A field crop spectrum acquisition device

Abstract

The application discloses a kind of field crop spectrum acquisition devices, it is related to detection technical field, including platform main body, four independent walking mechanisms, vertical support and ball seat, ball seat is rotatably connected with ball and with ball constitutes ball pair, the lower end of ball is connected with pedestal, the lower end of pedestal is installed with spectrum camera, the upper end of vertical support is installed with the compression mechanism for ball positioning, the lower of vertical support is also slidably connected with demisting mechanism by means of slide bar, the spherical cover in demisting mechanism is also connected with compression mechanism to make compression mechanism move up and down while being able to drive the opening of the closure of demisting mechanism, the spherical cover is also connected with the protective cylinder that can move up and down along platform main body, the application can make that spectrum camera can be kept probe vertical downward by gravity in static state to the measured object, to further improve the collection quality of spectrum.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of detection technology, and particularly relates to a field crop spectrum acquisition device. BACKGROUND

[0002] At present, the spectrum acquisition system based on unmanned aerial vehicle is widely applied in the field of field crop spectrum data acquisition, but the spectrum data obtained is lack of details and near-ground canopy information. The large laboratory spectral instrument and the manual handheld spectral instrument are used to obtain the details of a single plant or a small amount of crops, but the information acquisition rate is extremely low. In the prior art, a self-propelled trolley is used as a carrier to carry a related spectral camera to collect field crop spectrum data to improve the spectrum acquisition efficiency, such as a device for field crop spectrum information acquisition (publication number CN111503459A), a self-propelled crop phenotype acquisition equipment and method for field (publication number CN111637342A), and a field crop phenotype five-dimensional data acquisition vehicle (publication number CN111272221A), but due to the uneven terrain conditions in the field, the trolley is difficult to maintain a horizontal state, and then the spectral camera is difficult to face downward to the measured object, resulting in that the accuracy of the collected data is not high enough. In addition, considering that the water vapor in the field (especially in the rice field) is large, water mist is easily formed on the lens of the spectral camera, and the strong wind in the environment will cause the crops to shake frequently, and the above factors are not conducive to the accurate collection of the spectrum. SUMMARY

[0003] The purpose of the present application is to provide a heat dissipation structure and a field crop spectrum acquisition device to solve the above-mentioned defects in the prior art.

[0004] A field crop spectrum acquisition device, comprising a platform main body and four independent walking mechanisms, the four independent walking mechanisms are installed at the four corners of the platform main body and are used to realize the walking of the platform main body in the field, the upper end of the platform main body is installed with a vertical support by means of two lateral supports, the lower end of the vertical support is installed with a spherical seat with a spherical cavity, a spherical body is rotatably connected in the spherical seat and forms a spherical pair with the spherical body, the upper and lower ends of the spherical seat are open and the lower end of the spherical body is connected with a base, the lower end of the base is installed with a spectral camera, the upper end of the vertical support is installed with a pressing mechanism for positioning the spherical body, the lower side of the vertical support is also slidably connected with a demisting mechanism by means of a slide rod, the spherical cover in the demisting mechanism is also connected with the pressing mechanism to enable the pressing mechanism to move up and down while driving the demisting mechanism to expand, and the spherical cover is also connected with a protective cylinder which can move up and down along the platform main body.

[0005] Further, the pressing mechanism comprises an electric cylinder, a lifting plate, a base plate and a pressing plate, the electric cylinder is installed at the upper end of the vertical support and the output end thereof is connected to the lifting plate, the upper end of the base plate is fixed with a plurality of guide columns which are slidingly connected to the lifting plate and the upper end of the guide column is limited by a nut, a return spring is sleeved on the guide column between the lifting plate and the base plate, the lower end of the base plate is connected to the pressing plate which is matched with the ball through a connecting column, and the two ends of the lifting plate are also installed with guide rods which pass through the lower end of the vertical support.

