Device and method for judging flowering state of sugarcane

Abstract

The invention relates to a device and method for judging the flowering state of sugarcane, and belongs to the field of sugarcane hybridization experiments. Comprising a displacement mechanism, a holding mechanism, a lifting mechanism, a photographing mechanism, a shell, a rotating mechanism and a remote control mechanism, the machine shell is arranged on the displacement mechanism, the lifting mechanism is arranged in the machine shell, the rotating mechanism is rotationally installed at the top end of the lifting mechanism, and the holding mechanism is arranged in the rotating mechanism in a telescopic mode and connected with sugarcane stalks in a matched and clamped mode when stretching out. The photographing mechanism is arranged on the holding mechanism in an up-down displacement mode, and the remote control mechanism is connected with the displacement mechanism, the holding mechanism, the lifting mechanism, the photographing mechanism and the rotating mechanism. The sugarcane flowering state can be mechanically observed in a test field, the labor intensity of experimenters is reduced, the sugarcane spica observation accuracy is improved, and the hybridization experiment reliability is improved.

Description

Technical Field

[0001] The invention relates to the field of sugarcane hybridization experiments, and in particular to a device and method for judging the flowering state of sugarcane. Background Art

[0002] Sugarcane is the main sugar crop in southern my country, and the output of sucrose made from sugarcane as raw material accounts for about 90% of the total sugar consumption in the country. There are many varieties of sugarcane on the market, some with high sugar content but low yield, poor resistance to stalk lodging and pests, and some with strong resistance to stalk lodging and pests but low sugar content. In order to obtain sugarcane varieties with high sugar content, high yield, strong resistance to pests and diseases, strong resistance to lodging, and suitable for mechanized planting, experimenters generally use conventional flowering hybrid breeding. At present, hybrid breeding has become the main way to cultivate new sugarcane varieties and is widely adopted by countries around the world.

[0003] However, on the one hand, sugarcane is a monoecious plant, and only plants with strong pollen vitality can be used as male parents. The flowering states of sugarcane include heading but not flowering, flowering while heading, and not heading but flowering. The selection of parents in which state are used for hybridization depends on the combination and specific circumstances. On the other hand, the area of ​​sugarcane experimental fields is usually large, and the flowering period of sugarcane is relatively short, especially during the flowering period when sugarcane grows particularly tall, and it is difficult for the human eye to identify the flowering state of sugarcane. In order to select suitable plants for hybridization experiments, experimenters usually use telescopes to observe the sugarcane spikes. This operation is very troublesome and the results of observation with a telescope are not accurate. It is more accurate to observe directly in the field, but the sugarcane needs to be cut down to distinguish the flowering states. This increases the intensity of work and causes unnecessary waste of many plants. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a device and method for judging the flowering state of sugarcane to solve the above-mentioned problem.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: a device for judging the flowering state of sugarcane, comprising: a displacement mechanism, a holding mechanism, a lifting mechanism, a photographing mechanism, a casing, a rotating mechanism and a remote control mechanism; the casing is arranged on the displacement mechanism, the lifting mechanism is arranged in the casing, the rotating mechanism is rotatably installed on the top of the lifting mechanism, the holding mechanism is telescopically arranged in the rotating mechanism, and is adapted to be engaged with the sugarcane stem when extended, the photographing mechanism is arranged on the holding mechanism so as to be displaceable up and down, and the remote control mechanism is connected to the displacement mechanism, the holding mechanism, the lifting mechanism, the photographing mechanism and the rotating mechanism.

[0006] The beneficial effects of the present invention are as follows: the displacement mechanism is conducive to the displacement of the driving device in the field, and cooperates with the rotating mechanism to select sugarcane plants; the holding mechanism is conducive to taking the selected sugarcane plant stems as the trend, and under the lifting action of the lifting mechanism, the holding mechanism and the photographing mechanism arranged on the holding mechanism are lifted to the flower spike area at the top of the sugarcane plant; the photographing mechanism is conducive to taking pictures of the flower spikes, and transmitting the flower spike photos to the remote control mechanism for judging the flowering state. The present invention is not only conducive to the mechanized observation of the flowering state of sugarcane in the test field, reducing the labor intensity of the experimenters, but also improving the accuracy of the observation of the sugarcane flower spikes and increasing the reliability of the hybridization experiment.

