Facility crop phenotype multi-source information acquisition device

Abstract

The embodiment of the utility model discloses a facility crop phenotype multi-source information acquisition device. The facility crop phenotype multi-source information acquisition device comprises an acquisition equipment assembly, a supporting assembly for supporting the acquisition equipment assembly and two movable chassis for maintaining the balance of the supporting assembly, each movable chassis comprises a chassis main body, a plurality of wheels arranged on the chassis main body, a movable assembly for driving the wheels to roll and a steering assembly for driving the wheels to swing; the supporting assembly comprises a bearing frame for mounting the acquisition equipment assembly and two supporting frames which are respectively arranged at two ends of the bearing frame and are respectively connected with the corresponding chassis main bodies of the two movable chassis; the collecting device further comprises a control unit connected with the collecting equipment assembly, the moving assemblies and the steering assemblies. The collecting device has the stability of a gantry structure and the maneuverability of a vehicle-mounted structure, occupies a small space, and solves the problems that existing collecting equipment is poor in stability, large in occupied space and the like.

Description

TECHNICAL FIELD

[0001] The embodiments of the present specification relate to the technical field of agricultural equipment, in particular to a facility crop phenotype multi-source information acquisition device. BACKGROUND

[0002] In agricultural production and scientific research, the acquisition of crop phenotype information is of great significance for understanding crop growth conditions, evaluating variety characteristics, and optimizing cultivation management.

[0003] Traditional acquisition methods mostly rely on manual acquisition, which is low in efficiency, high in labor intensity, and easily affected by human factors, resulting in poor data accuracy and consistency. With the increasing mechanization and automation of agricultural equipment, some acquisition devices have emerged. For example, the Chinese utility model patent with patent number CN202320501587.9 discloses a facility crop phenotype acquisition device, which sets a mobile platform, an installation support and a camera assembly. The installation support is arranged on the mobile platform, and the camera assembly is arranged on the installation support. The movement of the camera assembly can be realized, and at the same time, based on the support of the installation support, the camera assembly can acquire side view images and overhead images of the facility crop from multiple perspectives, thereby realizing the rapid and comprehensive acquisition of three-dimensional phenotype data of the facility crop.

[0004] However, the installation support of the acquisition device is extended outward from one side of the mobile platform, and the camera assembly and various sensors arranged on the installation support will cause a serious deviation of the center of gravity of the mobile platform. Especially when moving on the land where the facility crops are not hardened and leveled, the platform is prone to overturning, and it is necessary to increase the area of the chassis of the mobile platform and set a counterweight on the opposite side of the installation support to balance it, so that the acquisition device becomes large and heavy, and the width of the passageway between the crops in the facility and the bearing capacity of the ground are also required to be higher. UTILITY MODEL CONTENT

[0005] The embodiments of the present specification provide a facility crop phenotype multi-source information acquisition device, which combines the maneuverability of the vehicle-mounted structure and the stability of the gantry structure, realizes efficient and accurate acquisition of facility crop phenotype, and solves the problems of poor stability and large space occupation of existing acquisition devices. The technical scheme is as follows:

[0006] The embodiments of the present specification provide a facility crop phenotype multi-source information acquisition device, which combines the maneuverability of the vehicle-mounted structure and the stability of the gantry structure, realizes efficient and accurate acquisition of facility crop phenotype, and solves the problems of poor stability and large space occupation of existing acquisition devices. The technical scheme is as follows:

[0007] Each of the mobile chassis comprises a chassis main body, a plurality of wheels arranged on the chassis main body, a movement assembly for driving the wheels to roll, and a steering assembly for driving the wheels to swing.

[0008] The support assembly comprises a carrier frame on which the collection device assembly is mounted, and two support frames respectively arranged at two ends of the carrier frame and respectively connected to the chassis bodies corresponding to the two mobile chassis;

[0009] The collection device further comprises a control unit connected to the collection device assembly, the mobile assemblies and the steering assemblies.

[0010] As a preferred solution, the carrier frame is horizontally arranged, and the two support frames are vertically arranged on the chassis bodies corresponding to the two mobile chassis respectively.

[0011] The support assembly further comprises a first diagonal brace structure connected between the support frames and the chassis bodies to form a triangular support, and a second diagonal brace structure connected between the support frames and the carrier frame to form a triangular support.

