Multi-source sensor dynamic switching type crop phenotype acquisition device

Abstract

The invention is suitable for the technical field of crop phenotype detection, and provides a multi-source sensor dynamic switching type crop phenotype acquisition device, which comprises a wheel module, a frame module, a three-axis moving module and a quick connection detection module, the frame module is used for installing the three-axis moving module and the wheel module and providing a placing platform for each part; the wheel module is installed at the bottom of the frame module and used for providing moving power and controlling steering. The three-axis moving module is installed on the frame module, position positioning and connection / disassembly operation of the quick connection detection module are achieved through X / Y / Z axis driving, and the crop position is positioned. The quick connection detection module is installed on the three-axis moving module, and crop phenotype collection is conducted through a multi-source sensor. The device is high in operation flexibility and high in data acquisition quality, and ensures high efficiency and accuracy of a crop phenotype acquisition process.

Description

Technical Field

[0001] The present invention belongs to the technical field of crop phenotype detection, and particularly relates to a multi-source sensor dynamically switched crop phenotype acquisition device. Background Art

[0002] Crop phenotypes refer to observable characteristics exhibited by crops during the growth and development process, including morphological (such as plant height, leaf shape, ear type), physiological (such as photosynthesis efficiency, stress resistance), biochemical (such as nutrient content), and yield characteristics. Traditional phenotype acquisition uses a single sensor, resulting in single data collection, a cumbersome detection process, and a large difference in the positions of manually measured data, leading to low detection accuracy. Therefore, how to efficiently, quickly, and conveniently acquire crop phenotypes is a problem to be solved.

[0003] Existing phenotype acquisition devices mainly move in a fixed direction by a trolley, carrying a fixed sensor to acquire crop phenotypes. For example, the patent application with the application number 202411633162.9 discloses a field crop row self-propelled phenotype acquisition system, which enables the trolley to travel along an electromagnetic track by laying an electromagnetic track, and realizes the acquisition of crop phenotypes through the carried acquisition device. However, during the walking process in the field, the sensor collects single data, and the sensor needs to be switched manually, making it difficult to perform phenotype acquisition of crops with multi-source data sensors. Another example is the patent application with the application number 202210604562.1, which discloses an orbital high-throughput crop phenotype acquisition platform for the field, including parallel orbital brackets, a crossbeam mechanism arranged between the orbital brackets, the crossbeam mechanism being movably connected to the orbital brackets, and an information acquisition device arranged on the overhead crane mechanism. However, the structure of this device is relatively complex, the acquisition time is long, and the setting of the field track is not easy to move. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a multi-source sensor dynamically switched crop phenotype acquisition device, aiming to solve the problems raised in the above background art.

[0005] The embodiments of the present invention are implemented as follows. A multi-source sensor dynamically switched crop phenotype acquisition device includes: a wheel module, a frame module, a three-axis movement module, and a quick-connect detection module; The frame module is used to install the three-axis movement module and the wheel module, providing a placement platform for each component; The wheel module is installed at the bottom of the frame module, providing motive power for movement and controlling steering; The three-axis movement module is installed on the frame module, and through X / Y / Z axis driving, it realizes the position positioning and connection / dismantling operation of the quick-connect detection module, and locates the position of the crop; The quick-connect detection module is installed on the three-axis mobile module and uses multi-source sensors to collect crop phenotypes.

[0006] A further technical solution is that the wheel module includes a wheel frame connected to the frame module, the wheel frame is equipped with a drive motor and a steering motor, a mounting frame is rotatably installed at the bottom of the wheel frame, and the steering motor is transmission connected to the mounting frame through a pair of meshing spur gears, used to drive the mounting frame to rotate, thereby adjusting the direction of the device, a second spline shaft and a third spline shaft are installed on the mounting frame, and the second spline shaft and the third spline shaft are transmission connected through a pair of meshing spur gears, a wheel is installed on the third spline shaft, and a base is also installed on the wheel frame, a first spline shaft is installed on the base, and the first spline shaft is transmission connected to the output end of the drive motor through a multi-stage gear transmission assembly, the bottom of the first spline shaft passes through the mounting frame, and the bottom end of the first spline shaft is transmission connected to the second spline shaft through a pair of meshing bevel gears.

