Forest plant phenotype detection robot

Abstract

The invention relates to the technical field of plant phenotype detection, and provides a forest plant phenotype detection robot which comprises a main support; a sliding groove is formed in each group of connecting rods, and the connecting rods are clamped at different positions on the main bracket through the sliding grooves; the roller assembly is connected to one end of the outer side of the connecting rod and arranged on the ground; the periphery of the rotating frame is rotatably connected to the inner sides of the different connecting rods, the rotating frame is rotatably arranged at the bottom of the connecting frame, and the outer side of the connecting frame is connected to the main support through telescopic devices so that the horizontal position of the connecting frame relative to the main support can be driven through the different telescopic devices; and the expanding frame is arranged on the connecting frame. The robot can synchronously change the spacing of the multiple groups of roller assemblies, can change the gravity center position of the expansion frame, improves the applicability in different scenes, and can adapt to more environments by being matched with the adjustment of the spacing of the multiple groups of roller assemblies.

Description

Technical Field

[0001] The present invention relates to the technical field of plant phenotype detection, and in particular to a forest plant phenotype detection robot. Background Art

[0002] In natural environments, forest topography is complex and varied, in stark contrast to greenhouse or laboratory environments. Existing plant phenotyping robots face many challenges in such complex environments.

[0003] To address this issue, existing mobile robots for plant phenotyping with variable configurations can automatically adjust their leg spacing and body height based on field ridge spacing and plant height, demonstrating a certain degree of adaptability to varying terrains. However, these robots typically require independent control of each leg, resulting in a relatively large and complex structure for adjusting leg spacing. Summary of the Invention

[0004] The present invention provides a forest plant phenotype detection robot, which is used to solve the shortcomings of existing robots such as large and complex implementation structure for changing leg spacing.

[0005] The present invention provides a forest plant phenotyping robot, comprising: Main support; A plurality of groups of connecting rods, each group of connecting rods having a sliding groove formed therein, and each connecting rod is clamped at a different position on the main bracket through the sliding groove; a roller assembly connected to an outer end of the connecting rod and configured to be positioned on the ground; A rotating frame and a connecting frame, wherein the outer periphery of the rotating frame is rotatably connected to the inner sides of different connecting rods, the rotating frame is rotatably arranged at the bottom of the connecting frame, and the outer side of the connecting frame is connected to the main support via a telescopic device, so that the horizontal position of the connecting frame relative to the main support is driven by each set of different telescopic devices; The expansion frame is arranged on the connecting frame and is equipped with electronic equipment required for plant phenotyping detection and a first driver that is transmission-connected to the rotating frame, so as to drive the rotating frame to rotate through the first driver, pull multiple groups of the connecting rods to rotate, change the intervals between multiple groups of the roller assemblies, and drive the connecting frame, the connecting rods, the expansion frame and the rotating frame to move relative to the main frame through the telescopic device, thereby changing the center of gravity position of the expansion frame.

[0006] According to a forest plant phenotyping detection robot provided by the present invention, the main support is an annular polygonal structure, and the annular polygonal structure is provided with multiple groups of positioning shafts arranged in sequence along a ring. The annular polygonal structure is respectively clamped in the sliding groove of each group of the connecting rods through each group of the positioning shafts.

[0007] A forest tree plant phenotype detection robot provided by the present invention, each group of the connecting rods is arranged in mirror symmetry, one end of the inner side of each group of the connecting rods is provided with a mounting groove, the periphery of the rotating frame is provided with multiple groups of first connecting shafts, and each of the first connecting shafts is rotatably connected in the mounting groove of different connecting rods. A first ball for slidingly abutting against the main bracket is rotatably installed inside the sliding groove.

[0008] A forest tree plant phenotype detection robot provided by the present invention, a second connecting shaft is provided at the central axis of the upper end surface of the rotating frame, the connecting frame is rotatably arranged on the second connecting shaft, and the second connecting shaft is in transmission connection with the first driver.

[0009] A forest tree plant phenotype detection robot provided by the present invention, a first limiting member is provided at the end of the first connecting shaft. When the first connecting shaft is arranged in the mounting groove, the first limiting member cooperates with the end of the first connecting shaft to clamp and limit the rotation direction of the connecting rod. Multiple groups of second balls are rotatably installed on the upper end surface of the rotating frame around the second connecting shaft.

