Crop phenotype detection robot

Abstract

The invention relates to the technical field of crop phenotype detection, discloses a crop phenotype detection robot, and solves the problem that camera vibration reduction and in-situ abnormal plant marking are lacked in the prior art. The device comprises a rack assembly, a gas collection assembly, a sampling assembly, a marking assembly, a pneumatic vibration reduction assembly and the like, airflow is captured through a Venturi tube, accelerated and filtered and then stored in a high-pressure gas storage tank, the pneumatic vibration reduction assembly uses high-pressure airflow to form a gas film in a gap between a lower ball head and an upper ball socket to lift a camera for suspension vibration reduction, and sampling fan blades suck a sample; biochemical analysis is carried out through the miniature PCR instrument, if abnormity is confirmed, the marking assembly carries degradable fluorescent dye through high-pressure airflow to mark a target plant through atomizing and spraying of a nozzle, detection data is transmitted to a data control center through a signal receiver to be processed, and high-throughput and high-precision detection of crop phenotypes is achieved.

Description

Technical Field

[0001] This invention relates to the field of crop phenotyping technology, and more particularly to a crop phenotyping robot. Background Technology

[0002] Crop phenotyping robots are intelligent agricultural equipment integrating automation, sensing technology, and artificial intelligence. They are primarily used to efficiently and accurately acquire dynamic data on crop phenotypic characteristics during growth. Phenotypic characteristics include parameters closely related to crop growth status and genetic characteristics, such as plant height, leaf area, stem thickness, fruit morphology, pest and disease symptoms, and photosynthetic efficiency. Traditional phenotyping relies on manual measurement or single sensors, resulting in low efficiency, high subjectivity, and limited data dimensions. These robots typically consist of a mobile chassis, multimodal sensor modules, a robotic arm, an edge computing unit, and an autonomous navigation system. Their working principle involves autonomous movement in farmland or greenhouses via preset paths or AI visual navigation. They utilize sensors to collect real-time data on crop morphology, physiological and biochemical properties, and the environment. This data is then processed and analyzed using image recognition and deep learning algorithms to generate crop growth models, pest and disease warnings, or yield prediction reports. These devices are often integrated with the Internet of Things (IoT) and cloud computing platforms to support gene-phenotype association analysis in agricultural research or provide data support for agricultural decisions such as precision fertilization and variable irrigation. They are important technological tools in smart agriculture and crop breeding.

[0003] The prior art, CN119086808B, discloses a multi-scenario self-propelled high-throughput non-destructive crop phenotypic acquisition equipment. This equipment includes a mobile robot platform, a satellite positioning module, a 3D vision sensor, an edge computing device, and a multi-sensor phenotypic data acquisition unit. The mobile robot platform employs a four-wheel independent drive and independent steering system with adjustable height. The satellite positioning module controls the mobile robot platform to move to the target plot. The edge computing device dynamically adjusts the turning angle and upper platform height of the mobile robot platform based on the plant canopy depth image and 3D point cloud information acquired by the 3D vision sensor. The edge computing device analyzes the phenotypic sensor data for each modality acquired by the multi-sensor phenotypic data acquisition unit to obtain multiple phenotypic data. It can also automatically map multi-modal phenotypic sensor data to target plot labels and perform line breaks. This invention achieves high-throughput non-destructive measurement of crop phenotypic characteristics throughout the entire growth period using a self-propelled system across multiple scenarios.

[0004] Regarding the above-mentioned and existing related technologies, the inventors believe that the following defects often exist:

[0005] 1. Existing technologies do not address vibration reduction design for sensors. Bumps during field driving may cause optical components such as 3D vision sensors and multispectral cameras to vibrate, thereby affecting image clarity and point cloud data accuracy.

[0006] 2. Existing multi-sensor phenotypic data acquisition units only include visible light, thermal infrared, and hyperspectral sensors, remaining at the optical detection level. They cannot acquire biochemical parameters such as dust and spores in the plant canopy, making it difficult to achieve early warning of diseases and pests.

[0007] 3. Existing technologies lack the function of marking abnormal plants. After detecting abnormal data, it is impossible to physically mark the target plants in real time. Manual comparison data is required for later positioning, which reduces the efficiency of field operations. Summary of the Invention

[0008] The technical problem to be solved by this invention is that the existing technology lacks camera vibration reduction and in-situ abnormal plant labeling. To address this, we propose a crop phenotypic detection robot.

