阅读说明：本技术 一种苗床自走式植物表型图像采集装置 (Seedbed self-propelled plant phenotype image acquisition device ) 是由 章竞瑾 郭斗斗 杨晓 黄丹枫 查凌雁 于 2020-11-13 设计创作，主要内容包括：本发明公开了一种苗床自走式植物表型图像采集装置,该装置包括主体结构、驱动行进装置,驱动行进装置通过螺栓连接在主体结构上,作业探头装置设有光电传感器、两个横向同步滑台和一个纵向滑台,纵向滑台和横向滑台上设有红外传感器,驱动行进装置包括同步轨道,驱动滑轮,定滑轮,导向轮,驱动电机,联轴器,定滑轮和驱动滑轮通过收紧的皮带环绕连接。该装置结构简单,扩展能力强,扩展了不同株高植株的成像范围,可以实现高度可调的表型监测,侧向放置的电机同步驱动两侧运行,避免动行进过程中可能的偏移,使用柔性皮带传动替代了齿轮机械传统,避免在温室高温高湿工况下齿轮出现的生锈及杂质阻塞等问题,提高了传动系统的适用性。(The invention discloses a seedbed self-propelled plant phenotype image acquisition device which comprises a main body structure and a driving advancing device, wherein the driving advancing device is connected to the main body structure through a bolt, an operation probe device is provided with a photoelectric sensor, two transverse synchronous sliding tables and a longitudinal sliding table, infrared sensors are arranged on the longitudinal sliding table and the transverse sliding table, the driving advancing device comprises a synchronous rail, a driving pulley, a fixed pulley, a guide wheel, a driving motor and a coupling, and the fixed pulley and the driving pulley are connected in a surrounding mode through a tightened belt. The device simple structure, the expansion ability is strong, has expanded the imaging range of different plant height plants, can realize height-adjustable's phenotype monitoring, and the operation of motor synchronous drive both sides that the side direction was placed avoids moving the possible skew of in-process of marcing, uses flexible belt transmission to replace gear machinery tradition, avoids getting rusty and impurity jam scheduling problem that the gear appears under the high temperature and high humidity operating mode in greenhouse, has improved transmission system's suitability.)

1. A seedbed self-propelled plant phenotype image acquisition device is characterized by comprising a main body structure, a driving advancing device and an operation probe device, wherein the driving advancing device is fixed on the main body structure and comprises a synchronous rail, a driving pulley, a fixed pulley, a guide wheel, a driving motor and a coupling;

the operation probe device comprises a photoelectric sensor, a transverse synchronous sliding table and a longitudinal sliding table, wherein the transverse synchronous sliding table comprises an upper transverse synchronous sliding table and a lower transverse synchronous sliding table;

the driving pulley and the fixed pulley are connected in a surrounding mode through a tightened belt.

2. The seedbed self-propelled plant phenotype image acquisition device of claim 1, characterized in that the main structure is formed by a square tube, and the square tube is fixed by a three-way connection and a bolt.

3. The self-propelled plant phenotype image acquisition device of a seedbed of claim 1, wherein the upper and lower horizontal synchronous slipways are connected by a coupling, and the lateral movement of the longitudinal slipway is controlled by a horizontal slipway motor.

4. The seedbed self-propelled plant phenotype image acquisition device of claim 1, wherein the longitudinal slide is connected to a longitudinal slide motor through a coupling to control longitudinal movement of the photoelectric sensor.

5. The seedbed self-propelled plant phenotype image acquisition device of claim 4, wherein said photosensor is an industrial camera.

6. The seedbed self-propelled plant phenotype image acquisition device of claim 1, wherein a longitudinal square tube with the same length as the longitudinal sliding table is fixed on the longitudinal sliding table, and the longitudinal sliding table and the longitudinal square tube are fixedly connected through bolts.

7. The seedbed self-propelled plant phenotype image acquisition device of claim 6, wherein the longitudinal square tube is provided with a corner fitting, and the corner fitting is fixedly connected with the longitudinal square tube through a bolt.

8. The seedbed self-propelled plant phenotype image acquisition device of claim 7, wherein the photoelectric sensor is fixedly connected to the corner fitting by bolts.

