Plant growth point phenotypic information detection robot

Abstract

The utility model relates to the technical field of plant phenotypic detection, and provides a plant growth point phenotypic information detection robot, comprising: a chassis, a phenotypic information detection mechanism and a traveling mechanism, wherein the traveling mechanism is arranged on the chassis; the phenotypic information detection mechanism comprises a lifting assembly, a lateral driving assembly, a side shooting device and a downward shooting device, wherein the lifting assembly comprises a first fixed end and a first mobile end capable of lifting and moving, the lateral driving assembly comprises a second fixed end and a second mobile end capable of moving laterally, the first fixed end is arranged on the chassis, the second fixed end is connected to the first mobile end, the side shooting device is arranged on the side wall of the first fixed end, and the downward shooting device is arranged on the second mobile end. The plant growth point phenotypic information detection robot provided by the utility model solves the defect that the existing plant phenotypic detection robot cannot perform comprehensive detection on plants with excessively high crop growth points, resulting in low phenotypic detection accuracy.

Description

Technical Field

[0001] The utility model relates to the technical field of plant phenotype detection, in particular to a plant growth point phenotype information detection robot. Background Art

[0002] The plant phenotyping robot is a robot that uses artificial intelligence and machine vision technology to analyze and identify the external phenotypic characteristics of plants. The plant phenotyping robot can capture plant images or data through cameras or sensors, and then use computer vision algorithms to analyze and process these images, thereby realizing automated evaluation and monitoring of plant growth status, health status and other characteristics.

[0003] In the factory cultivation mode, the crop growth points of some plants (such as tomatoes) are too high and there are obstructions. The existing plant phenotyping detection robots are unable to conduct comprehensive detection of plants with crop growth points that are too high, making it impossible for researchers to fully understand the growth conditions of the plants. Utility Model Content

[0004] The utility model provides a plant growth point phenotype information detection robot, which is used to solve the defect that the existing plant phenotype detection robot cannot perform comprehensive detection on plants with too high growth points of crops, resulting in low phenotype detection accuracy.

[0005] The utility model provides a plant growth point phenotype information detection robot, comprising a chassis, a phenotype information detection mechanism and a traveling mechanism, wherein the traveling mechanism is arranged on the chassis.

[0006] The phenotypic information detection mechanism includes a lifting component, a lateral driving component, a side shooting device and a downward shooting device, the lifting component includes a first fixed end and a first movable end capable of lifting and moving, the lateral driving component includes a second fixed end and a second movable end capable of moving laterally, the first fixed end is arranged on the chassis, the second fixed end is connected to the first movable end, the side shooting device is arranged on the side wall of the first fixed end, and the downward shooting device is arranged at the second movable end.

[0007] According to the plant growth point phenotypic information detection robot provided by the utility model, the phenotypic information detection mechanism includes a plurality of the side shooting devices, and the plurality of the side shooting devices are arranged at vertical intervals on the side wall of the first fixed end.

[0008] According to the plant growth point phenotypic information detection robot provided by the utility model, the phenotypic information detection mechanism includes a plurality of overhead shooting devices, and the plurality of overhead shooting devices are arranged at the second mobile end at intervals along the lateral direction.

[0009] According to the plant growth point phenotypic information detection robot provided by the utility model, the first fixed end includes a fixed column, the first movable end includes a lifting column, one end of the fixed column is connected to the chassis, the lifting column is vertically slidably connected to the fixed column, and the side shooting device is arranged on the side wall of the fixed column; the second fixed end includes a fixed plate, the second movable end includes a moving seat, one end of the fixed plate is connected to the lifting column, the moving seat is slidably connected to the fixed plate along the length direction of the fixed plate, and the overhead shooting device is arranged on the moving seat.

[0010] According to the plant growth point phenotypic information detection robot provided by the utility model, the lifting component also includes a first drive motor, a first screw rod and a first screw rod slider, the first drive motor is arranged on the fixed column or the chassis, one end of the first screw rod is connected to the output shaft of the first drive motor, the first screw rod slider is arranged on the first screw rod, and the lifting column is connected to the first screw rod slider; the lateral drive component also includes a second drive motor, a second screw rod and a second screw rod slider, the second drive motor is arranged on the fixed plate, one end of the second screw rod is connected to the output shaft of the second drive motor, the second screw rod slider is arranged on the second screw rod, and the movable seat is connected to the second screw rod slider.

[0011] According to the plant growth point phenotype information detection robot provided by the utility model, a folding mechanism is provided between the fixing plate and the lifting column, and the folding mechanism is used to drive the fixing plate to switch between a vertical position and a horizontal position.