[0009] To achieve the above objectives, this application adopts the following technical solution: a crop phenotyping robot, comprising a frame assembly, a radar assembly mounted on the top of the frame assembly, a gas collection assembly mounted on the front end of the frame assembly, a sampling assembly mounted on the proximal end of the rear side of the gas collection assembly, a marking assembly mounted on the distal end of the rear side of the gas collection assembly, and a pneumatic vibration damping assembly mounted at the center of the bottom end of the frame assembly; the pneumatic vibration damping assembly includes a camera located at the bottom of the pneumatic vibration damping assembly, a ball head component mounted on the top of the camera, a ball socket component mounted above the ball head component, and an air intake component mounted above the ball socket component, the air intake component including an air intake fan blade; the ball head component includes a lower ball head, the surface of which has an annular groove; the ball socket component includes an upper ball socket, the upper end of which has an air inlet, and the lower end of which has an air outlet.

[0010] Preferably, the upper spherical cavity has a double-layer asymmetric hollow hemispherical structure, which can be divided into an outer pressure-bearing shell and an inner flow-guiding shell. The outer pressure-bearing shell and the inner flow-guiding shell of the upper spherical cavity form a variable cross-section hollow cavity.

[0011] Preferably, the variable cross-section hollow cavity of the upper ball socket is an asymmetrical eccentric annular shape, and the cross-sectional thickness of the upper ball socket gradually increases from one side of the air inlet to the opposite side.

[0012] Preferably, the air outlet is radially aligned with the annular groove, and the axis of the air outlet channel is inclined at a 45° angle to the normal of the inner layer of the upper ball socket.

[0013] Preferably, the annular groove is located below the maximum cross-section of the lower ball head, and the cross-sectional profile of the annular groove is an inclined semi-circular arc.

[0014] Preferably, the frame assembly includes a body, a chassis is installed directly below the body, wheels are installed at the four corners of the bottom of the body, an outer cover is installed on the top of the body, and an inner cover is installed between the outer cover and the body.

[0015] Preferably, the gas collection assembly includes a venturi tube located at the front end of the frame assembly. A gas collection fan blade is installed inside the inlet end of the venturi tube, a gas collection filter is installed inside the outlet end of the venturi tube, a high-pressure gas storage tank is installed at the outlet end of the venturi tube, an air injection port is installed above the high-pressure gas storage tank, and a first proportional regulating valve and a second proportional regulating valve are respectively installed on the two air outlets on the rear side of the high-pressure gas storage tank.

[0016] Preferably, the outlet of the first proportional control valve is connected to the sampling component, and the outlet of the second proportional control valve is connected to the marking component.

[0017] Preferably, the sampling assembly includes a sampling fan blade, an outer tube installed at the air outlet end of the sampling fan blade, a sampling slot hole opened below the outer tube, an inner tube installed inside the outer tube, an air injection pipe installed at the air outlet end of the outer tube, a sampling filter installed inside the air injection pipe, a detection probe installed below the sampling filter, a miniature PCR instrument installed below the detection probe, and the air injection pipe connected to a pneumatic vibration damping assembly.

[0018] Preferably, the marking assembly includes an air jet pipe, an outlet end of which is fitted with a pigment cartridge, and an outlet end of which is fitted with a nozzle.

[0019] The technical effects and advantages of this invention are as follows:

[0020] In this invention, a non-contact support is formed by the air film gap between the upper ball socket and the lower ball head, and the camera is suspended by the high-speed airflow ejected from the air outlet, thereby reducing the vibration transmission rate.

[0021] In this invention, airflow-driven sampling fan blades draw in canopy dust, which is then used to perform DNA-level pathogen detection via a miniature PCR instrument. This achieves full automation of the process from phenotypic abnormality identification to pathogen confirmation, shortening the research cycle.

[0022] In this invention, the airflow of a high-pressure gas storage box is used to atomize biodegradable fluorescent dye, which is then used to precisely mark abnormal plants through nozzles, achieving simultaneous detection and marking and improving field operation efficiency. Attached Figure Description

[0023] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0024] Figure 1 This is a three-dimensional structural diagram of the entire invention;

[0025] Figure 2 This is a three-dimensional structural diagram of the entire invention;

[0026] Figure 3This is an exploded structural diagram of the entire invention;

[0027] Figure 4 This is a partial planar structural schematic diagram of the present invention;

[0028] Figure 5 This is a partial planar structural schematic diagram of the present invention;

[0029] Figure 6 This is an exploded structural diagram of the gas collection assembly of the present invention;

[0030] Figure 7 This is an exploded view of the sampling component of the present invention;

[0031] Figure 8 This is an exploded view of the marking component of the present invention;

[0032] Figure 9 This is a three-dimensional structural diagram of the pneumatic vibration damping component and protective cover of the present invention;

[0033] Figure 10 This is a schematic diagram of the planar structure of the pneumatic vibration damping component of the present invention.

