Field crop inter-row self-propelled phenotype acquisition system

Abstract

The invention relates to a field crop inter-row self-propelled phenotype acquisition system, comprising: an electromagnetic track laid between test field crop rows; the unmanned vehicle is provided with a power and control system and can automatically run along the electromagnetic track; the acquisition device is arranged on the unmanned vehicle and is used for acquiring a crop phenotype image and environmental parameters of a lower space of a crop canopy from bottom to top; and the positioning device is arranged on the electromagnetic track and is used for acquiring the real-time position of the unmanned vehicle and the relationship between the associated phenotype data and the acquired material. According to the invention, climate characteristics and plant phenotypic characteristics of a lower space of a crop canopy can be accurately recorded from bottom to top; the device can be applied to the field of agricultural equipment.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural equipment, in particular to a self-propelled phenotype collection system between rows of field crops. Background Art

[0002] With the growth of the world's population, drastic climate changes, and reduced land resources, food security issues have become increasingly severe. Breeding excellent varieties to achieve high crop yields and maintain their stable yields under stress environments is an important way to solve the current food problem, and variety breeding is inseparable from the measurement and analysis of various phenotypic parameters of crops throughout their growth period. At present, the acquisition of these phenotypic information parameters mainly relies on manual measurement (manual measurement, paper and pen records), which has the following disadvantages: slow measurement speed, strong subjective measurement results, heavy work, and a shortage of measurement personnel and no standard system, which affects subsequent analysis. Therefore, it is far from meeting the requirements of high-throughput phenotypic data collection in large-scale experimental plots, which hinders the development of variety breeding. Therefore, it is urgent to establish a phenotypic platform to accurately and real-time collect crop field phenotypic data.

[0003] Against this background, there have been some related research and products in this area at home and abroad. However, these phenotyping devices can only observe the growth and environmental characteristics of the upper part of the plant canopy from "top to bottom", and lack understanding of the situation in the lower part of the canopy. At present, there are few systems specifically used to accurately record the climate characteristics and plant phenotypic characteristics of the lower canopy space from "bottom to top" (from the perspective of breeders), and it is impossible to fully analyze the changing laws of related traits such as the entire growth period and crop yield formation. Summary of the invention

[0004] In view of the above problems, the object of the present invention is to provide a self-propelled phenotypic collection system for field crops between rows, which can accurately record the climate characteristics and plant phenotypic characteristics of the space below the crop canopy "from bottom to top".

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a self-propelled phenotypic collection system between rows of field crops, which includes: an electromagnetic track laid between the rows of crops in the experimental field; an unmanned vehicle with a power and control system, which can autonomously travel along the electromagnetic track; a collection device, which is arranged on the unmanned vehicle and is used to obtain the crop phenotypic images and environmental parameters of the space below the crop canopy from the bottom to the top; a positioning device, which is arranged on the electromagnetic track and is used to obtain the real-time position of the unmanned vehicle and the relationship between the associated phenotypic data and the collected materials.

[0006] Furthermore, the electromagnetic track includes a plurality of groups of waterproof and sun-proof electromagnetic wires laid at intervals in the test field blocks; the wires form a loop with an electromagnetic guidance signal excitation source and a battery arranged near the test field, both ends of the electromagnetic wires are connected to the electromagnetic guidance signal excitation source, and the battery is connected to the electromagnetic guidance signal excitation source to supply power to the electromagnetic guidance signal excitation source.

[0007] Furthermore, the electromagnetic wire is arranged in an arc-shaped route at the outer edge of the edge cell to enable the unmanned vehicle to turn and make a U-turn.

[0008] Furthermore, the unmanned vehicle is a tracked unmanned sensor vehicle; the unmanned vehicle is equipped with an ID card recognition device and a T3 wireless data recording type data collector.

[0009] Furthermore, the body width of the tracked unmanned sensor vehicle is smaller than the spacing between crop rows.

