Track type crop phenotype high-throughput acquisition platform based on digital twinborn technology

Abstract

The utility model provides a rail type crop phenotype high-throughput acquisition platform based on a digital twinning technology. The rail type crop phenotype high-throughput acquisition platform comprises an empty rail steel frame, a portal rail moving device, a lifting system, a control equipment box, digital twinning equipment and a sensor array box body. Under the condition that the platform is not interfered by ground factors, the three-dimensional movement of the sensor array box body is realized, a wheel track is adopted as a moving contact surface in the moving process, the frictional resistance is reduced, the moving stability is ensured, and the acquisition precision and stability of phenotype data are also ensured. The transmission motor provides power for the platform for transmission, automatic operation is achieved in the whole process, and the labor cost is reduced. Besides, the digital twin equipment is arranged in the control equipment box to monitor the working condition of the acquisition platform and the phenotype data acquisition condition, and the digital twin equipment is tried to be integrated into the acquisition platform, so that the acquisition platform can realize the research of the digital twin technology, and the limitation that the traditional platform monitoring is limited to plane monitoring is broken through.

Description

Technical Field

[0001] This utility model relates to the field of agricultural information equipment technology, and in particular to a track-based high-throughput crop phenotypic acquisition platform based on digital twin technology. Background Technology

[0002] Currently, most track-based crop phenotyping platforms follow a common operating mechanism, relying on the track system to automate and collect high-throughput crop phenotyping data. As a revolutionary information technology, digital twin technology constructs precise virtual mirror images of physical entities or systems—digital twins—to simulate, analyze, and optimize various objects, processes, systems, or services in the real world. Digital twins require ensuring the precision and stability of crop phenotyping data collection, while minimizing human interference and data errors to improve operational efficiency. This places higher demands on the stable data collection of track-based crop phenotyping platforms. In existing track-based crop phenotyping platforms, the integration and application of digital twin technology remains an unexplored area. Utility Model Content

[0003] This invention provides a high-throughput acquisition platform for track-based crop phenotyping based on digital twin technology, which addresses the shortcomings of existing track-based crop phenotyping platforms that do not integrate or incorporate digital twin technology.

[0004] This utility model provides a track-type crop phenotypic high-throughput acquisition platform based on digital twin technology, including: an empty track steel frame, a gantry track moving device, a lifting system, a control equipment box, a digital twin device, and a sensor array box. The empty track steel frame includes: a supporting steel frame, a load-bearing steel frame, and a load-bearing crossbeam. The load-bearing steel frame and the load-bearing crossbeam are fixedly connected, and both the load-bearing steel frame and the load-bearing crossbeam are mounted on the supporting steel frame.

[0005] The gantry track moving device includes: a movable steel frame, a first transmission device, a transmission motor, a transmission shaft, and movable rail wheels. The movable rail wheels are respectively welded to the lower sides of the transmission shaft in the movable steel frame. The movable steel frame is mounted on the load-bearing crossbeam through the movable rail wheels. The transmission motor and the first transmission device are both horizontally placed under the movable steel frame. The transmission motor and the first transmission device are connected by a cable. The first transmission device is fixedly connected to the transmission shaft.

[0006] The lifting system includes a lifting arm, the upper end of which is fixedly connected to the movable steel frame, and the lower end of which is fixedly connected to the sensor array housing.

[0007] The digital twin device includes a first twin device, which is installed inside the control equipment box. The control equipment box is equipped with a power distributor, which is connected to the drive motor and the first twin device via cables.

[0008] Furthermore, a rail rack is welded to the upper end of the load-bearing crossbeam, and a gear that meshes with the rail rack is provided on the outer contact surface of the moving rail wheel.

[0009] In some embodiments, the side structure of the movable steel frame adopts a triangular steel frame structure.

[0010] In some embodiments, the lifting system is further provided with a second transmission device, which is fixedly connected to the lifting arm, and the second transmission device adopts a cable-driven transmission.

[0011] Furthermore, the second transmission device is connected to the transmission motor via a cable, and the transmission motor is equipped with a torque sensor.

[0012] Furthermore, the feature is that the lifting arm is composed of multiple levels of support columns, and each level of support columns is connected by slide rails.

