Small mobile phenotype detection robot

Abstract

The utility model relates to the technical field of plant phenotype detection, and provides a small mobile phenotype detection robot which comprises an advancing module and a phenotype detection module, the phenotype detection module comprises a mounting base, a connecting piece, a laser radar, a panorama camera and a depth camera, the mounting base is arranged on the advancing module, the laser radar is arranged on the mounting base, the depth camera is arranged at the front end of the mounting base, the first end of the connecting piece is connected with the mounting base, and the second end of the connecting piece can extend out of the advancing module; the panoramic camera comprises a camera body, a first lens module and a second lens module, wherein the first lens module and the second lens module are respectively arranged on two opposite sides of the camera body. The utility model relates to the technical field of plant phenotype detection, through the synergistic effect of a laser radar, a panorama camera and a depth camera, all-dimensional phenotype information of crops from the top to aerial roots can be accurately obtained, and particularly, the lower area of a plant which is difficult to cover by a traditional unmanned aerial vehicle platform is effectively monitored; and high-throughput phenotype information acquisition is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to plant phenotype detection technical field especially relates to a small -size mobile type phenotype detection robot. BACKGROUND

[0002] In recent years, with the application of emerging technologies such as unmanned aerial vehicles and robots in the agricultural field, the automation and efficiency of crop phenotype information acquisition have been continuously improved. In particular, high-throughput phenotype platforms based on unmanned aerial vehicles have been widely used in crop phenotype data collection in farmland environments. However, since unmanned aerial vehicles mainly collect crop canopy information from above, it is difficult to obtain detailed phenotype data of the lower part of the plant and the space between crop rows. In addition, in scenarios where crops are relatively dense or the field is relatively high, unmanned aerial vehicles are limited by flight height and crop obstruction, and cannot comprehensively collect crop phenotype information.

[0003] To solve this problem, ground mobile (phenotype detection) platforms have become an ideal complementary solution. Ground platforms can move freely between crop rows and accurately capture phenotype data of various parts of the crop, especially the features of the lower part of the plant, thereby compensating for the limitations of unmanned aerial vehicle platforms. However, current ground platforms are difficult to achieve high-throughput information collection in complex farmland environments, and are too bulky to adapt to flexible movement between crop rows. SUMMARY

[0004] The utility model provides a small -size mobile type phenotype detection robot to solve the defect that the current ground platform is difficult to achieve high -throughput information collection in complex farmland environment, and bulky, cannot adapt to flexible movement between crop rows.

[0005] The utility model provides a small -size mobile type phenotype detection robot, which comprises a traveling module and a phenotype detection module.

[0006] The phenotype detection module comprises a mounting seat, a connecting piece, a laser radar, a panoramic camera and a depth camera. The mounting seat is provided on the traveling module. The laser radar is provided on the mounting seat. The depth camera is provided at the front end of the mounting seat. The first end of the connecting piece is connected with the mounting seat. The second end of the connecting piece can be extended to the outside of the traveling module. The panoramic camera comprises a body, a first lens module and a second lens module. The first lens module and the second lens module are respectively provided on the opposite sides of the body.

[0007] According to the small -size mobile type phenotype detection robot provided by the utility model, the connecting piece is a telescopic rod, one end of the telescopic rod is connected with the mounting seat, and the panoramic camera is provided at the telescopic end of the telescopic rod.

[0008] The utility model provides a small -size mobile type phenotyping detection robot, the phenotyping detection module still includes fixed sleeve, the fixed sleeve is located the mounting seat, the telescopic link is worn in the fixed sleeve with the cooperation of the inner wall of fixed sleeve.

[0009] The utility model provides a small -size mobile type phenotyping detection robot, the fuselage with the second end rotation connection of connecting piece, with the orientation of first camera module and second camera module is adjusted.

[0010] The utility model provides a small -size mobile type phenotyping detection robot, the mounting seat includes bottom plate, first support and second support, the bottom plate is located the travel module, the first support is located the bottom plate, the second support is located the first support, be equipped with first containing space between the first support with the bottom plate, be equipped with second containing space between the second support with the first support.

[0011] The utility model provides a small -size mobile type phenotyping detection robot, the phenotyping detection module still includes algorithm box, laser radar, panorama camera and depth camera all with algorithm box communication connection, algorithm box is located in first containing space.

