An automatic line for taking photos of transparent root cultivation containers

Abstract

The present invention relates to an automatic line for photographing transparent root cultivation containers, comprising a walking guide rail, a transport trolley, two rows of photographing workstations, and a transparent root cultivation container caching mechanism; the walking guide rail is arranged between the two rows of photographing workstations, one end of the walking guide rail extends to the area formed by two vertical brackets and a horizontal bracket, the transport trolley reciprocates between the photographing workstations and the transparent root cultivation container caching mechanism along the walking guide rail, and when both cache racks are rotated to the vertical brackets, the transport trolley is used for the transport of the transparent root cultivation container between the photographing workstations and the two cache racks. The present invention realizes the transport of the transparent root cultivation container between the photographing workstations and the two cache racks by moving the transport trolley back and forth between the photographing workstations and the transparent root cultivation container caching racks along the walking guide rail, and the photographing workstations simultaneously take pictures of the transparent root cultivation container, thereby realizing high-throughput, automated real-time monitoring and acquisition of the transparent root cultivation container.

Description

Technical Field

[0001] The invention relates to a root system dynamic growth photographing system, in particular to an automatic photographing line for transparent root cultivation containers. Background Art

[0002] Crop phenotypic research is an important means to accelerate crop breeding and improve crop improvement. Traditional phenotypic data is mainly obtained through manual measurement. Manual measurement is a destructive sampling method that can obtain indicators such as plant diameter, leaf length, and leaf number. It takes a lot of time, the measurement results are less accurate, the work is cumbersome, and the workload is large, which greatly limits the efficiency of large-scale genetic breeding screening. At present, many academic institutions and enterprises are committed to the research and development of phenotypic equipment platforms. Based on the "Plant-to-Sensor" conveyor belt operation mode and combined with the 360-degree imaging of digital cameras to collect crop phenotypic information. The conveyor belt-based transportation method is easy to expand its throughput, but its supporting equipment is expensive, especially for super-large crop phenotyping platforms. The cost of configuring the entire conveyor system is extremely high. The use of a modular camera system can effectively reduce the number of automatic conveyor system configurations and significantly reduce construction costs. Therefore, based on the modular design concept, a high-throughput, automated crop phenotypic imaging platform is developed to obtain underground crop phenotypic information from all directions and angles, so as to meet the requirements of large-scale phenotypic data acquisition and crop breeding scientific research. Summary of the invention

[0003] The invention aims to provide an automatic line for photographing transparent root cultivation containers which can perform high-throughput and automatic imaging on the transparent root cultivation containers.

[0004] The specific technical solutions of the present invention are as follows:

[0005] An automatic line for photographing a transparent root cultivation container, comprising a walking guide rail, a transport trolley, two rows of photographing workstations, and a transparent root cultivation container caching mechanism;

[0006] The transparent root cultivation container caching mechanism comprises a transverse support, two vertical supports located on the same side of the transverse support, and two symmetrically arranged cache racks for placing the transparent root cultivation container, the two vertical supports are respectively connected to the two ends of the transverse support, and one end of the two cache racks is respectively rotatably connected to the connection between the vertical support and the transverse support, so that the two cache racks can rotate between the vertical support and the transverse support;

[0007] The walking guide rail is arranged between two rows of photographing station groups, and one end of the walking guide rail extends to the area formed by two vertical brackets and a horizontal bracket. The transport trolley moves back and forth along the walking guide rail between the photographing station group and the transparent root cultivation container caching mechanism. When the two cache racks are rotated to the vertical brackets, the transparent root cultivation container is used to move between the photographing station group and the two cache racks.

[0008] Preferably, the transparent root cultivation container comprises a cultivation base, a cultivation container body, a light shielding cover and a light shielding hood;

[0009] The cultivation container body comprises a transparent inner cylinder, a transparent outer cylinder and a transparent top cover, the transparent outer cylinder is open up and down, the transparent inner cylinder and the transparent outer cylinder are mutually nested and fixed on the cultivation base, a transparent top cover is arranged on the top of the transparent inner cylinder, a root system annular cultivation space is formed between the transparent inner cylinder and the transparent outer cylinder, a light shielding cover is arranged above the root system annular cultivation space, a central hole communicating with the inner cavity of the transparent inner cylinder is opened on the cultivation base, and a water receiving box is arranged below the cultivation base;

[0010] The light shield is arranged between the light shield cover and the cultivation base, and comprises a left light shield and a right light shield which are detachably connected, the left light shield and the right light shield form a hollow rectangular structure, and the cultivation container body is arranged in the cavity.

[0011] Preferably, both the transverse bracket and the vertical bracket are provided with a connecting piece that is detachably connected to the other end of the cache rack, and the connecting piece includes a driving device and a positioning guide rod connected to the driving device. The driving device drives the positioning guide rod to rise or fall, and the other end of the cache rack is provided with a positioning guide sleeve that matches the positioning guide rod.

[0012] Preferably, the cache rack comprises an upper cache rack, a lower cache rack, and a reinforcing plate disposed between the upper cache rack and the lower cache rack;

[0013] The rotating end of the cache rack is connected to a rotating device, which includes a rotating support shaft and a driving mechanism for driving the rotating support shaft to rotate; the rotating support shaft includes a rotating shaft, an upper support plate and a lower support plate, the upper support plate and the lower support plate are arranged between the upper cache rack and the lower cache rack and are respectively connected to the upper cache rack and the lower cache rack, one end of the rotating shaft is connected to the output end of the driving mechanism, and the other end thereof is connected to the upper support plate and the lower support plate, and reinforcing ribs are provided between the upper support plate and the lower support plate.