[0012] According to the plant growth point phenotype information detection robot provided by the utility model, the folding mechanism includes a linear drive device and a connecting rod, the output end of the linear drive device is hinged to the fixed plate, one end of the connecting rod is hinged to the fixed plate, and the other end of the connecting rod is hinged to the lifting column.

[0013] According to the plant growth point phenotypic information detection robot provided by the utility model, the travel mechanism includes straight wheels, guide receiving wheels, steering wheels and a path navigation module, the straight wheels, the guide receiving wheels and the steering wheels are all arranged on the bottom surface of the chassis, and the path navigation module is arranged at the front end of the bottom surface of the chassis.

[0014] According to the plant growth point phenotypic information detection robot provided by the utility model, it also includes a storage cabinet, which includes a first cabinet body and a second cabinet body relatively arranged on the chassis, the opposite sides of the first cabinet body and the second cabinet body are hinged to the chassis, and a locking mechanism is provided between the opposite sides of the first cabinet body and the second cabinet body.

[0015] The plant growth point phenotype information detection robot provided by the utility model also includes an operation panel, and the operation panel is arranged on the side wall of the first fixed end.

[0016] The plant growth point phenotypic information detection robot provided by the utility model can transfer the robot to a set position for phenotypic detection through a traveling mechanism. When the phenotypic information of the plant is detected, the plant can be photographed from the side through a side shooting device, and the overhead shooting device can be driven to different lateral positions at a set height for overhead shooting through a lifting component and a lateral driving component. The defect that the existing plant phenotypic detection robot cannot perform comprehensive detection on plants with crop growth points that are too high, resulting in low accuracy of phenotypic detection, can be solved, and the comprehensiveness and accuracy of phenotypic detection can be significantly improved.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be 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.

[0019] Figure 1 It is a schematic diagram of a plant growth point phenotype information detection robot provided in an embodiment of the utility model.

[0020] Figure 2 It is a schematic diagram of a lifting component in a plant growth point phenotype information detection robot provided in an embodiment of the utility model.

[0021] Figure 3 It is a schematic diagram of a lateral drive component in a plant growth point phenotype information detection robot provided in an embodiment of the utility model.

[0022] Figure 4 It is a schematic diagram of a folding mechanism in a plant growth point phenotype information detection robot provided in an embodiment of the utility model.

[0023] Figure 5 It is a schematic diagram of the traveling mechanism in the plant growth point phenotype information detection robot provided in an embodiment of the utility model.

[0024] Figure 6 It is a schematic diagram of a storage cabinet in a plant growth point phenotype information detection robot provided in an embodiment of the utility model.

[0025] Reference numerals:

[0026] 10. chassis; 20. phenotypic information detection mechanism; 210. lifting assembly; 211. fixed column; 212. lifting column; 213. first drive motor 230; 214. first screw rod; 215. first screw rod slider; 220. lateral drive assembly; 221. fixed plate; 222. second drive motor; 223. second screw rod; 224. second screw rod slider; 230. side shooting device; 240. overhead shooting device; 250. folding mechanism; 251. linear drive device; 252. connecting rod; 30. travel mechanism; 310. straight wheel; 320. guide receiving wheel; 330. steering wheel; 340. path navigation module; 40. locker; 410. first cabinet; 420. second cabinet; 50. operation panel. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0029] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0030] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0031] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0032] Combine the following Figures 1 to 6 The utility model describes a plant growth point phenotype information detection robot.

[0033] See also Figures 1 to 3 As shown, the utility model provides a plant growth point phenotypic information detection robot, comprising: a chassis 10 , a phenotypic information detection mechanism 20 and a traveling mechanism 30 , wherein the traveling mechanism 30 is arranged on the chassis 10 .

[0034] The phenotypic information detection mechanism 20 includes a lifting component 210, a lateral driving component 220, a side shooting device 230 and a downward shooting device 240. The lifting component 210 includes a first fixed end and a first movable end capable of lifting and moving. The lateral driving component 220 includes a second fixed end and a second movable end capable of moving laterally. The first fixed end is arranged on the chassis 10, and the second fixed end is connected to the first movable end. The side shooting device 230 is arranged on the side wall of the first fixed end, and the downward shooting device 240 is arranged on the second movable end.

