WO2021184666A1

WO2021184666A1 - Cultivation frame transport and imaging integrated vehicle

Info

Publication number: WO2021184666A1
Application number: PCT/CN2020/109492
Authority: WO
Inventors: 吴劼; 姜东�; 丁艳锋; 周国栋
Original assignee: 南京星土科技有限公司
Priority date: 2020-03-15
Filing date: 2020-08-17
Publication date: 2021-09-23
Also published as: CN111302219A

Abstract

A cultivation frame transport and imaging integrated vehicle (4), comprising a transfer frame (4-14) slidable in the length direction in a container phenotypic cabin body (1). The transfer frame (4-14) is provided with a lifting assembly. The lifting assembly comprises two lifting units (4-6) vertically arranged on the transfer frame (4-14) and used for hanging a cultivation frame (6), and a driving device (4-13) used for driving the lifting units (4-6) to be raised or lowered. The bottom of the transfer frame (4-14) is provided, between the two lifting units (4-6), with a photographing support used for hanging a photographing assembly (7). According to the cultivation frame transport and imaging integrated vehicle (4), because the lifting assembly and the photographing support are integrated in the transfer frame (4-14), not only automatic hanging and carrying of the cultivation frame (6) in the cabin body (1) but also automatic photographing of crops in the cabin body (1) are completed; moreover, the system structure is light, simple and compact, reduces the cost, and is easy to operate and high in efficiency.

Description

Integrated vehicle for transportation and imaging of cultivation frame

Technical field

The invention belongs to the technical field of plant cultivation, and particularly relates to a cultivation frame transfer and imaging integrated vehicle for a container phenotype cabin for cultivating plants.

Background technique

Plant phenotype is determined or influenced by genes and environmental factors, reflecting all physical, physiological, biochemical characteristics and traits of plant structure and composition, plant growth and development process and results.

Plant phenotypes mainly include leaf phenotype, stem phenotype, fruit phenotype, seed phenotype and ear phenotype. The specific phenotypic parameters involved are leaf length, leaf width, leaf area, plant height, stem thickness, stem length, seed germination rate, straight/curved ears, etc. The existing phenotypic data is mainly obtained through post-photographic software analysis. Post-photographic software analysis can obtain plant leaf length, leaf width, leaf area, leaf inclination and other indicators.

The container phenotype cabin plant factory is a highly specialized and modern facility agriculture developed after greenhouse cultivation. It is favored by people because of its many advantages, such as being less affected by natural conditions, strong crop production planning, short cycle, high degree of automation, and pollution-free. The existing photos of the phenotypes of the plants in the container phenotype cabins are usually taken manually. An artificial channel is usually left in the container phenotype cabins to take photos. The manual method of taking photos is not only inefficient, but also unable to meet high throughput. The demand for real-time acquisition of phenotypes has greatly reduced the plane space utilization of container phenotype cabins. However, the traditional three-axis truss-type automated imaging has high cost and fixed location of imaging sensors, which cannot realize the shared use of multiple container phenotype cabins.

In order to move the cultivation frame to the container surface cabin, the staff usually use a trolley or manual transportation to move the cultivation frame in from the artificial passage, and then place it on the cultivation rack. The size of the artificial passage must be larger than the cultivation frame to make the cultivation frame. Smoothly moved in; greatly reduced the utilization of the plane space of the container surface cabin, and the weight of the cultivation frame is relatively large, and the manual transportation method is time-consuming and labor-intensive.

technical problem

The invention overcomes the deficiencies in the prior art, and is to provide a cultivation frame transfer and imaging integrated vehicle that can not only automatically transport the cultivation frame, but also can automatically take photos of the crops in the cabin.

Technical solutions

The specific technical scheme of the present invention is as follows.

A cultivation frame transfer and imaging integrated vehicle includes a transfer frame that can slide along the length of the container surface-shaped cabin, and the transfer frame is provided with a lifting assembly, and the lifting assembly includes two vertical transfer frames A lifting unit for lifting the cultivation frame is used to drive a driving device for lifting the lifting unit; the bottom of the transfer frame is located between the two lifting units and is provided with a photographing bracket for hanging the photographing assembly.

Preferably, the lifting unit is a scissor lifting unit, the bottom of each scissor lifting unit is provided with a platform bending piece, and the bottom of the platform bending piece is provided with a hook for lifting the cultivation frame; the bottom of the transfer frame A photographing bracket for suspending photographing components is arranged between the two scissor-type lifting units.

Preferably, the lifting assembly further includes two sets of steel wire ropes respectively matched with the two scissor lifting units. One end of the steel wire rope is wound on the wire rope seat, and the other end of the steel wire passes through the scissor lifting unit and then bends with the platform. Connected, the driving device drives the two sets of steel wire ropes to synchronously rewind or unwind, thereby driving the two scissor lifting units to rise or descend synchronously.