[0034] Legend: 1. Frame assembly; 11. Body; 12. Chassis; 13. Wheels; 14. Outer cover; 15. Inner cover; 2. Radar assembly; 21. Flange; 22. LiDAR sensor; 3. Signal receiver; 4. Gas collection assembly; 41. Venturi tube; 42. Gas collection fan blade; 43. Gas collection filter; 44. High-pressure gas storage tank; 45. Gas injection port; 46. First proportional control valve; 47. Second proportional control valve; 5. Sampling assembly; 51. Sampling fan blade; 52. Outer pipe; 53. Sampling slot; 54. Inner pipe; 55. Sampling filter; 56. Detection probe; 57. Miniature PCR instrument; 58. Gas injection pipe; 6. Marking assembly; 61. Gas jet pipe; 62. Pigment box; 63. Nozzle; 7. Protective cover; 8. Pneumatic vibration damping assembly; 81. Camera; 82. Ball head assembly; 821. Lower ball head; 822. Annular groove; 83. Ball socket assembly; 831. Upper ball socket; 832. Air outlet; 833. Air inlet; 84. Inhalation assembly; 841. Base; 842. Servo motor; 843. Inhalation fan blade; 9. CNC assembly; 91. Data control center; 92. Electrical control box. Detailed Implementation

[0035] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0036] Referring to Figures 1-2 as shown, the present invention provides a technical solution: a crop phenotype detection robot, comprising: a frame assembly 1, a radar assembly 2 is installed at the center of the top of the frame assembly 1, a signal receiver 3 is installed beside the radar assembly 2, an air intake assembly 4 is installed on the front side of the frame assembly 1 along the driving direction, and a sampling assembly 5 is installed inside the frame assembly 1 at the proximal end behind the air intake assembly 4. A marking assembly 6 is installed inside the frame assembly 1 at the distal end behind the air intake assembly 4, a pneumatic damping assembly 8 is installed at the center of the bottom surface of the frame assembly 1, a protective cover 7 is wrapped around the pneumatic damping assembly 8, and a numerical control assembly 9 is installed on the rear side of the frame assembly 1 along the driving direction.

[0037] Referring to Figures 1-5 as shown, in this embodiment: the frame assembly 1 serves as the basic bearing structure unit of the crop phenotype detection robot,承担支撑各功能模块、传递机械载荷及防护内部元件的作用。机架组件1包括机身11,机身11为长方体框架结构设计,采用铝金桁架焊接成型,表面经阳极氧化处理,机身11沿行驶方向的两侧规律间距开设有若干对应的圆柱形槽孔,槽孔兼具通风和固定的作用,部分槽孔内插入有钢管并通过螺栓与机身11固定。

[0038] A chassis 12 is installed directly below the bottom of the fuselage 1 by screws. The front and rear ends of the chassis 12 along the driving direction respectively extend 20 cm beyond the projection range of the fuselage 1, adopting an inverted trapezoidal high-frame structure to form a "convex"-shaped support profile. The upper surface of the chassis 12 is flat and sprayed with a wear-resistant coating. A through-hole for the pneumatic damping assembly 8 is opened at the longitudinal central axis of the upper surface. Based on this central through-hole, a through-hole for the sampling assembly 5 is opened at the proximal front side along the driving direction, and a through-hole for the marking assembly 6 is opened at the proximal rear side.

[0039] Wheels 13 are installed at the four corners of the bottom of the fuselage 1, symmetrically distributed along the longitudinal central axis of the frame assembly 1. The wheels 13 adopt a four-wheel independent drive structure. The wheel hubs are made of aluminum alloy, and an in-wheel motor is内置轮毂电机作为驱动单元,通过联轴器传递扭矩;轮胎为防刺橡胶胎面,表面刻制人字形防滑纹路,以适应田间颠簸湿滑环境下的抓地需求。