[0010] Furthermore, the acquisition device includes a temperature sensor, a humidity sensor, a carbon dioxide sensor, a light radiation environment sensor and an image sensor.

[0011] Furthermore, the image sensor is a high-definition camera, a panoramic camera, a thermal imaging camera or a hyperspectral camera.

[0012] Furthermore, the positioning device is an ID card, which is arranged at the position of the electromagnetic track in each cell between the crop rows.

[0013] Further, the ID card is arranged at the entrance and exit of the electromagnetic track of each cell, and / or at the middle of the electromagnetic track of each cell; The ID card is directly placed at the electromagnetic track position, or is fixed at the electromagnetic track position by a fixing member; The ID cards are placed in a coding order, each of which is numbered, placed in a fixed position and has a corresponding relationship with the set material.

[0014] Furthermore, the ID card recognition device recognizes the ID card, and the T3 wireless data recording type data collector on the unmanned vehicle associates the ID card recognition device and the collection device, which can mark the cell location and distinguish the data collected from different cells; and eliminate the data collected by the collection device in the aisles between cells.

[0015] The present invention adopts the above technical solution, which has the following advantages: 1. The unmanned vehicle of the present invention can move accurately and reliably between crop rows. By carrying various types of sensors, it can accurately record the climate characteristics and plant phenotypic characteristics of the space below the crop canopy "from bottom to top", which is of great significance for exploring the growth and development process of crops and the composition of yield quality, and discovering the "gene-environment-phenotype" interaction mechanism.

[0016] 2. The unmanned vehicle of the present invention is small in size and easy to transport. It can operate under different habitat conditions and can be easily transported to different ecological locations for multi-point testing of crops. The use of the same phenotypic collection tool can greatly reduce the impact of uncontrollable factors in the test process on the test results.

[0017] 3. The present invention can work throughout the entire growth period, collect more sites, provide more detailed and continuous data, and can achieve single plant detection under group conditions.

[0018] 4. The present invention can also obtain phenotypic information at night, avoiding the influence of changes in sunlight intensity and surrounding interfering light sources on crop image data.

[0019] 5. The present invention can accurately mark the cell locations and distinguish the data collected from different cells; eliminate the data collected in the corridor between cell A and cell B, and realize automatic intelligent zoning.

[0020] 6. The present invention as a ground system allows carrying heavier sensors and equipment than aerial platforms, provides higher resolution and higher quality data, and adjusts it to different environmental and climatic conditions.

[0021] 7. The present invention can collect a large amount of data with little or no human assistance, thereby improving productivity and increasing the efficiency of evaluating field crop phenotypes. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the self-propelled phenotypic collection system for field crops in rows according to the present invention; The accompanying drawings are marked as follows: 1-crop seedlings, 2-electric wires, 3-ID card, 4-electromagnetic guidance signal excitation source, 5-battery. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0025] The present invention discloses a self-propelled phenotypic collection system between rows of field crops, comprising: an electromagnetic track, which is laid between rows of field crops; an unmanned vehicle, which is equipped with power and control system, can autonomously and accurately travel along the electromagnetic track, and is used to carry sensors and related equipment; a collection device, which is installed on the unmanned vehicle, and is used to obtain crop phenotypic images and environmental parameters, etc.; a positioning device, which is installed on the electromagnetic track, and is used to obtain the real-time position of the unmanned vehicle and associate the acquired phenotypic data with the collected materials. The navigation method of the field crop phenotypic collection system is: using electromagnetic navigation technology, the unmanned vehicle autonomously walks unsupervised along the planned route in the entire test field (including moving between crop rows and turning between rows), and the left and right deviation of the route does not exceed 10 mm. The present invention can cross the agronomic spacing between crops, accurately locate and automatically separate crop plot data, and realize high-throughput, efficient and real-time acquisition of crop phenotypes.

