され、且つねじスリーブ５２に配置され、本体接続アーム５３の他端は、前記ホイールベース調整機構５１に固定接続されている。下部サポートと上部サポートとの間に２本の垂直リミットロッド５５が固定的に設置され、本体接続アーム５３が通過できるよう２本の前記リミットロッド５５間に一定の距離があり、具体的には、ねじ付きロッド５１および２つのリミットロッド５５は、「品」字形で配置され、それらの下端はすべて、下部サポートに固定され、それらの上端はすべて、上部サポートを貫いて、そのうち、２つのリミットロッド５５は上部サポートを貫いた後、トップカバー５６および割りピンによって固定され、一方、ねじ付きロッド５１は、上部サポートを貫いた後、スクリューやナットまたは他の固定構造によって固定することができる。２本のリミットロッド５５は、本体接続アーム５３が前後に揺れないようにクランプし、本体接続アーム５３を垂直方向に調整できるようにする、すなわち、ねじ付きスリーブ５２をねじ込んで上下に動かし、本体接続アーム５３が異なる高さになるようにするために使用される。振動によるねじ山のセルフロックおよびロック解除が走行中の本体プラットフォームの高さに影響を与えるのを防ぐために、ねじ付きロッド５１に接続アーム固定フープ５４が嵌設され、接続アーム固定フープ５４の下端は、ねじ付きスリーブ５２に固定接続され、接続アーム固定フープ５４の開放端に固定ねじが穿設され、すなわち、高さを調整した後、固定ねじを締めて、本体接続アーム５３とねじ付きスリーブ５２をねじ付きロッド５１に安定して固定し、プラットフォーム本体１１の高さを安定させる。 Specifically, the platform elevating mechanism 41 includes a connecting rod, a lower support, an upper support, a threaded rod 51, a threaded sleeve 52, and a main body connecting arm 53, and the connecting rod is fixed to an independent traveling mechanism 31. Connected, the connecting rod is fixed to the lower end of the lower support, the threaded rod 51 is fixed vertically between the lower support and the upper support, and the threaded sleeve 52 is fitted to fit the threaded rod 51. The threaded sleeve 52 and the threaded rod 51 can be self-locking, and one end of the main body connecting arm 53 is fitted onto the threaded rod 51 and arranged on the threaded sleeve 52, and the other end of the main body connecting arm 53. Is fixedly connected to the wheel base adjusting mechanism 51. Two vertical limit rods 55 are fixedly installed between the lower support and the upper support, and there is a certain distance between the two limit rods 55 so that the main body connecting arm 53 can pass through. Specifically, , Threaded rods 51 and two limit rods 55 are arranged in an "article" shape, all of their lower ends are fixed to the lower support, all of their upper ends penetrate the upper support, of which two limits The rod 55 can be pierced through the upper support and then secured by the top cover 56 and a cotter pin, while the threaded rod 51 can be pierced through the upper support and then secured by screws, nuts or other fixing structures. The two limit rods 55 clamp the main body connecting arm 53 so that it does not swing back and forth so that the main body connecting arm 53 can be adjusted in the vertical direction, that is, the threaded sleeve 52 is screwed in and moved up and down to move the main body. It is used to ensure that the connecting arms 53 have different heights. A connecting arm fixing hoop 54 is fitted to the threaded rod 51 to prevent the self-locking and unlocking of the threads due to vibration from affecting the height of the main body platform during travel, and the lower end of the connecting arm fixing hoop 54. Is fixedly connected to the threaded sleeve 52, and a fixing screw is bored in the open end of the connecting arm fixing hoop 54, that is, after adjusting the height, the fixing screw is tightened to connect the main body connecting arm 53 and the threaded sleeve. The 52 is stably fixed to the threaded rod 51, and the height of the platform body 11 is stabilized.