[0012] As a preferred solution, the carrier frame and the two support frames are each provided with a length adjustment mechanism connected to the control unit.

[0013] As a preferred solution, the mobile assembly comprises a plurality of hub motors corresponding to each wheel and arranged at the center of each wheel, the steering assembly comprises a plurality of steering motors arranged on the two chassis bodies and corresponding to each hub motor, and a plurality of steering arms arranged between each hub motor and the corresponding steering motor.

[0014] As a preferred solution, each steering arm is belt-driven with the corresponding steering motor.

[0015] As a preferred solution, each hub motor is provided with a balance frame coaxially connected with the hub motor.

[0016] Each steering arm is rotatably connected to a shock absorber comprising a spring and a damper, and the steering arm and the corresponding shock absorber are rotatably connected to both ends of the balance frame of the corresponding hub motor.

[0017] As a preferred solution, each shock absorber is provided with an electric telescopic rod connected to the control unit.

[0018] As a preferred solution, a laser sensor connected to the control unit is further included.

[0019] As a preferred solution, the collection device assembly comprises a high-definition camera, a hyperspectral camera, a thermal infrared camera, a laser radar and a light supplement lamp.

[0020] As a preferred solution, the bearing frame is provided with two electric sliding rails along the length direction of the bearing frame, both of which are connected with the control unit and extend out of both ends of the bearing frame, and each of the electric sliding rails is provided with an extended collection device assembly connected with the control unit.

[0021] The technical solutions provided by some embodiments of the present specification have at least the following beneficial effects:

[0022] 1. The facility crop phenotype multi-source information collection device adopts a vehicle-mounted gantry structure. The vehicle-mounted feature makes it have good mobility, can adapt to facility crop planting scenes of different scales and layouts, can move flexibly in the facility, and can quickly cover a large area of the facility crop planting area to realize high-throughput data collection.

[0023] 2. Two mobile chassis and a support assembly are combined to form a vehicle-mounted gantry structure. The two mobile chassis are located on both sides of the facility crop. The wheels are driven to move, stop and turn by the mobile assembly and the steering assembly under the control of the control unit, thereby jointly driving the support assembly to move. The collection device assembly on the bearing frame efficiently and accurately collects phenotype multi-source information. The collection device has the stability of the gantry structure and the mobility of the vehicle-mounted structure, occupies a small space, and solves the problems of poor stability and large space occupation of existing collection devices.

[0024] 3. The gantry provides a stable and flexible platform for sensors, can obtain data from multiple angles and all directions, and the span and height of the gantry can be adjusted. The combination and layout of the sensors can also be flexibly configured according to actual needs, improving the versatility and adaptability of the device. The modular structure facilitates extension and upgrading. Multiple sensors obtain crop phenotype information from different angles and dimensions. Through data fusion and analysis, the accuracy and reliability of the data are effectively improved, providing a more accurate basis for crop growth evaluation and agricultural decision-making.

[0025] 4. The vehicle-mounted feature of the device has good mobility. The control unit cooperatively controls the hub motor and the steering motor, and a "path preview-dynamic steering" closed-loop system is constructed by combining the laser sensor to realize high steering accuracy. The device can move flexibly in the facility, quickly cover a large area of the facility crop planting area, realize high-throughput data collection, improve collection efficiency, and reduce collection time and labor cost. During movement, the laser sensor pre-scans the terrain in front, triggers the electric telescopic rod to dynamically adjust the wheel height, and improves the obstacle crossing ability. The shock absorber absorbs high-frequency vibration, and the electric telescopic rod compensates for low-frequency terrain fluctuations. The two form a composite control system of "high-frequency shock absorption + low-frequency leveling", providing more stable collection conditions for the remote collection device assembly and ensuring the stability and accuracy of the collected data.

[0026] 5、Compared with the existing large-scale automatic acquisition equipment, the device has relatively simple structure, low manufacturing cost and maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0028] Figure 1 is a whole structure schematic diagram of a facility crop phenotype multi-source information acquisition device provided by embodiment 1 of the present specification.