[0006] Further, the defogging mechanism comprises two symmetrically arranged spherical covers, the front and rear ends of the spherical cover are fixed with supports, the supports are provided with sliding holes matched with sliding rods, the sliding rods are horizontally arranged and the two ends of the sliding rods are connected to side plates, the side plates are installed on lateral supports, the left and right ends of the spherical cover are fixed with hinge seats one, the hinge seats one are hingedly connected with connecting rods one, the other end of the connecting rods one is hingedly connected to hinge seats two arranged on the lifting plate, the inner wall of the spherical cover is in a spherical shape and the opening is upward, and the two spherical covers can form a hemispherical cover body after being closed.

[0007] The spherical cover is provided with an air chamber, the inner wall of the spherical cover is provided with exhaust holes communicated with the air chamber, the side end faces of the two spherical covers are provided with openings and can be tightly sealed after being closed, the hinge seat one on one of the spherical covers is provided with an air inlet pipe communicated with the air chamber, and the air inlet pipe is connected to the electric hair dryer through a hose;

[0008] Under the action of the connecting rod one, the two spherical covers can move synchronously in the same plane in the same direction or opposite directions.

[0009] Further, the lower end of the vertical support is provided with a guide hole for the movement of the connecting rod one.

[0010] Further, the inner wall of the pressing plate is provided with a rubber anti-skid pad.

[0011] Further, the platform body is a rectangular frame.

[0012] Further, the independent walking mechanism comprises a supporting leg, a motor shell, a servo motor and a walking wheel, the upper end of the supporting leg is connected to the platform body, the motor shell is installed at the lower end of the supporting leg, the servo motor is installed in the motor shell and the output end of the servo motor is connected to the walking wheel.

[0013] Further, the surfaces of the platform body, the independent walking mechanism, the lateral support and the vertical support are sprayed with black or gray finish.

[0014] Further, the support plates are arranged on the front and back sides of the protection cylinder, the support seats are arranged on the platform body, the guide rods are connected to the lower ends of the support seats close to the protection cylinder, the support plates are slidably connected to the guide rods, and the hinge seats three are arranged on the left and right sides of the protection cylinder.

[0015] The present application has the advantages of:

[0016] 1. The ball seat and the ball body capable of rotating in the ball seat are arranged, so that the spectral camera can keep the probe vertically downward to the measured object in a static state by means of its own gravity, thereby improving the spectral acquisition quality.

[0017] 2. The lifting plate and the demisting mechanism are connected through the connecting rod one, so that when the lifting plate is lifted and reset, the two symmetrical spherical covers can be driven to close and form a hemispherical cover body under the action of the connecting rod one, thereby hot air can be introduced into the spherical cover and blown to the lens of the spectral camera by using the electric heating fan to realize demisting when the spectral camera is in a non-acquisition state; when the spectral camera is in an acquisition state, on the one hand, the spherical cover can be unfolded and interference to the crop spectrum acquisition is avoided, and on the other hand, the protection cylinder can be lowered to the lowest point at the same time, so as to form a protection barrier around the crops and reduce the adverse effects of strong wind on the image acquisition process. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural schematic view of the present application.

[0019] Figure 2 It is a partial detail view of A in the figure. Figure 1

[0020] Figure 3 It is a structural schematic view of the platform body and the above parts in the present application.

[0021] Figure 4 It is a partial detail view of B in the figure. Figure 3

[0022] It is a partial detail view of C in the figure. Figure 5 Figure 3

[0023] It is a partial view of the demisting mechanism and the protection cylinder. Figure 6

[0024] Figure 7 It is a partial view of the spherical cover.

[0025] ​​​Wherein: 1 platform body, 2 independent walking mechanism, 20 support leg, 21 motor shell, 22 servo motor, 23 walking wheel, 3 lateral support, 4 vertical support, 40 guide hole, 41 side plate, 5 ball seat, 6 ball, 7 base, 8 spectral camera, 9 compression mechanism, 90 electric cylinder, 91 lifting plate, 92 base plate, 93 pressing plate, 94 non-slip mat, 95 guide column, 96 return spring, 97 guide rod, 10 slide rod, 11 connecting rod, 12 demisting mechanism, 120 spherical cover, 121 support, 122 hinged seat, 123 hinged seat, 124 air chamber, 125 exhaust hole, 126 opening, 127 hose, 128 electric hair dryer, 13 protection cylinder, 130 support plate, 131 support seat, 132 guide rod, 133 hinged seat, 134 connecting rod. DETAILED DESCRIPTION

[0026] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the following will further describe the present application in combination with specific embodiments.