具体的には、ホイールベース調整機構５１には、リニアガイドレール９２が含まれ、プラットフォーム本体１１はリニアガイドレール９２に固定され、リニアガイドレール９２は四角い鋼管であり、リニアガイドレール９２の片側に本体接続アーム５３がスライドして穿設され、リニアガイドレール９２の他側にもう一つの本体接続アーム５３がスライドして穿設され、本体接続アーム５３とリニアガイドレール９２の両方に、等間隔に配置された複数の固定穴が設置され、本体接続アーム５３とリニアガイドレール９２はすべて、固定穴を貫通するボルトで固定接続され、本体接続アーム５３の両側にすべて複数のローラー９１が設置され、ローラー９１はすべてリニアガイドレール９２内で回転する。リニアガイドレール９２に挿入された本体接続アーム５３の長さを調整し、本体接続アーム５３およびリニアガイドレール９２の対応する固定穴を選択し、本体接続アーム５３とリニアガイドレール９２をボルトとナットで固定接続し、よって両側の走行輪１４間の幅が固定され、植栽幅の異なる田畑作物情報の取得に適することとなる。 Specifically, the wheel base adjustment mechanism 51 includes a linear guide rail 92, the platform body 11 is fixed to the linear guide rail 92, and the linear guide rail 92 is a square steel pipe on one side of the linear guide rail 92. The main body connecting arm 53 is slid and bored, and another main body connecting arm 53 is slid and drilled on the other side of the linear guide rail 92, and is equally spaced on both the main body connecting arm 53 and the linear guide rail 92. A plurality of fixing holes arranged in the main body connecting arm 53 and the linear guide rail 92 are all fixedly connected by bolts penetrating the fixing holes, and a plurality of rollers 91 are installed on both sides of the main body connecting arm 53. , The rollers 91 all rotate in the linear guide rail 92. Adjust the length of the main body connection arm 53 inserted into the linear guide rail 92, select the corresponding fixing holes for the main body connection arm 53 and the linear guide rail 92, and bolt and nut the main body connection arm 53 and the linear guide rail 92. Therefore, the width between the traveling wheels 14 on both sides is fixed, which makes it suitable for acquiring information on field crops having different planting widths.

また、プラットフォーム本体１１にカメラ移動機構２１を設置することもでき、カメラ移動機構２１には、Ｙ軸移動機構、Ｘ軸移動機構、Ｚ軸移動機構が含まれ、Ｙ軸移動機構はプラットフォーム本体１１に設置され、Ｘ軸移動機構はＹ軸移動機構に設置され、Ｚ軸移動機構はＸ軸移動機構に設置され、スペクトルカメラはＺ軸移動機構に固定され、Ｙ軸移動機構、Ｘ軸移動機構、Ｚ軸移動機構は、それぞれス、ペクトラルカメラがＹ軸、Ｘ軸、Ｚ軸方向に沿って移動するように駆動する。各移動機構は独立して制御され、スペクトルカメラはプラットフォーム本体１１の静止状態の下で特定の範囲の空間を自由に移動することができ、地上近くの情報およびより詳細な情報の収集および取得を容易にする。 Further, the camera moving mechanism 21 can be installed on the platform main body 11, and the camera moving mechanism 21 includes a Y-axis moving mechanism, an X-axis moving mechanism, and a Z-axis moving mechanism, and the Y-axis moving mechanism is the platform main body 11. The X-axis movement mechanism is installed in the Y-axis movement mechanism, the Z-axis movement mechanism is installed in the X-axis movement mechanism, the spectrum camera is fixed to the Z-axis movement mechanism, and the Y-axis movement mechanism and the X-axis movement mechanism. The Z-axis movement mechanism drives the screw and spectral cameras to move along the Y-axis, X-axis, and Z-axis directions, respectively. Each movement mechanism is controlled independently, and the spectrum camera can freely move in a specific range of space under the stationary state of the platform body 11, collecting and acquiring information near the ground and more detailed information. make it easier.