[0007] Based on the above technical solution, the present invention can also be improved as follows.

[0008] Furthermore, the rotating mechanism includes: a rotating shell, a mounting shell, a rotating motor and a rotating shaft; the rotating motor is arranged in the mounting shell, the rotating shaft is vertically arranged in the middle of the rotating shell, the output shaft of the rotating motor is connected to the rotating shaft, and the remote control mechanism is connected to the rotating motor.

[0009] The beneficial effect of adopting the above further solution is that the rotating motor cooperates with the rotating shaft to help the holding mechanism rotate in space, so that the holding mechanism is aligned with the sugarcane stalks in the sugarcane planting path.

[0010] Furthermore, the lifting mechanism includes a lifting motor and a lifting rod; the lifting motor is arranged in the casing, the lifting motor is connected to the lifting rod, the mounting shell is arranged at the top end of the lifting rod, and the remote control mechanism is connected to the lifting motor.

[0011] The beneficial effect of adopting the above further solution is that the lifting motor is conducive to driving the lifting rod to rise and fall, thereby realizing the lifting and falling of the rotating mechanism, the holding mechanism and the camera mechanism.

[0012] Furthermore, the holding mechanism includes: an electric telescopic cylinder, a holding arm, a holding claw and a cover plate; the electric telescopic cylinder is arranged in the rotating shell, and the two ends of the holding arm are connected to the output shaft of the electric telescopic cylinder and the holding claw in a one-to-one correspondence, the cover plate can be bendably arranged at the top of the holding arm, and the remote control mechanism is connected to the electric telescopic cylinder.

[0013] The beneficial effect of adopting the above further scheme is that the electric telescopic cylinder is conducive to pushing the holding arm and the holding claw out to engage with the sugarcane stalk, thereby achieving the direction of the sugarcane stalk as the path, and moving to the tassel area at the top of the sugarcane under the action of the lifting mechanism.

[0014] Furthermore, a lifting hole is provided on the holding arm, and the lifting hole is a through hole in the up and down directions, and the cover plate is provided above the lifting hole.

[0015] The beneficial effect of adopting the above further solution is that the cover plate is conducive to covering the lifting hole when the camera mechanism has not risen to the top of the holding arm, thereby preventing impurities such as sugarcane leaves from entering the lifting hole and damaging the camera during the process of rising along the sugarcane stalk.

[0016] Furthermore, the photographing mechanism includes: a camera, a lifting rack, a limiting slot, a power gear and a power motor; the limiting slot is a groove-shaped structure arranged on the inner wall of the lifting hole, the lifting rack is a strip-shaped structure with a toothed structure at one end, the lifting rack can be displaced up and down to abut against the inner wall of the lifting hole, the power motor is arranged inside the holding arm, and the output shaft is connected to the power gear, the power gear is meshed with the end of the lifting rack with the toothed structure, the camera is installed at the end of the lifting rack away from the toothed structure, the end of the camera away from the lifting rack is adapted to be snap-connected with the limiting slot, and the remote control mechanism is connected to the camera and the power motor.

[0017] The beneficial effect of adopting the above further scheme is that the engagement of the power gear and the lifting rack is conducive to the up and down displacement of the camera installed on the lifting rack in the lifting hole under the power of the power motor, so that after the holding mechanism rises to the flower spike area at the top of the sugarcane, the camera is raised to the top of the holding arm to take pictures of the flower spike.

[0018] Furthermore, the cover plate is a flexible plate-shaped structure, and one end of the cover plate is fixed to the top end of the holding arm.

[0019] The beneficial effect of adopting the above further solution is that the flexible cover plate is conducive to pushing the cover plate open during the rising process of the camera, and automatically covers the lifting hole after the camera descends into the lifting hole, thereby protecting the camera.