[0035] The plant growth point phenotypic information detection robot provided by the utility model can transfer the robot to a set position for phenotypic detection through a traveling mechanism 30. When the phenotypic information of the plant is detected, the plant can be photographed from the side through a side shooting device 230, and the overhead shooting device 240 can be driven to different lateral positions at a set height for overhead shooting through a lifting component 210 and a lateral driving component 220. This solves the problem that the existing plant phenotypic detection robots cannot perform comprehensive detection on plants with crop growth points that are too high, resulting in low phenotypic detection accuracy, and significantly improves the comprehensiveness and accuracy of phenotypic detection.

[0036] According to some embodiments of the utility model, the phenotypic information detection mechanism 20 includes a plurality of side-shooting devices 230, and the plurality of side-shooting devices 230 are arranged at intervals along the vertical direction on the side wall of the first fixed end. By arranging a plurality of side-shooting devices 230 at intervals along the vertical direction on the side wall of the first fixed end, it is possible to collect images of parts located at different heights of the plant, and then the images collected by each side-shooting device 230 can be processed and data analyzed to identify and quantify various phenotypic characteristics of the plant, such as leaf morphology, growth rate, pest and disease conditions, etc.

[0037] According to some embodiments of the utility model, the phenotypic information detection mechanism 20 includes a plurality of overhead shooting devices 240, and the plurality of overhead shooting devices 240 are arranged at the second mobile end along the lateral intervals. By arranging a plurality of second mobile ends at the lateral intervals on the second mobile end, it is possible to collect images of parts located at different lateral positions of the plant, and then the images collected by each overhead shooting device 240 can be processed and data analyzed to identify and quantify various phenotypic characteristics of the plant.

[0038] See also Figure 2 As shown, according to some embodiments of the utility model, the first fixed end includes a fixed column 211, the first movable end includes a lifting column 212, one end of the fixed column 211 is connected to the chassis 10, the lifting column 212 is connected to the fixed column 211 in a vertical sliding connection, and the side shooting device 230 is arranged on the side wall of the fixed column 211; the second fixed end includes a fixed plate 221, the second movable end includes a moving seat, one end of the fixed plate 221 is connected to the lifting column 212, the moving seat is connected to the fixed plate 221 in a sliding connection along the length direction of the fixed plate 221, and the overhead shooting device 240 is arranged on the moving seat. During the lifting and lowering adjustment, the lifting column 212 can be directly driven to move vertically, so as to adjust the height of the overhead shooting device 240, and then the overhead shooting device 240 can be driven to move to the set overhead shooting position by adjusting the horizontal position of the moving seat. The structure is simple, and the vertical position and horizontal position of the overhead shooting device 240 can be flexibly adjusted, so as to comprehensively detect the phenotypic information of the plant.

[0039] Specifically, see Figure 1 and Figure 2As shown, in this embodiment, the fixed column 211 and the lifting column 212 are both hollow rectangular column structures. The fixed column 211 is sleeved outside the lifting column 212 (the two are detachably connected) so that the lifting column 212 can move vertically along the length direction of the fixed column 211, and due to the limiting effect brought by the rectangular structure, the lifting column 212 can be prevented from axial rotation.

[0040] Further, see Figure 2 As shown, according to some embodiments of the utility model, the lifting assembly 210 also includes a first drive motor 213, a first screw rod 214 and a first screw rod slider 215. The first drive motor 213 is arranged on the fixed column 211 or the chassis 10, one end of the first screw rod 214 is connected to the output shaft of the first drive motor 213, the first screw rod slider 215 is arranged on the first screw rod 214, and the lifting column 212 is connected to the first screw rod slider 215; the lateral drive assembly 220 also includes a second drive motor 222, a second screw rod 223 and a second screw rod slider 224. The second drive motor 222 is arranged on the fixed plate 221, one end of the second screw rod 223 is connected to the output shaft of the second drive motor 222, the second screw rod slider 224 is arranged on the second screw rod 223, and the movable seat is connected to the second screw rod slider 224. During the lifting adjustment, by controlling the rotation direction of the output shaft of the first drive motor 213, the first screw slider 215 can drive the lifting column 212 to move up and down, thereby adjusting the height of the overhead shooting device 240; during the horizontal adjustment, by controlling the rotation direction of the output shaft of the second drive motor 222, the second screw slider 224 can drive the moving seat to move horizontally. The above mechanism has a simple structure, and can control the position of the overhead shooting device 240 by the rotation angle of the output shaft of the first drive motor 213 and the second drive motor 222. It has high accuracy and can move the overhead shooting device 240 to a set height and a set horizontal position according to demand. At the same time, the screw mechanism also has a self-locking function. After the overhead shooting device 240 is moved to a set height and a set horizontal position, its position can remain stable, which can improve the stability of the overhead shooting device 240 during operation and the phenotypic detection accuracy.