[0013] In some embodiments, the first twin device is provided with a sensor array control switch of the sensor array housing.

[0014] Furthermore, the sensor array housing is equipped with an RGB camera, a 3D camera, a multispectral camera, a hyperspectral imaging sensor, a network camera, a thermal infrared camera, a lidar, and spotlights.

[0015] Furthermore, the digital twin device also includes a second twin device, which is connected to the first twin device via a cable.

[0016] Furthermore, the second twin device includes: a twin interface display screen, display screen operation buttons, a first twin device control switch, and a cable device interface.

[0017] This utility model has the following effects:

[0018] (1) A movable steel frame is installed on the gantry rail moving device. The movable wheel rail is mounted on the load-bearing crossbeam of the empty rail steel frame, enabling the movable steel frame to move freely on the movable wheel rail. A lifting arm is installed under the movable steel frame, which drives the sensor array box on the lifting arm to rise and fall. This realizes the three-dimensional movement of the sensor array box, which is not affected by ground factors. Furthermore, the wheel rail is used as the contact surface during the movement, which reduces frictional resistance and ensures the smooth movement of the movable steel frame and the sensor array box, thus ensuring the accuracy and stability of data acquisition.

[0019] (2) Since the mobile steel frame is connected to the transmission equipment, the movement of the mobile steel frame comes from the transmission equipment. The transmission motor provides power to the transmission equipment through the cable for transmission. The whole process is automated and does not require manual control or external intervention. This improves the working environment, reduces labor costs, and saves energy consumption.

[0020] (3) Install the digital twin device inside the control equipment box and provide power through the power distribution unit to monitor the working condition of the acquisition platform and the acquisition status of the phenotypic data. Try to integrate the digital twin device into the acquisition platform so that the acquisition platform can realize the research of digital twin technology without any manual on-site survey and adjustment, breaking the limitation of traditional platform monitoring being limited to plane monitoring. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is the overall architecture diagram of the track-based crop phenotypic high-throughput acquisition platform based on digital twin technology.

[0023] Figure 2 This is a structural schematic diagram of the air rail steel frame of this utility model.

[0024] Figure 3a This is a structural schematic diagram of the gantry track moving device of this utility model.

[0025] Figure 3b This is a front view of the gantry track moving device of this utility model.

[0026] Figure 3c This is a left view of the gantry track moving device of this utility model.

[0027] Figure 4 This is an enlarged view of the moving steel frame in the gantry track moving device of this utility model.

[0028] Figure 5 This is a structural schematic diagram of the lifting system of this utility model.

[0029] Figure 6 This is a schematic diagram of the sensor array housing of this utility model.

[0030] Figure 7 This is a structural diagram of the second twin device of this utility model.

[0031] Figure label:

[0032] 1: Empty rail steel frame; 2: Gantry rail moving device; 3: Lifting system; 4: Control equipment box; 5: Sensor array box; 10: Support steel frame; 11: Load-bearing steel frame; 12: Load-bearing crossbeam; 13: Rail rack and pinion; 20: Moving steel frame; 21: First transmission device; 22: Drive motor; 23: Drive shaft; 24: Moving track wheel; 25: Gear; 30: Lifting arm; 31: Second transmission device; 32: Primary support column; 33: Secondary support column; 34: Tertiary support column; 35: Quaternary support column; 61: RGB camera; 61: 3D camera; 63: Multispectral camera; 64: Hyperspectral imaging sensor; 65: Network camera; 66: Thermal infrared camera; 67: LiDAR; 68: Spotlight; 70: Twin interface display screen; 71: Display screen operation buttons; 72: First twin device control switch; 73: Cable equipment interface. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0034] The following description, in conjunction with the accompanying drawings, describes the track-based crop phenotypic high-throughput acquisition platform based on digital twin technology of this utility model. Figure 1 This is an overall architecture diagram of the orbital crop phenotypic high-throughput acquisition platform based on digital twin technology, as described in this utility model. Figure 1 As shown, the track-based crop phenotypic high-throughput acquisition platform based on digital twin technology (hereinafter referred to as the acquisition platform) specifically includes: an empty rail steel frame 1, a gantry track moving device 2, a lifting system 3, a control equipment box 4, a digital twin device 5, and a sensor array box 6.