Preferably, one end of the steel wire rope is wound on the steel wire rope seat, and the other end of the steel wire rope passes through the center position of the scissor lift unit through a fixed pulley and is connected to the platform bending piece. Each steel wire rope is provided with a rope encoder.

Preferably, the bottom of each platform bending piece is provided with two hooks for lifting the cultivation frame, the hooks are L-shaped, and the vertical section of the L-shaped hook is connected to the bottom of the platform bending piece. The end of the horizontal section extends upward to form a protrusion; the cultivation frame is provided with lifting lugs matching the hooks, the lifting lugs are in the shape of a cock, and the horizontal section at the bottom of the cock-shaped lifting lug is connected to the cultivation frame, and the The horizontal section is matched with the L-shaped hook, the end of the top horizontal section extends downward to form a protrusion, and the inner side of the end of the bottom horizontal section and the top horizontal section is symmetrically provided with guiding inclined surfaces.

Preferably, a walking assembly is also provided on the transfer frame, and the walking assembly can drive the transfer frame to slide along the length of the container phenotype cabin.

The walking assembly includes a driving wheel, a driven wheel, and a driving mechanism for driving the driving wheel to rotate.

The driving wheel includes two groups. The first group of driving wheels is sleeved at both ends of the rotating shaft, the rotating shaft is connected with the output shaft of the driving mechanism, and the second group of driving wheels is drivingly connected with the rotating shaft; the driven wheels include two groups, two groups of driven wheels It is symmetrically arranged on both sides of the transfer frame.

Preferably, the photographing bracket includes a bracket plate arranged at the bottom of the transfer frame and extending along the width direction of the container phenotype cabin. The bottom of the two ends of the bracket plate are connected with connecting plates, and the connecting plate is provided with positioning pins. The photographing component is provided with a matching positioning hole.

Preferably, the photographing component is placed in a photographing component fixing frame in the phenotype cabin of the container.

The photographing assembly fixing frame includes a fixing frame, and the fixing frame is provided with a lifting assembly for lifting and lowering the supporting plate above it, and a limit post is arranged above the supporting plate, and the photographing assembly is provided with a matching Limit hole.

Preferably, the photographing component includes a horizontal moving component that can slide along the width direction of the container surface-shaped cabin, and a camera component connected to the horizontal moving component, and the camera component can move up and down along the horizontal moving component.

Preferably, the horizontal movement assembly includes a bottom plate extending in the width direction of the container surface-shaped cabin, and a boom hanging on the bottom plate, and the boom is slidable along the axis of the bottom plate.

The camera assembly includes a slide plate, the slide plate is connected to the boom and can move up and down along the boom, and a first camera and a second camera are provided on both sides of the slide plate; the outer side of the first camera is provided Fill up the aperture.

Beneficial effect

Due to the adoption of the above technical solutions, the present invention has the following advantages.

1. In the present invention, the lifting unit hanging on the transfer frame is used for lifting the cultivation frame, and the driving device drives the lifting unit to lift to realize the automatic lifting of the cultivation frame; the transfer frame drives the lifting unit along the container body Sliding in the length direction, realizes the automatic lifting and handling of the cultivation frame, with a high degree of automation.

2. In the present invention, the bottom of the transfer frame is provided with a camera bracket for hanging the camera assembly. When it is necessary to photograph and image the crops in the container phenotype cabin, the camera assembly is hung on the camera bracket, and the transfer frame drives the camera assembly along the cabin The length of the body slides to automatically take a comprehensive picture of the crops everywhere in the cabin, so as to understand the growth status of the crops in an all-round way, with a high degree of automation.

3. The present invention integrates the lifting assembly and the camera bracket into the transfer frame, which can not only complete the automatic lifting and transportation of the cultivation frame in the cabin, but also complete the automatic photography of the crops in the cabin. The system structure is light and concise, and the structure is compact and low It reduces the cost and can be shared and used among multiple container table-type cabins, which is not only convenient to operate, but also highly efficient.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the container phenotype cabin with the top plate removed.

Fig. 2 is a schematic diagram of the structure of the integrated vehicle for transportation and imaging of the cultivation frame of the present invention with the cover removed.

Fig. 3 is a bottom view of Fig. 2.

FIG. 4 is a schematic diagram of the structure of FIG. 3 with the photographing component removed.

Fig. 5 is a bottom view of Fig. 4.

Fig. 6 is a schematic diagram of the structure of the cultivation frame in the container phenotype cabin.

Fig. 7 is a schematic diagram of the structure of the fixing frame of the photographing component in the container phenotype cabin.

Fig. 8 is a schematic diagram of the structure of the photographing assembly fixing frame on which the photographing assembly is placed.

Fig. 9 is a schematic diagram of the structure of the photographing component.

Fig. 10 is a bottom view of Fig. 9.