[0007] A further technical solution is that the frame module includes a frame, four wheel frames are arranged at the bottom of the frame, the wheel frames are connected to the frame through spring shock absorbers, and a wheel frame is connected to the bottom of each wheel frame, a first rolling door is arranged on the front side of the frame, and a second rolling door is arranged on the rear side, and a sensor placement table and an industrial computer placement table are also arranged on the frame, a plurality of multi-source sensor boxes are arranged on the sensor placement table, and an industrial computer is arranged on the industrial computer placement table.

[0008] A further technical solution is that the three-axis mobile module includes four mobile guide rails, each of which is slidably mounted with a mobile slider, wherein two mobile guide rails are mounted in parallel on the frame, two ends of the third mobile guide rail are respectively mounted on the mobile sliders of the two parallel mobile guide rails, and the fourth mobile guide rail is mounted on the mobile slider of the third mobile guide rail in a vertical direction; For two parallel movable guide rails, a second brushless motor is installed on one of the movable guide rails, and the two movable guide rails are connected to each other through a transmission shaft to achieve synchronous movement; a first brushless motor is installed on the third movable guide rail, and a third brushless motor is installed on the fourth movable guide rail.

[0009] A further technical solution is that the quick-connect detection module includes a multi-source sensor, and a plurality of the multi-source sensors are provided and respectively installed in a multi-source sensor box, and an electrical interface female port and an electromagnetic female port are provided on the multi-source sensor; an electrical interface male port and an electromagnetic male port are provided on the moving slider of the fourth moving guide rail.

[0010] In a further technical solution, the multi-source sensor includes a multi-spectral camera and a lidar, which are used for multi-source collection of crop phenotypes.

[0011] A further technical solution further includes a control system, and the control system includes an industrial computer and an STM32 single-chip microcomputer; The industrial computer is used to send control instructions and receive data collected by multi-source sensors; The STM32 single-chip microcomputer is used to receive control instructions and control specified components to work.

[0012] A multi-source sensor dynamic switching type crop phenotype acquisition device provided by an embodiment of the present invention can be arbitrarily disassembled and switched with sensors. During operation, the industrial computer controls the STM32 single-chip microcomputer to control the driving motor and the steering motor to move above the plant. The three-axis movement module is controlled by the STM32 single-chip microcomputer. The male electrical interface and the male electromagnetic interface are respectively docked with the corresponding female electrical interface and the female electromagnetic interface to connect specific multi-source sensors. After docking, the three-axis movement module is controlled to move above the plant. The industrial computer selects whether to open or close the front and rear rolling doors according to the light conditions when collecting data at that time. After the light conditions are determined, the industrial computer communicates with the multi-source sensors to collect data. The device has high operation flexibility and high data acquisition quality, ensuring the efficiency and accuracy of the crop phenotype acquisition process. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic structural diagram of a multi-source sensor dynamic switching type crop phenotype acquisition device provided by an embodiment of the present invention; Figure 2 It is a schematic structural diagram of a wheel module in a multi-source sensor dynamic switching type crop phenotype acquisition device provided by an embodiment of the present invention; Figure 3 It is a schematic structural diagram of a frame module in a multi-source sensor dynamic switching type crop phenotype acquisition device provided by an embodiment of the present invention; Figure 4 It is a schematic structural diagram of a three-axis movement module in a multi-source sensor dynamic switching type crop phenotype acquisition device provided by an embodiment of the present invention; Figure 5 It is a schematic structural diagram of a quick connection detection module in a multi-source sensor dynamic switching type crop phenotype acquisition device provided by an embodiment of the present invention, where (a) is a schematic diagram of the cooperation between the male electrical interface and the male electromagnetic interface, and (b) is a schematic diagram of the cooperation between the multi-source sensor, the female electromagnetic interface and the female electrical interface.