そのうち、Ｙ軸移動機構は、Ｙ軸に沿って水平に配置され、互いに平行である第１の駆動同期ベルト１２および第２の同期ベルトを含み、プラットフォーム本体１１に第１のブラケットが固定設置され、第１の駆動同期ベルト１２および第２の同期ベルトの両端のプーリーは、両方とも第１のブラケットと回転可能に接続されており、第１の駆動同期ベルト１２のプーリーの１つは、第１のモーターと伝動接続され、第１のモーターはプラットフォーム本体１１に固定され、第１の駆動同期ベルト１２および第２の同期ベルトにはすべて、第１の移動ブロックが固定して設置され、Ｘ軸移動機構は、２つの第１の移動ブロックに水平に固定されている。Ｘ軸移動機構には、第２のブラケット及び第２の同期ベルト２２が含まれ、第２のブラケットの両端は、それぞれ２つの第１の移動ブロックに固定され、第２の同期ベルト２２はＸ軸に沿って設置され、第２の同期ベルト２２の両端のプーリーはすべて、第２のブラケットと回転可能に接続され、第２の同期ベルト２２のプーリーの１つは、第２のモーターと伝動接続され、第２のモーターは第２のブラケットに固定され、第２の同期ベルト２２に第２の移動ブロックが固定して設置され、Ｚ軸移動機構は、第２の移動ブロックに固定されている。Ｚ軸移動機構には、第３のブラケット及び第３の同期ベルト３２が含まれ、第３のブラケットは、第２の移動ブロックに固定され、第３の同期ベルト３２はＺ軸に沿って設置され、第３の同期ベルト３２の両端のプーリーはすべて、第３のブラケットと回転可能に接続され、第３の同期ベルト３２のプーリーの１つは、第３のモーターと伝動接続され、第３のモーターは第３のブラケットに固定され、第３の同期ベルト３２に第３の移動ブロックが固定して設置され、第３の移動ブロックにカメラ固定ブラケット４２が固定して設置され、スペクトルカメラは前記カメラ固定ブラケット４２に固定されている。 Among them, the Y-axis movement mechanism includes the first drive synchronization belt 12 and the second synchronization belt which are arranged horizontally along the Y-axis and are parallel to each other, and the first bracket is fixedly installed on the platform body 11. , The pulleys at both ends of the first drive synchronization belt 12 and the second synchronization belt are both rotatably connected to the first bracket, and one of the pulleys of the first drive synchronization belt 12 is the first. Transmission connected to the motor 1, the first motor is fixed to the platform body 11, and the first moving block is fixedly installed on the first drive synchronization belt 12 and the second synchronization belt, respectively, and X The shaft movement mechanism is horizontally fixed to the two first movement blocks. The X-axis movement mechanism includes a second bracket and a second synchronization belt 22, both ends of the second bracket are fixed to two first movement blocks, respectively, and the second synchronization belt 22 is X. Installed along the axis, all the pulleys at both ends of the second sync belt 22 are rotatably connected to the second bracket, and one of the pulleys of the second sync belt 22 is transmitted to the second motor. Connected, the second motor is fixed to the second bracket, the second moving block is fixed and installed on the second synchronous belt 22, and the Z-axis moving mechanism is fixed to the second moving block. There is. The Z-axis movement mechanism includes a third bracket and a third synchronization belt 32, the third bracket is fixed to the second movement block, and the third synchronization belt 32 is installed along the Z axis. Then, all the pulleys at both ends of the third synchronization belt 32 are rotatably connected to the third bracket, and one of the pulleys of the third synchronization belt 32 is transmission-connected to the third motor, and the third The motor is fixed to the third bracket, the third moving block is fixedly installed on the third synchronization belt 32, the camera fixing bracket 42 is fixedly installed on the third moving block, and the spectrum camera is installed. It is fixed to the camera fixing bracket 42.