[0010] A forest tree plant phenotype detection robot provided by the present invention, multiple groups of mounting seats arranged in a ring are installed on the upper end surface of the main bracket. A rotating seat is rotatably installed inside the mounting seat. The upper end of the rotating seat extends above the mounting seat and is connected with a connecting block. One end of the telescopic device is fixedly connected with the connecting block. A third ball is rotatably installed on the upper end surface of the connecting block, and the third ball is used for slidingly abutting against the lower end surface of the expansion frame.

[0011] A forest tree plant phenotype detection robot provided by the present invention further includes: multiple groups of telescopic rods; each group of the telescopic rods is connected between different positions on the outer side of the connecting frame and different connecting blocks, and at least one group of the telescopic rods is provided with the telescopic device for driving the telescopic movement of the telescopic rod.

[0012] A forest tree plant phenotype detection robot provided by the present invention, the roller assembly includes: a driving roller mechanism: The driving roller mechanism includes: a third connecting shaft, a driving wheel and a second driver; The third connecting shaft is rotatably connected with the connecting rod, a driving wheel is provided at the lower end of the third connecting shaft, and the second driver is arranged at one end of the outer side of the connecting rod. The second driver is in transmission connection with the third connecting shaft to adjust the direction of the driving wheel.

[0013] A forest tree plant phenotype detection robot provided by the present invention, the roller assembly further includes: a driven roller mechanism; The driven roller mechanism includes: a fourth connecting shaft and a driven wheel; the fourth connecting shaft is rotatably connected to the connecting rod, and the lower end of the fourth connecting shaft is provided with a driven wheel.

[0014] According to a forest plant phenotype detection robot provided by the present invention, the driving wheel includes: a driving assembly with a built-in motor and a roller, and the driving assembly is transmission-connected to the roller.

[0015] The forest plant phenotype detection robot provided by the present invention can synchronously change the spacing of multiple groups of roller assemblies through the cooperation of the provided connecting rod, the first drive and the rotating frame. The structure is simple and lightweight, easy to assemble, and the spacing and number of connecting rods can be changed according to usage requirements; at the same time, the forest plant phenotype detection robot can change the center of gravity position of the expansion frame through the provided connecting frame in conjunction with the connecting rod, the rotating frame and the telescopic device, thereby improving the applicability in different scenarios, and can adapt to more environments by adjusting the spacing of multiple groups of roller assemblies. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a schematic diagram of the forest plant phenotype detection robot provided by the present invention.

[0018] Figure 2 It is a side sectional view of the forest plant phenotype detection robot provided by the present invention.

[0019] Figure 3 This is a schematic diagram of the disassembly of the forest plant phenotyping detection robot provided by the present invention.

[0020] Figure 4 It is a structural schematic diagram of the main support provided by the present invention.

[0021] Figure 5 It is a structural schematic diagram of the connecting rod provided by the present invention.

[0022] Figure 6 It is a structural schematic diagram of the rotating rack provided by the present invention.

[0023] Figure 7 It is a structural schematic diagram of the connecting frame provided by the present invention.

[0024] Figure 8 This is a multi-view structural diagram of the roller assembly provided by the present invention.

[0025] Reference numerals: 1, main bracket; 101, positioning shaft; 2, connecting rod; 201, mounting groove; 202, sliding groove; 203, first ball; 3, rotating frame; 301, first coupling shaft; 302, second coupling shaft; 303, second ball; 304, first limiting member; 4, connecting frame; 401, telescopic device; 4011, telescopic rod; 402, mounting seat; 403, rotating seat; 404, connecting block; 405, third ball; 5, third coupling shaft; 501, mounting plate; 502, driving wheel; 503, second fixing member; 504, second driver; 6, extension frame; 601, first driver. Detailed implementation manners

[0026] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts belong to the scope of protection of the present invention.

[0027] The following is combined with Figures 1 - 8 to describe the forest tree plant phenotype detection robot provided by the present invention.