[0014] Preferably, a universal wheel is provided at the bottom of the cache rack, and a guide rail is provided on the inner side of the connection between the transverse bracket and the vertical bracket for the universal wheel to travel when the cache rack rotates.

[0015] Preferably, the transport trolley includes a trolley bracket, a workbench arranged on the trolley bracket and capable of moving up and down along the trolley bracket, a left grasping device and a right grasping device for grasping the transparent root cultivation container are arranged on the left and right sides of the workbench, and a driving mechanism for driving the left grasping device and the right grasping device to move synchronously toward each other or away from each other is installed on the workbench.

[0016] Preferably, the left gripping device comprises a left base plate, a left movable frame, and two left supporting claws, wherein the left movable frame is mounted on one side of the left base plate close to the center of the workbench, the two left supporting claws are symmetrically arranged on the other side of the left base plate and form a horizontal moving pair with the left base plate, and a left driving mechanism for driving the two left supporting claws to synchronously move toward or away from each other is mounted on the left base plate;

[0017] The right grasping device includes a right base plate, a right movable frame, and two right supporting claws. The right movable frame is installed on the side of the right base plate close to the center of the workbench. The two right supporting claws are symmetrically arranged on the other side of the right base plate and form a horizontal moving pair with the right base plate. A right driving mechanism is installed on the right base plate for driving the two right supporting claws to move synchronously toward each other or away from each other.

[0018] Preferably, the left movable frame and the right movable frame are slidably connected to the slide rails of the workbench, and when the left movable frame and the right movable frame move toward each other synchronously, the left movable frame moves into the right movable frame.

[0019] Preferably, a trolley roof plate is provided above the workbench, and a driving device is provided on the trolley roof plate. The output end of the driving device is connected to one end of a ball screw, and the ball screw is screwed to the workbench to form a ball screw pair. The other end of the ball screw is connected to the trolley bracket through a bearing, and a guide rod is provided between the trolley roof plate and the trolley bracket.

[0020] Preferably, the workbench includes a guide rail base plate and a guide rail top plate from top to bottom, the left gripping device and the right gripping device are arranged on the guide rail base plate, and a reinforcing plate is provided between the guide rail base plate and the guide rail top plate.

[0021] The present invention realizes the movement of the transparent root cultivation container between the photographing station group and the two cache racks by moving the transport trolley back and forth along the walking guide rail between the photographing station group and the transparent root cultivation container cache rack. The photographing station group simultaneously takes pictures of the transparent root cultivation container, thereby realizing high-throughput, automated real-time monitoring and acquisition of the transparent root cultivation container. The entire system is based on a modular and efficient design concept, and can achieve automatic grasping and movement of the transparent root cultivation container, automatic photography, meet the requirements of high-throughput and automated photography, and improve photography efficiency. The present invention uses a transport trolley to move along the walking guide rail to complete the movement of the transparent root cultivation container. The system structure is light and simple, and the cost is low compared to the transportation method of the conveyor belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the automatic line for taking photos of the transparent root cultivation container of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the transparent root cultivation container of the present invention;

[0024] Figure 3 for Figure 2 The main view;

[0025] Figure 4 for Figure 3 Middle AA section;

[0026] Figure 5 for Figure 3 A top view of

[0027] Figure 6 This is a schematic diagram of the structure of the transparent root cultivation container buffer mechanism of the present invention;

[0028] Figure 7 It is a schematic diagram of the structure of the cache rack and the rotating device of the present invention;

[0029] Figure 8 It is a structural schematic diagram of the transport trolley of the present invention;

[0030] Fig. 9 This is a schematic diagram of the structure of the transport trolley of the present invention after the trolley roof is removed. DETAILED DESCRIPTION

[0031] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings so that the purpose, features and advantages of the present invention can be more clearly understood. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention. The parts not mentioned in the present invention are all prior art.

[0032] See also Figure 1 and Figure 6 The present invention provides a transparent root cultivation container photography automatic line, comprising a walking guide rail 5, a transport trolley 2, two rows of photography workstation groups 1, and a transparent root cultivation container caching mechanism 3;

[0033] The transparent root cultivation container caching mechanism 3 includes a transverse bracket 3-2, two vertical brackets 3-12 located on the same side of the transverse bracket 3-2, and two symmetrically arranged cache racks G and cache racks H for placing transparent root cultivation containers. The two vertical brackets 3-12 are respectively connected to the two ends of the transverse bracket 3-2, and one end of the cache rack G and the cache rack H are respectively rotatably connected to the connection between the vertical bracket 3-12 and the transverse bracket 3-2, so that the cache rack G and the cache rack H can rotate between the vertical bracket 3-12 and the transverse bracket 3-2;

[0034] The walking guide rail 5 is arranged between two rows of photographing station groups 1, and one end of the walking guide rail 5 extends to the area formed by two vertical brackets 3-12 and a horizontal bracket 3-2. The transport trolley 2 reciprocates along the walking guide rail 5 between the photographing station group 1 and the transparent root cultivation container caching mechanism 3. When the cache rack G and the cache rack H are rotated to the vertical bracket 3-12, they are used for the transportation of the transparent root cultivation container 4 between the photographing station group 1 and the cache rack G and the cache rack H.