[0026] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a self-propelled phenotyping system for field crop rows, which can overcome various difficulties such as complex field conditions, leaf obstruction, and narrow working space, and has the characteristics of autonomous walking between rows of field crops, path planning, stable driving in various cultivation methods and production environments, small size, strong load capacity (50 kg), ultra-long battery life (24 hours), easy disassembly and assembly, and cross-regional operation (transportation in the trunk of a car).

[0027] In one embodiment of the present invention, a self-propelled phenotyping system for crop rows in a field is provided. Figure 1 As shown, the system includes: The electromagnetic track is laid between the rows of crops in the experimental field; in this embodiment, a cell is formed between two rows of crop seedlings 1; Unmanned vehicles, equipped with power and control systems, can autonomously travel along electromagnetic tracks. Unmanned vehicles can be equipped with sensors and related equipment; The collection device is installed on the unmanned vehicle and is used to obtain crop phenotypic images and environmental parameters in the lower space of the crop canopy from the bottom to the top; The positioning device is set on the electromagnetic track and is used to obtain the real-time position of the unmanned vehicle and associate the phenotypic data with the collected materials.

[0028] In the above embodiment, Figure 1 As shown, the electromagnetic track includes several groups of electromagnetic wires 2 that are laid at intervals in the test field to prevent water and sun exposure. The electromagnetic wires 2 are arranged in an arc route outside the edge of the cell to realize the turning and U-turn of the unmanned vehicle. The electromagnetic wires 2 can also be arranged in an arc route between adjacent cells; the arc radius is at least 25 cm, and the radius can be appropriately increased according to the actual space in the field. The larger the radius, the more conducive it is to collect the turning of the unmanned vehicle. The electromagnetic wire 2 forms a loop with the electromagnetic guidance signal excitation source 4 and the battery 5 set near the test field. The two ends of the electromagnetic wire 2 are connected to the electromagnetic guidance signal excitation source 4, and the battery 5 is connected to the electromagnetic guidance signal excitation source 4 to supply power to the electromagnetic guidance signal excitation source 4.

[0029] The electromagnetic wire 2 is a cable wire no larger than 2 square meters and no longer than 5000 meters. 2 The cable has a length of 1500 meters; the electromagnetic guidance signal excitation source 4 adopts the FM-AGS-4F four-channel electromagnetic guidance signal excitation source; and the battery 5 adopts a lithium battery with an output voltage of 24V.

[0030] Each time the unmanned vehicle is operated to measure data, the electromagnetic guidance signal excitation source 4 needs to be installed. First, the two ends of the electromagnetic wire 2 are connected to the two interfaces at the lower end of the electromagnetic guidance signal excitation source 4, and then the battery 5 is connected. The indicator light of the electromagnetic guidance signal excitation source 4 is always on, indicating that the circuit is unobstructed.

[0031] In the above embodiment, the unmanned vehicle adopts a crawler-type unmanned sensor vehicle; and the unmanned vehicle is equipped with an ID card recognition device and a T3 wireless data recording data collector. In this embodiment, the electromagnetic navigation technology is used in the power and control system of the unmanned vehicle, so that the unmanned vehicle can walk completely autonomously in the entire test area, and the left and right deviations of the route do not exceed 10mm; it can automatically change speed during driving, automatically slow down at corners, and speed up in straight driving, thereby improving the overall walking efficiency, and the average daily phenotype acquisition area is not less than 10 acres.

[0032] Among them, the body width of the tracked unmanned sensor vehicle is less than the crop row spacing (60cm), and it can accurately and autonomously drive (forward, turn) along the electromagnetic track between the rows of conventional crops, with a turning radius of 30cm; it can make a 180-degree turn within a 1m aisle, with a running speed of not less than 0.1m / s and a left-right deviation of the route not exceeding 10mm.