[0029] Figure 2 is a structure schematic diagram of a mobile chassis in a facility crop phenotype multi-source information acquisition device provided by embodiment 1 of the present specification, which shows the specific setting mode of the wheel hub motor, the steering motor and the steering arm.

[0030] Figure 3 is a structure schematic diagram of a mobile chassis in a facility crop phenotype multi-source information acquisition device provided by embodiment 1 of the present specification, which shows the specific setting mode of the belt drive.

[0031] Figure 4 is a structure schematic diagram of a mobile chassis in a facility crop phenotype multi-source information acquisition device provided by embodiment 1 of the present specification.

[0032] Figure 5 is a structure schematic diagram of a mobile chassis in a facility crop phenotype multi-source information acquisition device provided by embodiment 1 of the present specification, which shows the specific setting mode of the balance frame, the steering arm, the shock absorber and the electric telescopic rod.

[0033] Figure 6 is a local structure schematic diagram of a mobile chassis in a facility crop phenotype multi-source information acquisition device provided by embodiment 2 of the present specification, which shows the specific setting mode of the electric sliding rail and the extended acquisition equipment assembly.

[0034] In the figure: 1, acquisition device assembly; 2, support assembly; 21, bearing frame; 22, support frame; 23, first diagonal brace structure; 24, second diagonal brace structure; 3, mobile chassis; 31, chassis main body; 32, wheel; 33, wheel hub motor; 34, steering motor; 341, belt; 35, steering arm; 36, balance frame; 37, shock absorber; 371, spring; 372, damper; 38, electric telescopic rod; 4, control unit; 41, control subunit; 5, laser sensor; 6, electric sliding rail; 7, extended acquisition device assembly. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present specification will be described clearly and completely below in combination with the drawings in the embodiments of the present specification.

[0036] The terms "first", "second", "third", etc. in the specification and claims of the present specification and the above drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0037] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes can be made to the functions and arrangements of the described elements without departing from the scope of the present specification. Various examples can appropriately omit, replace or add various processes or components. For example, the described methods can be performed in a different order from the described order, and various steps can be added, omitted or combined. In addition, features described with respect to some examples can be combined into other examples.

[0038] In agricultural production and scientific research, the acquisition of crop phenotype information is of great significance for understanding crop growth conditions, evaluating variety characteristics, optimizing cultivation management, etc. The existing crop phenotype acquisition methods have many shortcomings. For example, manual acquisition is low in efficiency, high in labor intensity, and easily affected by human factors, resulting in poor data accuracy and consistency. Some automated acquisition devices, such as vehicle-mounted acquisition platforms, may cause damage to crops, have limited sensor mounting, and have unstable performance in complex terrain; gantry or overhead crane platforms have high equipment costs, high requirements for greenhouse space and ground bearing, and complex systems. Therefore, there is an urgent need for a device that can efficiently, accurately and stably perform high-throughput acquisition of facility crop phenotypes.

[0039] Embodiment 1

[0040] Referring to Figure 1 As shown in the drawings, a facility crop phenotype multi-source information acquisition device includes an acquisition equipment assembly 1, a support assembly 2 supporting the acquisition equipment assembly 1, and two mobile chassis 3 maintaining balance of the support assembly 2;

[0041] Each mobile chassis 3 includes a chassis main body 31, a plurality of wheels 32 arranged on the chassis main body 31, a movement assembly driving the wheels 32 to roll, and a steering assembly driving the wheels 32 to swing;

[0042] The support assembly 2 includes a carrier 21 mounting the acquisition equipment assembly 1 and two support frames 22 respectively arranged at both ends of the carrier 21 and respectively connected to the respective corresponding chassis main bodies 31 of the two mobile chassis 3;

[0043] The acquisition device further includes a control unit 4 connected to the acquisition equipment assembly 1, the movement assemblies, and the steering assemblies.

[0044] Figure 1 A schematic diagram of the overall structure of a facility crop phenotype multi-source information acquisition device according to Embodiment 1 of the present specification.

[0045] Illustratively, the acquisition equipment assembly 1 includes a plurality of acquisition equipment to achieve multi-source information acquisition, and the control unit 4 controls movement of the acquisition device and acquisition of the acquisition equipment assembly 1. The structure of the movement assembly and the steering assembly is not limited, and any mechanical structure capable of achieving rotation and steering of the wheels 32 in the prior art can be used.