Embodiments of the present invention

Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so as to have a clearer understanding of the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but merely to illustrate the essential spirit of the technical solution of the present invention. The parts not mentioned in the present invention are all the prior art.

Referring to FIG. 1, the cultivation frame transfer and imaging integrated vehicle 4 provided by the present invention is suitable for hoisting and transporting the cultivation frame 6 in the container phenotype cabin 1. The top of the container body 1 is provided with slide rails 3 extending along its length. The slide rails 3 are U-shaped aluminum grooves, and the U-shaped aluminum grooves are fixed on the left and right sides of the cabin 1 by triangular braces 2. Cultivation frames 6 arranged side by side are placed in the container surface-type cabin 1, and a plurality of transparent root cultivation containers 6-1 are loaded in the cultivation frame 6. The container phenotype cabin 1 is also provided with a photographing component 7. When it is not necessary to photograph and image the crops in the transparent root cultivation container 6-1 in the cultivation frame 6, the photographing component 7 is placed on the photographing component fixing frame 5; When photographing and imaging crops, the photographing component 7 is hung on the photographing support at the bottom of the cultivation frame transfer and imaging integrated vehicle 4, and the cultivation frame transfer and imaging integrated vehicle 4 drives the photographing component 7 along the length direction of the container phenotype cabin 1 slide.

Referring to Figures 2 to 5, the present invention provides a cultivation frame transfer and imaging integrated vehicle 4, which includes a transfer frame 4-14 and a transfer frame 4 that can slide along the length of the container phenotype cabin 1 14 on the cover plate (not shown in the figure), the transfer frame 4-14 is provided with a lifting assembly, the lifting assembly includes two hanging on the transfer frame 4-14 for lifting the cultivation frame 6 The lifting unit 4-6 is a driving device 4-13 for driving the lifting unit 4-6 to lift; the bottom of the transfer frame 4-14 is located between the two lifting units 4-6 and is provided with a photographing bracket for suspending the photographing assembly 7.

Further, the lifting unit 4-6 is a scissor lifting unit, the bottom of each scissor lifting unit 4-6 is provided with a platform bending piece 4-17, and the bottom of the platform bending piece 4-17 is provided with a cultivation frame for lifting The hooks 4-19 of 6; the bottom of the transfer frame 4-14 is located between the two scissor lifting units 4-6, and there is a photographing bracket for hanging the photographing assembly 7.

Further, the lifting assembly also includes two sets of wire ropes 4-8 matched with two scissor lifting units respectively. One end of the wire rope 4-8 is wound on the wire rope seat 4-10, and the other end of the wire rope 4-8 passes through After the scissor lift unit 4-6 is connected with the platform bending piece 4-17, the driving device 4-13 drives two sets of wire ropes 4-8 for synchronous winding or unwinding, thereby driving the two scissor lifting units 4-6 to rise synchronously Or drop. The driving device 4-13 is preferably a geared motor. The output shaft of the geared motor 4-13 is connected to the rotating shaft 4-11. The two ends of the rotating shaft 4-11 are respectively connected to two wire rope seats 4-10. When working, the geared motor 4-13 Drive the shaft 4-11 to rotate, drive the wire rope seat 4-10 at both ends of the shaft 4-11 to rotate, so that the two sets of wire rope 4-8 are rewinding or unwinding synchronously, thereby driving the two scissor lifting units 4-6 to rise or fall synchronously , So as to realize the raising or lowering of the cultivation frame 6 at the bottom of the scissor lifting unit 4-6. During the ascending or descending process, the scissor lifting unit 4-6 not only plays a guiding role, but also plays a load-bearing role for the ascending or descending of the cultivation frame 6. After adopting the above structure, the lifting assembly can not only bear the cultivation frame with heavier weight, but also is more stable during lifting.

Further, one end of the wire rope 4-8 is wound on the wire rope seat 4-10, and the other end of the wire rope 4-8 passes through the center position of the scissor lift unit 4-6 through the fixed pulley 4-7 and then bends with the platform. 4-17 connection; when lifting, the scissor lifting unit 4-6 and the platform bending part 4-17 are evenly stressed, making the lifting more stable; each wire rope 4-8 is equipped with a rope encoder 4-8b , Used to measure the length of wire rope 4-8 winding or unwinding.