[0040] It should be noted that there is an unclear part in the original Chinese text in ID=9 where "承担支撑各功能模块、传递机械载荷及防护内部元件的作用" seems to be an incomplete or incorrect expression. The translation is done as accurately as possible based on the existing text. Also, in ID=15, "内置轮毂电机作为驱动单元" is translated as "an in-wheel motor is内置轮毂电机作为驱动单元", which seems to be an incorrect or incomplete translation in the original Chinese. Please check and correct the original text for a more accurate translation.The top and lateral sides of the fuselage 11 are covered with an outer cover 14 and an inner cover 15, forming a double-layer protective structure. The outer cover 14 has an inverted "U"-shaped frame structure, with an arc-shaped dome at the top along the longitudinal central axis. The outer cover 14 is fitted onto the fuselage 11 and rigidly connected to the fuselage 11 by screws. A radar component 2 with a matching diameter is opened in the center of the top surface of the outer cover 14, and a signal receiver 3 is opened on the adjacent side. The lateral side walls of the outer cover 14 extend downward to the middle height of the fuselage 11, and the bottom surface is flush with the lateral side edges of the fuselage 11, which is used to protect the internal components of the fuselage 11 from external environmental damage.

[0041] The inner cover 15 is a thin metal sheet that is nested and assembled in the top area between the outer cover 14 and the fuselage 11. The inner cover 15 has tubular inward roll structures at the front and rear ends along the driving direction, which are precisely fitted onto the outside of the transverse steel tubes at the front and rear ends of the fuselage 11. The surface of the inner cover 15 is coated with electromagnetic shielding paint, and the bottom of the inner cover 15 is matched with the upper bottom surface of the chassis 12 to form an independent electronic control compartment. The electromagnetic shielding design reduces signal interference and improves data transmission stability.

[0042] Reference Figures 1-4 As shown in this embodiment: Radar component 2 serves as the core unit for spatial positioning and canopy structure scanning of the crop phenotypic detection robot, undertaking the functions of acquiring three-dimensional point cloud data of the canopy and dynamically detecting the height distribution of the crop population. Radar component 2 includes a flange 21 and a lidar sensor 22. The flange 21 is installed at the top center of the body 11. The flange 21 is rigidly connected to the top of the outer cover 14 by bolts. The positioning boss on the flange surface cooperates with the bottom groove of the lidar sensor 22 to achieve coaxial positioning. At the same time, the flange 21 serves as the mounting base of the lidar sensor 22, providing stable mechanical support and transmitting the vibration load between the body 11 and the lidar sensor 22.

[0043] The lidar sensor 22 is vertically positioned at the center of the flange 21, with its axis coaxial with the positioning boss of the flange 21. Its overall height is higher than the dome structure of the outer cover 14, ensuring an unobstructed scanning field of view. The lidar sensor 22 has a cylindrical shell design with a diameter matching the positioning boss of the flange 21. The lidar sensor 22 has a rotating scanning head at the top and a wire groove at the bottom. The data cable is connected to the CNC component 9 through the pre-set through holes at the top of the outer cover 14 and the inner cover 15.

[0044] The radar assembly 2 is equipped with a signal receiver 3 on the right rear side along the driving direction. The top of the signal receiver 3 integrates a columnar antenna. The antenna extends to the outside of the body 11 through a pre-set through hole at the top of the outer cover 14, ensuring that the wireless signal transmission and reception are not blocked by the metal structure of the frame. The bottom of the signal receiver 3 is fixed to the upper surface of the chassis 12 with screws and is connected to the CNC assembly 9 through a line to complete the reception of remote control commands and real-time detection of crop phenotypic data.

[0045] Reference Figures 1-6 As shown in this implementation scheme: the air collection component 4, as the core air source module of the crop phenotyping robot, is installed at the front end of the frame component 1 along the travel direction. It is responsible for capturing, accelerating, filtering, and storing airflow, providing power support for functions such as vibration reduction, sampling, and marking. The air collection component 4 includes a Venturi tube 41, which has a funnel-shaped tubular structure and is horizontally arranged at the front end of the air collection component 4 along the travel direction. The inlet end of the Venturi tube 41 faces the direction of the vehicle's head, and the outlet end is connected to subsequent components through a pipe. The pipe is made of lightweight aluminum alloy with a smooth inner wall to reduce airflow resistance, accelerating the natural airflow captured during travel to form a high-speed airflow, providing the kinetic energy basis for the subsequent pneumatic system.

[0046] The Venturi tube 41 is equipped with an air collecting fan blade 42, which is an impeller structure composed of four arc-shaped blades. It is axially arranged at the throat of the Venturi tube 41 and connected to the tube wall bearing through a central shaft. A motor can be installed on the central shaft to drive the air collecting fan blade 42 to rotate. The blade surface is treated to reduce drag. When rotating, it helps to guide the airflow to be evenly distributed and enhances the acceleration effect of the Venturi tube 41. The center of the air collecting fan blade 42 coincides with the axis of the throat of the Venturi tube 41 to ensure that a stable vortex is formed when the airflow passes through.

