WO2021077871A1 - 一种田间作物移动表型舱监测系统 - Google Patents

一种田间作物移动表型舱监测系统 Download PDF

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Publication number
WO2021077871A1
WO2021077871A1 PCT/CN2020/109257 CN2020109257W WO2021077871A1 WO 2021077871 A1 WO2021077871 A1 WO 2021077871A1 CN 2020109257 W CN2020109257 W CN 2020109257W WO 2021077871 A1 WO2021077871 A1 WO 2021077871A1
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WIPO (PCT)
Prior art keywords
track
greenhouse
main
moving
monitoring system
Prior art date
Application number
PCT/CN2020/109257
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English (en)
French (fr)
Inventor
姜东�
丁艳锋
傅秀清
吴劼
周国栋
毛江美
Original Assignee
南京根田科技有限公司
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Publication of WO2021077871A1 publication Critical patent/WO2021077871A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/14—Greenhouses
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/24—Devices or systems for heating, ventilating, regulating temperature, illuminating, or watering, in greenhouses, forcing-frames, or the like
    • A01G9/246—Air-conditioning systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/24—Devices or systems for heating, ventilating, regulating temperature, illuminating, or watering, in greenhouses, forcing-frames, or the like
    • A01G9/247—Watering arrangements
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B23/00—Easily dismountable or movable tracks, e.g. temporary railways; Details specially adapted therefor
    • E01B23/02—Tracks for light railways, e.g. for field, colliery, or mine use
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B23/00—Easily dismountable or movable tracks, e.g. temporary railways; Details specially adapted therefor
    • E01B23/02—Tracks for light railways, e.g. for field, colliery, or mine use
    • E01B23/04—Fastening or joining means
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B23/00—Easily dismountable or movable tracks, e.g. temporary railways; Details specially adapted therefor
    • E01B23/02—Tracks for light railways, e.g. for field, colliery, or mine use
    • E01B23/06—Switches; Portable switches; Turnouts
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/343—Structures characterised by movable, separable, or collapsible parts, e.g. for transport
    • E04B1/34336—Structures movable as a whole, e.g. mobile home structures
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/343—Structures characterised by movable, separable, or collapsible parts, e.g. for transport
    • E04B1/34336—Structures movable as a whole, e.g. mobile home structures
    • E04B1/34352—Base structures or supporting means therefor
    • 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
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/25—Greenhouse technology, e.g. cooling systems therefor

Definitions

  • the invention belongs to the technical field of crop phenotype research, and specifically relates to a field crop mobile phenotype cabin monitoring system.
  • Crop phenotyping is an emerging interdisciplinary field.
  • the genome of crops is the internal cause, and the external environment during its growth is the external cause.
  • the interaction of internal and external factors together determines the appearance of the crop, that is, the phenotype.
  • the study of gene-environment-phenotype interaction mechanism with the help of modern information technology and intelligent high-throughput platform with big data as the core is an effective method for screening and breeding fine varieties and an effective method for precision agricultural management.
  • the purpose of the present invention is to overcome the deficiencies in the prior art, provide a field crop moving phenotype cabin monitoring system, and solve the problem that the existing crop phenotype uses greenhouse equipment without a shed door, resulting in the inability to accurately simulate the normalized experimental environment of crop growth , And the inability to monitor crop phenotypes in real time in many aspects.
  • the present invention provides the following technical solutions.
  • a field crop mobile phenotype cabin monitoring system includes a mobile track assembly, a greenhouse device capable of moving relative to the mobile track assembly, and a monitoring device.
  • the greenhouse equipment includes a plurality of greenhouse bodies, a plurality of detachable shed doors installed on the greenhouse body, and an automatic detachment device for installing and disassembling the shed doors.
  • the monitoring equipment includes a radar and a camera device.
  • the mobile rail assembly includes a plurality of main rails, a test field is arranged between the main rails, the main rail includes at least two layers of rail beams, and the greenhouse body is installed in cooperation with the rail beams and can be opposed to the rails.
  • the greenhouse body is installed in cooperation with the rail beams and can be opposed to the rails.
  • an outer vent pipe is provided on the outside of the main track, the outer vent pipe includes a main pipe and connecting pipes evenly distributed on the main pipe, the main pipe is connected to an air conditioning fan; an inner vent pipe is provided on the inside of the greenhouse body , The inner ventilation pipe is communicated with an air inlet pipe extending outside the greenhouse body, and the air inlet pipe is communicated with the connecting pipe.
  • the moving track assembly further includes a sub-track and a transfer track; the sub-track is provided at the ends of a plurality of the main rails; the transfer track is installed on the sub-track, and the transfer track can be relative to The movement of the auxiliary track causes the intermediate track to butt against the end of any one of the main tracks.
  • the automatic assembly and disassembly device for the shed door includes a warehouse body, a docking track, a transport mechanism and a transmission mechanism.