[0028] An embodiment of the present invention provides a forest tree plant phenotype detection robot, including: a main bracket 1, multiple groups of connecting rods 2, a roller assembly, a rotating frame 3, a connecting frame 4 and an extension frame 6. A sliding groove 202 is formed in each group of connecting rods 2, and each connecting rod 2 is clamped at different positions on the main bracket 1 through the sliding groove 202; the roller assembly is connected to the outer end of the connecting rod 2 and is used to be arranged on the ground; the outer circumference of the rotating frame 3 is rotatably connected to the inner sides of different connecting rods 2, the rotating frame 3 is rotatably arranged at the bottom of the connecting frame 4, and the outside of the connecting frame 4 is connected to the main bracket 1 through a telescopic device 401 to drive the horizontal position of the connecting frame 4 relative to the main bracket 1 through each group of different telescopic devices 401; the extension frame 6 is arranged on the connecting frame 4 and is provided with electronic devices required for plant phenotype detection and a first driver 601 that is drivingly connected to the rotating frame 3, so as to drive the rotating frame 3 to rotate through the first driver 601, pull the multiple groups of connecting rods 2 to rotate, change the interval between the multiple groups of roller assemblies, and drive the connecting frame 4, the connecting rods 2, the extension frame 6 and the rotating frame 3 to move relative to the main bracket 1 through the telescopic device 401 to change the center of gravity position of the extension frame 6.

[0029] Specifically, in this embodiment, the main bracket 1 is annularly arranged and serves as the supporting structure for the entire robot base, providing sliding support and positioning reference for the connecting rod 2. Roller assemblies are installed at the outer ends of multiple groups of connecting rods 2, and the roller assemblies are used to drive the robot to move on the ground. The inner ends of the connecting rods 2 are rotatably connected to the rotating frame 3 in an opposite direction, and the connecting rods 2 are clamped on the main bracket 1 through the sliding grooves 202 inside them and can slide along the corresponding positions of the main bracket 1. The outer circumference of the rotating frame 3 is rotatably connected to the inner sides of different connecting rods 2 and can rotate relative to the connecting rods 2; at the same time, the upper end of the rotating frame 3 is rotatably connected to the connecting frame 4, and the rotating frame 3 is driven to rotate by the first driver 601 on the connecting frame 4, thereby pulling multiple groups of connecting rods 2 to slide and changing the intervals between the corresponding roller assemblies on each connecting rod 2. The outer side of the connecting frame 4 is connected to the main bracket 1 through multiple telescopic devices 401. The telescopic devices 401 can adopt structural forms such as electric telescopic rods 4011, cylinders or lead screws. By controlling the telescopic actions of the telescopic devices 401, the connecting frame 4 is driven to move horizontally relative to the main bracket 1, thereby changing the center of gravity position of the robot. The expansion frame 6 is installed at the upper end of the connecting frame 4 and is used to carry electronic devices required for plant phenotype detection such as batteries, cameras, and antennas, providing necessary power and data acquisition and transmission functions for the robot.

[0030] This forest tree plant phenotype detection robot has a center of gravity adjustment function. For example, when the load on the expansion frame 6 is unbalanced, the connecting frame 4 is connected to the main bracket 1 through the telescopic device 401 and can change the horizontal position of the connecting frame 4 relative to the main bracket 1. When the horizontal position of the connecting frame 4 changes, it will drive the rotating frame 3 and the rotating frame 3 will pull the connecting rod 2 to change the center of gravity position. This function can be used to compensate for the unbalanced load on the expansion frame 6, reduce the difficulty of layout planning of the expansion frame 6, thereby realizing the adjustment of the robot's center of gravity, making up for the problem of unbalanced load on the expansion frame 6, and reducing the difficulty of layout planning of electronic devices on the expansion frame 6.

[0031] This forest tree plant phenotype detection robot also has a function of adjusting the intervals of the roller assemblies. For example, when it is necessary to change the intervals of the roller assemblies, the rotating frame 3 is driven to rotate by the first driver 601 on the expansion frame 6. The rotation of the rotating frame 3 will pull multiple groups of connecting rods 2 to slide along the positioning shaft 101, thereby changing the interval distance between the roller assemblies. When it is necessary to increase the grounding area of the robot and enhance stability, the roller assemblies can be deployed; while in the moving state or when it is necessary to improve passability, the roller assemblies can be retracted to achieve flexible switching between passability and stability.