[0047] An air collecting filter 43 is installed inside the outlet end of the venturi tube 41. The air collecting filter 43 has a disc-shaped multi-layer mesh structure design and is fixed inside the venturi tube 41 by a snap fastener. The air collecting filter 43 has a metal frame with filter material wrapped around the side. The pore size of the filter material gradually decreases along the airflow direction to achieve multi-stage filtration of dust and impurities in the airflow, ensuring the clean operation of subsequent pneumatic components.

[0048] The outlet end of the Venturi tube 41 is connected to the high-pressure gas storage tank 44. The high-pressure gas storage tank 44 is a rectangular pressure vessel made of high-pressure resistant aluminum alloy. The high-pressure gas storage tank 44 is located at the rear end of the gas collection assembly 4. A one-way valve is installed at the connection between the high-pressure gas storage tank 44 and the Venturi tube 41. It stores the high-pressure gas flow after acceleration and filtration in one direction. A flow stabilizing baffle can be installed inside the high-pressure gas storage tank 44 to ensure uniform gas flow pressure.

[0049] The high-pressure gas storage tank 44 is equipped with an air inlet 45 on its top. The air inlet 45 is a tubular interface with a sealing cap, which is arranged vertically upward at the center of the top surface of the high-pressure gas storage tank 44. The inner diameter of the interface matches the external air supply pipeline. It can supplement airflow through an external air pump. Normally, the airtightness of the gas tank is maintained by the sealing cap to ensure that the pressure of the high-pressure gas storage tank 44 is maintained at the set working period to meet the gas demand for sampling, vibration reduction and marking functions.

[0050] The high-pressure air storage tank 44 has two air outlets at both ends on the rear side along the driving direction. The air outlets are connected to a first proportional regulating valve 46 and a second proportional regulating valve 47 respectively through pipes. The first proportional regulating valve 46 is connected to the sampling component 5 through a pipe, and the second proportional regulating valve 47 is connected to the marking component 6 through a pipe. The first proportional regulating valve 46 and the second proportional regulating valve 47 are electromagnetically driven and can dynamically adjust the airflow distribution ratio according to the main control command of the CNC component 9 to realize the on-demand distribution of air source and give priority to ensuring the airflow supply of the pneumatic vibration damping component 8.

[0051] Reference Figures 1-7 As shown in this embodiment: Sampling component 5 serves as the sample collection and in-situ detection unit for the crop phenotypic detection robot. It is installed near the rear end of the air collection component 4 along the travel direction to dynamically capture samples such as dust, spores, and pollen from the crop canopy surface, complete preliminary biochemical analysis, and provide an air source for the pneumatic vibration damping component 8. Sampling component 5 includes sampling fan blades 51, which are located in the pipeline at the outlet of the first proportional regulating valve 46. They consist of four equidistantly distributed inclined blades, fixed to the center of the pipeline by a central axis. The central axis forms a 45° spatial angle with the longitudinal central axis of the pipeline, forming a spiral flow guiding structure. The sampling fan blades 51 are driven to rotate by the impact force of the high-speed airflow output by the air collection component 4. The rotation direction and the airflow form a synergistic vortex effect. The rotating blades guide the airflow downward spirally along the inner wall of the pipeline by changing the axial momentum component of the airflow, reducing the airflow stagnation time.

[0052] The air outlet of the sampling fan blade 51 is connected to an outer tube 52 via a pipe. The outer tube 52 is a hollow cylindrical sleeve, fixed to the bottom outer side of the frame assembly 1, with its axis parallel to the bottom surface. Sampling slots 53 are equidistantly arrayed along the axial direction on the lower wall of the outer tube 52. The size of the slots is adapted to the particle size of the target sample. The axis of the sampling slots 53 is perpendicular to the axis of the outer tube 52, allowing the sample to be drawn into the outer tube 52 vertically. An inner tube 54 is nested inside the outer tube 52. The inner tube 54 is a hollow frustum-shaped tube with a length covering the sampling area. The axial distribution range of the slot 53, the outer diameter of the inner tube 54 gradually decreases from the air inlet to the air outlet, while the inner diameter remains unchanged. The outer diameter of the air inlet of the inner tube 54 is closely fitted with the inner diameter of the air inlet of the outer tube 52. The inner tube 54 receives the high-speed airflow gathered from the direction of the sampling fan blade 51. When the high-speed airflow passes quickly through the inner tube 54 to the air outlet of the outer tube 52, a negative pressure zone is formed inside the outer tube 52 through the Venturi effect, which sucks in samples such as dust, spores, and pollen from the surface of the crop canopy below into the outer tube 52 and transports them to the subsequent processing components with the airflow.