[0027] As shown in Figures 1 to 7 A field crop spectrum acquisition device, comprising a platform body 1 and four independent walking mechanisms 2, the platform body 1 is a rectangular frame, and a corresponding control system and equipment (not shown in the figure) can be installed on the platform body 1 for controlling the sending and receiving of signals, the operation of the spectral camera 8 and driving the independent walking mechanism 2 to walk, the four independent walking mechanisms 2 are installed at the four corners of the platform body 1 and are used to realize the walking of the platform body 1 in the field, the independent walking mechanism 2 comprises a support leg 20, a motor shell 21, a servo motor 22 and a walking wheel 23, the upper end of the support leg 20 is connected with the platform body 1, the motor shell 21 is installed at the lower end of the support leg 20, the servo motor 22 is installed in the motor shell 21 and the output end of the servo motor 22 is connected to the walking wheel 23, the upper end of the platform body 1 is installed with a vertical support 4 by means of two lateral supports 3, the lower end of the vertical support 4 is installed with a ball seat 5 with a spherical cavity, a ball 6 is rotatably connected in the ball seat 5 and forms a ball pair with the ball 6, the upper and lower ends of the ball seat 5 are open and the lower end of the ball 6 is connected with a base 7, the lower end of the base 7 is installed with a spectral camera 8;

[0028] The upper end of the vertical support 4 is provided with a pressing mechanism 9 for positioning the ball 6, which comprises an electric cylinder 90, a lifting plate 91, a base plate 92 and a pressing plate 93. The electric cylinder 90 is installed at the upper end of the vertical support 4 and its output end is connected to the lifting plate 91. The upper end of the base plate 92 is fixed with a plurality of guide columns 95 which are slidingly connected to the lifting plate 91, and the upper end of the guide column 95 is limited by a nut. A return spring 96 is sleeved on the guide column 95 between the lifting plate 91 and the base plate 92. The lower end of the base plate 92 is connected to the pressing plate 93 which cooperates with the ball 6 by means of a connecting column. The lower end surface of the pressing plate 93 is provided with a spherical pressing surface which can cooperate with the ball 6 to press and position the ball. In order to facilitate the up-and-down movement of the lifting plate 91, guide rods 97 are installed at both ends of the lifting plate 91, and the lower end of the guide rod 97 penetrates through the lower end of the vertical support 4.

[0029] Considering that the water vapor in the field (especially in the rice field) is large, it is easy to form water mist on the lens of the spectral camera 8. Therefore, a demisting mechanism 12 is slidingly connected to the vertical support 4 by means of a slide rod 10. The spherical cover 120 in the demisting mechanism 12 is also connected to the pressing mechanism 9 so that the pressing mechanism 9 can drive the closing and unfolding of the demisting mechanism 12 while moving up and down. The demisting mechanism 12 comprises two symmetrically arranged spherical covers 120. The front and rear ends of the spherical cover 120 are fixed with supports 121 which are provided with sliding holes matched with the slide rod 10. The slide rod 10 is horizontally arranged and its two ends are connected to the side plates 41 which are installed on the lateral supports 3. The left and right ends of the spherical cover 120 are fixed with hinge seats one 122 which are hinged with connecting rods one 11. The other end of the connecting rod one 11 is hinged to the hinge seats two 123 arranged on the lifting plate 91. The inner wall of the spherical cover 120 is spherical and the opening faces upward. When the two spherical covers 120 are closed, they can form a hemispherical cover body which can protect the lens part of the spectral camera 8 to a certain extent.

[0030] The spherical cover 120 is provided with an air chamber 124 and the inner wall of the spherical cover 120 is provided with exhaust holes 125 which communicate with the air chamber 124. The side end faces of the two spherical covers 120 are provided with openings 126 which can be sealed against each other when the two spherical covers 120 are closed. The hinge seat one 122 on one of the spherical covers 120 is provided with an air inlet pipe which communicates with the air chamber 124. The air inlet pipe is connected to an electric heating fan 128 by means of a hose 127. The electric heating fan 128 is controlled by the above-mentioned corresponding control system and equipment to open and close.