[0032] When actually performing the uphill detection task, first control the telescopic device 401 to drive the connecting frame 4 to move horizontally, so that multiple sets of roller assemblies are biased to one side of the main bracket 1 to adjust the center of gravity distribution for uphill travel. Then drive the rotating frame 3 to rotate through the first driver 601 to expand the roller assemblies, increasing the grounding area and stability. Finally, according to the uphill direction, set the short extension side of the connecting rod 2 as the forward direction, drive the roller assemblies to drive the robot to travel along the uphill direction, and complete the detection task.

[0033] The forest tree plant phenotype detection robot provided by the present invention, through the cooperation of the provided connecting rod 2, the first driver 601 and the rotating frame 3, enables the synchronous change of the spacing of multiple sets of roller assemblies. This structure is simple and lightweight, easy to assemble and can automatically change the spacing distance and quantity of the connecting rod 2 according to the usage requirements. At the same time, the forest tree plant phenotype detection robot, through the cooperation of the provided connecting frame 4 with the connecting rod 2, the rotating frame 3 and the telescopic device 401, enables the change of the center of gravity position of the expansion frame 6, improves the applicability in different scenarios, and can adapt to more environments in cooperation with the adjustment of the spacing of multiple sets of roller assemblies.

[0034] In some embodiments, as Figure 4 shown, the main bracket 1 is a ring-shaped polygon structure, and the ring-shaped polygon structure is provided with multiple sets of positioning shafts 101 arranged in sequence along the ring. The ring-shaped polygon structure is respectively clamped in the sliding grooves 202 of each group of connecting rods 2 through each group of positioning shafts 101.

[0035] Reference Figure 4 , the polygon structure design of the main bracket 1 makes the part with the positioning shaft 101 relatively wider. This widened design provides a wider support surface for the connecting rod 2, making the connecting rod 2 more stable during the sliding process, reducing the possibility of shaking and deviation. At the same time, in order to further improve the stability and reliability of the entire robot, at least three groups are provided for the combination of the positioning shaft 101 and the connecting rod 2. The cooperation of multiple sets of positioning shafts 101 and connecting rods 2 can not only evenly distribute the force, avoid structural deformation or damage caused by excessive local stress, but also ensure the stable operation of the robot under various complex terrains and working conditions.

[0036] In this embodiment, each group of connecting rods 2 is designed with a mirror-symmetrical layout. An installation groove 201 is provided at the inner end of each group of connecting rods 2. These installation grooves 201 are sockets customized for the multiple sets of first connecting shafts 301 on the periphery of the rotating frame 3. Each first connecting shaft 301 is rotatably connected in the installation groove 201 of a different connecting rod 2, thus realizing a flexible and stable connection between the connecting rod 2 and the rotating frame 3.

[0037] Furthermore, to cope with diverse terrain and task requirements, the combination of the positioning axis 101 and the connecting rod 2 can adopt an asymmetric design. The flexibility of this design allows the robot to be customized according to the actual application scenario. For example, in certain situations where it is necessary to enhance unidirectional stability, three sets of longer connecting rods 2 can be arranged closely in a triangle, while a set of shorter connecting rods 2 can be placed on the other side in an opposite arrangement. This layout can provide stronger support and stability in a specific direction, ensuring that the robot can move forward steadily when performing tasks, effectively reducing the risk of tipping over in complex terrain, and improving the safety and reliability of operations.

[0038] In addition, a first ball bearing 203 is installed inside the sliding groove 202. When the first ball bearing 203 slides against the main bracket 1, it reduces the friction between the connecting rod 2 and the main bracket 1. This not only makes the sliding of the connecting rod 2 smoother and more unobstructed, thereby improving the robot's movement efficiency, but also effectively reduces energy consumption and extends the robot's battery life.

[0039] In some embodiments, as Figure 6 As shown, a second connecting shaft 302 is provided at the center axis of the upper end surface of the turret 3. The connecting frame 4 is rotatably mounted on the second connecting shaft 302, which is in driving connection with the first driver 601. The connecting frame 4 and the turret 3 are in downward pressure contact, and the turret 3 is also in downward pressure contact with the connecting rod 2. This downward pressure contact design helps improve the load-bearing capacity of the turret 3, making it the primary load-bearing component of the robot.