[0046] Exemplarily, the control unit 4 further includes control sub-units 41 separately arranged on the two mobile chassis 3 and electrically connected, which respectively control the movement assemblies and the steering assemblies on the respective mobile chassis 3, thereby simplifying cable routing and control logic.

[0047] Illustratively, the two mobile chassis 3 and the support assembly 2 combine to form a gantry structure with a certain span, and the two mobile chassis 3 are respectively located on both sides of the facility crop. Under the control of the control unit 4, the movement assemblies and the steering assemblies drive the wheels 32 to travel, stop, and steer, thereby jointly driving the support assembly 2 to move. The acquisition equipment assembly 1 on the carrier 21 efficiently and accurately acquires phenotype multi-source information. The acquisition device has both the stability of the gantry structure and the maneuverability of the vehicle-mounted structure, occupies a small space, and solves the problems of poor stability and large space occupation of existing acquisition equipment.

[0048] In an embodiment of the present specification, the mobile chassis 3 of the acquisition device can be a tracked chassis, thereby coping with relatively soft or muddy field environments.

[0049] In an embodiment of the present specification, the bearing frame 21 is horizontally arranged, and the two support frames 22 are vertically arranged on the corresponding chassis bodies 31 respectively;

[0050] The support assembly 2 further comprises a first diagonal bracing structure 23 connected between the support frame 22 and the chassis body 31 to form a triangular support, and a second diagonal bracing structure 24 connected between the support frame 22 and the bearing frame 21 to form a triangular support.

[0051] Illustratively, the first diagonal bracing structure 23 comprises a pair of diagonal bracing beams symmetrically arranged on both sides of each support frame 22, and preferably the included angle between the diagonal bracing beam of the first diagonal bracing structure 23 and the support frame 22 is 15°. The second diagonal bracing structure 24 comprises a pair of diagonal bracing beams symmetrically arranged on both sides of the collection device assembly 1 on the bearing frame 21, and preferably the included angle between the diagonal bracing beam of the second diagonal bracing structure 24 and the support frame 22 and the bearing frame 21 is 45°. Further, referring to the accompanying drawings Figure 1 , the connection points of each diagonal bracing beam and the support frame 22 and the bearing frame 21 are provided with gusset supports. The connection points of the first diagonal bracing structure 23, the support frame 22 and the chassis body 31 are provided with footing connectors.

[0052] Illustratively, the first diagonal bracing structure 23, the support frame 22 and the chassis body 31 form a stable triangular structure, which enhances the stability of the support frame 22 on the chassis; the second diagonal bracing structure 24, the support frame 22 and the bearing frame 21 form a stable triangular structure, which enhances the stability of the bearing frame 21 on the support frame 22. Effectively disperses the external force borne by the collection device during operation, greatly enhances the overall stability and rigidity of the support assembly 2. And the beam frame structure not only has high strength and rigidity, but also has light weight, to a certain extent, reduces the center of gravity of the collection device as a whole, further improves the stability of the collection device.

[0053] In an embodiment of the present specification, the bearing frame 21 and the two support frames 22 are each provided with a length adjusting mechanism connected with the control unit 4.

[0054] Illustratively, the length adjusting mechanism can adopt hydraulic / pneumatic telescopic structure, gear and rack telescopic structure, sleeve structure, etc. And the setting position of the length adjusting mechanism on the support frame 22 should be in the area between the connection points of the diagonal bracing beam of the first diagonal bracing structure 23 and the support frame 22 and the connection points of the diagonal bracing beam of the second diagonal bracing structure 24 and the support frame 22; the setting position of the length adjusting mechanism on the bearing frame 21 should be in the area between the connection points of the two diagonal bracing beams of the first diagonal bracing structure 23 and the support frame 22 respectively.

[0055] Illustratively, the length adjusting mechanism makes the span and height of the support assembly 2 adjustable, so as to adapt to different facility environmental conditions and facility crop heights, and improve the compatibility and adaptability of the collection device.

[0056] In one embodiment of the present specification, referring to the accompanying drawings Figure 2 The moving assembly comprises a plurality of hub motors 33 corresponding to each wheel 32 and arranged at the center of each wheel 32, and the steering assembly comprises a plurality of steering motors 34 arranged on the two chassis bodies 31 and corresponding to each hub motor 33, and a plurality of steering arms 35 arranged between each hub motor 33 and the corresponding steering motor 34.