[0035] For further information, see Figures 2 to 5 The transparent root cultivation container 4 includes a cultivation base 4-4, a cultivation container body, a light shielding cover 4-2 and a light shielding cover. The cultivation container body includes a transparent inner cylinder 4-8, a transparent outer cylinder 4-7 and a transparent top cover 4-6. The transparent outer cylinder 4-7 is open up and down. The transparent inner cylinder 4-8 and the transparent outer cylinder 4-7 are mutually nested and fixed on the cultivation base 4-4. A transparent top cover 4-6 is arranged on the top of the transparent inner cylinder 4-8. A root annular cultivation space is formed between the transparent inner cylinder 4-8 and the transparent outer cylinder 4-7. A light shielding cover 4-2 is arranged above the root annular cultivation space. A central hole (not shown in the figure) communicating with the inner cavity of the transparent inner cylinder 4-8 is also arranged on the cultivation base 4-4. Positioning holes 4-9 are arranged at the four corners of the cultivation base 4-4. A water receiving box 4-5 is arranged below the cultivation base 4-4. When in use, the root annular cultivation space is filled with soil, and sowing is carried out at a depth of 3 to 4 cm in the soil, and the crop roots grow in the soil. The light shield is arranged between the light shield cover 4-2 and the cultivation base 4-4, and the light shield comprises a left light shield 4-3 and a right light shield 4-1 which are detachably connected, and the left light shield 4-3 and the right light shield 4-1 form a hollow rectangular structure, and the cultivation container body is arranged in the cavity. When the left light shield 4-3 and the right light shield 4-1 are pulled outwards, the left light shield 4-3 and the right light shield 4-1 can be separated, and when the left light shield 4-3 and the right light shield 4-1 are pressed together, the left light shield 4-3 and the right light shield 4-1 can be clamped together. When it is necessary to image the plant root system in the cultivation container body, it is only necessary to disassemble the left light shield and the right light shield, and after imaging, the left light shield 4-3 and the right light shield 4-1 are clamped together.

[0036] Preferably, a through hole (not shown) connected to the root ring cultivation space is opened on the cultivation base 4-4 to facilitate the seepage of excess water at the bottom of the transparent outer cylinder 4-7 and the transparent inner cylinder 4-8 to avoid water stagnation at the bottom of the cultivation container body; the excess water seeping from the bottom of the transparent outer cylinder 4-7 and the transparent inner cylinder 4-8 flows out and enters the water receiving box 4-5 to avoid dirtying the ground.

[0037] For further information, see Figure 1 and Figure 6 The horizontal bracket 3-2 and the vertical bracket 3-12 are both provided with connecting parts that are detachably connected to the other ends of the cache racks G and H. The connecting parts include a driving device 3-5 and a positioning guide rod 3-8 connected to the driving device 3-5. The driving device 3-5 is preferably a cylinder; the cylinder 3-5 drives the positioning guide rod 3-8 to rise or fall, and the other ends of the cache racks G and H are provided with positioning guide sleeves 3-3 that match the positioning guide rod 3-8. When the other end of the cache rack G or the cache rack H rotates to the transverse bracket 3-2 or the vertical bracket 3-12, the cylinder 3-5 on the transverse bracket 3-2 or the vertical bracket 3-12 drives the positioning guide rod 3-8 to rise, and the positioning guide rod 3-8 is inserted into the positioning guide sleeve 3-3 at the other end of the cache rack G or the cache rack H, and the cache rack G or the cache rack H is fixed on the transverse bracket 3-2 or the vertical bracket 3-12. When the cache rack G or the cache rack H needs to be rotated, the cylinder 3-5 on the transverse bracket 3-2 or the vertical bracket 3-12 drives the positioning guide rod 3-8 to descend, and the positioning guide rod 3-8 exits the positioning guide sleeve 3-3 at the other end of the cache rack G or the cache rack H, and the cache rack G or the cache rack H can be rotated. Preferably, the transverse bracket 3-2 of the present invention is provided with a connecting piece, and when the cache rack G or the cache rack H rotates to the transverse bracket 3-2, the connecting piece is connected to the other end of the cache rack G or the cache rack H.

[0038] For further information, see Figure 6 and Figure 7, the cache rack G and the cache rack H both include an upper cache rack 3-18, a lower cache rack 3-19, and a reinforcing plate 3-20 disposed between the upper cache rack 3-18 and the lower cache rack 3-19. The rotating ends of the cache rack G and the cache rack H are both connected to the rotating device 3-1, and the rotating device 3-1 includes a rotating support shaft and a driving mechanism 3-13 for driving the rotating support shaft to rotate. The driving mechanism 3-13 is preferably a reduction motor. The rotating support shaft includes a rotating shaft 3-14, an upper supporting plate 3-17 and a lower supporting plate 3-15. The upper supporting plate 3-17 and the lower supporting plate 3-15 are arranged between the upper cache rack 3-18 and the lower cache rack 3-19 and are connected to the upper cache rack 3-18 and the lower cache rack 3-19 respectively. One end of the rotating shaft 3-14 is connected to the output end of the reduction motor 3-13, and the other end thereof is connected to the upper supporting plate 3-17 and the lower supporting plate 3-15. A reinforcing rib 3-16 is arranged between the upper supporting plate 3-17 and the lower supporting plate 3-15. After adopting the above structure, the strength of the cache rack G and the cache rack H is enhanced, so that the cache rack G and the cache rack H can bear a larger load; even if the rotating arm of the cache rack G and the cache rack H is long and the load is large, they can still rotate smoothly, which improves the stability of the cache rack G and the cache rack H when rotating.

