CN110181513B - Crop canopy phenotyping and assimilation simultaneous measurement robot - Google Patents

Abstract

The embodiment of the invention provides a crop canopy phenotype and assimilation synchronous measurement robot, wherein a horizontal and movable first sliding rail is arranged in a box body, and a sensor box is movably arranged on the first sliding rail; the sensor box comprises a CO ₂ concentration sensor, a laser radar sensor, a GPS positioning device and a first image sensor, and the assimilation rate and the transpiration rate of crop canopy in the box are determined by combining the CO ₂ concentration sensor with the first image sensor, so that assimilation measurement of crop canopy in the box is realized; meanwhile, the crop canopy phenotype information in the box body is determined through the laser radar sensor, the GPS positioning device, the kinect sensor and the second image sensor, and crop canopy phenotype measurement in the box body is achieved. The crop canopy phenotype and assimilation synchronous measurement robot provided by the embodiment of the invention can realize crop canopy phenotype and assimilation synchronous measurement and realize comprehensive monitoring of the growth process of crops.

Description

Crop canopy phenotyping and assimilation simultaneous measurement robot

Technical Field

The present invention relates to the field of agricultural information and intelligent equipment technology, and more specifically, to a crop canopy phenotype and assimilation synchronous measurement robot.

Background Art

High-yield, efficient, high-quality and safe food production is the most important goal of agricultural production. The production process of crops mainly involves the monitoring and regulation of morphological structure and physiological and biochemical aspects. Among them, the morphological structure of crops mainly involves the monitoring of crop ecological structure phenotypes, and the physiology and biochemistry of crops mainly involves the monitoring of crop assimilated biomass. The source of biomass is photosynthesis, which converts light energy into chemical energy. Improving the light energy conversion rate is an effective way to increase biomass. Therefore, the development of a device that can simultaneously measure the morphological structure phenotype and crop assimilation rate of crops in a field environment is of great significance and application prospects.

In terms of crop morphological structure phenotyping, solutions currently include group phenotyping based on drones, crop group and individual plant phenotyping based on unmanned ground vehicles, individual plant and group phenotyping based on visible light or lidar, and tissue scale phenotyping based on micro-CT. In terms of plant assimilation rate measurement, the current assimilated biomass allocation has an important impact on crop growth, competition, and structure formation. It is the key to crop growth and the weak link in crop growth models. Most of the assimilated biomass allocation models currently used in ecosystem model simulations are empirical. Domestic and foreign researchers have carried out a lot of work on the quantitative measurement of plant assimilation rate. At present, they mainly measure the photosynthetic rate of a single leaf by constructing a microenvironment at the leaf scale and measuring the changes in _CO2 concentration. Typical products include PTM48 and LI6800 photosynthesis measurement systems. Some researchers have also proposed a vertically opened automatic canopy assimilation chamber and a group photosynthetic gas exchange measurement system CAPTS-100 at the crop group scale, which can measure the photosynthetic rate at the plant group scale. However, when the above-mentioned assimilation chambers or measurement systems CAPTS-100 are used, they cannot achieve the synchronous measurement of crop canopy phenotype and assimilation, and cannot comprehensively monitor the growth process of crops.

Summary of the invention

In order to overcome the above problems or at least partially solve the above problems, an embodiment of the present invention provides a crop canopy phenotype and assimilation synchronous measurement robot.

The embodiment of the present invention provides a crop canopy phenotype and assimilation synchronous measurement robot, comprising: a box;

The box body comprises a top box surface, a first left box surface, a first right box surface, a first front box door and a first rear box door, and the bottom box surface of the box body is empty; the first left box surface and the first right box surface are parallel and vertically arranged, the first left box surface and the first right box surface are both fixedly connected to the top box surface, and the first front box door and the first rear box door are both rotatably connected to the top box surface;

A horizontal, movable first slide rail is provided at a fixed height in the box body, and two ends of the first slide rail are respectively connected to the first left box surface and the first right box surface;

A sensor box is also provided in the box body, and the sensor box is movably provided on the first slide rail; the sensor box includes a _CO2 concentration sensor, a laser radar sensor, a GPS positioning device and a first image sensor;

A vertical, movable side sensor shaft is also arranged in the box body near the first left box surface or near the first right box surface, and a kinect sensor and a second image sensor are arranged on the side sensor shaft.