[0031] Under the action of the connecting rod one 11, the two spherical covers 120 can move in the same plane in the opposite directions synchronously. In order to facilitate the movement of the connecting rod one 11, the lower end of the vertical support 4 is also provided with a guide hole 40 for the movement of the connecting rod one 11.

[0032] In the embodiment, in order to improve the positioning effect of the pressing plate 93, a rubber anti-skid pad 94 is arranged on the inner wall of the pressing plate 93.

[0033] In the embodiment, in order to reduce the light pollution to the spectrum acquisition, the surfaces of the platform body 1, the independent walking mechanism 2, the lateral support 3 and the vertical support 4 are sprayed with black or gray finish, so as to reduce the reflectivity of the above-mentioned structures.

[0034] On the basis of the above-mentioned scheme, the spherical cover 120 is further connected with a protective cylinder 13 capable of moving up and down along the platform body 1, the protective cylinder 13 is a circular pipe made of plastic and penetrating up and down, support plates 130 are arranged on the front and back sides of the protective cylinder 13, a support seat 131 is arranged on the corresponding platform body 1, a guide rod 132 is connected to the lower end of the side of the support seat 131 close to the protective cylinder 13, the support plates 130 are slidingly connected to the guide rod 132, and hinge seats three 133 are arranged on the left and right sides of the protective cylinder 13, and a connecting rod two 134 is hinged between the hinge seat three 133 and the corresponding side of the support seat 121.

[0035] The working process and principle of the present application are as follows:

[0036] The independent walking mechanism 2 is used to travel to the target area, and then remains stationary for a period of time, so that the spectrum camera 8 shaken during walking is stabilized and finally kept in a vertical state, at this time, the two spherical covers 120 are in a closed state, then the electric heating fan 128 is remotely controlled to open and blow hot air into the air chamber of the spherical cover 120, and then the hot air is blown to the lens of the spectrum camera 8 through the exhaust hole 125 to remove the fog, at this time, the protective cylinder 13 is at the highest point; after the fog removal is completed, the electric heating fan 128 is closed, the electric cylinder 90 is started and drives the pressing plate 93 to move downward until the pressing plate 93 contacts and tightly presses the spherical body 6, in this process, the lifting plate 91 drives the two spherical covers 120 to open by means of the connecting rod one 11, so that the spectrum camera 8 is in an acquisition state, at this time, the protective cylinder 13 is lowered to the lowest point under the action of the connecting rod two, and a protective barrier can be formed around the crops, so as to reduce the adverse effects of strong wind on the image acquisition process; then the acquisition of the crop spectrum data is carried out, after the acquisition is completed, the electric cylinder 90 drives the pressing plate 93 to move upward and reset, at the same time, the spherical cover 120 is also closed, and a collection process is completed.

[0037] It is to be understood by those skilled in the art that the present application can be implemented by other embodiments without departing from the spirit or essential characteristics thereof. Therefore, the above-mentioned disclosed embodiments are only illustrative in all aspects, and are not the only ones. All changes within the scope of the present application or within the scope equivalent to the present application are included in the present application.

Claims

1. A field crop spectrum acquisition device, comprising a platform body (1) and four independent walking mechanisms (2), wherein the four independent walking mechanisms (2) are installed at the four corners of the platform body (1) and are used to enable the platform body (1) to move in the field, characterized in that, A vertical support (4) is mounted on the upper end of the platform body (1) via two lateral supports (3). A spherical seat (5) with a spherical cavity is mounted on the lower end of the vertical support (4). A sphere (6) is rotatably connected inside the spherical seat (5) and forms a spherical pair with the sphere (6). The upper and lower ends of the spherical seat (5) are open, and a base (7) is connected to the lower end of the sphere (6). A spectrometer camera (8) is mounted on the lower end of the base (7). A device for... The sphere (6) is positioned by a pressing mechanism (9). The vertical support (4) is also slidably connected to a defogging mechanism (12) by means of a slide rod (10). The spherical cover (120) in the defogging mechanism (12) is also connected to the pressing mechanism (9) so that the pressing mechanism (9) can drive the defogging mechanism (12) to close and open while moving up and down. The spherical cover (120) is also connected to a protective cylinder (13) that can move up and down along the platform body (1). When the two spherical covers (120) are in the closed state, the protective cylinder 13 is at its highest point; when the two spherical covers (120) are in the unfolded state, the protective cylinder (13) descends to its lowest point under the action of the connecting rod (134).