プラットフォーム本体１１は、走行しやすくなるようにその前部および後部には蓄電池を装備したり、リモートコントロールを達成するためにＰＴＺ（Ｐａｎ−Ｔｉｌｔ−Ｚｏｏｍ）を操作するための制御装置を装備したりすることができる。しかしながら、本発明は、田畑作物スペクトル情報を取得するための装置のハードウェア構造を改善することを目的とし、必ずしもＰＴＺ（Ｐａｎ−Ｔｉｌｔ−Ｚｏｏｍ）を操作するための制御装置とリモートコントロールテクノロジーを最適化すること自体を目的とするわけではないことに留意されたい。 The platform main body 11 is equipped with storage batteries at its front and rear so as to be easy to drive, and is equipped with a control device for operating a PTZ (Pan-Tilt-Zoom) to achieve remote control. can do. However, the present invention aims to improve the hardware structure of the device for acquiring field crop spectrum information, and necessarily optimizes the control device and remote control technology for operating the PTZ (Pan-Tilt-Zoom). It should be noted that it is not the purpose of the conversion itself.

応用では、情報を収集する前に、田畑作物の幅と高さに応じてホイールベース調整機構５１とプラットフォーム昇降機構４１を調整し、異なる作物または同じ作物の異なる成長期間のキャノピースペクトル情報の測定に適応できるようにし、幅と高さを調整した後、カメラ移動機構２１を介してスペクトルカメラのＦＯＶ（Ｆｉｅｌｄ Ｏｆ Ｖｉｅｗ（視野））を調整し、各走行輪１４のサーボモーター２４を始動して、単一または複数の作物のキャノピー情報を取得し、また、プラットフォーム本体１１が静止している場合、カメラ移動機構２１を制御してスペクトルカメラの位置を調整することにより、一定範囲内の作物のスペクトル情報を迅速に得ることができ、走行輪１４にあるサーボモーター２４を制御し、差動操舵を実現し、回転半径を減少させ、そして作物への損傷を回避することもできる。この実施例はまた、温室および実験室における植物のスペクトル情報を取得するのに適している。 In the application, before collecting the information, the wheel base adjustment mechanism 51 and the platform elevating mechanism 41 are adjusted according to the width and height of the field crop to measure the canopy spectrum information of different crops or different growth periods of the same crop. After adjusting the width and height so that it can be adapted, the FOV (Field Of View) of the spectrum camera is adjusted via the camera moving mechanism 21, and the servomotor 24 of each traveling wheel 14 is started. When the canopy information of a single crop or a plurality of crops is acquired and the platform body 11 is stationary, the spectrum of the crop within a certain range is obtained by controlling the camera moving mechanism 21 and adjusting the position of the spectrum camera. Information can be obtained quickly, controlling the servomotors 24 on the running wheels 14, implementing differential steering, reducing the radius of gyration, and avoiding damage to crops. This example is also suitable for obtaining spectral information of plants in greenhouses and laboratories.

本明細書では、特定の例を使用して、本発明の原理および実施形態を説明し、上記の実施例の説明は、本発明の方法およびコアアイデアを便利に理解するために提供されるものに過ぎない。同時に、当業者にとって、本発明のアイデアに基づいて発明を実施するための形態および適用の範囲について変更をすることもある。要約すると、本明細書の内容は、本発明を限定するものとして解釈されるべきではない。











Specific examples are used herein to illustrate the principles and embodiments of the invention, and the description of the examples above is provided for a convenient understanding of the methods and core ideas of the invention. It's just that. At the same time, those skilled in the art may change the mode and scope of application for carrying out the invention based on the idea of the present invention. In summary, the content of this specification should not be construed as limiting the invention.

