Robot for detecting photosynthesis

Abstract

The utility model relates to the technical field of plant physiology and ecology detection equipment, in particular to a robot for detecting photosynthesis. The utility model discloses a robot for detecting photosynthesis. The robot comprises a trolley base, a six-axis mechanical arm, a photosynthesis detection instrument, a depth camera, a laser radar and a radar base station, one end of the trolley base is fixedly connected with the assembly integration box; a photosynthetic detection instrument and a depth camera are mounted at one end of the six-axis mechanical arm, and the other end of the six-axis mechanical arm is fixedly connected with the assembly integration box through a metal connecting piece and used for accurately positioning plant leaves; all parts are mounted in the assembly integration box in a layered manner; the photosynthetic detection instrument is used for detecting photosynthesis; the depth camera is used for collecting image information; the laser radar is used for scanning an actual scene to generate a 2D map; the radar base station is used for fixing the laser radar. The robot for detecting photosynthesis provided by the utility model realizes efficient and stable automatic photosynthesis detection in a complex agricultural environment.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of plant physiological ecology detection equipment, and particularly relates to a robot for detecting photosynthesis. BACKGROUND

[0002] In the field of plant physiological ecology analysis, the research on plant photosynthesis is crucial for cultivating crops with ideal traits such as high yield, disease resistance, drought resistance, and high carbon fixation characteristics. Photosynthesis not only relates to the process of carbon fixation and release, affecting the management strategies of agricultural carbon emission reduction and carbon sink increase, but also directly relates to the challenge of food demand brought by global population growth and the development of life sciences. Therefore, in-depth research on plant photosynthesis has broad and profound significance for maintaining ecological balance, improving agricultural production, developing renewable energy, and addressing global changes.

[0003] However, traditional methods of detecting plant photosynthesis have many limitations. These methods usually require manual operation to align various equipment and instruments to different positions of the plant to collect data, such as holding the instrument with the plant leaf for detection, or placing the whole plant in a detection box for photosynthesis detection. These operations not only consume a lot of labor, but also are inefficient, time-consuming, and have poor repeatability, which is not conducive to liberating labor and is not suitable for large-scale plant photosynthesis research and analysis. With the continuous progress of science and technology, research on photosynthesis will continue to provide important support and solutions for the sustainable development of human society.

[0004] Therefore, in order to meet the needs of current large-scale plant photosynthesis phenotype screening and related research work, it is necessary to propose a robot for detecting photosynthesis to solve the above problems. INVENTION CONTENTS

[0005] The utility model aims to provide a robot for detecting photosynthesis to solve the technical problems of labor-intensive, low efficiency, and non-intelligence in plant photosynthesis detection in the prior art.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a robot for detecting photosynthesis, comprising: a trolley base, a component integrated box, a six-axis mechanical arm, a photosynthesis detection instrument, a depth camera, a laser radar, and a radar base station;

[0007] The trolley base is used for robot movement;

[0008] The component integrated box is fixedly connected with one end of the trolley base, and each part is installed in layers inside;

[0009] The photosynthesis detection instrument is installed at one end of the six-axis mechanical arm for photosynthesis detection;

[0010] The depth camera is installed at one end of the six-axis robot arm and used to collect image information.

[0011] The other end of the six-axis robot arm is fixedly connected with the component integrated box through a metal connecting piece, so as to realize positioning of the plant leaves.

[0012] The laser radar is installed on the radar base and used to scan the actual scene to generate a 2D map.

[0013] The radar base is installed on the component integrated box and used to fix the laser radar.

[0014] In an embodiment, the photosynthetic detection instrument includes a chlorophyll fluorometer.

[0015] The chlorophyll fluorometer is fixedly connected with the end of the six-axis robot arm.

[0016] In an embodiment, the trolley base includes a crash barrier, a handle, a wheel and a metal connecting piece.

[0017] The crash barrier is installed at the front and rear positions of the trolley base and used to protect the robot from collision during movement.

[0018] The handle is installed at the left and right positions of the trolley base and used to manually carry the trolley base.

[0019] The trolley base includes more than one wheel, and the front and rear wheels are differentially operated.