[0012] The utility model provides a small -size mobile type phenotyping detection robot, the phenotyping detection module still includes voltage regulator, laser radar, depth camera and algorithm box all with voltage regulator electricity is connected, and voltage regulator is located in first containing space.

[0013] The utility model provides a small -size mobile type phenotyping detection robot, the travel module is caterpillar type travel module.

[0014] The utility model provides a small -size mobile type phenotyping detection robot, the width of travel module is less than or equal to 0.43m.

[0015] The utility model provides a small -size mobile type phenotyping detection robot, the phenotyping detection module still includes display screen, and display screen is located the mounting seat.

[0016] The utility model provides a small -size mobile type phenotyping detection robot, through being located in the advancing module to the phenotyping detection module, can utilize advancing module drive phenotyping detection module along the set path advances, the laser radar in phenotyping detection module can be used for scanning the height, spatial distribution and density of crop, the first lens module group and the second lens module group that the panoramic camera machine body set up can be used for obtaining the comprehensive visual data of crop, the depth camera can be used for accurately measuring the geometry of crop, through the synergies of laser radar, panoramic camera and depth camera, can accurately obtain the all -round phenotyping information of crop from top to aerial root, especially to the plant lower area that traditional unmanned plane platform is difficult to cover is effectively monitored, realizes the high throughput of phenotyping information collection.

[0017] The additional aspects and advantages of the utility model will be partly given in the following description, some will become obvious from the following description, or be understood through the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the utility model or prior art, the following will be to the embodiment or prior art description needed to use the drawing a simple introduction, obviously, the following description in the drawing is some embodiments of the utility model, for those skilled in the art, under the premise of not paying creative labor, can also obtain other drawings according to these drawings.

[0019] Figure 1 It is one of the schematic diagram of small -size mobile type phenotyping detection robot provided by the utility model embodiment.

[0020] Figure 2 It is the schematic diagram of small -size mobile type phenotyping detection robot provided by the utility model embodiment two.

[0021] Figure 3 It is the schematic diagram of small -size mobile type phenotyping detection robot provided by the utility model embodiment three.

[0022] Figure 4 It is the schematic diagram of small -size mobile type phenotyping detection robot provided by the utility model embodiment four.

[0023] Reference signs:

[0024] 100, phenotyping detection module, 110, mounting seat, 111, bottom plate, 112, first support, 113, second support, 120, connecting piece, 130, laser radar, 140, panoramic camera, 150, depth camera, 160, fixed sleeve, 170, algorithm box, 180, voltage regulator, 190, display screen. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0026] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0027] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0028] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be 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 "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0029] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0030] The following is combined Figures 1 to 4 This invention describes a small, mobile phenotyping robot.

[0031] See Figures 1 to 4 As shown in the figure, the small mobile phenotypic detection robot provided in this embodiment of the present invention includes: a travel module (not shown in the figure) and a phenotypic detection module 100.

[0032] The phenotypic detection module 100 includes a mounting base 110, a connector 120, a lidar 130, a panoramic camera 140, and a depth camera 150. The mounting base 110 is located on the travel module, the lidar 130 is located on the mounting base 110, the depth camera 150 is located at the front end of the mounting base 110, the first end of the connector 120 is connected to the mounting base 110, and the second end of the connector 120 can extend to the outside of the travel module. The panoramic camera 140 includes a body, a first lens module, and a second lens module, which are respectively located on opposite sides of the body.

[0033] The small mobile phenotypic detection robot provided by this utility model, by setting the phenotypic detection module 100 in the travel module, can drive the phenotypic detection module 100 to travel along a set path using the travel module. The lidar 130 in the phenotypic detection module 100 can be used to scan the height, spatial distribution and density of the crop. The first lens module and the second lens module set on the panoramic camera 140 can be used to acquire comprehensive visual data of the crop. The depth camera 150 can be used to accurately measure the geometric shape of the crop. Through the synergistic effect of lidar 130, panoramic camera 140 and depth camera 150, it can accurately acquire all-round phenotypic information of the crop from the top to the aerial roots, especially effectively monitoring the lower part of the plant that is difficult to cover by traditional drone platforms, and realizing high-throughput phenotypic information collection.