  • the warehouse body is provided with a stacking rack for storing shed doors to be transported.
  • the docking track can be docked with the transfer track.
  • the transport mechanism can move on the docking track, the transfer track and the main track, and automatically disassemble or install the shed door.
  • the transmission mechanism is hoisted on the top of the warehouse body and can move relative to the warehouse body, and the transmission mechanism can take the shed door from the stacking rack and the transportation mechanism.
  • the transport mechanism includes a transport body capable of moving relative to the main track and a first turning device mounted on the transport body, and the first turning device can be turned relative to the transport body At a predetermined angle, the first turning device includes a first gripping mechanism.
  • the transmission mechanism includes a transmission main body suspended on the bin body and a second turning device installed on the transmission main body, the second turning device is capable of turning over a predetermined angle relative to the transmission main body, and
  • the second turning device includes a second gripping mechanism.
  • the greenhouse body includes a main beam skeleton, side panels provided on both sides of the main beam skeleton, and a slope roof provided on the top of the main beam skeleton, the slope roof is provided with a ventilation chamber, and the main beam Hanging buckles are arranged on the top of the beam skeleton, and hanging hooks matched with the hanging buckles are arranged on the top of the shed door.
  • the monitoring equipment further includes a first sliding frame capable of moving relative to the moving rail assembly and a first cross beam arranged above the first sliding frame, the first cross beam is provided with a trolley track and capable of moving A photographing trolley reciprocating on a trolley track, the photographing trolley is connected with a telescopic arm, the end of the telescopic arm is installed with the camera device and the radar, and the camera device includes a visible light camera and a multispectral camera.
  • the irrigation device is an irrigation gantry, and includes a second sliding frame capable of moving relative to the moving track assembly and a second crossbeam arranged above the second sliding frame.
  • Sprinkler pipes are installed on the beams.
  • the present invention has the following beneficial effects.
  • the present invention is used in the field. Different types of plants can be planted in the test field.
  • the greenhouse body in the greenhouse equipment can move relative to the moving track assembly, which is convenient for light and rain shielding of the test field.
  • the greenhouse can be switched at any time according to the experimental observation requirements. With outdoor mode.
  • the greenhouse equipment in the present invention includes a detachable shed door. Whether to install the shed door and the number of shed doors can be selected according to the research needs.
  • the shed door When the shed door is installed on the shed body, the shed body is in a closed mode, which is convenient Precise control of temperature and humidity can ensure the consistent feeling of the plant environment in the greenhouse and realize the normalized experimental environment control of crop growth; in addition, the shed door automatic disassembly device is used to install and disassemble the shed door, without manual assembly and disassembly, and work efficiency high.
  • the monitoring equipment in the present invention can move relative to the moving track assembly, and can monitor the phenotype of plants before, during and after cultivation.
  • the camera device can take two-dimensional images of crops and obtain crop spectral information, and radar can Monitor the three-dimensional graphics of crops to achieve multi-faceted monitoring of crop phenotypes, which is conducive to crop phenotype research.
  • Fig. 1 is a schematic diagram of the structure of the present invention.
  • Figure 2 is a schematic diagram of the main track structure.
  • Fig. 3 is a schematic cross-sectional structure diagram of A in Fig. 2.
  • Fig. 4 is a schematic diagram of the structure of a greenhouse body with a shed door.
  • Figure 5 is a schematic diagram of the internal structure of the greenhouse body.
  • Fig. 6 is a schematic diagram of the structure of the automatic disassembly and assembly device for the shed door.
  • Figure 7 is a schematic diagram of the structure of the transport mechanism.
  • Fig. 8 is a schematic diagram of the structure of the transmission mechanism.
  • Figure 9 is a schematic diagram of the structure of the shed door.
  • Figure 10 is a schematic diagram of the structure of the monitoring device.
  • Fig. 11 is a schematic diagram of the lower part of the telescopic arm in Fig. 10.
  • Figure 12 is a schematic diagram of the structure of the irrigation equipment.
  • the marks in the figure are: 1-1, the main body of the greenhouse; 1-2, the shed door; 1-3, the side panel; 1-4, the ventilation chamber; 1-5, the air inlet pipe; 1-6, the main beam frame; 1-7. Internal ventilation pipe; 1-8. Hook; 1-9. Hook; 1-10. Hanging buckle; 1-11. Slope top; 2. Main track; 2-1. Track beam; 2-2 , Shop window; 2-3. Sealed groove; 3. Sub-track; 4. Transit track; 5. Monitoring equipment; 5-1. Visible light camera; 5-2. Telescopic arm; 5-3. Camera car; 5-4.