[0020] The metal connecting piece is used to fixedly connect the trolley base with the six-axis robot arm.

[0021] In an embodiment, the metal connecting piece is installed on the trolley base and adjusted according to the mass distribution of the six-axis robot arm and the component integrated box, so as to ensure that the pressure borne by each wheel of the trolley base is consistent.

[0022] In an embodiment, the radar base is a T-shaped frame structure.

[0023] The included angle between the top surface and the peripheral surface of the T-shaped frame structure is a right angle.

[0024] In an embodiment, the component integrated box is internally installed with a switch module, and the switch module includes a main body part and an antenna.

[0025] The main body part is suspendedly installed on the inner wall of the component integrated box.

[0026] The antenna is fixedly installed on the outer wall of the component integrated box.

[0027] In one embodiment, the upper part of the component integration box is provided with a flip-top switch door or a sliding switch door for disassembling the power supply.

[0028] In one embodiment, the depth camera is used to acquire images containing RGB information.

[0029] In one embodiment, the six-axis robotic arm has six degrees of freedom and is used to drive the photosynthesis detection instrument to achieve different degrees of freedom of movement.

[0030] The six degrees of freedom movements include: translation along the X-axis, translation along the Y-axis, translation along the Z-axis, rotation around the X-axis, rotation around the Y-axis, and rotation around the Z-axis in the flange coordinate system.

[0031] In one embodiment, it also includes a human-computer interaction device and four corner supports;

[0032] The human-computer interaction device is installed on the four corner brackets and controls the robot's operation through a touch screen, displaying the robot's status in real time.

[0033] The four corner brackets are fixed to the radar base and the component integration box, and have an inclined angle.

[0034] The robot for detecting photosynthesis provided by this utility model achieves coarse positioning and navigation through 3D lidar mapping, and the robotic arm works in conjunction with the photosynthesis detection instrument for fine positioning and movement. It automatically detects the photosynthesis of plant leaves, effectively reducing labor costs, improving measurement stability and efficiency, and promoting the development of plant physiological and ecological research. Attached Figure Description

[0035] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings, wherein:

[0036] Figure 1 A schematic diagram of a robot structure for detecting photosynthesis according to an embodiment of the present invention is shown;

[0037] Figure 2 A schematic diagram of the flip-top door on the upper part of the component integration box according to an embodiment of the present invention is disclosed;

[0038] Figure 3 A schematic diagram of the structure of a T-shaped radar base according to an embodiment of the present invention is shown.

[0039] The meanings of the labels in the figures are as follows:

[0040] 10. Car base;

[0041] 11. Crash barriers;

[0042] 12 handles;

[0043] 13 wheels;

[0044] 14. Metal connectors;

[0045] 20-component integrated box;

[0046] 21. Flip-top door;

[0047] 22 switch modules;

[0048] 30 radar base stations;

[0049] 40 Four-corner bracket;

[0050] 50 LiDARs;

[0051] 60 six-axis robotic arm;

[0052] 70 photosynthesis detection instruments;

[0053] 80 Depth Camera. Detailed Implementation

[0054] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0055] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein, and therefore the present invention is not limited to the specific embodiments disclosed below.

[0056] The embodiments of the present invention will now be described based on the accompanying drawings. However, the embodiments shown below are examples of robots for detecting photosynthesis, which are intended to embody the technical concept of the present invention. The robot for detecting photosynthesis of the present invention is not specifically defined as follows.

[0057] Figure 1 A schematic diagram of a robot structure for detecting photosynthesis according to an embodiment of this utility model is disclosed, as follows: Figure 1 As shown, the robot for detecting photosynthesis includes a trolley base 10, a component integration box 20, a six-axis robotic arm 60, a photosynthesis detection instrument 70, a depth camera 80, a lidar 50, and a radar base 30.

[0058] The following section will describe in detail the various parts of the robot that detects photosynthesis.

[0059] The trolley base 10 is used for robot movement. The component integration box 20 is fixedly connected to one end of the trolley base 10. The internal components are installed in layers. Specifically, the trolley base 10 is fixedly connected to the component integration box 20 through a metal connector 14.

[0060] In one embodiment, the vehicle base 10 may include a crash barrier 11, a handle 12, wheels 13, and a metal connector 14.