[0034] This utility model provides a small, mobile phenotypic detection robot that can move flexibly between rows of high-density crops such as corn, achieving efficient acquisition of phenotypic information of the entire plant, especially precise collection from hidden areas under the crop. The robot integrates multiple sensor technologies, including a lidar 130, a panoramic camera 140, and a depth camera 150, enabling real-time and automatic collection and analysis of crop phenotypic information, providing crucial data support for precision agricultural management.

[0035] Specifically, the travel module is used to drive the robot to move around in the field. The phenotypic detection module 100 is located on the travel module and can be moved along a set path by the travel module to perform phenotypic detection on plants in different areas of the field. For example, a support platform can be set on the travel module, and the mounting base 110 can be connected to the support platform. The connection method can be welding or threaded connection.

[0036] In the phenotypic detection module 100, the components responsible for phenotypic detection include a lidar 130, a panoramic camera 140, and a depth camera 150. The lidar 130 is used to scan the height, spatial distribution, and density of the crop. The first and second lens modules mounted on the panoramic camera 140 are used to acquire comprehensive visual data of the crop. The depth camera 150 is used to accurately measure the geometric shape of the crop.

[0037] As an example, in this embodiment, the Livox Mid-360 lidar is selected, with a laser wavelength of 905nm and a near blind zone of 0.1m, which can meet the requirement of the robot simultaneously acquiring the three-dimensional structural information of the crop rows when moving between crop rows.

[0038] In this embodiment, to address the need for phenotypic observation between rows of narrow-row, tall-stalk crops, an Insta360ONE X2 panoramic camera was selected. This panoramic camera 140 includes two 270° ultra-wide-angle fisheye lenses (the first lens module and the second lens module mentioned above), capable of capturing 5.7K (6080×3040) / 30fps panoramic video. By shooting with the two fisheye lenses pointing upwards and downwards respectively, panoramic images of the crop rows are obtained, meeting the needs for phenotypic analysis of the aboveground parts of maize (including aerial roots, ears, greenness retention, tassel flowering, and female ear silking).

[0039] In this embodiment, the Orbbec Femto Bolt depth camera is selected to accurately measure the geometric morphology of crops, especially the characteristics of the lower part of the plant.

[0040] It should be noted that the above "shooting with two fisheye lenses pointing upwards and downwards respectively" means shooting with two fisheye lenses pointing vertically upwards and vertically downwards respectively.

[0041] In addition, the robot is equipped with a high-performance data processing module, enabling it to process and analyze collected phenotypic data in real time in a field environment. Simultaneously, the processed data can be transmitted wirelessly to a cloud server or stored locally, facilitating subsequent in-depth analysis and decision-making.

[0042] The connector 120 is used to install and fix the panoramic camera 140, and can drive the panoramic camera 140 to extend to the outside of the travel module, thereby preventing the travel module from obstructing the shooting image of the panoramic camera 140. The connector 120 can be a rod-shaped connector, a plate-shaped connector, or a bracket-type connector, etc.

[0043] See Figures 1 to 3 As shown, according to some embodiments of the present invention, the connector 120 is a telescopic rod, one end of which is connected to the mounting base 110, and the panoramic camera 140 is located at the telescopic end of the telescopic rod.

[0044] By setting the connector 120 as a telescopic rod, the extension position of the panoramic camera 140 can be adjusted using the telescopic rod, thereby achieving flexible adjustment of the panoramic camera 140. Through the telescopic characteristics of the telescopic rod, users can adjust the extension length of the camera according to actual needs, thereby obtaining a wider shooting range or adjusting the shooting angle of the camera. This allows the panoramic camera 140 to be more flexibly adapted to different application scenarios, improving its application flexibility and shooting effect.

[0045] In addition, when the robot is not in use, the panoramic camera 140 can be retracted using the telescopic rod, reducing the space occupied by the robot and the chance of the panoramic camera 140 colliding with external objects.

[0046] Specifically, the telescopic pole includes a fixed end and a telescopic end. The fixed end is fixed to the mounting base 110, and the panoramic camera 140 is located at the telescopic end of the telescopic pole.

[0047] See Figures 1 to 3 As shown, according to some embodiments of the present invention, the phenotypic detection module 100 further includes a fixing sleeve 160, which is disposed on the mounting base 110, and the telescopic rod passes through the fixing sleeve 160 and cooperates with the inner wall of the fixing sleeve 160.