[0035] Furthermore, such as Figure 2 As shown, the air rail steel frame 1 includes: a supporting steel frame 10, a load-bearing steel frame 11, and a load-bearing crossbeam 12. The load-bearing steel frame 11 and the load-bearing crossbeam 12 are fixedly connected, and both the load-bearing steel frame 11 and the load-bearing crossbeam 12 are mounted on the supporting steel frame 10.

[0036] Specifically, the overhead rail steel frame 1 includes multiple supporting steel frames 10, which provide support. The number of these supporting steel frames can be determined depending on the specific implementation scenario. Figure 2The example shows eight supporting steel frames. The load-bearing steel frame 11 is fixedly connected to the load-bearing crossbeam 12 horizontally and vertically to form a square steel frame, which is erected on the supporting steel frame 10. In actual implementation, the square steel frame is fixedly welded to the supporting steel frame 10.

[0037] The data collection platform is supported by a suspended rail steel frame, allowing it to be placed in agricultural crop areas. This reduces contact with the ground environment, minimizes the impact of ground environmental factors, and facilitates the collection and acquisition of phenotypic data of agricultural crops.

[0038] Furthermore, such as Figure 3a , Figure 3b and Figure 3c As shown, the gantry track moving device 2 includes: a movable steel frame 20, a first transmission device 21, a transmission motor 22, a transmission shaft 23, and movable rail wheels 24. There are two movable rail wheels 24, which are welded to the lower edges of the transmission shaft 23 on both sides of the movable steel frame 20. The movable steel frame 20 is mounted on the load-bearing crossbeam 12 via the movable rail wheels 24. Thus, the movable steel frame 20 can move freely on the load-bearing crossbeam 12 using the movable rail wheels 24.

[0039] Both the drive motor 22 and the first transmission device 21 are horizontally positioned under the movable steel frame 20. The drive motor 22 and the first transmission device 21 are connected by a cable, and the first transmission device 21 is fixedly connected to the drive shaft 23. Here, the drive motor 22 and the first transmission device 21 are arranged under the movable steel frame 20. The drive motor 22 and the first transmission device 21 are connected by a cable, which can provide power to the first transmission device 21. The first transmission device 21 is fixedly connected to the drive shaft 23, and the drive shaft 23 is mounted on the movable steel frame 20. In this way, the first transmission device 21 can provide power to the movable track wheel 24 through the drive shaft 23, thereby driving the entire movable steel frame to move freely on the plane.

[0040] This utility model features a movable steel frame in the gantry track moving device. The movable wheel rail is mounted on the load-bearing crossbeam of the empty track steel frame, enabling the movable steel frame to move freely on the movable wheel rail. Furthermore, the wheel rail serves as the contact surface during movement, reducing frictional resistance and ensuring the stability of the movable steel frame's movement.

[0041] Furthermore, such as Figure 2A rail rack 13 is welded to the upper end of the load-bearing crossbeam 12 shown in Figure 3. As shown in Figure 3, the outer contact surface of the moving rail wheel 24 is provided with a gear 25 that meshes with the rail rack 13. This changes the movement of the moving steel frame 20 on the load-bearing crossbeam 12 from planar rolling to gear rolling. The gear 25 increases the contact surface between the moving rail wheel 24 and the load-bearing crossbeam 12, reducing rolling friction. The unit length of the rolling motion of the rail rack 13 and gear 25 depends on the specific situation, but generally does not exceed 0.5mm. This reduces the movement error of the moving steel frame to ±0.5mm, further increasing the stability of the moving steel frame and achieving high-precision movement control.

[0042] Furthermore, such as Figure 4 As shown, the side structure of the movable steel frame 20 adopts a triangular steel frame structure. Triangles have stability and enhance the overall fixation effect of the movable steel frame, making it less prone to shaking or even deformation when external environmental factors occur.

[0043] like Figure 5 As shown, the lifting system 3 includes a lifting arm 30, the upper end of which is fixedly connected to the movable steel frame 20, and the lower end of which is fixedly connected to the sensor array housing 6. Thus, during the movement of the movable steel frame 20, the lifting arm 30 can also drive the sensor array housing 6 to achieve automatic movement on a plane.