[0061] In this embodiment, anti-collision guardrails 11 are installed at the front and rear of the robot's trolley base to protect the robot from collisions during movement and to protect the various devices on the robot. Handles 12 are installed on the left and right sides of the robot's trolley base for manual handling of the trolley base 10, so as to facilitate manual lifting and lowering of the trolley base 10.

[0062] The vehicle base 10 can rotate on the spot and includes more than one wheel 13, up to four wheels. The front and rear wheels 13 operate at different speeds to achieve efficient movement and steering, enhancing maneuverability.

[0063] In another embodiment, to improve the robot's mobility in complex agricultural environments, the four wheels of the vehicle base 10 can be replaced with tracks. Compared to wheeled ground contact, tracks have a larger contact area with the ground, effectively distributing pressure, reducing tire wear, and extending service life.

[0064] Metal connector 14 is used for fixed connection between the trolley base and the six-axis robotic arm. The change in the center of gravity of the six-axis robotic arm 60 will cause uneven pressure on the four wheels of the wheeled chassis, which may cause the trolley to deviate from its course. The tracked chassis maintains motion stability by contacting the ground as a whole.

[0065] In this embodiment, the tracks also have excellent obstacle-crossing capabilities, easily crossing small potholes and obstacles, and the toothed design improves the anti-slip effect under special ground conditions, ensuring reliable operation of the robot in various complex terrains.

[0066] A metal connector 14 is installed on the trolley base 10. The position of the metal connector 14 can be at the central axis of the trolley base. The type of metal connector 14 includes, but is not limited to, rivets, bolts, nuts, clips, hinges, washers, expansion bolts, etc.

[0067] The metal connector 14 can be used to connect the component integration box 20 and the six-axis robotic arm 60. In practical applications, the mass distribution of the six-axis robotic arm 60 and the component integration box 20 is adjusted to adjust the installation position of the metal connector 14 to ensure that the pressure on each tire of the trolley base 10 is consistent, and to ensure that the pressure on the four wheels is as consistent as possible, thereby ensuring the structural stability of the robot.

[0068] Ideally, the load-bearing pressure values ​​of the four wheels of the robot car are measured, and a reasonable installation position is considered when the deviation value of the wheels is small.

[0069] One end of the six-axis robotic arm 60 is equipped with a photosynthesis detection instrument 70 and a depth camera 80, and the other end is fixedly connected to the component integration box 20 through a metal connector 14, which is used to achieve precise positioning of plant leaves.

[0070] The six-axis robotic arm 60 can be mounted on the metal connector 14, that is, connected to the rear central axis of the trolley through the metal connector 14. It can drive the photosynthesis detection instrument 70 at the end to perform six degrees of freedom of movement. It is used to drive the photosynthesis detection instrument 70 to achieve different degrees of freedom of movement, and can accurately position and move the photosynthesis detection instrument. That is, it can achieve precise positioning of plant leaves, so that the photosynthesis detection instrument 70 is vertically aligned with the leaves.

[0071] The six-axis robotic arm 60, relative to the robotic arm base coordinates, typically has six degrees of freedom in the flange coordinate system, which refer to: translation along the X-axis, translation along the Y-axis, translation along the Z-axis, rotation around the X-axis, rotation around the Y-axis, and rotation around the Z-axis.

[0072] The flange coordinate system is an important coordinate system used in industrial robots to describe the position and orientation of the robot's end effector (such as a tool). It is usually located at the center point of the robot flange. The Z-axis is aligned with the normal direction of the robot flange, pointing above or below the robot's end tool; the X-axis is perpendicular to the normal direction, pointing in front of the robot's end tool; and the Y-axis is perpendicular to the X-axis, pointing to the left or right of the robot's end tool.

[0073] It is worth noting that the specific directions mentioned above may vary depending on the design and configuration of the robot.

[0074] Specifically, the six degrees of freedom (X, Y, Z, Rx, Ry, Rz) refer to three degrees of freedom for horizontal displacement and three degrees of freedom for spatial rotation. This can be understood as horizontal movement along the x, y, and z coordinate axes and spatial rotation around the x, y, and z coordinate axes.