[0053] An air injection pipe 58 is connected to the air outlet of the outer pipe 52. A sampling filter 55 is installed inside the air injection pipe 58. The sampling filter 55 is disc-shaped with a mesh density higher than that of the sampling slot 53. The sampling filter 55 filters the sample and retains particles of the target size. A detection probe 56 is installed below the sampling filter 55. The top of the detection probe 56 is exposed and aligned with the central area of ​​the sampling filter 55. A miniature PCR instrument 57 is installed at the bottom of the detection probe 56. The miniature PCR instrument 57 is fixed to the upper surface of the chassis 12 and integrates a heating module, a reaction chamber, and other units. It achieves molecular-level detection of pathogens by rapidly diffusing and analyzing sample DNA and RNA.

[0054] Reference Figures 1-8 As shown in this embodiment: the marking component 6 serves as the precision response unit of the crop phenotyping robot, undertaking the function of non-contact marking of detected abnormal plants, and realizing the directional spraying of degradable fluorescent dye through airflow drive. The marking component 6 includes an air jet pipe 61, which is a hollow tubular structure made of lightweight aluminum alloy. The inner wall is polished to reduce airflow resistance. The air inlet end of the air jet pipe 61 is connected to the air outlet of the second proportional regulating valve 47. A pigment box 62 is installed at the air outlet end of the air jet pipe 61. The air outlet end of the air jet pipe 61 is bent at 90° and docked with the center interface of the pigment box 62. The pigment box 62 is fixedly installed on the upper surface of the chassis 12. It is a rectangular sealed container design that stores degradable quantum dot fluorescent dye inside. The output end of the pigment box 62 is connected to a nozzle 63 through a pipeline, which sprays... Nozzle 63 is a Venturi-type atomizing structure, shaped like an inverted truncated cone, with its axis perpendicular to the horizontal plane and pointing downwards, aimed at the top area of ​​the canopy. A guide cone surface is provided at the nozzle to optimize the uniformity of atomized particles. When an abnormal plant is detected, the numerical control component 9 sends an electromagnetic pulse signal to the second proportional regulating valve 47, which controls the opening of the high-pressure airflow channel. The high-pressure airflow flows out from the high-pressure gas storage box 44, and the high-speed gas travels along the jet pipe 61, passes through the pigment box 62, and carries the degradable fluorescent dye to the nozzle 63. After atomization, it is sprayed vertically onto the abnormal plant, achieving visual marking and facilitating subsequent precise location of abnormal plants by researchers.

[0055] Reference Figures 1-10 As shown in this embodiment: the pneumatic vibration damping component 8, as the core stabilizing unit of the crop phenotypic detection robot, is installed at the center of the bottom of the frame component 1. It achieves contactless vibration isolation through air-bearing support technology and airflow circulation system. The pneumatic vibration damping component 8 includes a camera 81, which is located at the bottom of the pneumatic vibration damping component 8. A ball head component 82 is installed at the top of the camera 81, and a ball socket component 83 is installed above the ball head component 82. The ball head component 82 is hemispherically embedded in the ball socket component 83 above it, and an air intake component 84 is installed above the ball socket component 83.

[0056] The camera 81 is vertically mounted on the bottom of the pneumatic vibration damping assembly 8. The entire assembly uses a lightweight engineering plastic shell. The lower end of the camera 81 is the lens acquisition surface, which is equipped with a thermal infrared lens and a multispectral lens for collecting two-dimensional visual data such as the color of crop canopy leaves and lesions. The upper end integrates a data interface, and the top is rigidly connected to the ball head component 82 through the flange 21.

[0057] The ball head component 82 is located at the top of the camera 81, with its spherical surface facing upwards and embedded in the ball socket component 83, maintaining a uniform gap with the ball socket component 83. The ball head component 82 includes a lower ball head 821, which has a hemispherical structure design and a polished surface to ensure that the airflow flows quickly and evenly and forms a laminar flow state along the surface. An annular groove 822 is provided at the bottom of the maximum cross section of the lower ball head 821, which accounts for about one-third of the total height. The cross-sectional profile of the recessed area of ​​the annular groove 822 is an inclined semi-circular arc. The radial axis extending along the center position divides the groove into an inner curved surface close to the central axis of the ball head and an outer curved surface away from the central axis. The entire crescent-shaped groove is inclined outwards along the radial direction of the ball head, forming an inclined shape with the outer curved surface higher and the inner curved surface lower, based on the central axis of the lower ball head 821.