[0033] Preferably, the tracked unmanned sensor vehicle has a body width of 350 mm, a vehicle length of 600 mm, a power of 200 W, a driving speed of 0.2 m / s, a climbing ability of 30°, a turning radius of 0.30 m, a body load capacity of 50 kg, and a guiding accuracy of ±10 mm.

[0034] In the above embodiment, the acquisition device includes a temperature sensor, a humidity sensor, a carbon dioxide sensor, a light radiation environment sensor and an image sensor.

[0035] Among them, the temperature sensor and humidity sensor adopt TH10S-B_RS485 communication type temperature and humidity recorder, the product size is 75 mm in diameter and 15 mm in width, the temperature range that can be collected is -40℃~85℃, the humidity range is 0~100%RH, the measurement accuracy is ±0.5℃, and the resolution is 0.1℃; The light radiation environment sensor is a RY-GH photosynthetically active radiation meter, which can collect temperatures in the range of -40 to 65°C, the spectrum it collects is in the range of 400 to 700 nm, the range is 0 to 4000 μ•mol / m2 •s, and the response time is less than 1s; The carbon dioxide sensor uses the GMP252 series carbon dioxide sensor, which has a measurement range of 0 to 10000ppm and an accuracy of ±2% (0 to 3000 ppm range), and can operate in a temperature environment of -40 to 60°C. Image sensors can be high-definition cameras, panoramic cameras, thermal imaging cameras or hyperspectral cameras, etc. The acquisition frequency is not less than 2s / time and each crop plot (5-meter row length) collects no less than 25 groups of valid data. Non-image data can be transmitted wirelessly in real time. Among them, the resolution of the high-definition camera is 1080 and the frame rate is 30 (default), which is used to shoot the full growth of crop phenotypes.

[0036] In the above embodiment, Figure 1As shown, the positioning device is an identity card (ID card) 3, which is set at the electromagnetic track position of each cell between the crop rows, and can be set at the entrance and exit positions of the electromagnetic track of each cell, and / or the middle position of the electromagnetic track of each cell, that is, the middle position of two rows of crops; the ID card 3 can be placed directly at the electromagnetic track position, or it can be fixed at the electromagnetic track position by a fixing piece. The ID card 3 is identified by the ID card recognition device, and the ID card recognition device and the collection device are associated through the T3 wireless data recording data collector on the unmanned vehicle, which can not only effectively mark the cell position and distinguish the data collected from different cells; but also eliminate the data collected by the collection device in the aisle between the cells, so as to realize the automatic correspondence between the crop variety and the processing cell number, and accurately partition. The T3 wireless data recording data collector has data processing software, which controls whether the data is retained or not through the pre-input ID card corresponding data. Specifically, when a certain ID card is identified, if the ID card is set to retain data, the unmanned vehicle will save the data collected subsequently; if the ID card is set not to retain data, the unmanned vehicle will not save the data collected later. This achieves the purpose of eliminating the data collected by the collection device in the corridors between cells.

[0037] In this embodiment, the ID card 3 is set at the entrance and exit of the electromagnetic track of each cell, respectively at the entry and exit of the collection vehicle. In order to accurately divide the data, the ID card 3 should be placed in the coding order. When entering the cell, the ID card 3 and the first seedling of the cell can be aligned. Since the ID card recognition device is near the rear of the collection vehicle, and the sensor is at the front of the vehicle, when the collection vehicle leaves the cell, it is necessary to prevent the data outside the cell from being divided into the cell.

[0038] Each ID card is assigned a fixed number, placed in a fixed position, and corresponds to the set material. When the unmanned vehicle passes an ID card, it obtains the corresponding number through the ID card recognition device to determine the current location and the corresponding material. The unmanned vehicle then retains the subsequent phenotypic data (temperature, humidity, carbon dioxide concentration, light radiation) until the next ID card is recognized.