[0075] The photosynthesis detection instrument 70 is used to detect photosynthesis. It can be installed at the end of the six-axis robotic arm 60, fitting perfectly with the end of the robotic arm, i.e., completely fitting the end flange of the robotic arm, to prevent collision with the robotic arm during movement.

[0076] The photosynthesis detection instrument 70 includes a chlorophyll fluorometer, which is fixedly connected to the end of a six-axis robotic arm 60. Based on the principle of the chlorophyll fluorometer, it measures the photosynthetic efficiency, enabling efficient and stable photosynthesis detection, significantly reducing labor costs, and improving the accuracy and repeatability of measurements.

[0077] The six-axis robotic arm 60 is equipped with a depth camera 80 at its end to collect image data, enabling analysis of plant leaf pose and environmental perception, and providing auxiliary positioning functions.

[0078] Optionally, the depth camera 80 is connected to the car's built-in host via USB 3.0 to capture images containing RGB information and transmit image data. Specifically, the RGB color mode obtains various colors by changing the three color channels of red (R), green (G), and blue (B) and superimposing them with each other.

[0079] Continue as Figure 1 As shown, the component integration box 20 is connected to the trolley base 10 via a metal connector 14 and maintains a certain safe distance from the six-axis robotic arm 60. The safe distance can be about 10cm. The general principle is that within the normal operating range of the robotic arm, each joint axis should not touch the component integration box 20 to prevent collisions. The component integration box 20 may include: a flip-top door 21 and a middle partition.

[0080] Figure 2 A schematic diagram of the structure of the flip-top door 21 on the upper part of the component integration box 20 according to an embodiment of the present invention is shown, as follows: Figure 2 As shown, the upper part of the component integration box 20 is equipped with a flip-top door 21 for easy disassembly of the power supply. The component integration box can store the main unit and various components, and the internal components are installed in layers. Inside the component integration box 20, the connecting cables are wall-mounted to ensure reasonable storage of various components, reduce the size of the robot, and maximize space utilization. The components include, but are not limited to: power conversion modules (the power requirements of each component may be different), cooling fans, hubs, cable ties, fixing partitions, adapter cables, etc.

[0081] The robot's built-in main unit is fixed at the bottom of the component integration box 20, which can lower the robot's center of gravity and make the robot's posture more stable when working.

[0082] The component integration box 20 adopts a layered design, which not only increases the efficiency of space utilization and facilitates the connection between various parts, but also prevents concentrated heat dissipation caused by the clustering of electrical components, effectively avoiding safety hazards.

[0083] The component integration box 20 houses a switch module 22, which includes a main body and antennas. The main body of the switch module 22 is suspended on the inner wall of the component integration box 20, and the two antennas are attached to the outer wall, making the overall design simple and aesthetically pleasing.

[0084] The two antennas of the switch are exposed. This is mainly because placing the antennas inside a closed metal enclosure would affect data exchange. Therefore, they are suspended and installed on the outer wall of the component integration box 20.

[0085] In another embodiment, the sliding door of the component integration box 20 can be a flat-pull design. Compared with the flip-top sliding door 21, the flat-pull sliding door has the advantages of longer service life and less friction with other parts, thus reducing wear.

[0086] Furthermore, the sliding door offers better sealing, effectively preventing dust and moisture from entering the component integration box. This ensures that the internal electronic components operate in a favorable environment, avoiding short circuits or other abnormal risks caused by environmental factors. The sliding door also simplifies the design, reducing the need for pressure-reducing springs or magnetic devices, and improving the overall system's safety and reliability.

[0087] The photosynthesis detection robot provided by this utility model may also include: a lidar 50 and a radar base 30. The lidar is used to scan the actual scene to generate a 2D map, and the radar base 30 is used to fix the lidar 50.

[0088] Figure 3 A schematic diagram of the structure of a T-shaped radar base 30 according to an embodiment of the present invention is shown, as follows: Figure 3 As shown, the radar base 30 is mounted on the component integration box. It has a T-shaped frame with a certain height and a cliff-like design. Preferably, the angle between the top surface and the surrounding surfaces of the radar base 30 is a right angle. The radar base 30 fixes the 3D lidar, ensuring that it is in the optimal working range and field of view, and preventing the hardware structure from hindering the transmission and reception of the lidar laser.