[0039] For further information, see Figure 6 and Figure 7 , universal wheels 3-4 are provided at the bottom of the cache rack G and the cache rack H, and guide rails 3-11 are provided inside the connection between the horizontal bracket 3-2 and the vertical bracket 3-12 for the universal wheels 3-4 to travel when the cache rack G or the cache rack H rotates. There are two universal wheels 3-4, which are provided on both sides of the bottom of the cache rack to provide support for the cache rack when it rotates. Without affecting the rotation of the cache rack, the cache rack can still rotate smoothly even if the rotating arm is long and the load is heavy.

[0040] For further information, see Figure 6 and Figure 7 The top of the non-rotating end of the cache rack G and the cache rack H are both provided with a plurality of positioning seats for placing the transparent root cultivation container, each positioning seat includes four supporting pins 3-9, and the four corners of the cultivation base 4-4 are placed on the four supporting pins 3-9, and the two supporting pins 3-9 located at the diagonal position of the positioning seat are provided with positioning pins 3-10 that match the positioning holes 4-9 on the cultivation base 4-4. After adopting the above structure, not only can the transparent root cultivation container 4 be supported, but the positioning pins 3-10 can also be used for positioning when the transparent root cultivation container 4 is placed; and the structure is simple and the cost is low. Preferably, the top of the non-rotating end of the cache rack G and the cache rack H are both provided with two positioning seats.

[0041] For further information, see Figure 6A blocking plate 3-7 is provided on the outer side of the horizontal bracket 3-2 and the vertical bracket 3-12 to prevent the cache rack G and the cache rack H from rotating to the outer side of the horizontal bracket 3-2 or the vertical bracket 3-12; an inductive proximity switch 3-6 is provided next to the blocking plate 3-7 to detect the rotation distance of the cache rack G and the cache rack H.

[0042] For further information, see Figure 8 and Fig. 9 The transport trolley 2 includes a trolley support 2-1, a workbench arranged on the trolley support 2-1 and capable of moving up and down along the trolley support 2-1, a left grabbing device E and a right grabbing device F for grabbing the transparent root cultivation container 4 are arranged on the left and right sides of the workbench, and a driving mechanism (not shown in the figure) for driving the left grabbing device E and the right grabbing device F to synchronously move toward or away from each other is installed on the workbench. The driving mechanism is preferably a motor, and the motor drives the left grabbing device E and the right grabbing device F to synchronously move toward or away from each other, so that the left grabbing device E and the right grabbing device F can be retracted and extended at the same time, and the transparent root cultivation containers 4 in the left and right photo station groups 1 can be clamped or put down at the same time, and the transparent root cultivation containers 4 on the cache racks G and H can be clamped or put down at the same time when the cache racks G and the cache racks H are both rotated to the vertical brackets 3-12, thereby improving work efficiency and saving time costs.

[0043] For further information, see Figure 8 and Fig. 9 The left grasping device E comprises a left base plate 2-18, a left moving frame 2-17, and two left claws 2-19. The left moving frame 2-17 is installed on the side of the left base plate 2-18 close to the center of the workbench. The two left claws 2-19 are symmetrically arranged on the other side of the left base plate 2-18 and form a horizontal moving pair with the left base plate 2-18. The left base plate 2-18 is installed with a left driving mechanism 2-12 for driving the two left claws 2-19 to move synchronously toward or away from each other. The right grasping device F comprises a right base plate 2-15, a right moving frame 2-16, and two right claws 2-14. The right moving frame 2-16 is installed on the side of the right base plate 2-15 close to the center of the workbench. The two right claws 2-14 are symmetrically arranged on the other side of the right base plate 2-15 and form a horizontal moving pair with the right base plate 2-15. The right base plate 2-15 is installed with a right driving mechanism 2-11 for driving the two right claws 2-14 to move synchronously toward or away from each other. The left driving mechanism 2-12 and the right driving mechanism 2-11 are preferably cylinders, which drive the two left supporting claws 2-19 or the two right supporting claws 2-14 to move toward or away from each other synchronously, thereby realizing the clamping or putting down of the transparent root cultivation container 4.

[0044] For further information, see Figure 8 and Fig. 9The workbench is provided with mutually parallel slide rails 2-20, a transmission screw 2-21 is arranged in the middle of the slide rail 2-20 and is parallel to it, a slider (not shown in the figure) is inserted into the slide rail 2-20, and the left moving frame 2-17 and the right moving frame 2-16 are slidably connected to the slide rail 2-20 of the workbench through the slider (not shown in the figure); the transmission screw 2-21 is a positive and negative thread screw, and the positive and negative thread screw 2-21 is connected to the output shaft of the motor (not shown in the figure), and the left moving frame 2-17 and the right moving frame 2-16 are connected to the positive and negative thread screw 2-21 through the first nut fixing seat 2-22 and the second nut fixing seat 2-13. When working, the motor drives the positive and negative thread screw 2-21 to rotate, and the positive and negative thread screw 2-21 drives the slider to make a linear motion on the slide rail 2-20, thereby driving the left moving frame 2-17 and the right moving frame 2-16 to move synchronously toward each other or move backwards. When the left movable frame 2-17 and the right movable frame 2-16 move toward each other synchronously, the left movable frame 2-17 moves into the right movable frame 2-16, which saves space and makes the structure more compact.