Further, referring to Figures 3 and 6, the bottom of each platform bending piece 4-17 is provided with two hooks 4-19 for lifting the cultivation frame 6. The hooks 4-19 are L-shaped and L-shaped hanging The vertical section of the hook 4-19 is connected to the bottom of the platform bending piece 4-17, and the end of the horizontal section extends upward to form a protrusion 4-20; in order to prevent the cultivation frame 6 from slipping when it is hoisted. The L-shaped hook 4-19 is also equipped with Pepperl+Fuchs on-beam photoelectric switch 4-18, and the cultivation frame 6 is equipped with lifting ears 6-4 that match the lifting hooks 4-19. The lifting ears 6-4 are The horizontal section at the bottom of the claw-shaped and claw-shaped lifting lugs 6-4 is connected to the cultivation frame 6, and the horizontal section at the top is matched with the L-shaped hooks 4-19, and the end of the top horizontal section extends downward to form a protrusion 6 3. In order to prevent the cultivation frame 6 from slipping when it is hoisted; the inner sides of the bottom horizontal section and the top horizontal section are symmetrically provided with guiding inclined planes 6-2. When the cultivation frame transfer and imaging integrated vehicle 4 lifts the cultivation frame 6, the L-shaped hook 4-19 will follow the guide slope 6 on the inner side of the bottom horizontal section and the inner end of the top horizontal section from the open end of the lug 6-4. 2 Sliding to the center of the bulging ears 6-4 can quickly enter the bulging ears 6-4 to lift the cultivation frame 6.

Further, referring to Figure 2, the transfer frame 4-14 is also provided with walking components, which can drive the transfer frame 4-14 to slide along the length of the container phenotype cabin 1; the walking components include driving wheels, The driven wheel and the driving mechanism 4-1 for driving the driving wheel to rotate. The driving wheel and the driven wheel are arranged on both sides of the transfer frame 4-14 and slidably cooperate with the slide rail 3.

Preferably, the driving wheels include two groups. The first group of driving wheels 4-3 are sleeved on both ends of the rotating shaft 4-2, the rotating shaft 4-2 is connected with the output shaft of the driving mechanism 4-1, and the second group of driving wheels 4 4 is connected to the shaft 4-2 through a gear pair (not shown in the figure) in transmission; the driven wheels 4-9 include two groups, and the two groups of driven wheels 4-9 are symmetrically arranged on both sides of the transfer frame 4-14. The adoption of two sets of driving wheels and two sets of driven wheels enhances the stability of the cultivation frame transport and imaging integrated vehicle 4 when it travels. The driving mechanism 4-1 is preferably a servo motor. The motor output shaft drives the rotating shaft 4-2 to rotate, the rotating shaft 4-2 drives the first set of driving wheels 4-3 at its two ends to rotate, and the rotating shaft 4-2 simultaneously drives the second set through a gear pair. The driving wheel 4-4 rotates, the first group of driving wheels 4-3 and the second group of driving wheels 4-4 rotate and then the power is transmitted to the two groups of driven wheels 4-9, and the two groups of driven wheels 4-9 take the initiative in the first group. The wheels 4-3 and the second set of driving wheels 4-4 are also driven by the power to rotate, so that the integrated vehicle 4 for transporting the cultivation frame and imaging can move smoothly.

Further, referring to Figure 2, the four corners of the transfer frame 4-14 are provided with guide wheels 4-15 and Pepperl+Fuchs through-beam photoelectric switches (not shown in the figure), and the guide wheels 4-15 are arranged on the guide wheel frame , Pepperl+Fuchs on-beam photoelectric switch (not shown in the figure) is used for collision avoidance. The guide wheel 4-15 not only plays a guiding role, but also makes the cultivation frame transfer and imaging integrated vehicle 4 more labor-saving when traveling, and can reduce the drive motor 4-1 power. The transfer frame 4-14 is also equipped with a power supply box 4-12, which provides a power source for the entire cultivation frame transfer and imaging integrated vehicle 4; The transportation and imaging integrated vehicle 4 is charged.

Further, referring to Figure 2, two-dimensional code scanners 4-8a are provided on both sides of the transfer frame 4-14, and two-dimensional codes are provided on the inner side of the slide rail 3, and the slide rail 3 is scanned by the two-dimensional code scanner 4-8a. To obtain the driving track of the integrated vehicle 4 for transporting and imaging the cultivation frame.

Further, referring to Figure 3, Figure 5 and Figure 9, the photographing bracket includes a bracket plate 4-26 and a bracket plate 4-26 which are arranged at the bottom of the transfer frame 4-14 and extend along the width direction of the container phenotype cabin body 1. A connecting plate 4-25 is connected below the two ends, a positioning pin 4-27 is provided on the connecting plate 4-25, and a positioning hole 7-2 matched with the photographing component 7 is provided on the connecting plate 4-25. Preferably, one end of the connecting plate 4-25 is connected below the bracket plate 4-26, and the upper side of the connecting plate 4-25 not connected with the bracket plate 4-26 is provided with a positioning pin 4-27, and the positioning pin 4-27 is connected with The positioning holes 7-2 on the photographing component 7 are combined to connect the photographing component 7 to the connecting plate 4-25. The bottom of the transfer frame 4-14 is located on both sides of the bracket plate 4-26 with baffles 4-24 for preventing the camera assembly 7 from sliding out from the other side when it enters.