[0048] By setting the fixing sleeve 160, the fixed end of the telescopic pole can be secured, improving the stability and accuracy of the telescopic pole. The fixing sleeve 160 effectively prevents unnecessary displacement or shaking of the telescopic pole during operation, thus ensuring that the panoramic camera 140 remains accurate and stable when adjusting its position.

[0049] Specifically, in this embodiment, the fixing sleeve 160 is fixed to the mounting base 110 by threaded fasteners.

[0050] See Figures 1 to 3 As shown, according to some embodiments of the present invention, the body is rotatably connected to the second end of the connector 120 to adjust the orientation of the first lens module and the second lens module.

[0051] By configuring the camera body to be rotatably connected to the second end of the connector 120, the orientation of the first lens module and the second lens module can be adjusted by rotating the camera body, thereby achieving flexible adjustment and precise positioning of the panoramic camera's more than 140 lens modules.

[0052] Specifically, by rotating the camera body, the orientation of the first and second lens modules can be controlled independently, thereby achieving a wider-angle shooting effect or precise shooting in a specific direction, enabling the camera to adapt to different phenotypic information collection needs.

[0053] See Figure 1 As shown, according to some embodiments of the present invention, the mounting base 110 includes a base plate 111, a first support 112 and a second support 113. The base plate 111 is disposed on the traveling module, the first support 112 is disposed on the base plate 111, and the second support 113 is disposed on the first support 112. A first accommodating space is provided between the first support 112 and the base plate 111, and a second accommodating space is provided between the second support 113 and the first support 112.

[0054] By designing the mounting base 110 to include a base plate 111, a first support 112, and a second support 113, and by defining a first accommodating space and a second accommodating space, modularity of the structure and compact layout of components can be effectively achieved. The integration of the base plate 111 with the traveling module makes the overall structure more stable and able to withstand vibrations or impacts generated during travel. The first accommodating space between the first support 112 and the base plate 111, and the second accommodating space between the second support 113 and the first support 112, provide flexible installation space for the components required by the robot, making the robot structure more compact.

[0055] Specifically, in this embodiment, the first support 112 is fixed to the base plate 111 by threaded fasteners, and the second support 113 is fixed to the first support 112 by threaded fasteners. The cross-sections of the first support 112 and the second support 113 are both inverted U-shaped to form the aforementioned first and second accommodating spaces.

[0056] See Figure 1 As shown, according to some embodiments of the present invention, the phenotypic detection module 100 further includes an algorithm box 170, and the lidar 130, panoramic camera 140 and depth camera 150 are all communicatively connected to the algorithm box 170, which is located in the first accommodating space.

[0057] By placing the algorithm box 170 within the first accommodating space, efficient integration and space optimization of the phenotypic detection module 100 can be achieved. The algorithm box 170, as the processing core, is responsible for real-time processing and analysis of data collected by the LiDAR 130, panoramic camera 140, and depth camera 150, thereby performing various phenotypic detection tasks such as image processing, pattern recognition, and data analysis. Placing it within the first accommodating space not only effectively utilizes space and improves the overall compactness of the equipment but also simplifies operation during installation and maintenance.

[0058] Specifically, the LiDAR 130, panoramic camera 140, and depth camera 150 can all be connected to the algorithm box 170 via data cables. The algorithm box 170 incorporates a multi-sensor data fusion algorithm based on timestamps and spatial coordinates. This algorithm can spatiotemporally align the output data from different sensors under real-time conditions to generate a complete and continuous crop phenotypic dataset.

[0059] See Figure 1 As shown, according to some embodiments of the present invention, the phenotypic detection module 100 further includes a voltage regulator 180, a lidar 130, a panoramic camera 140, a depth camera 150, and an algorithm box 170, wherein the lidar 130, the depth camera 150, and the algorithm box 170 are all electrically connected to the voltage regulator 180, and the voltage regulator 180 is located in the first accommodating space.

[0060] By setting up the voltage regulator 180 and placing it within the first accommodating space, it is possible to ensure that the various electronic components in the phenotypic detection module 100 (such as the lidar 130, depth camera 150, and algorithm box 170) receive a stable and appropriate voltage supply.

[0061] Specifically, the function of the voltage regulator 180 is to convert the voltage of the input power supply into the specific voltage required by each component, so as to ensure that the system can maintain a stable power supply under different operating conditions, thereby improving the overall stability and reliability of the system.