[0039] When in use, when the unmanned vehicle is running, the operation method is as follows: 1) Check the power of the unmanned vehicle, electromagnetic guidance signal excitation source 4 and camera, and charge them in time; 2) Install the electromagnetic guidance signal excitation source 4, place the control group, and run the unmanned vehicle to the entrance of the first cell at the starting end of the electromagnetic wire 2; 3) Check whether the data of each channel on the display of the T3 wireless data recording data collector of the vehicle body and the control group is complete, check the reading of the ID card, and set the system time and storage time interval; 4) Install the mountable camera, adjust the shooting angle, and set the camera status; 5) Unmanned vehicle operation collection data and image data; 6) Retrieve the unmanned vehicle, retrieve the control group, and dismantle the signal source. Be sure to unplug the power supply before removing the electromagnetic wire. Remove the camera; 7) Export the data.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-propelled phenotyping system for crop rows in the field, characterized in that: include: Electromagnetic tracks are laid between the crop rows in the experimental field; An unmanned vehicle, equipped with a power and control system, capable of autonomously traveling along the electromagnetic track; A collection device, arranged on the unmanned vehicle, for acquiring crop phenotypic images and environmental parameters of the space below the crop canopy from bottom to top; A positioning device is arranged on the electromagnetic track and is used to obtain the real-time position of the unmanned vehicle and the relationship between the associated phenotypic data and the collected materials.

2. The self-propelled phenotyping system for crop rows in the field as claimed in claim 1, characterized in that: The electromagnetic track includes a plurality of groups of waterproof and sun-proof electromagnetic wires laid at intervals in the test field blocks; the wires form a loop with an electromagnetic guidance signal excitation source and a battery arranged near the test field, both ends of the electromagnetic wires are connected to the electromagnetic guidance signal excitation source, and the battery is connected to the electromagnetic guidance signal excitation source to supply power to the electromagnetic guidance signal excitation source.

3. The self-propelled phenotyping system for crop rows in the field as claimed in claim 2, characterized in that: The electromagnetic wire is arranged in an arc-shaped route at the tail end of the edge cell to enable the unmanned vehicle to turn and make a U-turn.

4. The self-propelled phenotyping system for crop rows in the field as claimed in claim 1, characterized in that: The unmanned vehicle is a tracked unmanned sensor vehicle; the unmanned vehicle is equipped with an ID card recognition device and a T3 wireless data recording type data collector.

5. The self-propelled phenotyping system for crop rows in the field as claimed in claim 4, characterized in that: The body width of the tracked unmanned sensor vehicle is smaller than the crop row spacing.

6. The self-propelled phenotyping system for crop rows in the field as claimed in claim 1, characterized in that: The acquisition device includes a temperature sensor, a humidity sensor, a carbon dioxide sensor, a light radiation environment sensor and an image sensor.

7. The self-propelled phenotyping system for crop rows in the field as claimed in claim 6, characterized in that: The image sensor is a high-definition camera, a panoramic camera, a thermal imaging camera or a hyperspectral camera.

8. The field crop inter-row self-propelled phenotyping collection system as claimed in claim 4, characterized in that: The positioning device is an ID card, which is arranged at the position of the electromagnetic track in each cell between crop rows.

9. The self-propelled phenotyping system for crop rows in the field as claimed in claim 8, characterized in that: The ID card is arranged at the entrance and exit of the electromagnetic track of each cell, and / or at the middle of the electromagnetic track of each cell; The ID card is directly placed at the electromagnetic track position, or is fixed at the electromagnetic track position by a fixing member; The ID cards are placed in a coding order, each of which is numbered, placed in a fixed position and has a corresponding relationship with the set material.

10. The self-propelled phenotyping system for crop rows in the field as claimed in claim 8 or 9, characterized in that: The ID card recognition device recognizes the ID card, and the T3 wireless data recording type data collector on the unmanned vehicle associates the ID card recognition device and the collection device, which can mark the cell location and distinguish the data collected from different cells; The data collected by the collection device in the corridors between cells are eliminated.

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