Preferably, the box body further includes: a second slide rail and a third slide rail;

The second slide rail and the third slide rail are horizontally arranged at the fixed heights on the first left box surface and the first right box surface, respectively. One end of the first slide rail is connected to the first left box surface through the second slide rail, and the other end of the first slide rail is connected to the first right box surface through the third slide rail.

Preferably, it further comprises: a first base beam, a second base beam and wheels;

The box body further comprises: a second left box surface, a second right box surface, a second front box door and a second rear box door;

The first left box surface is fixedly connected above the first base beam, and the first right box surface is fixedly connected above the second base beam; at least two wheels are respectively connected below the first base beam and the second base beam;

The second left side box surface is arranged on the outer side of the first left side box surface and is slidably connected to the first left side box surface in the vertical direction, the second right side box surface is arranged on the outer side of the first right side box surface and is slidably connected to the first right side box surface in the vertical direction, the second front box door is arranged on the outer side of the first front box door and is slidably connected to the first front box door in the vertical direction, and the second rear box door is arranged on the outer side of the first rear box door and is slidably connected to the first rear box door in the vertical direction; the second left side box surface, the second right side box surface, the second front box door and the second rear box door can all extend downward into the soil.

Preferably, it also includes: two track wheels;

The box body further comprises: a second left box surface, a second right box surface, a second front box door and a second rear box door;

The two track wheels are respectively arranged below or below the first left box surface and the first right box surface;

The second left side box surface is arranged on the outer side of the first left side box surface and is slidably connected to the first left side box surface in the vertical direction, the second right side box surface is arranged on the outer side of the first right side box surface and is slidably connected to the first right side box surface in the vertical direction, the second front box door is arranged on the outer side of the first front box door and is slidably connected to the first front box door in the vertical direction, and the second rear box door is arranged on the outer side of the first rear box door and is slidably connected to the first rear box door in the vertical direction; the second left side box surface, the second right side box surface, the second front box door and the second rear box door can all extend downward into the soil.

Preferably, the sensor box also includes a light sensor, a temperature and humidity sensor, and an air pressure sensor.

Preferably, a fan and a fan cylinder are also provided in the box;

The fan cylinder is vertically arranged in the box body, the fan is installed at one end of the fan cylinder, and the other end of the fan cylinder faces the box body.

Preferably, it further comprises: a battery, wherein the battery is fixed on the outer surface of the first left box surface or the outer surface of the first right box surface.

Preferably, a fill light is further provided in the box body, and the fill light is fixed on the top box surface.

Preferably, the top box surface, the first left box surface, the first right box surface, the first front box door and the first rear box door are all made of light-transmitting materials.

Preferably, edges of the first left box surface, the first right box surface, the first front box door and the first rear box door are all provided with suction devices.

The embodiment of the present invention provides a crop canopy phenotype and assimilation synchronous measurement robot, which is provided with a horizontal, movable first slide rail in a box, and a sensor box is movably provided on the first slide rail; the sensor box includes a _CO2 concentration sensor, a laser radar sensor, a GPS positioning device and a first image sensor, and the assimilation rate and transpiration rate of the crop canopy in the box are determined by combining the _CO2 concentration sensor and the first image sensor, so as to achieve assimilation measurement of the crop canopy in the box; at the same time, the crop canopy phenotype information in the box is determined by the laser radar sensor, the GPS positioning device, the kinect sensor and the second image sensor, so as to achieve crop canopy phenotype measurement in the box. The crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention can achieve crop canopy phenotype and assimilation synchronous measurement, and achieve comprehensive monitoring of the growth process of crops.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a schematic diagram of the structure of a crop canopy phenotype and assimilation synchronous measurement robot provided by an embodiment of the present invention;