[0057] Figure 2 is a structural schematic diagram of a moving chassis 3 in a facility crop phenotype multi-source information acquisition device provided by embodiment 1 of the present specification, which shows the specific arrangement of the hub motor 33, the steering motor 34 and the steering arm 35.

[0058] Explanatorily, this design omits the traditional transmission chain, making the structure more compact and the transmission efficiency higher. And each hub motor 33 controls the rotation state and speed of one wheel 32, and each steering motor 34 controls the orientation of one wheel 32, and the independent driving architecture ensures that each wheel 32 can be all-wheel drive and differential rotation in a facility with uneven terrain, realizing synchronous torque control and effectively solving the problem of different synchronization on both sides, which together makes the acquisition device travel according to the preset route.

[0059] Specifically, referring to the accompanying drawings Figure 3 and Figure 4 The transmission between each steering arm 35 and the corresponding steering motor 34 is a belt 341.

[0060] Figure 3 is a structural schematic diagram of a moving chassis 3 in a facility crop phenotype multi-source information acquisition device provided by embodiment 1 of the present specification, which shows the specific arrangement of the belt 341 transmission. Figure 4 is a structural schematic diagram of a moving chassis 3 in a facility crop phenotype multi-source information acquisition device provided by embodiment 1 of the present specification.

[0061] Explanatorily, the two transmission shafts of the belt 341 transmission structure in the present embodiment are respectively connected to the output shaft of the steering motor 34 and the rotation shaft of the steering arm 35, driving the steering arm 35 to rotate and thus driving the wheel 32 to swing. Specifically, the lower end of the steering arm 35 is connected to the rotation shaft position of the hub motor 33, and the upper end of the steering arm 35 is provided with a bearing structure, the outer ring of which is fixedly connected to the chassis body 31, and the inner ring is connected to the transmission shaft of the belt 341 transmission structure.

[0062] Explanatorily, the elasticity of the belt 341 can absorb the vibration between the motor and the wheel hub, reduce the impact transmitted to the motor or the wheel hub, thereby prolonging the service life of the acquisition device; the flexible connection of the belt 341 transmission can tolerate a certain degree of shaft misalignment or installation deviation, reducing the additional stress caused by inaccurate installation; the ultimate tensile strength of the belt 341 cooperates with the motor overload protection, and under impact load (such as hitting a stone or passing through a large height difference of the road), the toothed elastic deformation is preferentially generated rather than structural damage, protecting the motor shafting.

[0063] In an embodiment of the present specification, the belt 341 is provided in combination with the accompanying drawings Figure 5 , each wheel hub motor 33 is provided with a balance frame 36 coaxially connected with the wheel hub motor 33;

[0064] Each steering arm 35 is rotatably connected with a shock absorber 37 including a spring 371 and a damper 372, and the steering arm 35 and the corresponding shock absorber 37 are rotatably connected at both ends of the balance frame 36 of the corresponding wheel hub motor 33.

[0065] Figure 5 is a structural schematic view of a mobile chassis 3 in a facility crop phenotype multi-source information acquisition device provided by Embodiment 1 of the present specification, which shows the specific arrangement mode of the balance frame 36, the steering arm 35, the shock absorber 37 and the electric telescopic rod 38.

[0066] Explanatorily, the shock absorber 37 adopts a composite structure of the spring 371 and the damper 372, the spring 371 is responsible for absorbing vibration energy, and the damper 372 controls the compression or rebound speed of the spring 371, thereby suppressing resonance and giving the shock absorber 37 good damping performance. By adjusting the stiffness of the spring 371, the shock absorber 37 can adapt to different terrains such as soft and muddy. The shock absorber 37 is not directly arranged on the steering arm 35, but is mutually hinged with the steering arm 35 through the balance frame 36 to form a triangular structure, so that the steering arm 35 shares part of the supporting force for the shock absorber 37, effectively improving the damping effect and service life of the shock absorber 37.

[0067] In an embodiment of the present specification, each shock absorber 37 is provided with an electric telescopic rod 38 connected with the control unit 4.