[0089] The lidar 50 is mounted on the lidar base 30. In agricultural robots, the lidar 50 is used for rough positioning of plant leaves. Through high-precision environmental perception and 3D point cloud data analysis, it helps the robot plan its path and adjust its position in real time, enabling it to move accurately in front of the plant. The high reliability and adaptability of lidar make it perform excellently in complex agricultural environments, improving the efficiency and accuracy of agricultural operations.

[0090] The radar base 30 can provide support for the four corner brackets 40, making it convenient to fix the human-machine interaction equipment.

[0091] In this embodiment, a six-axis robotic arm, combined with an environmental map generated by a depth camera and LiDAR, enables precise positioning of plant leaves and automatic measurement of photosynthetic efficiency.

[0092] The photosynthesis detection robot provided by this utility model includes a human-computer interaction device, which is installed on a four-corner bracket 40. The robot's operation and real-time status are controlled by a touch screen. The four-corner bracket 40 has an inclination angle, which can be between 60° and 75°. Within this range, the operator can observe the human-computer interaction device on the four-corner bracket 40 well.

[0093] The human-machine interaction device is installed on a four-corner bracket 40 with a certain degree of inclination and can be detached. It is connected to the built-in host of the vehicle through a local area network, which can display the robot status in real time and control the robot by touch. This ensures the reliable operation of the robot in various terrains and optimizes the efficiency and reliability of agricultural automation detection.

[0094] In one embodiment, the photosynthesis detection robot achieves automated detection through the following steps.

[0095] First, a 3D LiDAR scanner is used to scan the actual scene and generate a 2D map. The target location is selected on the map to determine the robot's navigation direction. In other words, the user selects the target location on the map with the mouse to determine the robot's navigation direction.

[0096] Next, the trolley base 10 automatically navigates to the front of the target plant based on the LiDAR data. Upon reaching the target area, the depth camera 80 is activated to acquire images, and the data is transmitted to the component integration box via a USB 3.0 interface. The image data is then analyzed using a deep learning model to obtain the leaf pose information.

[0097] Finally, the switch module 22 transmits the pose information to the six-axis robotic arm 60. The photosynthesis detection instrument 70 at the end of the robotic arm moves to the leaf position to perform photosynthesis detection, which reduces labor costs and effectively solves the problems of poor stability, low repeatability and low work efficiency when manually holding instruments to measure photosynthesis.

[0098] The photosynthesis detection robot provided by this utility model combines coarse and fine positioning technologies. Its end photosynthesis detection instrument uses a sensor based on the principle of chlorophyll fluorescence to accurately measure photosynthetic efficiency, realizing automatic photosynthesis detection of plant leaves. This significantly reduces labor costs and effectively solves the problems of poor stability, low repeatability, and low work efficiency when manually holding instruments to measure photosynthesis.

[0099] The robot for detecting photosynthesis provided by this utility model achieves efficient and stable automated detection of plant leaves through the coordinated work of coarse and fine positioning, as well as the optimized design of the tracked chassis and the flat-pull opening and closing door. It significantly reduces labor costs and effectively solves the problems of poor stability, low repeatability and low work efficiency of manual handheld instruments when measuring photosynthesis.

[0100] While the foregoing disclosure has discussed various examples of utility model embodiments that are currently considered useful, it should be understood that the designations corresponding to the components shown in the "Claims" and "Utility Model Contents" columns are assigned to the components shown in the embodiments for ease of understanding of the scope of the claims. However, the components shown in the claims are not intended to be specific to the components of the embodiments. In particular, the dimensions, materials, shapes, and relative arrangements of the constituent components described in the embodiments, unless specifically stated otherwise, are not intended to limit the scope of the present utility model, but are merely illustrative examples.