[0020] Furthermore, the displacement mechanism is a plurality of wheel-shaped structures arranged at the bottom of the housing, and the remote control mechanism is connected to the displacement mechanism.

[0021] The beneficial effect of adopting the above further scheme is that the displacement mechanism is conducive to the displacement of the driving device to the selected detection position in the test field, and after the detection of a single sugarcane plant is completed, it is displaced to the holding mechanism to engage with another sugarcane stalk, avoiding the experimenters from going to the field for detection and reducing the labor intensity of the experimenters.

[0022] A method for determining the flowering state of sugarcane comprises the following steps:

[0023] S1: Using the displacement mechanism to displace the device between two adjacent sugarcane planting paths;

[0024] S2: the displacement mechanism moves back and forth between two adjacent sugarcane planting paths, and uses the rotation mechanism to align the holding mechanism with the sugarcane stalks on any one of the sugarcane planting paths in step S1;

[0025] S3: The holding mechanism extends and engages with the sugarcane stalks on the sugarcane planting path in step S2;

[0026] S4: Using the lifting mechanism to move the holding mechanism upward along the sugarcane stem to the top spike area;

[0027] S5: the photographing mechanism rises to the top of the holding mechanism and takes a photo of the sugarcane spike;

[0028] S6: The photographing mechanism transmits the photographed flower spike photo to the remote control mechanism;

[0029] S7: the remote control mechanism determines whether the sugarcane spike clamped by the holding mechanism in step S2 meets the hybridization requirements;

[0030] S8: If the hybridization requirement is met, the remote control mechanism transmits the judgment result to the operator; if the hybridization requirement is not met, the above steps 2-7 are repeated.

[0031] The beneficial effects of the present invention are as follows: after the sugarcane is selected by the displacement mechanism, the rotation mechanism and the holding mechanism, the flower spike at the top of the sugarcane is photographed under the action of the lifting mechanism and the photographing mechanism, and the data transmission between the photographing mechanism and the remote control mechanism, as well as the judgment of the transmitted data by the remote control mechanism are conducive to the detection of the flowering state of the sugarcane, so as to obtain whether the pollen of the selected sugarcane meets the results of the hybridization experiment.

[0032] Further, in step S7, the remote control mechanism compares the flower spike photo with the photos of the heading and flowering state in the database. If the similarity between the two is greater than a preset value, the flower spike is in the heading and flowering state, which meets the hybridization requirements.

[0033] The beneficial effect of adopting the above further solution is that it is helpful to compare the photographed flower spike with the three different flowering states of sugarcane stored in the database, so as to judge whether the selected sugarcane flower spike meets the hybridization requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A working state diagram provided for an embodiment of the present invention;

[0035] Figure 2 A schematic diagram of the overall structure after being raised provided by an embodiment of the present invention;

[0036] Figure 3 A front view of a holding mechanism and a photographing mechanism provided by an embodiment of the present invention;

[0037] Figure 4 A top view of the holding mechanism and the photographing mechanism provided by the embodiment of the present invention;

[0038] Figure 5 A schematic diagram of a device provided by an embodiment of the present invention in a test field;

[0039] Figure 6 This is a flow chart of a method for determining the flowering state of sugarcane provided by an embodiment of the present invention.

[0040] in, Figure 4 and Figure 5 The circle in the figure represents sugarcane.