Further, referring to Figures 7 and 8, the camera assembly 7 is placed on the camera assembly fixing frame 5 in the container phenotype cabin 1, the camera assembly fixing frame 5 includes a fixing frame 5-2, and the fixing frame 5-2 is set in Above the backing plate 5-1, the backing plate 5-1 is fixed in the container body 1, and the fixing frame 5-2 is provided with a jacking assembly for lifting and lowering the supporting plate 5-7 above it. , A limit post 5-6 is arranged above the supporting plate 5-7, and a limit hole 7-3 matched with the camera assembly 7 is arranged. Preferably, the jacking assembly includes two linear electric cylinders 5-3 connected to the top of the fixed frame 5-2, the output shaft of each linear electric cylinder 5-3 is connected to the supporting plate 5-7 above, and each linear electric cylinder 5-3 is connected to the supporting plate 5-7 above. There are two guide shafts 5-8 beside the electric cylinder 5-3. The upper end of the guide shaft 5-8 is connected with the supporting plate 5-7, and the lower end of the guide shaft 5-8 is connected to the fixed frame 5-2 through the linear bearing 5-10. It is connected to guide the lifting and lowering of the supporting plates 5-7; each supporting plate 5-7 is provided with two limit posts 5-6, the limit posts 5-6 and the camera assembly 7 The limit holes 7-3 are combined to fix the camera assembly 7 on the fixing frame 5-2; each support plate 5-7 is provided with two for preventing the camera assembly 7 from colliding with the wire rail groove 5-9 Guard plate 5-5.

Further, referring to Figures 9 and 10, the photographing component 7 includes a horizontally movable component that can slide along the width of the container phenotype cabin 1, and a camera component connected to the horizontally movable component. The camera component can move horizontally. Move up and down to adjust the shooting distance of the camera assembly to obtain high-quality images. Further, referring to Figures 9 and 10, the horizontal movement assembly includes a bottom plate 7-4 extending in the width direction of the container phenotype cabin 1, a boom 7-11 hanging from the bottom plate 7-4, and a boom 7- 11 can slide along the axis of the bottom plate 7-4. Preferably, the bottom of the bottom plate 7-4 is provided with two guide rails 7-14 that extend along its axis and are parallel to each other, the drive screw 7-15 is arranged in the middle of the two guide rails 7-14 and parallel to it, and the slider 7 -13 is installed on the driving screw 7-15 and matched with the two guide rails 7-14. The driving screw 7-15 is connected with the output shaft of the motor 7-12, and the boom 7-11 is connected with the driving screw 7- 15 is connected to the slider 7-13. When working, the motor 7-12 drives the transmission screw 7-15 to rotate, and the transmission screw 7-15 drives the slider 7-13 to move linearly on the guide rail 7-14, thereby driving the boom 7-11 along the bottom plate 7-4 Slide in the direction of the axis.

Further, the camera assembly includes a sliding platen 7-7, the sliding platen 7-7 is connected to the boom 7-11 and can move up and down along the boom 7-11, and two sides of the sliding plate 7-7 are provided with A camera 7-8 and a second camera 7-10. The outer side of the first camera 7-8 is provided with a supplementary aperture 7-9, which can be used to supplement light when taking pictures; the boom 7-11 is provided with a slide plate 7 for driving -7 A motor 7-6 that moves up and down along the boom 7-11.

Further, above the two ends of the bottom plate 7-4 are provided with lugs 7-1, the lugs 7-1 are provided with positioning holes 7-2, and the middle area of the bottom plate 7-4 is provided with a limiting hole 7-3. Preferably, the lugs 7-1 are Z-shaped, two Z-shaped lugs 7-1 are symmetrically arranged at both ends of the bottom plate 7-4, and the bottom horizontal section of the Z-shaped lugs 7-1 is connected to the bottom plate 7-4, The top horizontal section faces the center side of the bottom plate 7-4 and is provided with positioning holes 7-2 that match the positioning pins 4-27 on the connecting plate 4-25; the middle area of the bottom plate 7-4 is provided with four limit positions The holes 7-3 and the four limiting holes 7-3 are symmetrically arranged on the left and right sides of the bottom plate 7-4.