[0014] In the attached drawings: Wheel module 1; Wheel carrier 101; Driving motor 102; First spline shaft 103; Base 104; Mounting bracket 105; Second spline shaft 106; Third spline shaft 107; Wheel 108; Steering motor 109; Frame module 2; Frame 201; First rolling shutter 202; Sensor placement table 203; Multi-source sensor box 204; Industrial computer placement table 205; Industrial computer 206; Second rolling shutter 207; Spring shock absorber 208; Wheel frame 209; Three-axis movement module 3; Movement guide rail 301; Movement slider 302; First brushless motor 303; Second brushless motor 304; Third brushless motor 305; Transmission shaft 306; Quick connection detection module 4; Male electrical interface 401; Male electromagnetic interface 402; Multi-source sensor 403; Female electromagnetic interface 404; Female electrical interface 405. Detailed implementation manners

[0015] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0016] The following describes in detail the specific implementation of the present invention with reference to specific embodiments.

[0017] As Figure 1 shown, a multi-source sensor dynamically switched crop phenotype acquisition device provided by an embodiment of the present invention includes: a wheel module 1, a frame module 2, a three-axis movement module 3, and a quick connection detection module 4; The frame module 2 is used to install the three-axis movement module 3 and the wheel module 1, and provide a placement platform for each component; The wheel module 1 is installed at the bottom of the frame module 2 and is used to provide moving power and control steering; The three-axis movement module 3 is installed on the frame module 2, and realizes the position positioning and connection / dismantling operation of the quick connection detection module 4 through X / Y / Z axis driving, and locates the position of the crop; The quick connection detection module 4 is installed on the three-axis movement module 3, and a multi-source sensor 403 is used to collect crop phenotypes.

[0018] As Figure 1 and Figure 2As shown, as a preferred embodiment of the present invention, the wheel module 1 includes a wheel frame 101 connected to the frame module 2, and a driving motor 102 and a steering motor 109 are installed on the wheel frame 101. A mounting frame 105 is rotatably installed at the bottom of the wheel frame 101, and the steering motor 109 is connected to the mounting frame 105 through a pair of meshing spur gears, and is used to drive the mounting frame 105 to rotate, so as to adjust the direction of the device. A second spline shaft 106 and a third spline shaft 107 are installed on the mounting frame 105, and the second spline The shaft 106 and the third spline shaft 107 are connected by a pair of meshing spur gears. A wheel 108 is installed on the third spline shaft 107. A base 104 is also installed on the wheel frame 101. A first spline shaft 103 is installed on the base 104, and the first spline shaft 103 is connected to the output end of the driving motor 102 by a multi-stage gear transmission assembly. The bottom of the first spline shaft 103 passes through the mounting frame 105, and the bottom end of the first spline shaft 103 is connected to the second spline shaft 106 by a pair of meshing bevel gears.

[0019] It should be additionally explained that the first spline shaft 103 passes through the mounting frame 105 along the rotation center of the mounting frame 105 , thereby ensuring that the mounting frame 105 will not affect the position and transmission of the first spline shaft 103 during the rotation process.

[0020] In the embodiment of the present invention, the multi-stage gear transmission assembly is a mature prior art and will not be described in detail here. Through the multi-stage gear reduction, the high speed of the drive motor 102 is converted into a low speed and high torque of the wheel 108 to adapt to the complex terrain of the field.

[0021] The power of the driving motor 102 is ≥ 200W, and it supports climbing complex terrain in the field (slope ≤ 15°). The response time of the steering motor 109 is < 0.5 seconds, and the minimum turning radius is 1.2m.

[0022] like Figure 1 and Figure 3 As shown, as a preferred embodiment of the present invention, the frame module 2 includes a frame 201, four wheel frames 209 are arranged at the bottom of the frame 201, the wheel frames 209 are connected to the frame 201 through spring shock absorbers 208, and the bottom of each wheel frame 209 is connected to a wheel frame 101, a first rolling door 202 is arranged on the front side of the frame 201, and a second rolling door 207 is arranged on the rear side, and a sensor placement table 203 and an industrial computer placement table 205 are also arranged on the frame 201, a plurality of multi-source sensor boxes 204 are arranged on the sensor placement table 203, and an industrial computer 206 is arranged on the industrial computer placement table 205.