[0041] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0042] 1. Displacement mechanism; 2. Holding mechanism; 3. Lifting mechanism; 4. Photographing mechanism; 5. Casing; 6. Rotating mechanism; 21. Electric telescopic cylinder; 22. Holding arm; 23. Holding claw; 24. Cover plate; 31. Lifting motor; 32. Lifting rod; 41. Camera; 42. Lifting rack; 43. Limiting groove; 44. Power gear; 45. Power motor; 61. Rotating housing; 62. Mounting housing; 63. Rotating motor; 64. Rotating shaft; 221. Lifting hole. DETAILED DESCRIPTION

[0043] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0044] like Figures 1 to 5 As shown, a device for judging the flowering state of sugarcane comprises: a displacement mechanism 1, a holding mechanism 2, a lifting mechanism 3, a photographing mechanism 4, a housing 5, a rotating mechanism 6 and a remote control mechanism; the housing 5 is arranged on the displacement mechanism 1, the lifting mechanism 3 is arranged in the housing 5, the rotating mechanism 6 is rotatably installed on the top of the lifting mechanism 3, the holding mechanism 2 is telescopically arranged in the rotating mechanism 6, and is adapted to be engaged with the sugarcane stem when extended, the photographing mechanism 4 is arranged on the holding mechanism 2 so as to be displaceable up and down, and the remote control mechanism is connected with the displacement mechanism 1, the holding mechanism 2, the lifting mechanism 3, the photographing mechanism 4 and the rotating mechanism 6.

[0045] It should be noted that in the technical solution of the present invention, a battery pack for providing power to the displacement mechanism 1 , the holding mechanism 2 , the lifting mechanism 3 , the photographing mechanism 4 and the rotating mechanism 6 is arranged in the housing 5 .

[0046] The beneficial effects of the present invention are as follows: the displacement mechanism is conducive to the displacement of the driving device in the field, and cooperates with the rotating mechanism to select sugarcane plants; the holding mechanism is conducive to taking the selected sugarcane plant stems as the trend, and under the lifting action of the lifting mechanism, the holding mechanism and the photographing mechanism arranged on the holding mechanism are lifted to the flower spike area at the top of the sugarcane plant; the photographing mechanism is conducive to taking pictures of the flower spikes, and transmitting the flower spike photos to the remote control mechanism for judging the flowering state. The present invention is not only conducive to the mechanized observation of the flowering state of sugarcane in the test field, reducing the labor intensity of the experimenters, but also improving the accuracy of the observation of the sugarcane flower spikes and increasing the reliability of the hybridization experiment.

[0047] Preferably, Figure 2 As shown, the rotating mechanism 6 includes: a rotating shell 61, a mounting shell 62, a rotating motor 63 and a rotating shaft 64; the rotating motor 63 is arranged in the mounting shell 62, the rotating shaft 64 is vertically arranged in the middle of the rotating shell 61, the output shaft of the rotating motor 63 is connected to the rotating shaft 64, and the remote control mechanism is connected to the rotating motor 63.

[0048] The beneficial effect of adopting the above preferred solution is that the rotating motor cooperates with the rotating shaft to help the holding mechanism rotate in space, so that the holding mechanism is aligned with the sugarcane stalks in the sugarcane planting path.

[0049] Preferably, Figure 2 As shown, the lifting mechanism 3 includes a lifting motor 31 and a lifting rod 32; the lifting motor 31 is arranged in the housing 5, the lifting motor 31 is connected to the lifting rod 32, the mounting shell 62 is arranged at the top of the lifting rod 32, and the remote control mechanism is connected to the lifting motor 31.

[0050] The beneficial effect of adopting the above preferred solution is that the lifting motor is conducive to driving the lifting rod to rise and fall, thereby realizing the lifting and falling of the rotating mechanism, the holding mechanism and the camera mechanism.

[0051] Preferably, Figure 2 As shown, the holding mechanism 2 includes: an electric telescopic cylinder 21, a holding arm 22, a holding claw 23 and a cover plate 24; the electric telescopic cylinder 21 is arranged in the rotating shell 61, and the two ends of the holding arm 22 are connected to the output shaft of the electric telescopic cylinder 21 and the holding claw 23 in a one-to-one correspondence, the cover plate 24 is bendably arranged at the top of the holding arm 22, and the remote control mechanism is connected to the electric telescopic cylinder 21.

[0052] The beneficial effect of adopting the above preferred scheme is that the electric telescopic cylinder is conducive to pushing the holding arm and the holding claw out to engage with the sugarcane stalk, thereby achieving the direction of the sugarcane stalk as the path, and moving to the tassel area at the top of the sugarcane under the action of the lifting mechanism.