[0058] The ball socket component 83 includes an upper ball socket 831, which has a double-layer asymmetric hollow hemispherical structure design. It can be divided into an outer pressure-bearing shell and an inner flow-guiding shell, forming a variable cross-section hollow cavity between the outer pressure-bearing shell and the inner flow-guiding shell. The outer pressure-bearing shell of the upper ball socket 831 has a hemispherical curved shell design, with an air inlet 833 on one side of the upper end to receive the high-speed airflow delivered by the air injection pipe 58. The inner flow-guiding shell of the upper ball socket 831 has a standard hemispherical curved surface design, with a cylindrical air delivery channel at the center of the top. The channel axis coincides with the central axis of the upper ball socket 831. The lower end of the inner flow-guiding shell of the upper ball socket 831, located at the corresponding position of the annular groove 822, has... The cavity is equipped with an air outlet 832. The hollow cavity is a closed cavity between two shells with an asymmetrical eccentric annular cross-section. The cavity is thinnest on the side of the air inlet 833 and thickest on the side away from the air inlet 833. The cross-section of the hollow cavity of the upper spherical cavity 831 gradually expands from the side of the air inlet 833 to the opposite side to avoid airflow separation and turbulence. The air outlet 832 is evenly distributed along the bottom circumference of the hemispherical bottom surface of the inner guide shell of the upper spherical cavity 831 and is radially aligned with the annular groove 822. The channel axis is inclined at a 45° angle to the normal of the inner guide shell of the upper spherical cavity 831. The channel length of the air outlet 832 changes with the thickness of the hollow cavity. The channel length is used to compensate for and balance the airflow resistance of each hole.

[0059] The intake component 84 includes a base 841. The upper surface of the base 841 is fixedly mounted on the flange 21 by screws. The base 841 is connected and fixed to the top of the upper ball socket 831 by screws, which plays a traction and fixing role for the pneumatic vibration damping component 8. A servo motor 842 is mounted on the lower surface of the base 841. An intake fan blade 843 is mounted on the drive end of the servo motor 842. The intake fan blade 843 is located in the cylindrical air delivery channel of the upper ball socket 831.

[0060] The servo motor 842 drives the suction fan blades 843 to rotate at high speed, forming a stable negative pressure area within the air delivery channel of the upper spherical socket 831. The air injection pipe 58 continuously delivers high-speed gas into the double-layer hollow cavity through the air inlet 833. After being evenly distributed through the asymmetric eccentric flow channel of the hollow cavity, the airflow is discharged at a 45° angle from the air outlet 832, which is radially aligned with the annular groove 822. An upward lifting distance is formed in the air film gap between the upper spherical socket 831 and the lower spherical head 821. Driven by the negative pressure of the air delivery channel, the airflow flows upward along the spherical gap. When the camera moves through the annular groove 822, according to Bernoulli's principle, a local high-pressure zone is generated due to the sudden change in the cross-sectional area of ​​the flow channel, which further enhances the supporting effect on the lower ball head 821. At the same time, the negative pressure simultaneously attracts the natural air below the lower ball head 821 into the spherical gap, forming a closed airflow cycle of "bottom intake - middle support - top exhaust". This airflow cycle makes the lower ball head 821 stably suspended in the upper ball socket 831, effectively isolating the frame assembly 1 from vibration caused by bumpy road surfaces, and ensuring the stability of the camera 81 in the detection posture under complex terrain.

[0061] Reference Figures 1-9 As shown in this embodiment: a protective cover 7 is installed around the pneumatic vibration damping component 8. The protective cover 7 has an inverted bowl-shaped structure. The upper edge is connected to the chassis 12 of the frame component 1 by an elastic buckle. The outer layer is made of transparent polycarbonate material, and the inner layer is covered with 304 stainless steel mesh, which has both optical transmittance and impact resistance.

[0062] Reference Figures 1-4 As shown in this embodiment: the CNC component 9 includes a data control center 91 and an electrical control box 92. The data control center 91 is installed in the middle of the frame component 1 and located on the upper surface of the chassis 12. The electrical control box 92 is installed on the rear side of the frame component 1 in the direction of travel and is symmetrically distributed with the high-pressure air storage box 44.