[0040] Furthermore, the transmission connection between the first driver 601 and the second connecting shaft 302 allows precise control of the rotation angle and position of the connecting frame 4, enabling precise control of various complex robot movements. For example, during forest plant phenotyping, the robot must flexibly maneuver through diverse terrains and environments while maintaining the stability and accuracy of the testing equipment. The first driver 601 drives the second connecting shaft 302 to rotate, which in turn drives the multiple connecting rods 2 to slide along the positioning axis 101, thereby changing the spacing between the roller assemblies.

[0041] In some embodiments, as Figures 1 to 4As shown, a first limiting member 304 with a threaded installation is provided at the end of the first coupling shaft 301. When the first coupling shaft 301 is arranged in the installation groove 201, the first limiting member 304 cooperates with the end of the first coupling shaft 301 to clamp and limit the rotation direction of the limiting link 2, so that when the link 2 slides relative to the main bracket 1, it can only rotate in the horizontal direction. A plurality of groups of second balls 303 are rotatably installed on the upper end surface of the rotating frame 3 around the second coupling shaft 302. The second balls 303 are used to reduce the friction between the bottom of the connecting frame 4 and the upper end surface of the rotating frame 3, so that the connecting frame 4 can rotate more smoothly during rotation, reducing energy loss and improving the movement efficiency of the robot.

[0042] In some embodiments, referring to Figure 8 , a plurality of groups of mounting seats 402 arranged in a ring are installed on the upper end surface of the main bracket 1. A rotating seat 403 is rotatably installed inside the mounting seat 402. The upper end of the rotating seat 403 extends above the mounting seat 402 and is connected with an integrally formed connecting block 404. One end of the telescopic device 401 is fixedly connected with the connecting block 404. A third ball 405 is rotatably installed on the upper end surface of the connecting block 404. The third ball 405 is used to slidably abut against the lower end surface of the expansion frame 6, which can not only effectively disperse the weight and pressure of the expansion frame 6, but also absorb and buffer the impact force generated during the movement of the expansion frame 6 to a certain extent, thereby protecting the expansion frame 6 and the electronic devices carried thereon from damage.

[0043] In some embodiments, as Figure 8 shown, the roller assembly includes: a driving roller mechanism: the driving roller mechanism includes: a third coupling shaft 5, a driving wheel 502, and a second driver 504; the third coupling shaft 5 is rotatably connected with the link 2. The lower end of the third coupling shaft 5 is provided with a driving wheel 502 through a mounting plate 501. The second driver 504 is arranged at the outer end of the link 2, and the second driver 504 is in transmission connection with the third coupling shaft 5 to adjust the direction of the driving wheel 502.

[0044] Specifically, the roller assembly includes a third coupling shaft 5 rotatably connected to the installation groove 201 opened on the link 2. The lower end of the third coupling shaft 5 is welded with a mounting plate 501. The lower end of the mounting plate 501 is rotatably installed with a driving wheel 502. The upper end of the third coupling shaft 5 is buckled with a second fixing member 503. A second driver 504 is fixedly installed at the outer end of the link 2. The second driver 504 can be a driving motor with a gearbox. The second driver 504 is fixedly connected with the second fixing member 503 through a spline. The driving wheel 502 includes a driving assembly with a built-in motor and a roller, and the driving assembly is in transmission connection with the roller. The second driver 504 is used to adjust the orientation of the driving wheel 502 to control the traveling direction.

[0045] Generally, not all roller assemblies are required to actively adjust the travel mode. The roller assembly also includes a driven roller mechanism. The driven roller mechanism includes a fourth connecting shaft and a driven wheel. The fourth connecting shaft is rotatably connected to the connecting rod 2, and the lower end of the fourth connecting shaft is provided with a driven wheel.

[0046] The driven roller mechanism operates differently from the drive wheel 502 in the active roller mechanism. Instead of a second actuator 504 to actively adjust the direction of travel, the driven roller mechanism passively adjusts the direction. Furthermore, the driven wheel in a driven roller mechanism typically does not have a separate motor; instead, rotation is achieved through contact with the ground and the overall motion of the robot. This design not only simplifies the mechanical structure but also reduces energy consumption, enabling more efficient robot operation.