  • Trolley track 5-5, first sliding frame; 5-6, first beam; 5-7, multispectral camera; 5-8, radar; 6, irrigation equipment; 6-1, sprinkler pipe; 6-2 , The second beam; 6-3, the second sliding frame; 8, the shed door automatic disassembly device; 8-1, the warehouse body; 8-2, the stacking frame; 8-3, the transmission mechanism; 8-4, Transport mechanism; 8-5. Docking track; 8-6. Transport body; 8-7. First turning device; 8-8. First gripping mechanism; 8-9. Transmission body; 8-10. 2. Turning device; 8-11. The second grasping mechanism; 9. Test field; 10. External ventilation pipe.
  • a field crop moving phenotype cabin monitoring system includes a mobile track assembly, a greenhouse device that can move relative to the mobile track assembly, and a monitoring device 5;
  • the greenhouse equipment includes a number of greenhouse bodies 1-1, installation A number of detachable shed doors 1-2 on the greenhouse body 1-1, and an automatic shed door disassembly device 8 for installing and disassembling the shed doors 1-2;
  • the monitoring equipment 5 includes a radar 5-8 and a camera device.
  • the mobile rail assembly includes a number of main rails 2, a test field 9 is set between the main rails 2, and the main rail 2 includes at least two layers of rail beams 2-1, the greenhouse body 1-1 and the rail beams 2-1 It can be installed and moved relative to the track beam 2-1.
  • a sealing groove 2-3 is formed between the track beam 2-1, and the sealing groove 2-3 is filled with liquid, which can achieve a good seal between the two sides of the greenhouse body 1-1 and the outside world. It can meet the sealed environment required for the control of temperature, humidity and dry hot air in the greenhouse body 1-1.
  • the main track 2 also includes a showcase 2-2 arranged under the track beam 2-1 to facilitate observation of the growth status of the crops in the test field in the greenhouse body 1-1.
  • the greenhouse body 1-1 includes a main beam frame 1-6, side panels 1-3 arranged on both sides of the main beam frame 1-6, and a top part of the main beam frame 1-6.
  • the slope top 1-11, the side panels 1-3 and the slope top 1-11 are all made of transparent corrugated board, which is convenient for the crops in the greenhouse body 1-1 to receive light;
  • the slope top 1-11 is equipped with a ventilation chamber 1-4, Ventilation chamber 1-4 is used to exchange hot and cold air inside the greenhouse body 1-1 to ensure a more realistic cultivation environment;
  • the top of the main beam frame 1-6 is equipped with hanging buckles 1-10 and shed doors 1-2
  • the top is provided with hooks 1-9 matched with hooks 1-10 for installation of shed doors 1-2.
  • the outer ventilation pipe 10 is provided on the outside of the main track 2.
  • the outer ventilation pipe 10 includes a main pipe and connecting pipes evenly distributed on the main pipe.
  • the main pipe is connected to the air-conditioning fan;
  • An internal ventilation pipe 1-7 is provided, and the internal ventilation pipe 1-7 is connected with an air inlet pipe 1-5 extending outside the greenhouse body 1-1, and the air inlet pipe 1-5 is connected with the connecting pipe.
  • the greenhouse body 1-1 moves to the test field 9
  • the air inlet pipe 1-5 is connected with the connecting pipe, and the air generated by the air conditioning fan passes through the main pipe, the connecting pipe, and the air inlet pipe 1-5.
  • the internal ventilation pipes 1-7 pass into the greenhouse body 1-1, which is convenient for the control of dry and hot air in the greenhouse body 1-1; this design also avoids the movement of the refrigeration device (air-conditioning fan), and can simultaneously control multiple greenhouse bodies. Environmental control greatly improves the utilization rate of the refrigeration device; the internal ventilation pipes 1-7 are provided with evenly distributed air holes, which can achieve uniform air supply to the inside of the greenhouse body 1-1 and ensure the uniformity of the plant's temperature.
  • the mobile track assembly also includes a secondary track 3 and a transfer track 4; the secondary track 3 is provided at the ends of a number of main tracks 2; the transfer track 4 is installed on the secondary track 3, and the bottom of the transfer track 4 is provided with moving wheels , Can move relative to the sub-track 3, so that the transfer track 4 is butted with the end of any main track 2, thereby facilitating the switching of the greenhouse body 1-1 and the automatic shed door disassembly and assembly device 8 on different main tracks 2 according to The requirements and specifications of the test field select the appropriate number of greenhouse bodies and the number of shed doors installed.
  • the shed door automatic disassembly and assembly device 8 includes a warehouse body 8-1, a docking rail 8-5, a transport mechanism 8-4 and a transmission mechanism 8-3;
  • the warehouse body 8-1 is provided with storage The stacking rack 8-2 of the shed door to be transported;
  • the docking rail 8-5 can be docked with the transfer rail 4;
  • the transport mechanism 8-4 can move on the docking rail 8-5, the transfer rail 4 and the main rail 2, And automatically remove or install the shed door 1-2;
  • the transmission mechanism 8-3 is hoisted on the top of the warehouse body 8-1 and can move relative to the warehouse body 8-1, and the transmission mechanism 8-3 can be transported from the stacking rack 8-2 Take the shed door at 8-4 of the moving mechanism.