[0044] Furthermore, the lifting system 3 is also equipped with a second transmission device 31, which is fixedly connected to the lifting arm 30, providing power for the lifting arm to move vertically. Based on this, the second transmission device 31 is connected to the drive motor 22 via a cable. The drive motor 22 provides power to the second transmission device 31, which uses cable transmission. After power is transmitted to the cable, the cable retraction is controlled, and the tension of the cable causes the lifting arm 30 to extend and retract. Based on the automatic planar movement of the sensor array housing 6 driven by the lifting arm 30, the free vertical movement of the lifting arm 30 is achieved through the tension of the cable. This allows the sensor array housing at the lower end of the lifting arm to achieve three-dimensional movement, unaffected by ground factors, and the entire movement process requires no manual braking, saving on manual control costs.

[0045] The extension and retraction of the lifting arm 30 is determined based on the structure of the lifting arm itself, such as... Figure 5 As shown, the lifting arm consists of multiple levels of support columns. Figure 5 The example shows a primary support column 32, a secondary support column 33, a tertiary support column 34, and a quaternary support column 35, with each level of support column connected by slide rails. The extension and retraction of the lifting arm is achieved by the support columns sliding along the slide rails.

[0046] Considering that the drive motor 22 provides power to both the first transmission device 21 and the second transmission device 31, it is prone to failure under heavy loads. Therefore, a torque sensor is installed in the drive motor 22. The torque sensor monitors the detailed rotation status of the drive motor 22 in real time, providing timely feedback on the motor's operating condition for adjustments, thus reducing potential safety hazards.

[0047] The digital twin device 5 includes a first twin device, which is installed inside the control device box 4. The control device box 4 contains a power distributor, which is connected to the drive motor 22 and the first twin device via cables. The power distributor provides power to the drive motor and the first twin device via cables. The first twin device can be a microcomputer, a server hardware device, or other electronic device with remote control and data transmission capabilities. It includes a sensor array control switch for the sensor array housing 6, which can control the sensors in the sensor array housing 6 to capture and collect data at any time, achieving automatic monitoring and control of the sensor array housing without external control or interference from external factors.

[0048] Furthermore, such as Figure 6 As shown, the sensor array housing 6 houses an RGB camera 61, a 3D camera 62, a multispectral camera 63, a hyperspectral imaging sensor 64, a network camera 65, a thermal infrared camera 66, a lidar 67, and a spotlight 68. All camera and sensor components are housed within a single housing, and each component operates independently without interference. The spotlight 68 provides illumination, assisting the camera sensors in data acquisition even in nighttime environments.

[0049] The sensor array housing 6 achieves three-dimensional movement through the moving architecture 20 and the lifting arm 30. Through the three-dimensional movement of these camera sensors, the entire crop area can be observed from a wider angle, increasing the data acquisition area, realizing full sample size acquisition without random sampling measurement, and achieving high-throughput crop phenotypic data collection and analysis.

[0050] In addition, the sensor array housing 6 of this utility model can also capture and collect real-time operating data of the platform itself by using three-dimensional movement, such as the real-time movement position of the moving steel frame and the transmission status of the transmission equipment. Under the automatic monitoring and control of the first twin device, it can transmit the collected crop phenotypic data and its own real-time operating data to the first twin device.

[0051] In this invention, the digital twin device 5 also includes a second twin device. The second twin device can be a microcomputer, a server hardware device, or other electronic device with remote control and data processing capabilities. The second twin device is connected to the first twin device via a cable. In another implementation scenario, the second twin device can also be a mobile device. When used as a mobile device, the second twin device and the first twin device can communicate remotely via a wireless network. Thus, the connection between the first and second twin devices enables the data acquisition platform to be connected to the second twin device, facilitating more convenient near-field and remote monitoring of the data acquisition platform and overcoming the limitations of the single first twin device in terms of functionality and installation location.