Further, referring to Figures 2 to 5 and 9, the transfer frame 4-14 corresponds to the bottom plate 7-4 of the camera assembly 7 with rectangular notches 4-5a at both ends, and the rectangular notches 4-5a are respectively provided There are a first micro electric cylinder 4-5 and a second micro electric cylinder 4-16. The bottom of the first micro electric cylinder 4-5 is provided with a pressure plate (not shown in the figure), and the pressure plate (not shown in the figure) is set at In the rectangular notch 4-5a and above the lug 7-1 at one end of the bottom plate 7-4, the pressure plate is connected with the output shaft of the first micro-electric cylinder 4-5, and the first micro-electric cylinder 4-5 drives the output shaft to extend , Drive the pressure plate to press down from the rectangular notch 4-5a, thereby pressing down the lug 7-1 on the bottom plate 7-4, exerting a downward pressure on the bottom plate 7-4, making the positioning hole 7 on the lug 7-1 -2 is combined with the positioning pins 4-27 on the connecting plate 4-25 to connect the photographing assembly 7 to the photographing support. The output shaft of the second miniature electric cylinder 4-16 is connected to the power mounting plate (not shown in the figure), and the power mounting plate (not shown in the figure) is set in the rectangular gap 4-5a at the other end of the bottom plate 7-4 Above the end, the bottom of the power supply mounting board (not shown in the figure) is connected to the power connector set 4-22, the power connector set 4-22 is located under the rectangular gap 4-5a, and the other end of the bottom plate 7-4 is provided There is a fixed power supply 4-21 that matches the power connector group 4-22; when the camera assembly 7 is hung on the camera bracket, the second micro electric cylinder 4-16 drives the output shaft to extend, driving the power supply mounting board and the power connector group Press down 4-22 until the power connector 4-22 is connected to the fixed power supply 4-21, so as to provide power for the work of the camera assembly 7; when the camera assembly 7 does not need to provide power, drive the second miniature electric cylinder 4- The 16 output shaft retracts, driving the power supply mounting plate and the power connector set 4-22 to rise, and the power connector set 4-22 is separated from the fixed power source 4-21, thereby disconnecting the power supply.

When the cultivation frame in the cabin needs to be hoisted and transported, the working process is as follows.

Control the servo motor 4-1 on the integrated vehicle for transportation and imaging of the cultivation frame 4 to drive the first group of driving wheels 4-3, the second group of driving wheels 4-4 and the driven wheels 4-9 to rotate, and drive the integrated vehicle for transportation and imaging of the cultivation frame 4 Slide along the slide rail 3 toward the direction of the cultivation frame 6 to be transported until it slides to the front of the open end of the bulging ear 6-4 of the cultivation frame 6 to be transported.

Control the reduction motor 4-13 to drive the wire rope seat 4-10 at both ends of the shaft 4-11 to rotate to drive the two sets of wire rope 4-8 to unwind synchronously, and to drive the two scissor lift units 4-6 to descend synchronously until the two scissor lifts The horizontal section of the L-shaped hook 4-19 at the bottom of the unit 4-6 is located directly in front of the open end of the lug 6-4 on the cultivating frame 6 to be transported; then the integrated vehicle for transporting and imaging the cultivating frame 4 is driven to be transported as a whole Move the cultivation frame 6 in the direction until the horizontal section of the L-shaped hook 4-19 at the bottom of the two scissor lift units 4-6 enters the cock-shaped crane from the open end of the cock-shaped lifting lug 6-4 on the cultivation frame 6 to be transported In the ear 6-4; control the reduction motor 4-13 to drive the wire rope seat 4-10 at both ends of the shaft 4-11 to rotate so as to drive the two sets of wire rope 4-8 to rewind synchronously, and to drive the two scissor lift units 4-6 to rise synchronously. Lift the cultivation frame 6 to be transported.

Then, control the cultivation frame transfer and imaging integrated vehicle 4 to drive the cultivation frame 6 to move along the slide rail 3 to the position where the cultivation frame 6 is to be placed until the cultivation frame 6 on the cultivation frame transfer and imaging integrated vehicle 4 is located at the position to be placed; control The geared motor 4-13 drives the wire rope seats 4-10 at both ends of the shaft 4-11 to rotate, thereby driving the two sets of wire ropes 4-8 to unwind synchronously, and driving the two scissor lifting units 4-6 to descend synchronously, thereby driving the cultivation frame 6 to descend. Until the cultivation frame 6 is placed on the supporting surface (such as the floor) of the position to be placed; the integrated vehicle 4 for controlling the transportation and imaging of the cultivation frame is moved along the slide rail 3 from the open end side of the bulging ear 6-4 of the cultivation frame 6 Sliding away from the cultivation frame 6, while controlling the reduction motor 4-13 to drive the wire rope seat 4-10 at both ends of the shaft 4-11 to rotate, it never drives the two sets of wire ropes 4-8 to rewind synchronously, and drives the two scissor lifting units 4- 6 rises synchronously, and the transportation of the cultivation frame 6 is completed. By repeating the above operations, other cultivation frames in the cabin 1 can be hoisted and transported.

When it is necessary to photograph and image the crops in the transparent root cultivation container in the cabin, the working process is as follows.

Control the servo motor 4-1 on the integrated vehicle for transportation and imaging of the cultivation frame 4 to drive the first group of driving wheels 4-3, the second group of driving wheels 4-4 and the driven wheels 4-9 to rotate, and drive the integrated vehicle for transportation and imaging of the cultivation frame 4 Slide along the slide rail 3 toward the camera assembly fixing frame 5 until it slides to the front of the camera assembly fixing frame 5.