[0045] For further information, see Figure 8 and Fig. 9 A trolley top plate 2-7 is arranged above the workbench, and a driving device 2-5 is arranged on the trolley top plate 2-7. The driving device 2-5 is preferably a reduction motor, and the reduction motor 2-5 is installed on the motor support 2-6. The output end of the reduction motor 2-5 is connected to one end of the ball screw 2-3, and the ball screw 2-3 is screwed with the workbench to form a ball screw pair. The other end of the ball screw 2-3 is connected to the trolley bracket 2-1 through a bearing 2-2. A guide rod 2-10 is arranged between the trolley top plate 2-7 and the trolley bracket 2-1. There are four guide rods 2-10 to guide the up and down movement of the workbench. The reduction motor 2-5 drives the ball screw 2-3 to rotate, thereby driving the workbench to move up and down. The response speed and stability of the up and down movement of the workbench are improved, and the production and maintenance costs are significantly reduced.

[0046] For further information, see Figure 8 and Fig. 9 The workbench includes a guide rail base plate 2-8 and a guide rail top plate 2-4 from top to bottom, a left grabbing device E and a right grabbing device F are arranged on the guide rail base plate 2-8, and a reinforcing plate 2-9 is arranged between the guide rail base plate 2-8 and the guide rail top plate 2-4; it is used to ensure the rigidity and strength of the workbench.

[0047] Furthermore, a photoelectric switch (not shown in the figure) is provided on the outer side of the slide rail 2-20 for detecting the movement trajectory of the left grabbing device E and the right grabbing device F.

[0048] See also Figure 1 The working process of the present invention is described in detail. Figure 1In the example, cache stations II and IV correspond to two positioning seats on cache rack G, and cache stations I and III correspond to two positioning seats on cache rack H. Taking the photo station group as 2 groups as an example, the specific working process is as follows:

[0049] Step 1: Loading of Cache Rack G and Cache Rack H

[0050] The cache rack G is located on the vertical bracket 3-12, and the reduction motor 3-13 is controlled to drive the cache rack H to rotate to the transverse bracket 3-2 until the positioning guide sleeve 3-3 on the cache rack H is located directly above the positioning guide rod 3-8 on the transverse bracket 3-2; the cylinder 3-5 on the transverse bracket 3-2 is controlled to drive the positioning guide rod 3-8 to rise until the positioning guide rod 3-8 on the transverse bracket 3-2 is inserted into the positioning guide sleeve 3-3 of the cache rack H; a manipulator is used to place the transparent root cultivation container to be photographed on the cache station I; the cylinder 3-5 on the transverse bracket 3-2 is controlled to drive the positioning guide rod 3-8 to rise until the positioning guide rod 3-8 on the transverse bracket 3-2 is inserted into the positioning guide sleeve 3-3 of the cache rack H. 3-5 drives the positioning guide rod 3-8 to descend until the positioning guide rod 3-8 on the horizontal bracket 3-2 withdraws from the positioning guide sleeve 3-3 of the cache rack H; controls the reduction motor 3-13 to drive the cache rack H to rotate to the vertical bracket 3-12 until the positioning guide sleeve 3-3 on the cache rack H is located directly above the positioning guide rod 3-8 on the vertical bracket 3-12; controls the cylinder 3-5 on the vertical bracket 3-12 to drive the positioning guide rod 3-8 to rise until the positioning guide rod 3-8 on the vertical bracket 3-12 is inserted into the positioning guide sleeve 3-3 on the cache rack H. Control the reduction motor 3-13 to drive the cache rack G to rotate onto the transverse bracket 3-2 until the positioning guide sleeve 3-3 on the cache rack G is located directly above the positioning guide rod 3-8 on the transverse bracket 3-2; control the cylinder 3-5 on the transverse bracket 3-2 to drive the positioning guide rod 3-8 to rise until the positioning guide rod 3-8 on the transverse bracket 3-2 is inserted into the positioning guide sleeve 3-3 on the cache rack G; use a manipulator to place the transparent root cultivation container to be photographed on the cache station II, and control the cylinder 3-5 on the transverse bracket 3-2 to drive the positioning guide rod 3-8. The guide rod 3-8 is lowered until the positioning guide rod 3-8 on the horizontal bracket 3-2 is withdrawn from the positioning guide sleeve 3-3 of the buffer rack G; the reduction motor 3-13 is controlled to drive the buffer rack G to rotate to the vertical bracket 3-12 until the positioning guide sleeve 3-3 on the buffer rack G is located directly above the positioning guide rod 3-8 on the vertical bracket 3-12; the cylinder 3-5 on the vertical bracket 3-12 is controlled to drive the positioning guide rod 3-8 to rise until the positioning guide rod 3-8 on the vertical bracket 3-12 is inserted into the positioning guide sleeve 3-3 on the buffer rack G. The loading of the buffer racks G and H is completed.

[0051] Step 2: Transport the transparent root cultivation containers to be photographed on the cache racks G and H to the photographing stations B and A.