  • the transport mechanism 8-4 includes a transport body 8-6 capable of moving relative to the main track 2 and a first turning device 8 installed on the transport body 8-6.
  • the bottom of the transport body 8-6 is provided with a transport wheel set capable of moving on the main track 2, the first turning device 8-7 can be turned over a predetermined angle relative to the transport body 8-6, the first turning device 8- 7 includes the first gripping mechanism 8-8.
  • the transmission mechanism 8-3 includes a transmission body 8-9 hung on the warehouse body 8-1 and a second turning device 8-10 installed on the transmission body 8-9.
  • the transmission body 8-9 is mounted on the warehouse body 8 through sliding rails.
  • the second turning device 8-10 can turn a predetermined angle relative to the transmission main body 8-9, and the second turning device 8-10 includes a second gripping mechanism 8-11. Both sides of the shed door 1-2 are provided with hooks 1-8, and the hooks 1-8 can be hooked with the first grasping mechanism 8-8 and the second grasping mechanism 8-11.
  • the transmission body 8-9 drives the second turning device 8-10 to move along the slide rail at the top of the silo body 8-1 to transfer the shed door to the transport At mechanism 8-3; the first grasping mechanism 8-8 of the first turning device 8-7 grabs the shed door and turns it 90° so that the shed door 1-2 is placed horizontally, which ensures the stability of the transportation.
  • the transport body 8-6 enters the main track 2 along the docking track 8-5 and the transfer track 4, and moves the shed door 1-2 to the shed door installation position of the greenhouse body 1-1, and the first turning device 8- 7 Turn over 90° again to make the shed door 1-2 in a vertical state, and hang the hook 1-9 on the shed door 1-2 on the hook 1-10 of the shed body 1-1 to complete the automatic shed door installation.
  • the monitoring device 5 also includes a first sliding frame 5-5 capable of moving relative to the moving rail assembly and a first cross beam 5-6 arranged above the first sliding frame 5-5.
  • the beam 5-6 is provided with a trolley track 5-4 and a camera trolley 5-3 that can reciprocate on the trolley track 5-4.
  • the camera trolley 5-3 is connected with a telescopic arm 5-2 and the ends of the telescopic arm 5-2.
  • a camera device and a radar 5-8 are installed, and the camera device includes a visible light camera 5-1 and a multi-spectral camera 5-7.
  • Radar 5-8 is used to monitor the three-dimensional graphics of crops
  • visible light camera 5-1 is used to take two-dimensional color photos of crops
  • multi-spectral cameras 5-7 can take the spectral characteristics of crops
  • the first sliding frame 5-5 can Moving on the mobile track assembly
  • the photographing trolley 5-3 can move along the trolley track 5-4 to realize the phenotype monitoring of crops at different positions.
  • the length of the telescopic arm 5-2 can be adjusted according to the different heights of the crops.
  • the field crop moving phenotype cabin monitoring system provided by this embodiment further includes an irrigation device 6, which is an irrigation gantry, and includes a second sliding frame 6-3 capable of moving relative to the moving track assembly And the second cross beam 6-2 arranged above the second sliding frame 6-3.
  • the sprinkler pipe 6-1 is installed on the second cross beam 6-2.
  • the irrigation gantry can move relative to the moving track assembly to realize the test field 9 Simulate rainfall.
  • the mobile phenotype cabin monitoring system for field crops provided by the present invention is used in the field. Different types of plants can be planted in the test field.
  • the greenhouse body in the greenhouse equipment can move relative to the mobile track assembly, which is convenient for light and rain shielding of the test field.
  • the greenhouse and outdoor modes can be switched at any time according to the needs of experimental observations; the greenhouse equipment includes detachable doors, and the number of doors and whether to install the doors can be selected according to the research needs.
  • the main body of the greenhouse When the doors are installed on the main body of the greenhouse, the main body of the greenhouse It is in the closed mode, which is convenient for precise control of temperature and humidity, which can ensure the consistent experience of the plant environment in the greenhouse, and realize the control of the experimental environment for normalization of crop growth; the automatic disassembly device for the shed door is used to install and remove the shed door without manual assembly and disassembly. , The work efficiency is high; the monitoring equipment can move relative to the moving track assembly, and can monitor the phenotype of the plants before, during and after the cultivation.