[0023] like Figure 1 andFigure 4 As shown, as a preferred embodiment of the present invention, the three-axis moving module 3 includes four moving guide rails 301, and moving sliders 302 are slidably mounted on each moving guide rail 301. Two of the moving guide rails 301 are parallelly mounted on the vehicle frame 201, both ends of the third moving guide rail 301 are respectively mounted on the moving sliders 302 of the two parallelly placed moving guide rails 301, and the fourth moving guide rail 301 is vertically mounted on the moving slider 302 of the third moving guide rail 301; For the two parallelly placed moving guide rails 301, a second brushless motor 304 is mounted on one of the moving guide rails 301, and the two moving guide rails 301 are interconnected by a transmission shaft 306 to achieve synchronous movement; a first brushless motor 303 is mounted on the third moving guide rail 301, and a third brushless motor 305 is mounted on the fourth moving guide rail 301.

[0024] In the embodiment of the present invention, by controlling the first brushless motor 303, the second brushless motor 304, and the third brushless motor 305 to work, the moving sliders 302 on the corresponding moving guide rails 301 can be controlled to work, so as to dock with the specified multi-source sensor 403 and drive the multi-source sensor 403 to move to the specified position.

[0025] As Figure 1 and Figure 5 shown, where Figure 5 Figure (a) is a schematic diagram of the cooperation between the male electrical interface 401 and the male electromagnetic interface 402, Figure 5 Figure (b) is a schematic diagram of the cooperation between the multi-source sensor 403, the female electromagnetic interface 404, and the female electrical interface 405. As a preferred embodiment of the present invention, the quick connection detection module 4 includes a multi-source sensor 403. A plurality of multi-source sensors 403 are provided and are respectively mounted in the multi-source sensor box 204. The multi-source sensor 403 is provided with a female electrical interface 405 and a female electromagnetic interface 404; the moving slider 302 of the fourth moving guide rail 301 is provided with a male electrical interface 401 and a male electromagnetic interface 402.

[0026] In the embodiment of the present invention, during docking, the male electrical interface 401 and the male electromagnetic interface 402 are respectively docked with the female electrical interface 405 and the female electromagnetic interface 404, and the multi-source sensor 403 realizes electrical connection and physical connection with the three-axis moving module 3. The male electromagnetic interface 402 and the female electromagnetic interface 404 adopt neodymium iron boron magnets, with a magnetic suction force ≥ 80N and an anti-vibration grade of IP65.

[0027] The female electrical interface 405 and the male electrical interface 401 support USB 3.0 and Ethernet communication, and the data transmission rate ≥ 100Mbps.

[0028] As a preferred embodiment of the present invention, the multi-source sensor 403 includes a multi-spectral camera and a lidar, and is used for multi-source acquisition of the phenotypes of crops.

[0029] As a preferred embodiment of the present invention, it further includes a control system. The control system includes an industrial computer 206 and an STM32 single-chip microcomputer. By sending command data, the STM32 single-chip microcomputer controls the driving motor 102 and the steering motor 109 to realize the traveling and steering of the device. The STM32 single-chip microcomputer is wirelessly connected to the industrial computer 206. The industrial computer 206 sends data to the STM32 single-chip microcomputer through command data to control the docking of the mobile guide rail 301 and the electromagnetic male port 402 with the multi-source sensor 403 to be used, and then moves to the crop position through the mobile guide rail 301 for phenotype acquisition. The industrial computer 206 selects whether to open or close the first rolling door 202 and the second rolling door 207 according to the lighting conditions at the time of data acquisition. After the lighting conditions are determined, the industrial computer 206 communicates with the multi-source sensor 403 for data acquisition to ensure the efficiency and accuracy of the crop phenotype acquisition process. The acquired data is displayed on the interface of the industrial computer 206 to achieve the function of human-computer interaction.