[0063] Working principle: The user starts the robot via remote detection command. During operation, the venturi tube 41 at the front of the robot captures airflow, which is accelerated, filtered, and stored in the high-pressure air tank 44 to power the system. The radar component 2 scans the canopy to acquire data. The pneumatic vibration damping component 8 uses high-pressure airflow to form an air film between the lower ball head 821 and the upper ball socket 831 to suspend and dampen the camera 81. The camera 81 is equipped with thermal infrared and multispectral lenses to acquire canopy images. When an abnormal area is detected, the sampling component 5 uses airflow to drive the sampling fan blade 51 to draw in the sample, which is then subjected to biochemical analysis by the micro PCR instrument 57. If an abnormality is confirmed, the marking component 6 uses high-pressure airflow to carry degradable fluorescent dye and sprays it through the nozzle 63 to mark the target plant. The detection data is transmitted to the data control center 91 for processing via the signal receiver 3, achieving high-throughput and high-precision detection of crop phenotypes.

[0064] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A crop phenotypic detection robot, characterized in that, Includes a rack assembly: a radar assembly is mounted on the top of the rack assembly, a gas collection assembly is mounted on the front end of the rack assembly, a sampling assembly is mounted on the proximal end of the rear side of the gas collection assembly, a marking assembly is mounted on the distal end of the rear side of the gas collection assembly, and a pneumatic vibration damping assembly is mounted at the center of the bottom end of the rack assembly. The pneumatic vibration damping assembly includes a camera located at the lowest end of the pneumatic vibration damping assembly. A ball head component is installed at the top of the camera, a ball socket component is installed above the ball head component, and an air intake component is installed above the ball socket component. The air intake component includes air intake fan blades. The ball head component includes a lower ball head, and an annular groove is formed on the surface of the lower ball head; The ball socket component includes an upper ball socket, with an air inlet at the upper end and an air outlet at the lower end.

2. The crop phenotyping robot according to claim 1, characterized in that: The upper spherical cavity has a double-layer asymmetric hollow hemispherical structure. The upper spherical cavity can be divided into an outer pressure-bearing shell and an inner flow-guiding shell. The outer pressure-bearing shell and the inner flow-guiding shell of the upper spherical cavity form a variable cross-section hollow cavity.

3. The crop phenotyping robot according to claim 2, characterized in that: The variable cross-section hollow cavity of the upper ball socket is an asymmetrical eccentric annular shape, and the thickness of the hollow cavity cross-section of the upper ball socket gradually increases from one side of the air inlet to the opposite side.

4. The crop phenotyping robot according to claim 3, characterized in that: The air outlet is radially aligned with the annular groove, and the axis of the air outlet channel is inclined at a 45° angle to the normal of the inner layer of the upper ball socket.

5. The crop phenotyping robot according to claim 4, characterized in that: The annular groove is located below the maximum cross-section of the lower ball head, and the cross-sectional profile of the annular groove is an inclined semi-circular arc.

6. The crop phenotypic detection robot according to claim 1, characterized in that: The frame assembly includes a body, a chassis is mounted directly below the body, wheels are mounted at the four corners of the bottom of the body, an outer cover is mounted on the top of the body, and an inner cover is installed between the outer cover and the body.

7. The crop phenotypic detection robot according to claim 1, characterized in that: The gas collection assembly includes a venturi tube located at the front end of the frame assembly. A gas collection fan blade is installed inside the inlet end of the venturi tube, and a gas collection filter screen is installed inside the outlet end of the venturi tube. A high-pressure gas storage tank is installed at the outlet end of the venturi tube, and an air injection port is installed above the high-pressure gas storage tank. A first proportional regulating valve and a second proportional regulating valve are respectively installed on the two air outlets on the rear side of the high-pressure gas storage tank.

8. The crop phenotypic detection robot according to claim 7, characterized in that: The outlet of the first proportional control valve is connected to the sampling component, and the outlet of the second proportional control valve is connected to the marking component.

9. A crop phenotyping robot according to claim 8, characterized in that: The sampling assembly includes a sampling fan blade, an outer tube installed at the air outlet end of the sampling fan blade, a sampling slot hole opened below the outer tube, an inner tube installed inside the outer tube, an air injection pipe installed at the air outlet end of the outer tube, a sampling filter installed inside the air injection pipe, a detection probe installed below the sampling filter, a miniature PCR instrument installed below the detection probe, and the air injection pipe connected to a pneumatic vibration damping assembly.

10. A crop phenotyping robot according to claim 8, characterized in that: The marking assembly includes an air jet pipe, an outlet end of which is fitted with a pigment cartridge, and an outlet end of which is fitted with a nozzle.

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