[0052] Control the transport trolley 2 to move along the walking guide rail 5 toward the transparent root cultivation container caching mechanism 3 until it enters the area formed by the two vertical brackets 3-12 and the horizontal bracket 3-2; control the reduction motor 2-5 to drive the workbench to move up and down until the left grabbing device E and the right grabbing device F of the workbench are located below the cache station II and the cache station I; at the same time, control the cylinder 2-12 to drive the two left supporting claws 2-19 and the cylinder 2-11 to drive the two right supporting claws 2-14 to move synchronously in opposite directions; control the transport trolley 2 to move along the walking guide rail 5, and at the same time control the motor on the workbench to drive the forward and reverse screws 2-21 to drive the left grabbing device E and the right grabbing device F to move synchronously toward or away from each other until the two left supporting claws 2-19 and the two right supporting claws 2-14 are respectively located directly below the cultivation base 4-4 of the transparent root cultivation container 4 on the cache station II and the cache station I; the reduction motor 2-5 is controlled to drive the workbench to move upward, and at the same time, the cylinder 2-12 is controlled to drive the two left supporting claws 2-19 and the cylinder 2-11 to drive the two right supporting claws 2-14 to move toward each other synchronously, and the two left supporting claws 2-19 and the two right supporting claws 2-14 respectively clamp the cultivation base 4-4 of the transparent root cultivation container 4 on the cache station II and the cache station I; the motor on the workbench is controlled to drive the forward and reverse threaded screws 2-21 to drive the left grasping device E and the right grasping device F to move toward each other synchronously until the two left supporting claws 2-19, the two right supporting claws 2-14 and the transparent root cultivation containers clamped by them are located on the workbench.

[0053] Control the transport trolley 2 to move along the walking guide rail 5 toward the direction of the photographing station B and the photographing station A until the two left supporting claws 2-19, the two right supporting claws 2-14 and the transparent root cultivation container clamped by them are located between the photographing station B and the photographing station A, and control the reduction motor 2-5 to drive the workbench to move up and down until the two left supporting claws 2-19, the two right supporting claws 2-14 and the transparent root cultivation container clamped by them are located above the photographing station B and the photographing station A; control the motor on the workbench to drive the forward and reverse screws 2-21 to drive the left grabbing device E and the right grabbing device F to move synchronously in the opposite directions, and at the same time control the transport trolley 2 Move along the walking guide rail 5 until the transparent root cultivation container clamped by the two left supporting claws 2-19 and the two right supporting claws 2-14 are respectively located directly above the photographing station B and the photographing station A; control the reduction motor 2-5 to drive the workbench to move downward, and at the same time control the cylinder 2-12 to drive the two left supporting claws 2-19 and the cylinder 2-11 to drive the two right supporting claws 2-14 to move synchronously in the opposite directions, and the two left supporting claws 2-19 and the two right supporting claws 2-14 respectively place the transparent root cultivation container on the photographing station B and the photographing station A; the photographing stations B and A respectively take pictures of the transparent root cultivation containers above them.

[0054] When the transporting trolley 2 transports the transparent root cultivation container 4 to the photographing station B and the photographing station A, the buffer racks G and H are loaded with materials according to the first step.

[0055] After the transport trolley 2 places the transparent root cultivation container on the photographing station B and the photographing station A, the transport trolley 2 is controlled to move along the walking guide rail 5 toward the transparent root cultivation container caching mechanism 3 .

[0056] Step 3: Transport the transparent root cultivation containers to be photographed on the cache racks G and H to the photographing stations D and C.

[0057] Refer to the second step to clamp the transparent root cultivation containers located at the cache station II and the cache station I, and send them to the photographing station D and the photographing station C for photographing.

[0058] When the transporting trolley 2 transports the transparent root cultivation container 4 to the photographing station D and the photographing station C, the buffer racks G and the buffer racks H are loaded with materials according to the first step.

[0059] Step 4: Transport the transparent root cultivation containers that have been photographed at photography stations B and A back to cache racks G and H.

[0060] Control the transport trolley 2 to move along the walking guide rail 5 toward the direction of the photographing station B and the photographing station A, until the left grabbing device E and the right grabbing device F are located between the photographing station B and the photographing station A, and control the reduction motor 2-5 to drive the workbench to move up and down until the left grabbing device E and the right grabbing device F are located below the photographing station B and the photographing station A; control the cylinder 2-12 to drive the two left supporting claws 2-19 and the cylinder 2-11 to drive the two right supporting claws 2-14 to move synchronously in the opposite directions; control the motor on the workbench to drive the forward and reverse threaded screws 2-21 to drive the left grabbing device E and the right grabbing device F to move synchronously in the opposite directions, and at the same time control the transport trolley 2 to move along the walking guide rail 5 until the two left supporting claws 2-19 and the two right supporting claws 2-14 are located respectively at the photographing stations B and A. Directly below the cultivation base 4-4 of the transparent root cultivation container on the photographing station A; control the reduction motor 2-5 to drive the workbench to move upward, and at the same time control the cylinder 2-12 to drive the two left supporting claws 2-19 and the cylinder 2-11 to drive the two right supporting claws 2-14 to move toward each other synchronously, and the two left supporting claws 2-19 and the two right supporting claws 2-14 respectively clamp the cultivation base 4-4 of the transparent root cultivation container on the photographing station B and the photographing station A; control the motor on the workbench to drive the forward and reverse screws 2-21 to drive the left grabbing device E and the right grabbing device F to move toward each other synchronously until the two left supporting claws 2-19, the two right supporting claws 2-14 and the transparent root cultivation container clamped by them are located on the workbench.