9. The seedbed self-propelled plant phenotype image acquisition device of claim 1, wherein the wireless control of the operation probe device is realized by combining a serial port with WiFi (wireless fidelity), and directly converting serial port data into WiFi data by using a single chip microcomputer and transmitting the WiFi data.

10. The self-propelled plant phenotype image collection device of claim 1, wherein the synchronous track is fixed on both sides of the seedbed through bolt and support bar connection, the driving pulley is located on both ends of the head of the seedbed and is fixedly connected with the driving shaft, the driving shaft is fixed on both sides of the head of the seedbed through a shaft seat with a seat and a bolt, the driving motor is fixed in the center of the head of the seedbed through a shaft bracket and a bolt, the driving shaft is connected with the driving motor through the coupling, an over-power line of the driving motor is connected with the walking control system, and the fixed pulley is fixed on both sides of the seedbed at the end of the traveling direction through bolt and support bar connection.

Technical Field

The invention relates to the field of image acquisition, in particular to a seedbed self-propelled plant phenotype image acquisition device.

Background

With the continuous development of multiple groups of biological information technologies such as plant genomes, proteomes, metabolome and the like, plant phenomics is becoming an important means for researching plant variety characteristics and physiological ecological environment adaptability, and can effectively reflect the relation among plant genotypes, environmental factors and phenotypes. Plant phenomics can realize rapid, accurate and nondestructive monitoring of plant growth conditions by carrying out high-throughput systematic complete collection and analysis on plant growth and related environmental parameters, and has important significance for genetic breeding and plant growth regulation and control in controllable environments.

Due to the rapid development of machine vision and informatization technologies, plant phenotype image acquisition platforms have come to adapt to device types in different environments in various forms, such as unmanned aerial vehicles, field phenotype platforms, greenhouse logistics phenotype platforms, climate chamber phenotype devices, fixed box type phenotype devices and the like, and high-throughput detection of plant phenotype indexes of various types is realized through technical means such as visible light, near infrared, fluorescence, thermal imaging, laser 3D imaging, hyperspectral and the like.

The phenotypic equipment research aiming at greenhouse plug seedlings and tender leaf vegetable plants is not reported at present, and because the plug seedlings are not easy to move, the phenotypic indexes are greatly influenced by microclimate, the variety and growth period are greatly different, and the like, the plug seedlings are not suitable for being moved to fixed site image acquisition, and self-propelled phenotypic image acquisition equipment is required to be adopted to realize large-area rapid phenotypic image acquisition and analysis.

In recent years, movable phenotype imaging equipment in a greenhouse mainly comprises a vehicle frame type, a suspension arm type and a seedbed frame type, and phenotype monitoring equipment for seedbed plug seedlings and vegetables mainly comprises a seedbed imaging operation image acquisition vehicle with a wireless driving motor. The conventional seedbed phenotype image acquisition equipment adopts a linkage shaft, is limited by the height of the shaft, only can acquire seedling crops with lower plant heights, cannot realize image acquisition on potted seedling vegetables with higher plant heights, and is not suitable for long-term stable monitoring because a vehicle frame type or suspension arm type movable acquisition device is limited by the terrain of a greenhouse and daily operation; meanwhile, the gear transmission devices of the three types of phenotypic imaging equipment have poor stability in a greenhouse high-temperature high-humidity environment and are not suitable for actual use working conditions.

Therefore, in order to solve the problem that the linkage shaft limits the height of the imaging plant, improve the applicability of the transmission device in a greenhouse environment, reduce the load requirement of the phenotype platform on the weighing of the seedbed and improve the flexibility of the movement monitoring of the seedbed imaging platform, a person skilled in the art is dedicated to developing a phenotype image acquisition device suitable for the seedbed plant.

Disclosure of Invention

In view of the above defects in the prior art, the technical problem to be solved by the present invention is how to develop a surface type image collecting device suitable for seedbed plants, which solves the problem that the linkage shaft of the surface type image collecting device limits the height of the imaged plants in actual use, further improves the applicability of the transmission device in a greenhouse environment, and simultaneously can reduce the load demand of the surface type platform on seedbed weighing, and improve the flexibility of moving monitoring of the seedbed imaging platform.