  • the camera device can take two-dimensional images of the crops, and the radar can monitor the three-dimensional three-dimensional graphics of the crops. Realize the multi-faceted monitoring of crop phenotype, which is conducive to the research of crop phenotype.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Architecture (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Environmental Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Biochemistry (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Greenhouses (AREA)

Abstract

一种田间作物移动表型舱监测系统，包括移动轨道组件、能够相对于移动轨道组件运动的大棚设备和监测设备（5）；大棚设备包括若干大棚本体（1-1）、安装于大棚本体（1-1）上的若干可拆卸的棚门（1-2）、以及用于安装和拆卸棚门（1-2）的棚门自动拆装装置（8）；监测设备（5）包括雷达（5-8）和摄像装置。棚门可拆卸且拆装便捷，能够根据试验田的需求随时切换培养环境，实现环境的精确模拟，监测设备能够多方面监测作物的生长状态，便于作物表型研究。

Description

一种田间作物移动表型舱监测系统 技术领域
本发明属于作物表型研究技术领域，具体涉及一种田间作物移动表型舱监测系统。
 背景技术
作物表型组学是一个跨学科的新兴领域，作物的基因组是内因，其生长过程中的外部环境是外因，内外因的互作共同决定了作物的外观形态即表型。基因-环境-表型互作机理的研究借助以大数据为核心的现代化信息技术和智能高通量平台，是筛选培育良种的有效方法及精细农业管理的有效手段。
目前国内外关于作物表型高通量监测设备的产品有很多，但是在田间智能移动大型表型监测设备方面，能够集智能模拟作物生长环境、自动灌溉、拍摄成像等为一体化的大型设备极其缺乏，甚至未有，尤其在智能模拟作物生长环境的方面存在很大的局限性。以法国为代表的智能移动遮雨棚表型监测设备，其大棚主体为“人”字型棚顶，左右侧面棚门遮挡，而前后为开放式设计，致使大棚前后侧栽培的作物比大棚中间的更易受外界环境的影响，如降雨，因此无法模拟作物生长归一化的实验环境，无法获得准确的研究数据；此外，由于遮雨棚为敞开式，无法对棚内的植株进行特定环境的控制，如温湿度的精确控制，导致设备在环境模拟方面均有一定的局限性。此外，现有的作物表型系统缺乏完善的作物生长形态监测设备，无法对作物进行多方面的实时监测，给作物表型研究带来困难。
 技术问题
本发明的目的在于克服现有技术中的不足，提供一种田间作物移动表型舱监测系统，解决现有作物表型用大棚设备无棚门，导致无法精确模拟作物生长归一化的实验环境，以及无法多方面实时监测作物表型的问题。
 技术解决方案
本发明提供了如下的技术方案。
一种田间作物移动表型舱监测系统，包括移动轨道组件、能够相对于所述移动轨道组件运动的大棚设备和监测设备。
所述大棚设备包括若干大棚本体、安装于所述大棚本体上的若干可拆卸的棚门、以及用于安装和拆卸所述棚门的棚门自动拆装装置。
所述监测设备包括雷达和摄像装置。
优选的，所述移动轨道组件包括若干主轨道，所述主轨道间设有试验田，所述主轨道包括至少两层轨道梁，所述大棚本体与所述轨道梁配合安装且能够相对所述轨道梁运动，所述轨道梁间形成密封槽，所述密封槽内填充有液体。
优选的，所述主轨道外侧设有外通风管，所述外通风管包括主管道以及均匀分布在主管道上的连接管道，所述主管道连接空调风机；所述大棚本体内侧设有内通风管，所述内通风管连通有伸出所述大棚本体外部的进风管，所述进风管与所述连接管道相连通。
优选的，所述移动轨道组件还包括副轨道和中转轨道；所述副轨道设于若干所述主轨道的端部；所述中转轨道安装于所述副轨道上，所述中转轨道能够相对于所述副轨道运动，使所述中转轨道与任一所述主轨道的端部对接。
优选的，所述棚门自动拆装装置包括仓体、对接轨道、运移机构和传输机构。
所述仓体设有用于存放待运移的棚门的堆垛架。
所述对接轨道能够与所述中转轨道对接。