[0047] In practical applications, the driven roller mechanism can be flexibly configured to meet specific needs. For example, on flat, hard surfaces, the driven wheels of the driven roller mechanism can be equipped without their own motor drive assembly. Instead, they can rotate using the robot's forward momentum and the friction between the wheels and the ground, thereby reducing energy consumption and improving operational efficiency. On soft or uneven terrain, to ensure stable rotation and sufficient support, the driven wheels can be equipped with a motor drive assembly for active drive.

[0048] In practical applications, the number and layout of active roller mechanisms significantly impact the performance of forest plant phenotyping robots. While a single set of active roller mechanisms can typically meet basic drive requirements, this configuration can reduce the robot's maneuverability, especially in complex terrain or when greater grip is required.

[0049] When the active roller mechanism becomes airborne, the robot may lose driving force, hindering its movement. While it is possible to adjust the center of gravity of the main support 1 to attempt to re-ground the airborne active roller, this method has a low escape rate and poses a risk of tipping over. Therefore, to ensure the robot's stability and maneuverability in various terrain conditions, at least two sets of active roller mechanisms should be installed in opposite directions in actual use.

[0050] Two opposing sets of active rollers provide more balanced driving force, enhancing the robot's adaptability on uneven terrain. Even if one set of active rollers becomes airborne, the other maintains contact with the ground, providing sufficient driving force, improving the robot's ability to escape and overall stability.

[0051] In some embodiments, as Figures 1 to 4As shown in the figure, the forest tree plant phenotype detection machine further includes: multiple groups of telescopic rods 4011; each group of telescopic rods 4011 is connected between different positions on the outside of the connecting frame 4 and different connecting blocks 404, and at least one group of telescopic rods 4011 is provided with a telescopic device 401 for driving the telescopic movement of the telescopic rods 4011.

[0052] The telescopic rods 4011 are used to play a major bearing role, and it is not necessary to provide a telescopic device 401 on each telescopic rod 4011. When only the horizontal position of the connecting frame 4 needs to be changed in a single direction, only one group of telescopic devices 401 can be provided to reduce flexibility in exchange for a reduction in production costs.

[0053] Based on the above examples of various embodiments, the following usage methods of the device may exist: When one telescopic device 401 is provided, the telescopic device 401 can only linearly control the horizontal position of the connecting frame 4 in one direction; when two telescopic devices 401 are provided, the included angle between the corresponding two telescopic rods 4011 should be less than 180 degrees, so that the horizontal position of the connecting frame 4 can be controlled in a multi-directional planar manner; The structure of a single telescopic device 401 is more suitable for the layout design of the irregular positioning shaft 101 and the connecting rod 2, enabling strengthening in a specific direction and improving stability in a specific direction. Therefore, when using this design to overcome obstacles, the main support 1 needs to be rotated to a specified direction through the roller assembly. Although preparations are required before crossing the obstacle, it can reduce the electrical consumption, costs, and the complexity of program control; The structure of multiple telescopic devices 401 is more suitable for the layout design of the regular positioning shaft 101 and the connecting rod 2, enabling adjustment and use in all directions. There is no need to adjust the orientation of the main support 1 through the roller assembly, reducing the preparation time required for crossing obstacles and improving work efficiency.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A forest tree plant phenotype detection robot, characterized in that, include: Main support (1); A plurality of groups of connecting rods (2), each group of connecting rods (2) having a sliding groove (202) formed therein, and each connecting rod (2) being clamped at a different position on the main bracket (1) via the sliding groove (202); A roller assembly connected to an outer end of the connecting rod (2) and configured to be positioned on the ground; A rotating frame (3) and a connecting frame (4), wherein the outer periphery of the rotating frame (3) is rotatably connected to the inner sides of different connecting rods (2), the rotating frame (3) is rotatably arranged at the bottom of the connecting frame (4), and the outer side of the connecting frame (4) is connected to the main support (1) through a telescopic device (401), so that the horizontal position of the connecting frame (4) relative to the main support (1) is driven by different groups of the telescopic devices (401); An expansion frame (6) is arranged on the connecting frame (4), and is provided with electronic equipment required for plant phenotyping detection and a first driver (601) connected to the rotating frame (3) in a transmission manner, so as to drive the rotating frame (3) to rotate through the first driver (601), pull the multiple groups of connecting rods (2) to rotate, change the intervals between the multiple groups of roller assemblies, and drive the connecting frame (4), the connecting rods (2), the expansion frame (6) and the rotating frame (3) to move relative to the main support (1) through the telescopic device (401), thereby changing the center of gravity position of the expansion frame (6).