Claims (10)

田畑作物のスペクトル情報取得用の装置であって、プラットフォーム本体、ホイールベース調整機構、プラットフォーム昇降機構、および少なくとも２つの独立した走行機構を含み、前記独立した走行機構はそれぞれ、前記プラットフォーム本体の両側に設置され、各前記独立した走行機構はそれぞれ、前記プラットフォーム昇降機構の下端に固定接続され、前記ホイールベース調整機構は、前記プラットフォーム昇降機構に可動接続され、前記ホイールベース調整機構は、プラットフォーム昇降機構に沿って上下に移動でき、前記ホイールベース調整機構は、前記プラットフォーム本体の両側にある前記独立した走行機構間の幅を調整でき、前記プラットフォーム本体は、前記ホイールベース調整機構に固定され、前記プラットフォーム本体は、スペクトルカメラを配置するために使用されること
を特徴とする田畑作物のスペクトル情報取得用の装置。 A device for acquiring spectrum information of field crops, including a platform body, a wheelbase adjustment mechanism, a platform elevating mechanism, and at least two independent traveling mechanisms, each of which is on both sides of the platform body. Installed, each of the independent traveling mechanisms is fixedly connected to the lower end of the platform elevating mechanism, the wheelbase adjusting mechanism is movably connected to the platform elevating mechanism, and the wheelbase adjusting mechanism is movably connected to the platform elevating mechanism. Can move up and down along, the wheelbase adjusting mechanism can adjust the width between the independent traveling mechanisms on both sides of the platform body, the platform body is fixed to the wheelbase adjusting mechanism and said platform body. Is a device for acquiring spectrum information of field crops, which is characterized by being used for arranging a spectrum camera. 前記独立した走行機構には、走行輪、サーボモーター、モーター固定ハウジングが含まれ、前記走行輪は前記サーボモーターの出力軸と伝動接続され、前記走行輪は前記出力軸と同軸に設置され、前記サーボモーターは前記モーター固定ハウジングの中に固定され、前記モーター固定ハウジングは、ボルトとナットによって前記プラットフォーム昇降機構に固定的に接続されていることを特徴とする請求項１に記載の田畑作物のスペクトル情報取得用の装置。 The independent traveling mechanism includes a traveling wheel, a servomotor, and a motor fixing housing, the traveling wheel is transmission-connected to the output shaft of the servomotor, and the traveling wheel is installed coaxially with the output shaft. The spectrum of the field crop according to claim 1, wherein the servomotor is fixed in the motor fixing housing, and the motor fixing housing is fixedly connected to the platform elevating mechanism by bolts and nuts. A device for acquiring information. 前記プラットフォーム昇降機構には、接続ロッド、下部サポート、上部サポート、ねじ付きロッド、ねじ付きスリーブ、および本体接続アームが含まれ、前記接続ロッドは前記独立した走行機構に固定接続され、前記接続ロッドは、前記下部サポートの下端に固定され、前記ねじ付きロッドは、前記下部サポートと前記上部サポートとの間に垂直に固定され、前記ねじ付きスリーブは、前記ねじ付きロッドに合わせて外嵌され、前記ねじ付きスリーブと前記ねじ付きロッドはセルフロックを実現でき、前記本体接続アームの一端は、前記ねじ付きロッドに外嵌され、且つ前記ねじ付きスリーブに配置され、前記本体接続アームの他端は、前記ホイールベース調整機構に固定接続されていることを特徴とする請求項１に記載の田畑作物のスペクトル情報取得用の装置。 The platform elevating mechanism includes a connecting rod, a lower support, an upper support, a threaded rod, a threaded sleeve, and a body connecting arm, the connecting rod is fixedly connected to the independent traveling mechanism, and the connecting rod is , The threaded rod is fixed vertically between the lower support and the upper support, the threaded sleeve is fitted externally to the threaded rod, and the threaded rod is fitted to the lower end of the lower support. The threaded sleeve and the threaded rod can be self-locking, one end of the body connecting arm is fitted onto the threaded rod and placed on the threaded sleeve, and the other end of the body connecting arm is The device for acquiring spectrum information of a field crop according to claim 1, wherein the device is fixedly connected to the wheel base adjusting mechanism. 前記下部サポートと前記上部サポートとの間に２本の垂直リミットロッドが固定的に設置され、前記本体接続アームが通過できるように２本の前記リミットロッド間に一定の距離があることを特徴とする請求項３に記載の田畑作物のスペクトル情報取得用の装置。 