[0062] According to some embodiments of this utility model, the travel module is a tracked travel module.

[0063] By designing it as a tracked travel module, the robot's mobility and stability on complex terrain can be significantly improved. The tracked travel module has a large contact area and strong ground adaptability, enabling it to travel on muddy, sandy, sloping, or uneven ground, reducing the slippage or overturning problems that may occur with wheeled travel. This allows the robot to adapt to phenotypic detection operations of crops grown in different terrains.

[0064] According to some embodiments of this utility model, the width of the traveling module is less than or equal to 0.43m.

[0065] By setting the width of the travel module to no more than 0.43m, the robot can flexibly move between rows of crops such as corn, adapting to the row spacing requirements under different planting patterns and crop densities, and showing excellent mobility, especially in narrow field environments.

[0066] Specifically, because the width of the traveling module is significantly smaller than the typical crop row spacing (generally 0.50 to 0.80 meters), the robot can effectively avoid collisions or damage to crops, thus ensuring the efficiency and safety of the phenotypic data collection process. At the same time, due to its small size and correspondingly low weight, the robot is highly portable, facilitating movement between different plots. This not only ensures the stability of the equipment in rugged or muddy terrain but also allows the equipment to be transported by vehicle or even easily carried by two people, greatly simplifying the deployment and relocation process and improving the flexibility and efficiency of field phenotypic data collection.

[0067] See Figure 1 As shown, according to some embodiments of the present invention, the phenotypic detection module 100 further includes a display screen 190, which is disposed on the mounting base 110.

[0068] By setting up the display screen 190, the operating status, collected data, and analysis results of the phenotypic detection module 100 can be displayed and monitored in real time. As a human-machine interface, the display screen 190 provides clear visual feedback to operators, helping them quickly grasp the current operating status of the equipment, environmental parameters, and phenotypic analysis results.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A small mobile phenotyping robot, characterized in that, include: The movement module and the phenotypic detection module; The phenotypic detection module includes a mounting base, a connector, a lidar, a panoramic camera, and a depth camera. The mounting base is located on the travel module, the lidar is located on the mounting base, and the depth camera is located at the front end of the mounting base. The first end of the connector is connected to the mounting base, and the second end of the connector can extend to the outside of the travel module. The panoramic camera includes a body, a first lens module, and a second lens module, which are respectively located on opposite sides of the body.

2. The small mobile phenotyping robot according to claim 1, characterized in that, The connector is a telescopic rod, one end of which is connected to the mounting base, and the panoramic camera is located at the telescopic end of the telescopic rod.

3. The small mobile phenotyping robot according to claim 2, characterized in that, The phenotypic detection module also includes a fixing sleeve, which is disposed on the mounting base, and the telescopic rod passes through the fixing sleeve and cooperates with the inner wall of the fixing sleeve.

4. The small mobile phenotyping robot according to claim 1, characterized in that, The body is rotatably connected to the second end of the connector to adjust the orientation of the first lens module and the second lens module.

5. The small mobile phenotyping robot according to claim 1, characterized in that, The mounting base includes a base plate, a first support, and a second support. The base plate is disposed on the traveling module, the first support is disposed on the base plate, and the second support is disposed on the first support. A first accommodating space is provided between the first support and the base plate, and a second accommodating space is provided between the second support and the first support.

6. The small mobile phenotyping robot according to claim 5, characterized in that, The phenotypic detection module also includes an algorithm box, and the LiDAR, the panoramic camera and the depth camera are all communicatively connected to the algorithm box, which is located within the first accommodating space.

7. The small mobile phenotyping robot according to claim 6, characterized in that, The phenotypic detection module also includes a voltage regulator. The lidar, the depth camera, and the algorithm box are all electrically connected to the voltage regulator, which is located within the first accommodating space.

8. The small mobile phenotyping robot according to any one of claims 1 to 7, characterized in that, The travel module is a tracked travel module.

9. The small mobile phenotyping robot according to any one of claims 1 to 7, characterized in that, The width of the traveling module is less than or equal to 0.43m.

10. The small mobile phenotyping robot according to any one of claims 1 to 7, characterized in that, The phenotypic detection module also includes a display screen, which is mounted on the mounting base.

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