In order to achieve the above object, the present invention provides, in one aspect, a seedbed self-propelled plant phenotype image acquisition apparatus, which includes a main body structure, a driving advancing device, and an operation probe device.

Further, the drive traveling device is fixed to the main structure.

Further, the fixing mode is bolt connection.

Further, the operation probe device is provided with a photoelectric sensor, a transverse synchronous sliding table and a longitudinal sliding table.

The horizontal synchronous sliding table comprises an upper horizontal synchronous sliding table and a lower horizontal synchronous sliding table.

Furthermore, the main structure is composed of a square pipe, and the square pipe is fixed through a three-way connecting piece and a bolt.

Further, the square tube is an OB3030 square tube.

Furthermore, the upper transverse synchronous sliding table and the lower transverse synchronous sliding table are connected through a coupler, and transverse movement of the longitudinal sliding table is controlled through a transverse sliding table motor.

Furthermore, the longitudinal sliding table is connected with a longitudinal sliding table motor through a coupler to control the longitudinal movement of the industrial camera.

Furthermore, the power cords of the transverse sliding table motor and the longitudinal sliding table motor are connected to one end of the seedbed.

Furthermore, a longitudinal square pipe with the same length as the longitudinal sliding table is fixed on the longitudinal sliding table and fixedly connected with the longitudinal sliding table through a bolt.

Furthermore, an angle piece is arranged on the longitudinal square pipe and fixedly connected with the longitudinal square pipe through a bolt.

Further, the photoelectric sensor is fixedly connected to the corner fitting through a bolt.

Further, the photoelectric sensor is connected with the single chip microcomputer controller.

Further, the photoelectric sensor is an industrial camera or other sensor.

Furthermore, infrared sensors are arranged on the longitudinal sliding table and the transverse sliding table.

Further, the transverse sliding table motor and the longitudinal sliding table motor are in wired and/or wireless connection with a remote control system.

Furthermore, the wireless control of the operation probe device is combined with WiFi through a serial port, and the wireless control is realized by directly converting serial port data into WiFi data through a single chip microcomputer.

Further, the driving advancing device comprises a synchronous track, a driving pulley, a fixed pulley, a guide wheel, a driving motor and a coupler.

Further, the slider passes through the notch cuttype connecting piece and connects in major structure upper portion side pipe below.

Furthermore, the synchronous tracks are connected and fixed on two sides of the seedbed through bolts and supporting bars, the driving pulleys are located at two ends of the head of the seedbed and fixedly connected with the driving shaft, the driving shaft is fixed on two sides of the head of the seedbed through a shaft seat with a seat and the bolts, the driving motor is fixed in the center of the head of the seedbed through a shaft bracket and the bolts, the driving shaft is connected with the driving motor through a coupling, an over-power line of the driving motor is connected with a walking control system, the driving pulleys connected with the driving motor through the coupling run synchronously, and the fixed pulleys are connected and fixed on two sides of the seedbed at.

Further, the fixed pulley and the driving pulley are looped around the inelastic string connected or tightened by the tightened belt.

Further, the notch cuttype connecting piece passes through buckle and belt fixed connection.

Furthermore, a control system in the driving advancing device uses a single chip microcomputer to be equipped with a wireless module and a Bluetooth module to realize the movement of a remote control operation platform, the movement and the image acquisition of the phenotype platform can be controlled through a remote server, and the single chip microcomputer correspondingly controls the motor to rotate forwards and backwards, calculate and position and take pictures and form images after receiving instructions.

Technical effects

1. The invention expands the imaging range of plants with different plant heights, expands the plug seedlings with the plant height of less than 15cm to potted seedlings of various vegetables and flowers within 50cm of plant height, and can realize height-adjustable phenotype monitoring.

2. The invention can synchronously drive the two sides to operate by the motor arranged laterally, thereby avoiding possible deviation in the process of single-side automatic advancing.

3. The invention uses the flexible belt to drive and replaces the traditional gear machinery, avoids the problems of rusting, impurity blockage and the like of the gear under the high-temperature and high-humidity working condition of the greenhouse and improves the applicability of a transmission system.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a schematic diagram of a seedbed self-propelled plant phenotype image acquisition device in an embodiment;

the system comprises an upper transverse sliding table 1, an industrial camera 2, a guide wheel 3, a fixed pulley 4, a coupler 5, a driving motor 6, a bearing with a seat 7, a driving pulley 8 and a synchronous rail 9.