[0053] Preferably, Figure 3 As shown, a lifting hole 221 is provided on the holding arm 22 , and the lifting hole 221 is a through hole in the up and down directions, and the cover plate 24 is arranged above the lifting hole 221 .

[0054] The beneficial effect of adopting the above preferred solution is that the cover plate is conducive to covering the lifting hole when the camera mechanism has not risen to the top of the holding arm, thereby preventing impurities such as sugarcane leaves from entering the lifting hole and damaging the camera during the process of rising along the sugarcane stalk.

[0055] Preferably, Figure 3 and Figure 4 As shown, the photographing mechanism 4 includes: a camera 41, a lifting rack 42, a limiting groove 43, a power gear 44 and a power motor 45; the limiting groove 43 is a groove-shaped structure arranged on the inner wall of the lifting hole 221, the lifting rack 42 is a strip-shaped structure with a toothed structure at one end, the lifting rack 42 can be displaced up and down to abut against the inner wall of the lifting hole 221, the power motor 45 is arranged inside the holding arm 22, and the output shaft is connected to the power gear 44, the power gear 44 is meshed with the end of the lifting rack 42 with the toothed structure, the camera 41 is installed at the end of the lifting rack 42 away from the toothed structure, the end of the camera 41 away from the lifting rack 42 is adapted to the limiting groove 43, and the remote control mechanism is connected to the camera 41 and the power motor 45.

[0056] The beneficial effect of adopting the above-mentioned preferred scheme is that the engagement of the power gear and the lifting rack is conducive to the up and down displacement of the camera installed on the lifting rack in the lifting hole under the power of the power motor, so that after the holding mechanism rises to the flower spike area at the top of the sugarcane, the camera is raised to the top of the holding arm to take pictures of the flower spike.

[0057] Preferably, Figure 4 As shown, the cover plate 24 is a flexible plate-shaped structure, and one end of the cover plate 24 is fixed to the top of the holding arm 22 .

[0058] The beneficial effect of adopting the above preferred solution is that the flexible cover plate is conducive to pushing the cover plate open during the rising process of the camera, and automatically covers the lifting hole after the camera descends into the lifting hole, thereby protecting the camera.

[0059] Preferably, Figure 1 and Figure 2 As shown, the displacement mechanism 1 is a plurality of wheel-shaped structures arranged at the bottom of the housing 5 , and the remote control mechanism is connected to the displacement mechanism 1 .

[0060] The beneficial effects of adopting the above preferred scheme are: the displacement mechanism is conducive to the displacement of the driving device to the selected detection position in the test field, and after the detection of a single sugarcane plant is completed, it is displaced to the holding mechanism to engage with another sugarcane stalk, avoiding the experimenters from going to the field for detection and reducing the labor intensity of the experimenters.

[0061] like Figure 6 As shown, a method for determining the flowering state of sugarcane comprises the following steps:

[0062] S1: Using the displacement mechanism 1 to displace the device between two adjacent sugarcane planting paths;

[0063] S2: the displacement mechanism 1 moves back and forth between two adjacent sugarcane planting paths, and uses the rotation mechanism 6 to align the holding mechanism 2 with the sugarcane stalks on any one of the sugarcane planting paths in step S1;

[0064] S3: The holding mechanism 2 extends and engages with the sugarcane stalks on the sugarcane planting path in step S2;

[0065] S4: Using the lifting mechanism 3 to move the holding mechanism 2 upward along the sugarcane stem to the top spike area;

[0066] S5: the photographing mechanism 4 rises to the top of the holding mechanism 2 and takes a photograph of the sugarcane spike;

[0067] S6: the photographing mechanism 4 transmits the photographed flower spike to the remote control mechanism;

[0068] S7: the remote control mechanism determines whether the sugarcane spike clamped by the holding mechanism 2 in step S2 meets the hybridization requirements;

[0069] S8: If the hybridization requirement is met, the remote control mechanism transmits the judgment result to the operator; if the hybridization requirement is not met, the above steps 2-7 are repeated.