[0041] In this embodiment, a coupling is used to connect the output shaft of the first drive motor 213 and the first screw rod 214, and the output shaft of the second drive motor 222 and the second screw rod 223. The moving seat and the second screw rod slider 224 are integrally arranged.

[0042] See also Figure 4As shown, according to some embodiments of the utility model, a folding mechanism 250 is provided between the fixing plate 221 and the lifting column 212, and the folding mechanism 250 is used to drive the fixing plate 221 to switch between the vertical position and the horizontal position. By providing the folding mechanism 250 between the fixing plate 221 and the lifting column 212, the fixing plate 221 can be switched between the vertical position and the horizontal position. When the plant growth point phenotypic information detection robot is not in use or on the way to the set position, the fixing plate 221 (together with the lateral driving assembly 220 and the overhead shooting device 240 and other components) can be folded to reduce the space occupied by the plant growth point phenotypic information detection robot.

[0043] Specifically, see Figure 4 As shown, according to some embodiments of the utility model, the folding mechanism 250 includes a linear drive device 251 and a connecting rod 252, the output end of the linear drive device 251 is hinged to the fixed plate 221, one end of the connecting rod 252 is hinged to the fixed plate 221, and the other end of the connecting rod 252 is hinged to the lifting column 212. When in use, the linear drive device 251 remains fixed, and in the process of switching the fixed plate 221 from horizontal to vertical, the output end of the linear drive device 251 applies a pulling force to the hinge connection point between it and the fixed plate 221, so that the fixed plate 221 can be rotated from horizontal to vertical. Correspondingly, in the process of switching the fixed plate 221 from vertical to horizontal, the output end of the linear drive device 251 applies a thrust force to the hinge connection point between it and the fixed plate 221, so that the fixed plate 221 can be rotated from vertical to horizontal. In addition, in order to ensure the stability of the fixed plate 221 when it is turned over, in this embodiment, the folding mechanism 250 is symmetrically provided on both sides of the fixed plate 221.

[0044] The linear drive device 251 can adopt a push rod device, such as an electric, hydraulic or pneumatic push rod.

[0045] See also Figure 5 As shown, according to some embodiments of the utility model, the traveling mechanism 30 includes a straight wheel 310, a guide receiving wheel 320, a steering wheel 330 and a path navigation module 340. The straight wheel 310, the guide receiving wheel 320 and the steering wheel 330 are all arranged on the bottom surface of the chassis 10, and the path navigation module 340 is arranged at the front end of the bottom of the chassis 10. Specifically, the straight wheel 310 is used to drive the robot to walk and ensure that the robot runs stably on the road or on the track; the guide receiving wheel 320 is located on the front and rear sides of the walking unit of the chassis 10, which can not only ensure the guiding effect when the robot walks, but also reduce vibration when the track switches, improve the running stability, and according to different track heights, the height of the guide receiving wheel 320 can also be adjusted to meet various road conditions; the steering wheel 330 is located in the middle of the walking unit of the chassis 10 to ensure that the robot can realize the steering operation in the greenhouse; the path navigation module 340 can ensure that the robot walks along the track and can effectively avoid obstacles.

[0046] See also Figure 5 As shown, according to some embodiments of the utility model, the plant growth point phenotype information detection robot also includes a storage cabinet 40, and the storage cabinet 40 includes a first cabinet 410 and a second cabinet 420 which are relatively arranged on the chassis 10, and the first cabinet 410 and the second cabinet 420 are hinged to the chassis 10 on the opposite sides, and a locking mechanism is provided between the first cabinet 410 and the second cabinet 420 on the opposite sides. By setting the storage cabinet 40, the necessary components (such as various electronic devices) of the plant growth point phenotype information detection robot can be set in the storage cabinet 40 for storage and protection, and the items of the plant growth point phenotype information detection robot when participating in the phenotype detection work can also be placed in the storage cabinet 40, which is convenient for carrying items. When opening the storage cabinet 40, the locking mechanism can be unlocked first, and then the first cabinet 410 and the second cabinet 420 can be rotated in opposite directions. This structure can fully expose the internal space of the storage cabinet 40 to the outside, which is convenient for the maintenance or replacement of the necessary components arranged therein.