[0068] Exemplarily, the electric telescopic rod 38 is arranged between the shock absorber 37 and the balance frame 36.

[0069] Illustratively, when the electric telescopic rod 38 is extended, it will press down the connecting end of the balance frame 36, and the balance frame 36 will rotate around the rotation axis of the hub motor 33, so that the end of the balance frame 36 connected with the steering arm 35 is lifted up, and at the same time, the electric telescopic rod 38 will lift up the shock absorber 37, thereby jointly lifting the ground clearance of the steering arm 35, and realizing the height adjustment of the chassis body 31. Conversely, the vertical stroke adjustment can not only dynamically compensate the terrain undulation and improve the obstacle crossing ability of the device, but also can optimize the lateral stability of the collection device by adjusting the height of the gravity center.

[0070] Illustratively, since the terrain condition in the facility is not flat, when the collection device passes through a pit during movement, the shock absorber 37 is responsible for absorbing high-frequency vibration, and the electric telescopic rod 38 compensates for low-frequency terrain undulation, and the two form a composite control system of “high-frequency shock absorption + low-frequency leveling”, which effectively buffers the vibration impact caused by uneven ground, provides more stable collection conditions for the remote collection equipment component 1, and ensures the stability and accuracy of the collected data.

[0071] In an embodiment of the present specification, the collection device further comprises a laser sensor 5 connected with the control unit 4.

[0072] Illustratively, the control unit 4 performs steering control according to the detection data of the laser sensor 5, realizes the closed-loop control of “path preview-dynamic steering”, and enables the collection device to have the ability of flexible steering, which can easily adapt to different planting layouts and path planning in the facility.

[0073] In an embodiment of the present specification, the collection equipment component 1 comprises a high-definition camera, a hyperspectral camera, a thermal infrared camera, a laser radar and a fill light.

[0074] Illustratively, the high-definition camera shoots the image of the crop to obtain the appearance information of the crop; the hyperspectral camera collects the spectral information of the crop at different wavebands to analyze the physiological and biochemical characteristics of the crop; the thermal infrared camera obtains the temperature information of the crop to reflect the moisture condition of the crop; the laser radar scans the crop to generate three-dimensional point cloud data and construct a three-dimensional structure model of the crop. The fill light provides suitable illumination conditions for information collection, and ensures that the sensor can accurately collect data.

[0075] It can be understood that, with the development of technology and the emergence of new collection requirements, the collection equipment component 1 can install and select new types of sensors.

[0076] Embodiment 2

[0077] A facility crop phenotype multi-source information collection device, referring to the drawings Figure 6 The difference from embodiment 1 is that:

[0078] The carrying frame 21 is provided with two electric sliding rails 6 extending out of both ends of the carrying frame 21 along the length direction of the carrying frame 21, and the electric sliding rails 6 are connected with the control unit 4. The expansion collection device assembly 7 is arranged on each electric sliding rail 6 and connected with the control unit 4.

[0079] Figure 6 Figure 2 is a schematic view of a partial structure of a mobile chassis 3 of a facility crop phenotype multi-source information collection device according to an embodiment of the present specification, which shows the specific arrangement of the electric sliding rail 6 and the expansion collection device assembly 7.

[0080] Explanatorily, according to the layout of the facility crop, the collection device can be expanded on both sides to expand the collection range, so as to realize the information collection of the facility crop below and on both sides of the collection device, greatly improve the collection efficiency, and the symmetry design does not affect the balance of the collection device. When the expansion collection device assembly 7 is not needed, the electric sliding rail 6 can be retracted to reduce the space occupation of the collection device.

[0081] Explanatorily, the sliding rail can be configured by a rail nested with the carrying frame 21 and an electric push rod, and the electric push rod drives the rail to extend and retract along the length direction of the carrying frame 21. The expansion collection device assembly 7 can be the same as or different from the collection device assembly 1, and can be appropriately adjusted according to the bearing capacity of the sliding rail.