2. The forest tree plant phenotype detection robot according to claim 1, wherein The main bracket (1) is an annular polygonal structure, and the annular polygonal structure is provided with a plurality of groups of positioning shafts (101) arranged in sequence along the annular shape. The annular polygonal structure is respectively engaged with the sliding grooves (202) of the connecting rods (2) of the respective groups through the positioning shafts (101).

3. The forest tree plant phenotype detection robot according to claim 2, characterized in that, Each group of connecting rods (2) is arranged in mirror symmetry, and an inner end of each group of connecting rods (2) is provided with a mounting groove (201). The outer periphery of the rotating frame (3) is provided with multiple groups of first connecting shafts (301), and each first connecting shaft (301) is rotatably connected to the mounting groove (201) of a different connecting rod (2). The interior of the sliding groove (202) is rotatably installed with a first ball (203) for slidingly abutting against the main bracket (1).

4. The forest tree plant phenotype detection robot according to claim 3, wherein A second connecting shaft (302) is provided at the center axis of the upper end surface of the rotating frame (3), the connecting frame (4) is rotatably arranged on the second connecting shaft (302), and the second connecting shaft (302) is transmission-connected to the first driver (601).

5. The forest tree plant phenotype detection robot according to claim 4, characterized in that, A first limiting member (304) is provided at the end of the first connecting shaft (301). When the first connecting shaft (301) is arranged in the mounting groove (201), the first limiting member (304) cooperates with the end of the first connecting shaft (301) to clamp and limit the rotation direction of the connecting rod (2). The upper end surface of the rotating frame (3) is located on the periphery of the second connecting shaft (302) and is rotatably installed with multiple sets of second balls (303).

6. The forest tree plant phenotype detection robot according to claim 1, characterized in that The upper end surface of the main bracket (1) is provided with multiple groups of mounting seats (402) arranged in a ring. A rotating seat (403) is rotatably mounted inside the mounting seat (402). The upper end of the rotating seat (403) extends above the mounting seat (402) and is connected with a connecting block (404). One end of the telescopic device (401) is fixedly connected with the connecting block (404). A third ball (405) is rotatably mounted on the upper end surface of the connecting block (404). The third ball (405) is used for slidingly abutting against the lower end surface of the expansion frame (6).

7. The forest tree plant phenotype detection robot according to claim 6, wherein It further includes: Multiple groups of telescopic rods (4011); each group of the telescopic rods (4011) is connected between different positions on the outer side of the connecting frame (4) and different connecting blocks (404), and at least one group of the telescopic rods (4011) is provided with the telescopic device (401) for driving the telescopic movement of the telescopic rod (4011).

8. The forest tree plant phenotype detection robot according to any one of claims 1-7, characterized in that, The roller assembly includes: a driving roller mechanism: The driving roller mechanism includes: a third connecting shaft (5), a driving wheel (502), and a second driver (504); The third connecting shaft (5) is rotatably connected with the connecting rod (2). A driving wheel (502) is provided at the lower end of the third connecting shaft (5). The second driver (504) is arranged at the outer end of the connecting rod (2). The second driver (504) is in transmission connection with the third connecting shaft (5) to adjust the direction of the driving wheel (502).

9. The forest tree plant phenotype detection robot according to claim 8, wherein The roller assembly further includes: a driven roller mechanism; The driven roller mechanism includes: a fourth connecting shaft and a driven wheel; the fourth connecting shaft is rotatably connected with the connecting rod (2), and a driven wheel is provided at the lower end of the fourth connecting shaft.

10. The forest tree plant phenotype detection robot according to claim 8, wherein, The driving wheel (502) includes: a driving assembly with a built-in motor and a roller, and the driving assembly is in transmission connection with the roller.

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