Control the linear electric cylinder 5-3 on the camera assembly fixing frame 5 to drive the support plate 5-7 and the limit post 5-6 to lift, and drive the camera assembly 7 above the limit post 5-6 to rise until the Z-shaped lug 7 The area formed between the top horizontal section, the vertical section and the bottom plate 7-4 of -1 is facing the area formed by the bottom of the connecting plate 4-25, the support plate 4-26 and the transfer frame 4-14; and then drive the cultivation frame The transportation and imaging integrated vehicle 4 moves toward the camera assembly fixing frame 5 as a whole, and the camera assembly 7 enters the bottom of the cultivation frame transportation and imaging integrated vehicle 4, and the top horizontal section, vertical section of the Z-shaped lug 7-1 and the bottom plate 7-4 The area formed in between enters the area formed by the bottom of the connecting plate 4-25, the bracket plate 4-26 and the transfer frame 4-14 until the positioning holes 7-2 on the Z-shaped lugs 7-1 at both ends of the bottom plate 7-4 are located Right above the positioning pins 4-27 on the connecting plates 4-25 at both ends of the bracket plate 4-26.

Control the linear electric cylinder 5-3 on the camera assembly fixing frame 5 to drive the support plate 5-7 and the limit post 5-6 to descend, and the limit post 5-6 on the support plate 5-7 is out of the limit on the camera assembly 7 Hole 7-3 until the limit post 5-6 on the support plate 5-7 is located below the limit hole 7-3 on the photographing assembly 7.

Control the first miniature electric cylinder 4-5 to drive the output shaft to extend, and drive the pressure plate to press down from the rectangular gap 4-5a, thereby pressing down the lug 7-1 on the bottom plate 7-4, and exerting a downward pressure on the bottom plate 7-4 Due to the force of this, the positioning hole 7-2 on the lug 7-1 is combined with the positioning pin 4-27 on the connecting plate 4-25, thereby connecting the photographing assembly 7 to the photographing support. Control the first miniature electric cylinder 4-5 to drive the output shaft to retract, and drive the pressure plate to rise until the pressure plate rises into the rectangular notch 4-5a above one end of the lug 7-1 of the bottom plate 7-4.

Control the second miniature electric cylinder 4-16 to drive the output shaft to extend, drive the power supply mounting plate and the power connector group 4-22 to press down until the power connector group 4-22 is connected to the fixed power source 4-21 at the end of the base plate 7-4 Pass; at the same time control the transportation of the cultivation frame and the integrated imaging vehicle 4 to drive the camera assembly 7 along the slide rail 3 to the cultivation frame 6 where the transparent root cultivation container 6-1 is to be photographed and slide until it slides to the transparent root cultivation container to be photographed and imaged 6-1 is located directly in front of the cultivation frame 6.

The control motor 7-12 drives the transmission screw 7-15 to rotate and drives the suspension rod 7-11 to slide along the axis of the bottom plate 7-4 until the first camera 7-8 and the second camera 7-10 are located in the transparent root system to be photographed and imaged. Above the container 6-1; then drive the cultivation frame transport and imaging integrated vehicle 4 to drive the photographing assembly 7 to move to the transparent root cultivation container 6-1 to be photographed and imaged, and at the same time control the motor 7-12 to drive the drive screw 7-15 to rotate, Drive the boom 7-11 to slide along the axis of the bottom plate 7-4 until the first camera 7-8 and the second camera 7-10 are directly above the transparent root cultivation container 6-1 to be photographed and imaged; control the motor 7-6 Drive the slide plate 7-7 to move up and down along the boom 7-11 until the first camera 7-8 and the second camera 7-10 are at a suitable shooting distance, and the first camera 7-8 and the second camera 7-10 are treated The crops in the transparent root cultivation container 6-1 are photographed and imaged. By repeating the above operations, the crops in other transparent root cultivation containers in the cabin 1 can be photographed and imaged.

After the shooting is completed, control the second miniature electric cylinder 4-16 to drive the output shaft to retract, and drive the power mounting plate and power connector group 4-22 to rise until the power mounting plate is located in the rectangular gap 4-5a, and the power connector group 4- 22 is separated from the fixed power supply 4-21, so that the power supply of the photographing unit 7 is disconnected.

Controlling the cultivation frame transfer and imaging integrated vehicle 4 as a whole drives the camera assembly 7 to move along the slide rail 3 to the camera assembly fixing frame 5 until it moves until the camera assembly 7 is located above the camera assembly fixing frame 5, and the position of the camera assembly 7 is limited The hole 7-3 is located directly above the limit post 5-6 on the support plate 5-7.

Control the linear electric cylinder 5-3 on the camera assembly fixing frame 5 to drive the support plate 5-7 and the limit post 5-6 to lift up until the limit post 5-6 on the support plate 5-7 is inserted into the camera assembly 7 In the limiting hole 7-3, the integrated vehicle for transporting and imaging the cultivation frame 4 is then driven to move away from the photographing assembly fixing frame 5, and the photographing assembly 7 is fixed on the photographing assembly fixing frame 5.