[0070] It should be noted that: in step S2, since the sugarcanes are planted at the same spacing in the test field, the displacement mechanism 1 moves forward or backward between two adjacent sugarcane planting paths by several same distances each time to achieve the clamping of different sugarcanes on the same sugarcane planting path;

[0071] In step S3, the gripping claw 23 is engaged with the bottom end of the sugarcane stem;

[0072] In step S4, the lifting motor 31 drives the lifting rod 32 to rise, thereby achieving the lifting of the holding mechanism 2 along the sugarcane stalk;

[0073] In step S5, the power motor 45 drives the power gear 44 to rotate, thereby driving the lifting rack 42 and the camera 41 installed on the lifting rack 42 to rise to the top of the holding arm 22 along the limiting groove 43 and the lifting hole 221, and during the rising process, the camera 41 pushes the cover plate 24 open;

[0074] In step S6, the data transmission between the camera 41 and the remote control mechanism is wireless transmission or Bluetooth transmission.

[0075] The beneficial effects of the present invention are as follows: after the sugarcane is selected by the displacement mechanism, the rotation mechanism and the holding mechanism, the flower spike at the top of the sugarcane is photographed under the action of the lifting mechanism and the photographing mechanism, and the data transmission between the photographing mechanism and the remote control mechanism, as well as the judgment of the transmitted data by the remote control mechanism are conducive to the detection of the flowering state of the sugarcane, so as to obtain whether the pollen of the selected sugarcane meets the results of the hybridization experiment.

[0076] Preferably, in step S7, the remote control mechanism compares the flower spike photo with photos of the heading and flowering state in the database. If the similarity between the two is greater than a preset value, the flower spike is in the heading and flowering state, which meets the hybridization requirements.

[0077] Among them, it should be noted that: in the present invention, the preset value is a value set in advance in the remote control mechanism. For example, when the similarity between the flower spike photo and the photo of the state of both heading and flowering in the database is greater than 95%, it means that the flower spike photo taken at this time is in the state of both heading and flowering, which meets the hybridization requirements.

[0078] The beneficial effect of adopting the above preferred solution is that it is helpful to compare the photographed flower spike with the three different flowering states of sugarcane stored in the database, so as to judge whether the selected sugarcane flower spike meets the hybridization requirements.

[0079] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0080] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0081] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0082] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0083] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0084] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A device for judging the flowering state of sugarcane, characterized in that: include: A displacement mechanism (1), a holding mechanism (2), a lifting mechanism (3), a photographing mechanism (4), a housing (5), a rotating mechanism (6) and a remote control mechanism; The housing (5) is arranged on the displacement mechanism (1), the lifting mechanism (3) is arranged in the housing (5), the rotating mechanism (6) is rotatably mounted on the top of the lifting mechanism (3), the holding mechanism (2) is telescopically arranged in the rotating mechanism (6), and is adapted to engage with the sugarcane stem when extended, the photographing mechanism (4) is arranged on the holding mechanism (2) so as to be displaceable up and down, and the remote control mechanism is connected to the displacement mechanism (1), the holding mechanism (2), the lifting mechanism (3), the photographing mechanism (4) and the rotating mechanism (6).

2. A device for judging the flowering state of sugarcane according to claim 1, characterized in that: The rotating mechanism (6) comprises: a rotating shell (61), a mounting shell (62), a rotating motor (63) and a rotating shaft (64); the rotating motor (63) is arranged in the mounting shell (62), the rotating shaft (64) is vertically arranged in the middle of the rotating shell (61), the output shaft of the rotating motor (63) is connected to the rotating shaft (64), and the remote control mechanism is connected to the rotating motor (63).