Two vertical limit rods are fixedly installed between the lower support and the upper support, and there is a certain distance between the two limit rods so that the main body connecting arm can pass through. The apparatus for acquiring spectral information of the field crop according to claim 3. 前記ねじ付きロッドに接続アーム固定フープが嵌設され、前記接続アーム固定フープの下端は、前記ねじ付きスリーブに固定接続され、前記接続アーム固定フープの開放端に固定ねじが穿設されていることを特徴とする請求項３に記載の田畑作物のスペクトル情報取得用の装置。 A connecting arm fixing hoop is fitted to the threaded rod, the lower end of the connecting arm fixing hoop is fixedly connected to the threaded sleeve, and a fixing screw is bored at the open end of the connecting arm fixing hoop. The apparatus for acquiring spectral information of a field crop according to claim 3. 前記ホイールベース調整機構には、リニアガイドレールが含まれ、前記プラットフォーム本体は前記リニアガイドレールに固定され、前記リニアガイドレールは四角い鋼管であり、前記リニアガイドレールの片側に前記本体接続アームがスライドして穿設され、前記リニアガイドの他側に、別の本体接続アームがスライドして穿設され、前記本体接続アームと前記リニアガイドレールの両方に、等間隔に配置された複数の固定穴が設置され、前記本体接続アームと前記リニアガイドレールはすべて、前記固定穴を貫いたボルトで固定接続され、前記本体接続アームの両側にすべて複数のローラーが設置され、前記ローラーはすべて前記リニアガイドレール内で回転することを特徴とする請求項３に記載の田畑作物のスペクトル情報取得用の装置。 The wheel base adjusting mechanism includes a linear guide rail, the platform main body is fixed to the linear guide rail, the linear guide rail is a square steel pipe, and the main body connecting arm slides on one side of the linear guide rail. Another main body connecting arm is slid and bored on the other side of the linear guide, and a plurality of fixing holes arranged at equal intervals on both the main body connecting arm and the linear guide rail. Is installed, the main body connecting arm and the linear guide rail are all fixedly connected by bolts penetrating the fixing hole, and a plurality of rollers are installed on both sides of the main body connecting arm, and all the rollers are the linear guide. The device for acquiring spectral information of a field crop according to claim 3, wherein the device rotates in a rail. 前記プラットフォーム本体にはカメラ移動機構が設置され、前記カメラ移動機構には、Ｙ軸移動機構、Ｘ軸移動機構、Ｚ軸移動機構が含まれ、前記Ｙ軸移動機構は前記プラットフォーム本体に設置され、前記Ｘ軸移動機構は前記Ｙ軸移動機構に設置され、前記Ｚ軸移動機構は前記Ｘ軸移動機構に設置され、前記スペクトルカメラは前記Ｚ軸移動機構に固定され、前記Ｙ軸移動機構、前記Ｘ軸移動機構、前記Ｚ軸移動機構は、それぞれ前記スペクトラルカメラがＹ軸、Ｘ軸、Ｚ軸方向に沿って移動するように駆動する、ことを特徴とする請求項１に記載の田畑作物のスペクトル情報取得用の装置。 A camera moving mechanism is installed in the platform main body, the camera moving mechanism includes a Y-axis moving mechanism, an X-axis moving mechanism, and a Z-axis moving mechanism, and the Y-axis moving mechanism is installed in the platform main body. The X-axis moving mechanism is installed in the Y-axis moving mechanism, the Z-axis moving mechanism is installed in the X-axis moving mechanism, the spectrum camera is fixed to the Z-axis moving mechanism, and the Y-axis moving mechanism, said. The field crop according to claim 1, wherein the X-axis moving mechanism and the Z-axis moving mechanism are driven so that the spectral camera moves along the Y-axis, X-axis, and Z-axis directions, respectively. A device for acquiring spectrum information. 前記Ｙ軸移動機構は、Ｙ軸に沿って水平に配置され、互いに平行である第１の駆動同期ベルトおよび第２の同期ベルトを含み、
前記プラットフォーム本体に第１のブラケットが固定設置され、前記第１の駆動同期ベルトおよび前記第２の同期ベルトの両端のプーリーは、両方とも前記第１のブラケットと回転可能に接続されており、前記第１の駆動同期ベルトの前記プーリーの１つは、第１のモーターと伝動接続され、前記第１のモーターは前記プラットフォーム本体に固定され、前記第１の駆動同期ベルトおよび前記第２の同期ベルトにはすべて、第１の移動ブロックが固定して設置され、前記Ｘ軸移動機構は、２つの前記第１の移動ブロックに水平に固定されていることを特徴とする請求項７に記載の田畑作物のスペクトル情報取得用の装置。 The Y-axis moving mechanism includes a first drive synchronization belt and a second synchronization belt that are arranged horizontally along the Y-axis and are parallel to each other.