2. The field crop spectrum acquisition device according to claim 1, characterized in that, The pressing mechanism (9) includes an electric cylinder (90), a lifting plate (91), a base plate (92), and a pressure plate (93). The electric cylinder (90) is installed on the upper end of the vertical bracket (4) and its output end is connected to the lifting plate (91). The upper end of the base plate (92) is fixed with a plurality of guide posts (95) that are slidably connected to the lifting plate (91), and the upper end of the guide posts (95) is limited by nuts. A return spring (96) is sleeved on the guide posts (95) between the lifting plate (91) and the base plate (92). The lower end of the base plate (92) is connected to a pressure plate (93) that cooperates with the ball (6) by means of a connecting post. Guide rods (97) are also installed at both ends of the lifting plate (91), and the lower end of the guide rods (97) passes through the lower end of the vertical bracket (4).

3. The field crop spectrum acquisition device according to claim 2, characterized in that, The defogging mechanism (12) includes two symmetrically arranged spherical covers (120). Supports (121) are fixed at both ends of the spherical covers (120). Each support (121) has a sliding hole that mates with a sliding rod (10). The sliding rod (10) is horizontally arranged, and both ends are connected to a side plate (41). The side plate (41) is mounted on a lateral support (3). Hinge seats (122) are fixed at both ends of the spherical covers (120). A connecting rod (11) is hinged to the hinge seat (122). The other end of the connecting rod (11) is hinged to a hinge seat (123) on the lifting plate (91). The inner wall of the spherical cover (120) is spherical with its opening facing upwards. When the spherical cover (120) is closed, it can form a hemispherical cover. The spherical cover (120) is provided with an air chamber (124). The inner wall of the spherical cover (120) is provided with an exhaust hole (125) that communicates with the air chamber (124). The two spherical covers (120) are provided with openings (126) on opposite side ends and can fit together and seal each other when they are closed. One of the spherical covers (120) is provided with an air inlet pipe that communicates with the air chamber (124) on a hinge seat (122). The air inlet pipe is connected to an electric hot air blower (128) by means of a hose (127). Under the action of the connecting rod (11), the two spherical covers (120) can move synchronously in opposite directions or towards each other in the same plane.

4. The field crop spectrum acquisition device according to claim 3, characterized in that, The lower end of the vertical support (4) is provided with a guide hole (40) for the movement of the connecting rod (11).

5. The field crop spectrum acquisition device according to claim 2, characterized in that, The inner wall of the pressure plate (93) is provided with a rubber anti-slip pad (94).

6. The field crop spectrum acquisition device according to claim 1, characterized in that, The platform body (1) is specifically a rectangular frame.

7. The field crop spectrum acquisition device according to claim 3, characterized in that, The independent walking mechanism (2) includes a support leg (20), a motor housing (21), a servo motor (22), and a walking wheel (23). The upper end of the support leg (20) is connected to the platform body (1), the motor housing (21) is installed at the lower end of the support leg (20), the servo motor (22) is installed inside the motor housing (21), and the output end of the servo motor (22) is connected to the walking wheel (23).

8. The field crop spectrum acquisition device according to claim 7, characterized in that, The surfaces of the platform body (1), the vertical walking mechanism (2), the lateral support (3), and the vertical support (4) are all coated with black or gray topcoat.

9. A field crop spectrum acquisition device according to claim 3, characterized in that, The protective cylinder (13) is provided with support plates (130) on both the front and rear sides, and a support seat (131) is provided on the corresponding platform body (1). A guide rod (132) is connected to the lower end of the support seat (131) near the protective cylinder (13). The support plate (130) is slidably connected to the guide rod (132). The left and right sides of the protective cylinder (13) are provided with hinge seats three (133). A connecting rod two (134) is hinged between the hinge seats three (133) and the support (121) on the corresponding side.

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