3. A device for judging the flowering state of sugarcane according to claim 2, characterized in that: The lifting mechanism (3) comprises a lifting motor (31) and a lifting rod (32); the lifting motor (31) is arranged in the housing (5), the lifting motor (31) is connected to the lifting rod (32), the mounting housing (62) is arranged at the top end of the lifting rod (32), and the remote control mechanism is connected to the lifting motor (31).

4. The device for judging the flowering state of sugarcane according to claim 2, characterized in that: The holding mechanism (2) comprises: an electric telescopic cylinder (21), a holding arm (22), a holding claw (23) and a cover plate (24); the electric telescopic cylinder (21) is arranged in the rotating shell (61), the two ends of the holding arm (22) are connected to the output shaft of the electric telescopic cylinder (21) and the holding claw (23) in a one-to-one correspondence, the cover plate (24) is bendably arranged at the top end of the holding arm (22), and the remote control mechanism is connected to the electric telescopic cylinder (21).

5. The device for judging the flowering state of sugarcane according to claim 4, characterized in that: The holding arm (22) is provided with a lifting hole (221), the lifting hole (221) is a through hole in the up and down directions, and the cover plate (24) is arranged above the lifting hole (221).

6. A device for determining the flowering state of sugarcane according to claim 5, characterized in that: The photographing mechanism (4) comprises: a camera (41), a lifting rack (42), a limiting groove (43), a power gear (44) and a power motor (45); the limiting groove (43) is a groove-shaped structure arranged on the inner wall of the lifting hole (221); the lifting rack (42) is a strip-shaped structure with a toothed structure at one end; the lifting rack (42) can be displaced up and down and abut against the inner wall of the lifting hole (221); the power motor (45) is arranged inside the holding arm (22), and the output shaft is connected to the power gear (44); the power gear (44) is meshed with the end of the lifting rack (42) provided with the toothed structure; the camera (41) is installed at the end of the lifting rack (42) away from the toothed structure; the end of the camera (41) away from the lifting rack (42) is adapted and snap-connected with the limiting groove (43); the remote control mechanism is connected to the camera (41) and the power motor (45).

7. The device for judging the flowering state of sugarcane according to claim 4, characterized in that: The cover plate (24) is a flexible plate-shaped structure, and one end of the cover plate (24) is fixed to the top end of the holding arm (22).

8. The device for judging the flowering state of sugarcane according to claim 1, characterized in that: The displacement mechanism (1) is a plurality of wheel-shaped structures arranged at the bottom of the housing (5), and the remote control mechanism is connected to the displacement mechanism (1).

9. A method for determining the flowering state of sugarcane, characterized in that: Based on the device for judging the flowering state of sugarcane according to any one of claims 1 to 8 above, the method for judging the flowering state of sugarcane comprises the following steps: S1: using the displacement mechanism (1) to displace the device between two adjacent sugarcane planting paths; S2: the displacement mechanism (1) moves back and forth between two adjacent sugarcane planting paths, and uses the rotation mechanism (6) to align the holding mechanism (2) with the sugarcane stalks on any one of the sugarcane planting paths in step S1; S3: the holding mechanism (2) extends out and engages with the sugarcane stalks on the sugarcane planting path in step S2; S4: using the lifting mechanism (3) to move the holding mechanism (2) upward along the sugarcane stem to the flower spike area at the top; S5: the photographing mechanism (4) rises to the top of the holding mechanism (2) and takes a photograph of the sugarcane spike; S6: the photographing mechanism (4) transmits the photographed flower spike to the remote control mechanism; S7: the remote control mechanism determines whether the sugarcane spike clamped by the holding mechanism (2) in step S2 meets the hybridization requirements; S8: If the hybridization requirement is met, the remote control mechanism transmits the judgment result to the operator; if the hybridization requirement is not met, the above steps 2-7 are repeated.

10. A method for determining the flowering state of sugarcane according to claim 9, characterized in that: In step S7, the remote control mechanism compares the flower spike photo with the photos of the heading and flowering state in the database. If the similarity between the two is greater than a preset value, the flower spike is in the heading and flowering state, which meets the hybridization requirements.

Images