所述运移机构能够在所述对接轨道、中转轨道及主轨道上运动，并自动拆卸或安装所述棚门。
所述传输机构吊装于所述仓体顶部且能够相对于所述仓体运动，所述传输机构能够自所述堆垛架及所述运移机构处取放棚门。
优选的，所述运移机构包括能够相对于所述主轨道运动的运移主体以及安装于所述运移主体上的第一翻转装置，所述第一翻转装置能够相对所述运移主体翻转预定角度，所述第一翻转装置包括第一抓握机构。
优选的，所述传输机构包括吊设于所述仓体的传输主体以及安装于所述传输主体上的第二翻转装置，所述第二翻转装置能够相对所述传输主体翻转预定角度，所述第二翻转装置包括第二抓握机构。
优选的，所述大棚本体包括主梁骨架、设于所述主梁骨架两侧面的侧面板以及设于所述主梁骨架顶部的坡顶，所述坡顶设有换气室，所述主梁骨架的顶部设有挂扣，所述棚门的顶部设有与所述挂扣相配合的吊钩。
优选的，所述监测设备还包括能够相对所述移动轨道组件运动的第一滑移架和设于第一滑移架上方的第一横梁，所述第一横梁上设有小车轨道以及能够在小车轨道上往复运动的拍照小车，所述拍照小车连接有伸缩臂，所述伸缩臂端部安装有所述摄像装置和所述雷达，所述摄像装置包括可见光相机和多光谱相机。
优选的，还包括灌溉装置，所述灌溉装置为灌溉龙门架，包括能够相对所述移动轨道组件运动的第二滑移架和设于第二滑移架上方的第二横梁，所述第二横梁上安装有洒水管。
 有益效果
与现有技术相比，本发明的有益效果是。
（1）本发明用于野外田间，试验田中可种植不同种类的植株，大棚设备中的大棚本体能够相对于移动轨道组件运动，便于对试验田进行光照及雨水遮挡，能够根据实验观察需求随时切换温室与户外模式。
（2）本发明中的大棚设备包括可拆卸的棚门，可根据研究需求选择是否安装棚门以及棚门的安装数量，当棚门安装于大棚本体上时，大棚本体内处于封闭模式，便于精确控制温湿度，能够确保大棚本体内植株环境感受一致，实现作物生长归一化的实验环境控制；此外，棚门自动拆装装置用于安装和拆卸棚门，不需人力装拆，工作效率高。
（3）本发明中的监测设备能够相对于移动轨道组件运动，可以对培养前、中、后的植株进行表型监测，其中摄像装置能够对作物拍摄二维图像、获得作物光谱信息，雷达能够监测作物的三维立体图形，实现作物表型的多方面监测，有利于作物表型研究。
 附图说明
图1是本发明的结构示意图。
图2是主轨道的结构示意图。
图3是图2中A的横截面结构示意图。
图4是带有棚门的大棚本体的结构示意图。
图5是大棚本体的内部结构示意图。
图6是棚门自动拆装装置的结构示意图。
图7是运移机构的结构示意图。
图8是传输机构的结构示意图。
图9是棚门的结构示意图。
图10是监测设备的结构示意图。
图11是图10中伸缩臂下部结构示意图。
图12是灌溉设备的结构示意图。
图中标记为：1-1、大棚本体；1-2、棚门；1-3、侧面板；1-4、换气室；1-5、进风管；1-6、主梁骨架；1-7、内通风管；1-8、挂钩；1-9、吊钩；1-10、挂扣；1-11、坡顶；2、主轨道；2-1、轨道梁；2-2、橱窗；2-3、密封槽；3、副轨道；4、中转轨道；5、监测设备；5-1、可见光相机；5-2、伸缩臂；5-3、拍照小车；5-4、小车轨道；5-5、第一滑移架；5-6、第一横梁；5-7、多光谱相机；5-8、雷达；6、灌溉设备；6-1、洒水管；6-2、第二横梁；6-3、第二滑移架；8、棚门自动拆装装置；8-1、仓体；8-2、堆垛架；8-3、传输机构；8-4、运移机构；8-5、对接轨道；8-6、运移主体；8-7、第一翻转装置；8-8、第一抓握机构；8-9、传输主体；8-10、第二翻转装置；8-11、第二抓握机构；9、试验田；10、外通风管。
 本发明的实施方式
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。
需要说明的是，在本发明的描述中，术语“上”、“下”、“内”、“外”等指示的方位或位置关系为基于附图中所示的方位或位置关系，仅是为了便于描述本发明而不是要求本发明必须以特定的方位构造和操作，因此不能理解为对本发明的限制。
如图1、11所示，一种田间作物移动表型舱监测系统，包括移动轨道组件、能够相对于移动轨道组件运动的大棚设备和监测设备5；大棚设备包括若干大棚本体1-1、安装于大棚本体1-1上的若干可拆卸的棚门1-2、以及用于安装和拆卸棚门1-2的棚门自动拆装装置8；监测设备5包括雷达5-8和摄像装置。
如图2、3所示，移动轨道组件包括若干主轨道2，主轨道2间设有试验田9，主轨道2包括至少两层轨道梁2-1，大棚本体1-1与轨道梁2-1配合安装且能够相对轨道梁2-1运动，轨道梁2-1间形成密封槽2-3，密封槽2-3内填充有液体，可以实现大棚本体1-1两侧与外界的良好密封，能够满足大棚本体1-1内温湿度和干热风控制所需要的密封环境。主轨道2还包括设于轨道梁2-1下方的橱窗2-2，方便观察大棚本体1-1内试验田中作物的生长状况。