[0061] Control the transport trolley 2 to move along the walking guide rail 5 toward the transparent root cultivation container caching mechanism 3 until it enters the area formed by the two vertical brackets 3-12 and the horizontal bracket 3-2; control the reduction motor 2-5 to drive the workbench to move up and down until the two left claws 2-19, the two right claws 2-14 of the workbench and the transparent root cultivation container clamped by them are located above the cache stations IV and III; control the motor on the workbench to drive the forward and reverse screws 2-21 to drive the left grabbing device E and the right grabbing device F to move synchronously in the opposite directions, and at the same time control the transport trolley 2 to move along the walking guide rail 5, Until the positioning holes 4-9 on the cultivation base 4-4 of the transparent root cultivation container clamped by the two left supporting claws 2-19 and the two right supporting claws 2-14 are respectively located directly above the positioning pins 3-10 of the buffer station IV and the buffer station III; control the reduction motor 2-5 to drive the workbench to move downward, and at the same time control the cylinder 2-12 to drive the two left supporting claws 2-19 and the cylinder 2-11 to drive the two right supporting claws 2-14 to move synchronously in the opposite directions, and the two left supporting claws 2-19 and the two right supporting claws 2-14 respectively insert the positioning holes 4-9 on the cultivation base 4-4 of the transparent root cultivation container into the positioning pins 3-10.

[0062] Step 5: Transport the transparent root cultivation containers to be photographed on the cache racks G and H to the photographing stations B and A.

[0063] Referring to the second step, the transparent root cultivation containers to be photographed on the cache racks G and H are transported to the photographing stations B and A.

[0064] Step 6: Transport the transparent root cultivation containers that have been photographed at photography stations D and C back to cache racks G and H.

[0065] Referring to the fourth step, the transparent root cultivation containers photographed at the photographing stations D and C are transported back to the cache racks G and H.

[0066] While the transport trolley 2 is performing the fifth and sixth steps, the buffer racks G and H are unloading the photographed transparent root cultivation containers and loading the transparent root cultivation containers to be photographed.

[0067] The steps of the cache rack G and the cache rack H for unloading the photographed transparent root cultivation container and loading the transparent root cultivation container to be photographed are as follows:

[0068] 1. The reduction motor 3-13 drives the cache rack H to rotate onto the transverse bracket 3-2 until the positioning guide sleeve 3-3 on the cache rack H is located directly above the positioning guide rod 3-8 on the transverse bracket 3-2; the cylinder 3-5 on the transverse bracket 3-2 is controlled to drive the positioning guide rod 3-8 to rise until the positioning guide rod 3-8 on the transverse bracket 3-2 is inserted into the positioning guide sleeve 3-3 on the cache rack H, and the transparent root cultivation container that has been photographed on the cache station III is removed by a manipulator, and then the transparent root cultivation container to be photographed is placed on the cache station I; the transverse bracket 3- The cylinder 3-5 on the horizontal bracket 3-2 drives the positioning guide rod 3-8 to descend until the positioning guide rod 3-8 on the horizontal bracket 3-2 withdraws from the positioning guide sleeve 3-3 of the cache rack H; the reduction motor 3-13 is controlled to drive the cache rack H to rotate to the vertical bracket 3-12 until the positioning guide sleeve 3-3 on the cache rack H is located directly above the positioning guide rod 3-8 on the vertical bracket 3-12; the cylinder 3-5 on the vertical bracket 3-12 is controlled to drive the positioning guide rod 3-8 to rise until the positioning guide rod 3-8 on the vertical bracket 3-12 is inserted into the positioning guide sleeve 3-3 on the cache rack H.

[0069] 2. Control the reduction motor 3-13 to drive the cache rack G to rotate onto the transverse bracket 3-2 until the positioning guide sleeve 3-3 on the cache rack G is located directly above the positioning guide rod 3-8 on the transverse bracket 3-2; control the cylinder 3-5 on the transverse bracket 3-2 to drive the positioning guide rod 3-8 to rise until the positioning guide rod 3-8 on the transverse bracket 3-2 is inserted into the positioning guide sleeve 3-3 on the cache rack G; use a manipulator to remove the transparent root cultivation container that has been photographed on the cache station IV, and then place the transparent root cultivation container to be photographed on the cache station II; control the transverse bracket 3-5 .... The cylinder 3-5 on the bracket 3-2 drives the positioning guide rod 3-8 to descend until the positioning guide rod 3-8 on the horizontal bracket 3-2 exits from the positioning guide sleeve 3-3 of the buffer rack G; the reduction motor is controlled to drive the buffer rack G to rotate to the vertical bracket 3-12 until the positioning guide sleeve 3-3 on the buffer rack G is located directly above the positioning guide rod 3-8 on the vertical bracket 3-12; the cylinder 3-5 on the vertical bracket 3-12 is controlled to drive the positioning guide rod 3-8 to rise until the positioning guide rod 3-8 on the vertical bracket 3-12 is inserted into the positioning guide sleeve 3-3 on the buffer rack G. The unloading of the photographed transparent root cultivation containers of the buffer rack G and the buffer rack H and the loading of the transparent root cultivation containers to be photographed are completed.

[0070] The cycle continues in this way.