[0047] Specifically, in this embodiment, the first cabinet 410 and the second cabinet 420 are both driven by a push rod device, and similarly, the push rod device is an electric, hydraulic or pneumatic push rod. The locking mechanism includes a locking hole and a locking pin respectively arranged at the buckling position of the first cabinet 410 and the second cabinet 420. After the first cabinet 410 and the second cabinet 420 are buckled and connected, the locking pin is inserted into the locking hole.

[0048] See also Figure 1 As shown, according to some embodiments of the utility model, the plant growth point phenotypic information detection robot further includes an operation panel 50, and the operation panel 50 is disposed on the side wall of the first fixed end. By providing the operation panel 50, it is convenient to issue control instructions to the traveling mechanism 30, the first drive motor 213, the second drive motor 222, the side shooting device 230, the overhead shooting device 240, the push rod device, etc. in the robot, so that each component operates according to the set program to realize automatic detection of phenotypic information.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A plant growth point phenotypic information detection robot, characterized in that: include: A chassis, a phenotypic information detection mechanism and a traveling mechanism, wherein the traveling mechanism is arranged on the chassis; The phenotypic information detection mechanism includes a lifting component, a lateral driving component, a side shooting device and a downward shooting device, the lifting component includes a first fixed end and a first movable end capable of lifting and moving, the lateral driving component includes a second fixed end and a second movable end capable of moving laterally, the first fixed end is arranged on the chassis, the second fixed end is connected to the first movable end, the side shooting device is arranged on the side wall of the first fixed end, and the downward shooting device is arranged at the second movable end.

2. The plant growth point phenotype information detection robot according to claim 1, characterized in that: The phenotypic information detection mechanism includes a plurality of the side-shooting devices, which are arranged at intervals along the vertical direction on the side wall of the first fixed end.

3. The plant growth point phenotype information detection robot according to claim 1, characterized in that: The phenotypic information detection mechanism includes a plurality of overhead shooting devices, and the plurality of overhead shooting devices are arranged at intervals along the lateral direction at the second mobile end.

4. The plant growth point phenotype information detection robot according to claim 1, characterized in that: The first fixed end includes a fixed column, the first movable end includes a lifting column, one end of the fixed column is connected to the chassis, the lifting column is vertically slidably connected to the fixed column, and the side shooting device is arranged on the side wall of the fixed column; The second fixed end includes a fixed plate, and the second movable end includes a movable seat. One end of the fixed plate is connected to the lifting column, and the movable seat is slidably connected to the fixed plate along the length direction of the fixed plate. The overhead shooting device is arranged on the movable seat.

5. The plant growth point phenotype information detection robot according to claim 4, characterized in that: The lifting assembly further includes a first drive motor, a first screw rod and a first screw rod slider, wherein the first drive motor is disposed on the fixed column or the chassis, one end of the first screw rod is connected to the output shaft of the first drive motor, the first screw rod slider is disposed on the first screw rod, and the lifting column is connected to the first screw rod slider; The lateral drive assembly also includes a second drive motor, a second screw rod and a second screw rod slider, the second drive motor is arranged on the fixed plate, one end of the second screw rod is connected to the output shaft of the second drive motor, the second screw rod slider is arranged on the second screw rod, and the movable seat is connected to the second screw rod slider.

6. The plant growth point phenotype information detection robot according to claim 4, characterized in that: A folding mechanism is provided between the fixing plate and the lifting column, and the folding mechanism is used to drive the fixing plate to switch between a vertical position and a horizontal position.

7. The plant growth point phenotype information detection robot according to claim 6, characterized in that: The folding mechanism comprises a linear drive device and a connecting rod, wherein the output end of the linear drive device is hinged to the fixing plate, one end of the connecting rod is hinged to the fixing plate, and the other end of the connecting rod is hinged to the lifting column.

8. The plant growth point phenotype information detection robot according to any one of claims 1 to 7, characterized in that: The traveling mechanism comprises a straight wheel, a guide receiving wheel, a steering wheel and a path navigation module. The straight wheel, the guide receiving wheel and the steering wheel are all arranged on the bottom surface of the chassis, and the path navigation module is arranged on the front end of the bottom surface of the chassis.

9. The plant growth point phenotype information detection robot according to any one of claims 1 to 7, characterized in that: It also includes a storage cabinet, which includes a first cabinet body and a second cabinet body arranged on the chassis opposite to each other, the first cabinet body and the second cabinet body have opposite sides hinged to the chassis, and a locking mechanism is provided between the first cabinet body and the second cabinet body's opposite sides.

10. The plant growth point phenotype information detection robot according to any one of claims 1 to 7, characterized in that: It also includes an operation panel, which is arranged on the side wall of the first fixed end.

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