Detailed Description

The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.

Example 1

The utility model provides a seedbed self-propelled plant phenotype image acquisition device, the concrete structure is as shown in figure 1, the device includes major structure, drive advancing device, the drive advancing device passes through bolted connection in the major structure, operation probe unit is equipped with photoelectric sensor, goes up horizontal synchronous slip table 1, horizontal synchronous slip table and a vertical slip table down, is equipped with infrared sensor on vertical slip table and the horizontal slip table, photoelectric sensor is the industry camera in this embodiment.

The main structure platform main part comprises the square pipe of model OB3030, and the square pipe is by tee junction spare and bolt fixed connection. Two transverse sliding tables 1 of the operation probe device are connected through a coupler and the transverse sliding table motor controls the transverse movement of the longitudinal sliding table; a longitudinal sliding table in the vertical direction is arranged on the two transverse sliding tables 1 and is connected with a longitudinal sliding table motor through a coupler; a longitudinal square tube with the same length as the longitudinal sliding table is fixed on the longitudinal sliding table and is connected with the longitudinal sliding table through a bolt; the industrial camera 2 is fixedly connected to the corner fitting through a bolt, the corner fitting is fixedly connected to the longitudinal square pipe through a bolt, and the industrial camera is connected with the single chip microcomputer controller. Infrared sensors are arranged on the two sliding tables; the motor is provided with a remote control system.

The wireless control of the operation probe device is combined with WiFi through a serial port, and the wireless control of the operation probe device is realized by directly converting serial port data into WiFi data through a single chip microcomputer and sending the WiFi data.

The advancing device comprises a synchronous track 9, a driving pulley 8, a fixed pulley 4, a guide wheel 3, a driving motor 6 and a coupling 5. Synchronous guide 9 is connected through bolt and support bar and is fixed in the seedbed both sides, driving pulley 8 is located seedbed head both ends, with drive shaft fixed connection, the drive shaft is through taking the pedestal bearing, the bolt fastening is at the seedbed head, driving motor 6 is through the pedestal, the bolt fastening is at seedbed head central authorities, the drive shaft passes through shaft coupling 5 with driving motor and links to each other, driving motor passes through the power cord and is connected with the walking control system, fixed pulley 4 is connected through bolt and support bar and is fixed in the terminal seedbed both sides of advancing direction, fixed pulley 4 and driving pulley 8 encircle through the belt that tightens up and connect, 8 synchronous operation of driving pulley that are connected with driving motor 6 through the shaft coupling, notch cuttype connecting piece passes through buckle and belt.

The control system in the driving advancing device uses the single chip microcomputer to be equipped with the wireless and Bluetooth modules to realize the movement of the remote control operation platform, the movement and the image acquisition of the phenotype platform can be controlled through the remote server, and the single chip microcomputer correspondingly controls the motor to rotate forwards and backwards, calculates, positions and takes pictures and images after receiving instructions.

Example 2

A use method of a seedbed self-propelled plant phenotype image acquisition device comprises the following steps:

step 1, resetting after electrifying, adjusting a platform and a camera to initial positions, and checking whether the working state of each sensor is normal;

and 2, after the self-checking reset is completed, the movement in the X and Y directions can be carried out through the remote control platform, wherein the movement direction of the X-direction table-type platform on the seedbed is driven by the driving motor and the driving pulley to drive the belt to move, so that the platform is driven to move forwards on the seedbed.

And 3, Y is the horizontal moving direction of the camera on the platform, Z is the vertical moving direction of the camera on the platform, and two sections of the sliding rail in each direction are provided with limiters (photoelectric sensors). Two direction movements of YZ carry out mobility control through horizontal slip table and vertical slip table, drive the camera and realize the shooting location of different positions.

And 4, the movements in the XYZ directions are controlled independently, the walking can be controlled by point control according to the input movement distance, and the movement boundary is controlled by a limiter.

And 5, after the positioning is finished, photographing and imaging are carried out through the remote control platform, the industrial camera collects the position information and the image picture of the positioning point, and data storage and uploading are carried out through the single chip microcomputer to the remote platform.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.