[0030] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-source sensor dynamic switching crop phenotype collection device, characterized in that: include: Wheel module, frame module, three-axis movement module and quick-connect detection module; The frame module is used to install the three-axis mobile module and the wheel module, and provides a placement platform for each component; The wheel module is installed at the bottom of the frame module to provide moving power and control steering; The three-axis mobile module is installed on the frame module, and realizes the position positioning and connection / disassembly operation of the quick-connect detection module through X / Y / Z axis driving, and locates the crop position; The quick-connect detection module is installed on the three-axis mobile module and uses multi-source sensors to collect crop phenotypes.

2. The multi-source sensor dynamic switching crop phenotype acquisition device according to claim 1, characterized in that: The wheel module includes a wheel frame connected to the frame module, a driving motor and a steering motor are installed on the wheel frame, a mounting frame is rotatably installed at the bottom of the wheel frame, and the steering motor is transmission-connected to the mounting frame through a pair of meshing spur gears, and is used to drive the mounting frame to rotate, thereby adjusting the direction of the device, a second spline shaft and a third spline shaft are installed on the mounting frame, and the second spline shaft and the third spline shaft are transmission-connected through a pair of meshing spur gears, a wheel is installed on the third spline shaft, and a base is also installed on the wheel frame, a first spline shaft is installed on the base, and the first spline shaft is transmission-connected to the output end of the driving motor through a multi-stage gear transmission assembly, the bottom of the first spline shaft passes through the mounting frame, and the bottom end of the first spline shaft is transmission-connected to the second spline shaft through a pair of meshing bevel gears.

3. The multi-source sensor dynamic switching crop phenotype acquisition device according to claim 2 is characterized in that: The frame module includes a frame, four wheel frames are arranged at the bottom of the frame, the wheel frames are connected to the frame through spring shock absorbers, and a wheel frame is connected to the bottom of each wheel frame, a first rolling door is arranged on the front side of the frame, and a second rolling door is arranged on the rear side, and a sensor placement table and an industrial computer placement table are also arranged on the frame, a plurality of multi-source sensor boxes are arranged on the sensor placement table, and an industrial computer is arranged on the industrial computer placement table.

4. The multi-source sensor dynamic switching crop phenotype acquisition device according to claim 3, characterized in that: The three-axis moving module includes four moving guide rails, each of which is slidably mounted with a moving slider, wherein two moving guide rails are mounted in parallel on the frame, two ends of the third moving guide rail are respectively mounted on the moving sliders of the two parallel moving guide rails, and the fourth moving guide rail is mounted on the moving slider of the third moving guide rail in a vertical direction; For two parallel movable guide rails, a second brushless motor is installed on one of the movable guide rails, and the two movable guide rails are connected to each other through a transmission shaft to achieve synchronous movement; a first brushless motor is installed on the third movable guide rail, and a third brushless motor is installed on the fourth movable guide rail.

5. The multi-source sensor dynamic switching crop phenotype acquisition device according to claim 4, characterized in that: The quick-connect detection module includes a multi-source sensor, and a plurality of the multi-source sensors are provided and respectively installed in a multi-source sensor box. The multi-source sensor is provided with an electrical interface female port and an electromagnetic female port; the moving slider of the fourth moving guide rail is provided with an electrical interface male port and an electromagnetic male port.

6. The multi-source sensor dynamic switching crop phenotype acquisition device according to claim 5, characterized in that: The multi-source sensor includes a multi-spectral camera and a lidar, which is used for multi-source collection of crop phenotypes.

7. The multi-source sensor dynamic switching crop phenotype acquisition device according to claim 1, characterized in that: It also includes a control system, which includes an industrial computer and an STM32 single-chip microcomputer; The industrial computer is used to send control instructions and receive data collected by multi-source sensors; The STM32 single chip microcomputer is used to receive control instructions and control designated components to work.

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