如图4、5、9所示，大棚本体1-1包括主梁骨架1-6、设于主梁骨架1-6两侧面的侧面板1-3以及设于主梁骨架1-6顶部的坡顶1-11，侧面板1-3和坡顶1-11均由透明瓦楞板制成，便于大棚本体1-1内作物接受光照；坡顶1-11设有换气室1-4，换气室1-4用于为大棚本体1-1内部进行冷热空气的交换，保证培养环境更加真实；主梁骨架1-6的顶部设有挂扣1-10，棚门1-2的顶部设有与挂扣1-10相配合的吊钩1-9，用于棚门1-2的安装。
如图1、4、5所示，主轨道2外侧设有外通风管10，外通风管10包括主管道以及均匀分布在主管道上的连接管道，主管道连接空调风机；大棚本体1-1内侧设有内通风管1-7，内通风管1-7连通有伸出大棚本体1-1外部的进风管1-5，进风管1-5与连接管道相连通。当田间作物处于培养状态下时，大棚本体1-1移动到试验田9上，进风管1-5与连接管道相连通，空调风机产生的风经主管道、连接管道、进风管1-5以及内通风管1-7而通入大棚本体1-1内，便于大棚本体1-1内的干热风控制；该设计也避免了制冷装置（空调风机）的移动，可同时对多个大棚本体进行环境控制，大大提高了制冷装置的利用率；内通风管1-7上设有均匀分布的风孔，可实现对大棚本体1-1内部的均匀送风，确保植株感受温度的均一性。
如图1所示，移动轨道组件还包括副轨道3和中转轨道4；副轨道3设于若干主轨道2的端部；中转轨道4安装于副轨道3上，中转轨道4底部设有移动轮，能够相对于副轨道3运动，使中转轨道4与任一主轨道2的端部对接，从而方便大棚本体1-1及棚门自动拆装装置8在不同主轨道2上的切换，能够根据试验田的需求及规格选择合适的大棚本体数量以及所安装棚门的数量。
如图1、6所示，棚门自动拆装装置8包括仓体8-1、对接轨道8-5、运移机构8-4和传输机构8-3；仓体8-1设有用于存放待运移的棚门的堆垛架8-2；对接轨道8-5能够与中转轨道4对接；运移机构8-4能够在对接轨道8-5、中转轨道4及主轨道2上运动，并自动拆卸或安装棚门1-2；传输机构8-3吊装于仓体8-1顶部且能够相对于仓体8-1运动，传输机构8-3能够自堆垛架8-2及运移机构8-4处取放棚门。
具体的，如图1、7、8所示，运移机构8-4包括能够相对于主轨道2运动的运移主体8-6以及安装于运移主体8-6上的第一翻转装置8-7，运移主体8-6底部设有能够在主轨道2上运动的运移轮组，第一翻转装置8-7能够相对运移主体8-6翻转预定角度，第一翻转装置8-7包括第一抓握机构8-8。传输机构8-3包括吊设于仓体8-1的传输主体8-9以及安装于传输主体8-9上的第二翻转装置8-10，传输主体8-9通过滑轨在仓体8-1顶部运动，第二翻转装置8-10能够相对传输主体8-9翻转预定角度，第二翻转装置8-10包括第二抓握机构8-11。棚门1-2的两侧面均设有挂钩1-8，挂钩1-8能够与第一抓握机构8-8及第二抓握机构8-11相挂合。
如图1、6-8所示，当使用棚门自动拆装装置8安装棚门1-2时，第二翻转装置8-10的第二抓握机构8-11抓取存放于堆垛架8-2上的棚门，并将棚门转至竖直方向，传输主体8-9带动第二翻转装置8-10沿仓体8-1顶部的滑轨移动，将棚门传输至运移机构8-3处；第一翻转装置8-7的第一抓握机构8-8抓取棚门，并翻转90°，使棚门1-2呈水平放置，保证了运移的稳定性，此时，运移主体8-6沿对接轨道8-5、中转轨道4进入主轨道2，将棚门1-2运移至大棚本体1-1的棚门安装处，第一翻转装置8-7再次翻转90°，使棚门1-2呈竖直状态，将棚门1-2上的吊钩1-9悬挂于大棚本体1-1的挂扣1-10上，完成棚门的自动安装。
如图10、11所示，监测设备5还包括能够相对移动轨道组件运动的第一滑移架5-5和设于第一滑移架5-5上方的第一横梁5-6，第一横梁5-6上设有小车轨道5-4以及能够在小车轨道5-4上往复运动的拍照小车5-3，拍照小车5-3连接有伸缩臂5-2，伸缩臂5-2端部安装有摄像装置和雷达5-8，摄像装置包括可见光相机5-1和多光谱相机5-7。雷达5-8用于监测作物的三维立体图形，可见光相机5-1用于拍摄作物的二维彩色照片，多光谱相机5-7能够拍摄作物的光谱特征；第一滑移架5-5能够在移动轨道组件上移动，拍照小车5-3能够沿小车轨道5-4运动，从而实现不同位置作物的表型监测，此外，还可根据作物的不同高度调节伸缩臂5-2的长度。