The present invention is only described with the above-mentioned embodiments, and the structure, installation position and connection of each component can be changed. On the basis of the technical solution of the present invention, any improvements or equivalent changes made to individual components based on the principles of the present invention should not be excluded from the protection scope of the present invention.

Claims

A cultivation frame transfer and imaging integrated vehicle, which is characterized by comprising a transfer frame that can slide along the length of the container phenotype cabin. The transfer frame is provided with a lifting assembly, and the lifting assembly includes two vertical The lifting unit used for lifting the cultivation frame on the transfer frame is a driving device for driving the lifting unit to lift; the bottom of the transfer frame is located between the two lifting units and is provided with a photographing bracket for hanging the photographing assembly.
The cultivation frame transfer and imaging integrated vehicle according to claim 1, wherein the lifting unit is a scissor lifting unit, and the bottom of each scissor lifting unit is provided with a platform bending piece, and the bottom of the platform bending piece is provided There is a hook for lifting the cultivation frame; the bottom of the transfer frame is located between the two scissor lifting units and is provided with a photographing bracket for hanging the photographing assembly.
The cultivation frame transfer and imaging integrated vehicle according to claim 2, wherein the lifting assembly further comprises two sets of steel wire ropes respectively matched with two scissor lifting units, one end of the steel wire rope is wound on the wire rope seat, The other end of the wire rope passes through the scissor lift unit and is connected to the platform bending piece. The driving device drives the two sets of steel wire ropes to synchronously rewind or unwind, thereby driving the two scissor lifting units to rise or descend synchronously.
The cultivation frame transfer and imaging integrated vehicle according to claim 3, wherein one end of the wire rope is wound on the wire rope seat, and the other end of the wire rope passes through a fixed pulley from the center position of the scissor lifting unit and connects to the platform. The bending parts are connected, and each wire rope is equipped with a rope encoder.
The cultivation frame transfer and imaging integrated vehicle according to any one of claims 2 to 4, wherein the bottom of each platform bending piece is provided with two hooks for lifting the cultivation frame, the hooks The vertical section of the L-shaped hook is connected to the bottom of the platform bending piece, and the end of the horizontal section extends upward to form a protrusion; the cultivation frame is provided with lifting lugs matching the hook, The ears are in the shape of a bulge. The horizontal section at the bottom of the bulge ear is connected to the cultivation frame. The horizontal section on the top matches the L-shaped hook. The end of the top horizontal section extends downward to form a protrusion. The bottom horizontal section and the top level are horizontal. The inner side of the end of the segment is symmetrically provided with a guiding inclined surface.
The cultivation frame transfer and imaging integrated vehicle according to claim 1 or 2, characterized in that the transfer frame is also provided with a walking component, and the walking component can drive the transfer frame along the length direction of the container phenotype cabin. slide;

The walking assembly includes a driving wheel, a driven wheel, and a driving mechanism for driving the driving wheel to rotate;

The driving wheel includes two groups. The first group of driving wheels is sleeved at both ends of the rotating shaft, the rotating shaft is connected with the output shaft of the driving mechanism, and the second group of driving wheels is drivingly connected with the rotating shaft; the driven wheels include two groups, two groups of driven wheels It is symmetrically arranged on both sides of the transfer frame.
The cultivation frame transfer and imaging integrated vehicle according to claim 1 or 2, It is characterized in that the photographing bracket includes a bracket plate arranged at the bottom of the transfer frame and extending along the width direction of the container phenotype cabin. The two ends of the bracket plate are connected with connecting plates, and the connecting plates are provided with positioning pins. The photographing component is provided with a matching positioning hole.
The cultivation frame transfer and imaging integrated vehicle according to claim 1 or 2, wherein the photographing component is placed on a photographing component fixing frame in the phenotype cabin of the container;

The photographing assembly fixing frame includes a fixing frame, and the fixing frame is provided with a lifting assembly for lifting and lowering the supporting plate above it, and a limit post is arranged above the supporting plate, and the photographing assembly is provided with a matching Limit hole.
The cultivation frame transfer and imaging integrated vehicle according to claim 1 or 2, It is characterized in that the photographing component includes a horizontal moving component that can slide along the width direction of the container surface-shaped cabin, and a camera component connected to the horizontal moving component, and the camera component can move up and down along the horizontal moving component.
The cultivation frame transfer and imaging integrated vehicle according to claim 9, wherein the horizontal moving assembly includes a bottom plate extending along the width direction of the container phenotype cabin, and a boom hanging on the bottom plate, and the boom can be Sliding along the axis of the bottom plate;

The camera assembly includes a slide plate, the slide plate is connected to the boom and can move up and down along the boom, and a first camera and a second camera are provided on both sides of the slide plate; the outer side of the first camera is provided Fill up the aperture.