[0052] Specifically, such as Figure 7 As shown, the second twin device includes: a twin interface display screen 70, display screen operation buttons 71, a first twin device control switch 72, and a cable device interface 73. The cable device interface 73 enables connection to the first twin device, while the first twin device control switch 72 allows real-time control of the first twin device. For example, crop data captured and collected by the sensor array housing 6 and platform operating condition photos can be uploaded to the second twin device via the first twin device. The twin interface display screen 70 is used to display phenotypic data processed by the second twin device or platform operating condition data.

[0053] This invention integrates digital twin devices both inside the control equipment box and outside the data acquisition platform. A power distribution unit provides the power supply, and the combined internal and external installations monitor the platform's operating status and phenotypic data acquisition. This approach aims to integrate digital twin devices into the data acquisition platform, enabling the platform to conduct research on digital twin technology without requiring any manual on-site inspections or adjustments, thus breaking the limitations of traditional platform monitoring that is confined to planar observation.

[0054] 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 rail crop phenotyping high-throughput acquisition platform based on digital twin technology, comprising: An empty rail steel frame, a portal rail moving device, a lifting system, a control equipment box, a digital twin equipment, and a sensor array box are characterized in that The empty rail steel frame comprises a support steel frame, a load-bearing steel frame, and a load-bearing cross beam, the load-bearing steel frame is fixedly connected with the load-bearing cross beam, and the load-bearing steel frame and the load-bearing cross beam are both erected on the support steel frame; The portal rail moving device comprises a moving steel frame, a first transmission device, a transmission motor, a transmission shaft, and moving rail wheels, the moving rail wheels are respectively welded below both side edges of the transmission shaft in the moving steel frame, the moving steel frame is erected on the load-bearing cross beam through the moving rail wheels, the transmission motor and the first transmission device are both transversely arranged on the lower side of the moving steel frame, the transmission motor and the first transmission device are connected through a cable, and the first transmission device is fixedly connected with the transmission shaft; The lifting system comprises a lifting arm, the upper end of the lifting arm is fixedly connected with the moving steel frame, and the lower end of the lifting arm is fixedly connected with the sensor array box; The digital twin equipment comprises a first twin equipment, the first twin equipment is installed inside the control equipment box, a power distributor is arranged in the control equipment box, the power distributor is connected with the transmission motor and the first twin equipment through a cable, and the first twin equipment is provided with a sensor array control switch of the sensor array box.

2. The rail crop phenotyping high-throughput acquisition platform based on digital twin technology according to claim 1, characterized in that, The upper end of the load-bearing cross beam is welded with a steel rail rack, and the outer contact surface of the moving rail wheel is provided with a gear wheel that is in butt joint with the steel rail rack.

3. The rail crop phenotyping high-throughput acquisition platform based on digital twin technology according to claim 1, characterized in that, The side surface structure of the moving steel frame adopts a triangular steel frame structure.

4. The rail crop phenotyping high-throughput acquisition platform based on digital twin technology according to claim 1, characterized in that, The lifting system is further provided with a second transmission device, the second transmission device is fixedly connected with the lifting arm, and the second transmission device adopts a cable type transmission.

5. The rail crop phenotyping high-throughput acquisition platform based on digital twin technology according to claim 4, characterized in that, The second transmission device is connected with the transmission motor through a cable, and the transmission motor is provided with a torque sensor.

6. The rail crop phenotyping high-throughput acquisition platform based on digital twin technology according to claim 4, characterized in that, The lifting arm is composed of multiple support columns, and each pair of support columns is connected through a slide rail.

7. The rail crop phenotyping high-throughput acquisition platform based on digital twin technology according to claim 1, characterized in that, The sensor array box is provided with an RGB camera, a 3D camera, a multispectral camera, a hyperspectral imaging sensor, a network camera, a thermal infrared camera, a laser radar, and a spotlight.

8. The rail crop phenotyping high-throughput acquisition platform based on digital twin technology according to claim 7, characterized in that, The digital twin equipment further comprises a second twin equipment, and the second twin equipment is connected with the first twin equipment through a cable.

9. The rail crop phenotyping high-throughput acquisition platform based on digital twin technology according to claim 8, characterized in that, The second twin equipment comprises a twin interface display screen, display screen operation buttons, a first twin equipment control switch, and a cable equipment interface.

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