如图12所示，本实施例提供的田间作物移动表型舱监测系统，还包括灌溉装置6，灌溉装置6为灌溉龙门架，包括能够相对移动轨道组件运动的第二滑移架6-3和设于第二滑移架6-3上方的第二横梁6-2，第二横梁6-2上安装有洒水管6-1，灌溉龙门架能够相对移动轨道组件运动，实现对试验田9的模拟降雨。
本发明提供的田间作物移动表型舱监测系统，用于野外田间，试验田中可种植不同种类的植株，大棚设备中的大棚本体能够相对于移动轨道组件运动，便于对试验田进行光照及雨水遮挡，能够根据实验观察需求随时切换温室与户外模式；大棚设备包括可拆卸的棚门，可根据研究需求选择是否安装棚门以及棚门的安装数量，当棚门安装于大棚本体上时，大棚本体内处于封闭模式，便于精确控制温湿度，能够确保大棚本体内植株环境感受一致，实现作物生长归一化的实验环境控制；棚门自动拆装装置用于安装和拆卸棚门，不需人力装拆，工作效率高；监测设备能够相对于移动轨道组件运动，可以对培养前、中、后的植株进行表型监测，其中摄像装置能够对作物拍摄二维图像，雷达能够监测作物的三维立体图形，实现作物表型的多方面监测，有利于作物表型研究。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。

Claims (10)

  1. 一种田间作物移动表型舱监测系统，其特征在于，包括移动轨道组件、能够相对于所述移动轨道组件运动的大棚设备和监测设备；
    所述大棚设备包括若干大棚本体、安装于所述大棚本体上的若干可拆卸的棚门、以及用于安装和拆卸所述棚门的棚门自动拆装装置；
    所述监测设备包括雷达和摄像装置。
  2. 根据权利要求1所述的田间作物移动表型舱监测系统，其特征在于，所述移动轨道组件包括若干主轨道，所述主轨道间设有试验田，所述主轨道包括至少两层轨道梁，所述大棚本体与所述轨道梁配合安装且能够相对所述轨道梁运动，所述轨道梁间形成密封槽，所述密封槽内填充有液体。
  3. 根据权利要求2所述的田间作物移动表型舱监测系统，其特征在于，所述主轨道外侧设有外通风管，所述外通风管包括主管道以及均匀分布在主管道上的连接管道，所述主管道连接空调风机；所述大棚本体内侧设有内通风管，所述内通风管连通有伸出所述大棚本体外部的进风管，所述进风管与所述连接管道相连通。
  4. 根据权利要求2所述的田间作物移动表型舱监测系统，其特征在于，所述移动轨道组件还包括副轨道和中转轨道；所述副轨道设于若干所述主轨道的端部；所述中转轨道安装于所述副轨道上，所述中转轨道能够相对于所述副轨道运动，使所述中转轨道与任一所述主轨道的端部对接。
  5. 根据权利要求4所述的田间作物移动表型舱监测系统，其特征在于，所述棚门自动拆装装置包括仓体、对接轨道、运移机构和传输机构；
    所述仓体设有用于存放待运移的棚门的堆垛架；
    所述对接轨道能够与所述中转轨道对接；
    所述运移机构能够在所述对接轨道、中转轨道及主轨道上运动，并自动拆卸或安装所述棚门；
    所述传输机构吊装于所述仓体顶部且能够相对于所述仓体运动，所述传输机构能够自所述堆垛架及所述运移机构处取放棚门。
  6. 根据权利要求4所述的田间作物移动表型舱监测系统，其特征在于，所述运移机构包括能够相对于所述主轨道运动的运移主体以及安装于所述运移主体上的第一翻转装置，所述第一翻转装置能够相对所述运移主体翻转预定角度，所述第一翻转装置包括第一抓握机构。
  7. 根据权利要求5所述的田间作物移动表型舱监测系统，其特征在于，所述传输机构包括吊设于所述仓体的传输主体以及安装于所述传输主体上的第二翻转装置，所述第二翻转装置能够相对所述传输主体翻转预定角度，所述第二翻转装置包括第二抓握机构。
  8. 根据权利要求1所述的田间作物移动表型舱监测系统，其特征在于，所述大棚本体包括主梁骨架、设于所述主梁骨架两侧面的侧面板以及设于所述主梁骨架顶部的坡顶，所述坡顶设有换气室，所述主梁骨架的顶部设有挂扣，所述棚门的顶部设有与所述挂扣相配合的吊钩。
  9. 根据权利要求1所述的田间作物移动表型舱监测系统，其特征在于，所述监测设备还包括能够相对所述移动轨道组件运动的第一滑移架和设于第一滑移架上方的第一横梁，所述第一横梁上设有小车轨道以及能够在小车轨道上往复运动的拍照小车，所述拍照小车连接有伸缩臂，所述伸缩臂端部安装有所述摄像装置和所述雷达，所述摄像装置包括可见光相机和多光谱相机。
  10. 根据权利要求1所述的田间作物移动表型舱监测系统，其特征在于，还包括灌溉装置，所述灌溉装置为灌溉龙门架，包括能够相对所述移动轨道组件运动的第二滑移架和设于第二滑移架上方的第二横梁，所述第二横梁上安装有洒水管。
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