A first bracket is fixedly installed on the platform body, and the pulleys at both ends of the first drive synchronization belt and the second synchronization belt are both rotatably connected to the first bracket. One of the pulleys of the first drive synchronization belt is transmission-connected to the first motor, the first motor is fixed to the platform body, and the first drive synchronization belt and the second synchronization belt are fixed. The field according to claim 7, wherein the first moving block is fixedly installed in all of the above, and the X-axis moving mechanism is horizontally fixed to the two first moving blocks. A device for acquiring spectrum information of crops. 前記Ｘ軸移動機構には、第２のブラケット及び第２の同期ベルトが含まれ、前記第２のブラケットの両端は、それぞれ２つの前記第１の移動ブロックに固定され、前記第２の同期ベルトはＸ軸に沿って設置され、前記第２の同期ベルトの両端のプーリーはすべて、前記第２のブラケットと回転可能に接続され、前記第２の同期ベルトの前記プーリーの１つは、第２のモーターと伝動接続され、前記第２のモーターは前記第２のブラケットに固定され、前記第２の同期ベルトに第２の移動ブロックが固定して設置され、前記Ｚ軸移動機構は、前記第２の移動ブロックに固定されていることを特徴とする請求項８に記載の田畑作物のスペクトル情報取得用の装置。 The X-axis moving mechanism includes a second bracket and a second synchronization belt, both ends of the second bracket are fixed to two first moving blocks, respectively, and the second synchronization belt. Is installed along the X-axis, all the pulleys at both ends of the second sync belt are rotatably connected to the second bracket, and one of the pulleys of the second sync belt is the second. The second motor is fixed to the second bracket, the second moving block is fixed to the second synchronous belt, and the Z-axis moving mechanism is fixed to the second. The device for acquiring spectral information of a field crop according to claim 8, wherein the device is fixed to the moving block of 2. 前記Ｚ軸移動機構には、第３のブラケット及び第３の同期ベルトが含まれ、前記第３のブラケットは、前記第２の移動ブロックに固定され、前記第３の同期ベルトはＺ軸に沿って設置され、前記第３の同期ベルトの両端のプーリーはすべて、前記第３のブラケットと回転可能に接続され、前記第３の同期ベルトの前記プーリーの１つは、第３のモーターと伝動接続され、前記第３のモーターは前記第３のブラケットに固定され、前記第３の同期ベルトに第３の移動ブロックが固定して設置され、前記第３の移動ブロックにカメラ固定ブラケットが固定して設置され、前記スペクトルカメラは前記カメラ固定ブラケットに固定されていることを特徴とする請求項９に記載の田畑作物のスペクトル情報取得用の装置。














The Z-axis movement mechanism includes a third bracket and a third synchronization belt, the third bracket is fixed to the second movement block, and the third synchronization belt is along the Z-axis. All the pulleys at both ends of the third synchronous belt are rotatably connected to the third bracket, and one of the pulleys of the third synchronous belt is transmitted and connected to the third motor. The third motor is fixed to the third bracket, the third moving block is fixed to the third synchronous belt and installed, and the camera fixing bracket is fixed to the third moving block. The device for acquiring spectrum information of a field crop according to claim 9, wherein the spectrum camera is installed and fixed to the camera fixing bracket.
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