[0071] The present invention is only described with the above embodiments, and the structure, location and connection of each component can be changed. Based on the technical solution of the present invention, any improvement or equivalent transformation of individual components based on the principle of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A transparent root cultivation container photography automatic line, characterized in that It includes a walking rail, a transport trolley, two rows of photo taking stations, and a transparent root cultivation container caching mechanism; The transparent root cultivation container caching mechanism comprises a transverse support, two vertical supports located on the same side of the transverse support, and two symmetrically arranged cache racks for placing the transparent root cultivation container, the two vertical supports are respectively connected to the two ends of the transverse support, and one end of the two cache racks is respectively rotatably connected to the connection between the vertical support and the transverse support, so that the two cache racks can rotate between the vertical support and the transverse support; The walking guide rail is arranged between two rows of photographing station groups, and one end of the walking guide rail extends to the area formed by two vertical brackets and a horizontal bracket. The transport trolley moves back and forth along the walking guide rail between the photographing station group and the transparent root cultivation container caching mechanism. When the two cache racks are rotated to the vertical brackets, the transparent root cultivation container is used to move between the photographing station group and the two cache racks.

2. The transparent root cultivation container photography automatic line according to claim 1, characterized in that: The transparent root cultivation container comprises a cultivation base, a cultivation container body, a light shielding cover and a light shielding hood; The cultivation container body comprises a transparent inner cylinder, a transparent outer cylinder and a transparent top cover, the transparent outer cylinder is open up and down, the transparent inner cylinder and the transparent outer cylinder are mutually nested and fixed on the cultivation base, a transparent top cover is arranged on the top of the transparent inner cylinder, a root system annular cultivation space is formed between the transparent inner cylinder and the transparent outer cylinder, a light shielding cover is arranged above the root system annular cultivation space, a central hole communicating with the inner cavity of the transparent inner cylinder is opened on the cultivation base, and a water receiving box is arranged below the cultivation base; The light shield is arranged between the light shield cover and the cultivation base, and comprises a left light shield and a right light shield which are detachably connected, the left light shield and the right light shield form a hollow rectangular structure, and the cultivation container body is arranged in the cavity of the hollow rectangular structure.

3. The transparent root cultivation container photography automatic line according to claim 1, characterized in that: Both the horizontal bracket and the vertical bracket are provided with a connecting piece that is detachably connected to the other end of the cache rack. The connecting piece includes a driving device and a positioning guide rod connected to the driving device. The driving device drives the positioning guide rod to rise or fall. The other end of the cache rack is provided with a positioning guide sleeve that matches the positioning guide rod.

4. The transparent root cultivation container photography automatic line according to claim 1, characterized in that: The cache rack includes an upper cache rack, a lower cache rack, and a reinforcing plate disposed between the upper cache rack and the lower cache rack; The rotating end of the cache rack is connected to a rotating device, which includes a rotating support shaft and a driving mechanism for driving the rotating support shaft to rotate; the rotating support shaft includes a rotating shaft, an upper support plate and a lower support plate, the upper support plate and the lower support plate are arranged between the upper cache rack and the lower cache rack and are respectively connected to the upper cache rack and the lower cache rack, one end of the rotating shaft is connected to the output end of the driving mechanism, and the other end thereof is connected to the upper support plate and the lower support plate, and reinforcing ribs are provided between the upper support plate and the lower support plate.

5. The transparent root cultivation container photography automatic line according to claim 1, characterized in that: The bottom of the cache rack is provided with a universal wheel, and the inner side of the connection between the horizontal bracket and the vertical bracket is provided with a guide rail for the universal wheel to travel when the cache rack rotates.

6. The transparent root cultivation container photography automatic line according to any one of claims 1 to 5, characterized in that: The transport trolley includes a trolley bracket, a workbench arranged on the trolley bracket and capable of moving up and down along the trolley bracket, a left grabbing device and a right grabbing device for grabbing a transparent root cultivation container are arranged on the left and right sides of the workbench, and a driving mechanism for driving the left grabbing device and the right grabbing device to synchronously move toward or away from each other is installed on the workbench.

7. The transparent root cultivation container photography automatic line according to claim 6, characterized in that: The left gripping device comprises a left base plate, a left movable frame, and two left supporting claws. The left movable frame is installed on one side of the left base plate close to the center of the workbench. The two left supporting claws are symmetrically arranged on the other side of the left base plate and form a horizontal moving pair with the left base plate. A left driving mechanism for driving the two left supporting claws to synchronously move toward or away from each other is installed on the left base plate. The right grasping device includes a right base plate, a right movable frame, and two right supporting claws. The right movable frame is installed on the side of the right base plate close to the center of the workbench. The two right supporting claws are symmetrically arranged on the other side of the right base plate and form a horizontal moving pair with the right base plate. A right driving mechanism is installed on the right base plate for driving the two right supporting claws to move synchronously toward each other or away from each other.

8. The transparent root cultivation container photography automatic line according to claim 7, characterized in that: The left movable frame and the right movable frame are slidably connected to the slide rails of the workbench. When the left movable frame and the right movable frame move toward each other synchronously, the left movable frame moves into the right movable frame.

9. The transparent root cultivation container photography automatic line according to claim 6, characterized in that: A trolley roof plate is provided above the workbench, and a driving device is provided on the trolley roof plate. The output end of the driving device is connected to one end of a ball screw, and the ball screw is screwed to the workbench to form a ball screw pair. The other end of the ball screw is connected to the trolley bracket through a bearing, and a guide rod is provided between the trolley roof plate and the trolley bracket.

10. The transparent root cultivation container photography automatic line according to claim 6, characterized in that: The workbench comprises a guide rail base plate and a guide rail top plate from top to bottom, a left grabbing device and a right grabbing device are arranged on the guide rail base plate, and a reinforcing plate is arranged between the guide rail base plate and the guide rail top plate.

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