[0082] It can be understood that the sliding rail in the embodiment is a single-section rail, and can also be a multi-section rail to increase the maximum extension length. In addition, the expansion collection device assembly 7 and the sliding rail can also be connected through an electric control rotating structure, so that the expansion collection device assembly 7 can rotate around the length direction of the sliding rail as the axis. When in use, the sliding rail is extended and the expansion collection device assembly 7 is rotated to the direction of the ground for collection. When not in use, the expansion collection device assembly 7 is rotated to the side away from the carrying frame 21, so that the expansion collection device assembly 7 does not interfere with the carrying frame 21 when the sliding rail is retracted, the sliding rail cannot be completely retracted, the occupied space of the collection device is further reduced, and the stability of the movement is improved.

[0083] The above embodiments are only preferred embodiment modes of the present specification, and do not limit the scope of the present specification. Without departing from the design spirit of the present specification, various modifications and improvements of the technical solutions of the present specification made by those skilled in the art shall fall within the protection scope determined by the claims of the present specification.

Claims

1. A device for collecting multi-source information of a facility crop phenotype, characterized in that: The application relates to a collection device, which comprises a collection device assembly (1), a support assembly (2) supporting the collection device assembly (1), and two mobile chassis (3) maintaining the support assembly (2) balanced. Each mobile chassis (3) comprises a chassis main body (31), a plurality of wheels (32) arranged on the chassis main body (31), a moving assembly driving the wheels (32) to roll, and a steering assembly driving the wheels (32) to swing. The support assembly (2) comprises a bearing frame (21) mounting the collection device assembly (1), and two support frames (22) respectively arranged at two ends of the bearing frame (21) and respectively connected to the chassis main bodies (31) of the two mobile chassis (3). The collection device further comprises a control unit (4) connected to the collection device assembly (1), the moving assemblies and the steering assemblies.

2. The device for collecting multi-source information of phenotypes of facility crops according to claim 1, characterized in that, The bearing frame (21) is horizontally arranged, and the two support frames (22) are vertically arranged on the corresponding chassis main bodies (31). The support assembly (2) further comprises a first inclined strut structure (23) connected between the support frame (22) and the chassis main body (31) to form a triangular support, and a second inclined strut structure (24) connected between the support frame (22) and the bearing frame (21) to form a triangular support.

3. The device for collecting multi-source information of phenotypes of facility crops according to claim 1, characterized in that, The bearing frame (21) and the two support frames (22) are provided with length adjusting mechanisms connected to the control unit (4).

4. The device for collecting multi-source information of phenotypes of facility crops according to claim 1, characterized in that: The moving assembly comprises a plurality of hub motors (33) corresponding to each wheel (32) and arranged at the center of each wheel (32), and the steering assembly comprises a plurality of steering motors (34) arranged on the two chassis main bodies (31) and corresponding to each hub motor (33), and a plurality of steering arms (35) arranged between each hub motor (33) and the corresponding steering motor (34).

5. The device for collecting multi-source information of phenotypes of facility crops according to claim 4, characterized in that, Each steering arm (35) and the corresponding steering motor (34) are driven by a belt (341).

6. The device for collecting multi-source information of facility crop phenotypes according to any one of claims 4 or 5, characterized in that: Each hub motor (33) is provided with a balance frame (36) coaxially connected with the hub motor (33). Each steering arm (35) is rotatably connected with a shock absorber (37) comprising a spring (371) and a damper (372), and the steering arm (35) and the corresponding shock absorber (37) are rotatably connected to both ends of the balance frame (36) of the corresponding hub motor (33).

7. The device for collecting multi-source information of phenotypes of facility crops according to claim 6, characterized in that, Each shock absorber (37) is provided with an electric telescopic rod (38) connected to the control unit (4).

8. The device for collecting multi-source information of phenotypes of facility crops according to claim 1, characterized in that, The application further comprises a laser sensor (5) connected to the control unit (4).

9. The device for collecting multi-source information of phenotypes of facility crops according to claim 1, characterized in that, The collection device assembly (1) comprises a high-definition camera, a hyperspectral camera, a thermal infrared camera, a laser radar and a light supplement lamp.

10. The device for collecting multi-source information of phenotypes of facility crops according to claim 1, characterized in that, The bearing frame (21) is provided with two electric sliding rails (6) along the length direction of the bearing frame (21), which are connected with the control unit (4) and extend out of both ends of the bearing frame (21) respectively, and each electric sliding rail (6) is provided with an extended collection device assembly (7) connected with the control unit (4).

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