[0101] However, the dimensions or positional relationships of the components shown in the accompanying drawings are sometimes exaggerated for clarity. Therefore, in the following description, detailed descriptions of the same names and symbols representing the same or homogeneous components are appropriately omitted. Furthermore, the elements constituting this utility model can be multiple elements composed of the same components, thus allowing one component to function as multiple elements; conversely, multiple components can share the function of one component. Additionally, the content described in some embodiments and implementations can be applied to other embodiments and implementations. Furthermore, in this specification, "upper" is not limited to the case of being formed in contact with an upper surface, but also includes the case of being formed separately on top, and also includes the meaning of an interlayer between layers.

[0102] Similarly, it should be noted that, in order to simplify the description of this utility model and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of this utility model sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the object of this utility model requires more features than those mentioned in the claims. In fact, the embodiments have fewer features than all the features of the single embodiment disclosed above.

[0103] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0104] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0105] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed according to the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this invention are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0106] Although the present invention has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention, and various equivalent changes or substitutions can be made without departing from the spirit of the present invention. Therefore, any changes or modifications to the above embodiments within the scope of the essential spirit of the present invention will fall within the scope of the claims of this application.

Claims

1. A robot for detecting photosynthesis, characterized by, The utility model relates to a kind of robot for plant photosynthesis detection system, including: Trolley base, component integrated box, six-axis robot arm, photosynthesis detection instrument, depth camera, laser radar and radar base station; The trolley base is used for robot movement; The component integrated box is fixedly connected with one end of trolley base, and each part is installed inside by layering; The photosynthesis detection instrument is installed at one end of six-axis robot arm, and photosynthesis detection is carried out; The depth camera is installed at one end of six-axis robot arm, and is used for collecting image information; The other end of the six-axis robot arm is fixedly connected with the component integrated box through metal connecting piece, and is used for positioning plant leaf; The laser radar is installed on the radar base station, and is used for scanning actual scene to generate 2D map; The radar base station is installed on the component integrated box, and is used for fixing laser radar.

2. The robot for detecting photosynthesis according to claim 1, wherein The photosynthesis detection instrument includes chlorophyll fluorometer; The chlorophyll fluorometer is fixedly connected with the end of the six-axis robot arm.

3. The photosynthesis detecting robot according to claim 1, wherein The trolley base includes anti-collision guardrail, handle, wheel and metal connecting piece; The anti-collision guardrail is installed at the front and rear positions of the trolley base, and is used for protecting robot from collision during movement; The handle is installed at the left and right positions of the trolley base, and is used for manually carrying the trolley base; The trolley base includes more than one wheel, and the front and rear wheels run differentially. The metal connecting piece is used for fixedly connecting the trolley base with the six-axis robot arm.

4. The robot for detecting photosynthesis according to claim 3, wherein The metal connecting piece is installed on the trolley base, and is adjusted according to the mass distribution of the six-axis robot arm and the component integrated box to ensure that the pressure borne by each wheel of the trolley base is consistent.

5. The photosynthesis detecting robot according to claim 1, wherein The radar base station is a T-shaped frame structure. The included angle between the top surface and the peripheral surface of the T-shaped frame structure is a right angle.

6. The photosynthesis detecting robot according to claim 1, wherein The component integrated box is internally provided with a switch module, and the switch module includes a main body part and an antenna. The main body part is suspendedly installed on the inner wall of the component integrated box. The antenna is attached to the outer wall of the component integrated box.

7. The photosynthesis detecting robot according to claim 1, wherein The upper part of the component integrated box is provided with a flip type switch door or a flat pull type switch door for dismounting the power supply.

8. The photosynthetic detection robot according to claim 1, wherein, The depth camera is used for collecting images containing RGB information.

9. The robot for detecting photosynthesis according to claim 1, wherein The six-axis robot arm has six degrees of freedom, and is used for driving the photosynthesis detection instrument to realize different-axis freedom actions. The six degrees of freedom actions include: in the flange coordinate system, translation along the X-axis, translation along the Y-axis, translation along the Z-axis, rotation around the X-axis, rotation around the Y-axis, and rotation around the Z-axis.

10. The robot for detecting photosynthesis according to claim 1, wherein It also includes human-computer interaction equipment and a four-corner support; The human-computer interaction equipment is installed on the four-corner support, controls robot work through touch screen, and displays robot state in real time; The four-corner support is fixed on the radar base station and the component integrated box, and has an inclination angle.

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