FIG2 is a schematic diagram of the structure of a crop canopy phenotype and assimilation synchronous measurement robot provided by an embodiment of the present invention;

FIG3 is a schematic diagram of the structure of a crop canopy phenotype and assimilation synchronization measurement robot during normal operation provided by an embodiment of the present invention;

FIG4 is a schematic diagram of the structure of a crop canopy phenotype and assimilation synchronous measurement robot provided by an embodiment of the present invention when performing synchronous measurement of crop canopy phenotype and assimilation to be measured;

FIG5 is a schematic diagram of the structure of a crop canopy phenotype and assimilation synchronous measurement robot provided by an embodiment of the present invention;

FIG6 is a schematic diagram of the structure of a crop canopy phenotype and assimilation synchronization measurement robot during normal operation provided by an embodiment of the present invention;

FIG7 is a schematic diagram of the structure of a crop canopy phenotype and assimilation synchronous measurement robot provided by an embodiment of the present invention when performing synchronous measurement of crop canopy phenotype and assimilation to be measured;

FIG8 is a schematic diagram of the structure of a crop canopy phenotype and assimilation synchronous measurement robot provided by an embodiment of the present invention;

FIG9 is a schematic diagram of the structure of a crop canopy phenotype and assimilation synchronous measurement robot provided by an embodiment of the present invention.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

As shown in Figure 1, it is a schematic diagram of the structure of a crop canopy phenotype and assimilation synchronous measurement robot provided in an embodiment of the present invention. The crop canopy phenotype and assimilation synchronous measurement robot in Figure 1 includes: a box body 1, the box body 1 includes a top box surface 11, a first left box surface 12, a first right box surface 13, a first front box door 14 and a first rear box door 15, the bottom box surface of the box body 1 is empty, the first left box surface 12 and the first right box surface 13 are parallel and vertically arranged, the first left box surface 12 and the first right box surface 13 are both fixedly connected to the top box surface 11, and the first front box door 14 and the first rear box door 15 are both rotatably connected to the top box surface 11;

A horizontal, movable first slide rail 16 is provided at a fixed height in the box body 1, and two ends of the first slide rail 16 are respectively connected to the first left box surface 12 and the first right box surface 13;

A sensor box 17 is also provided in the box body 1, and the sensor box 17 is movably provided on the first slide rail 16; the sensor box 17 includes a _CO2 concentration sensor, a laser radar sensor, a GPS positioning device and a first image sensor;

A vertical, movable side sensor shaft 18 is also provided in the box body 1 near the first left box surface 12 or near the first right box surface 13 , and a kinect sensor 181 and a second image sensor 182 are provided on the side sensor shaft 18 .

Specifically, the box body 1 in the embodiment of the present invention includes a top box surface 11, a first left box surface 12, a first right box surface 13, a first front box door 14 and a first rear box door 15. The bottom box surface of the box body 1 is empty, the first left box surface 12 and the first right box surface 13 are parallel and vertically arranged, the first left box surface 12 and the first right box surface 13 are both fixedly connected to the top box surface 11, and the first front box door 14 and the first rear box door 15 are both fixedly connected or rotatably connected to the top box surface 11. When the first front box door 14 and the first rear box door 15 are both fixedly connected to the top box surface 11, the box body 1 can be directly moved manually, and the box body 1 can be covered above the crop to be tested to realize crop canopy phenotype and synchronous assimilation measurement; when the first front box door 14 and the first rear box door 15 are both rotatably connected to the top box surface 11, after the first front box door 14 and the first rear box door 15 are rotated to a height higher than the highest height of the crops on the sowing row, the box body 1 can be dragged along the crop sowing row direction to move above the crop to be tested, and then the first front box door 14 and the first rear box door 15 can be rotated to a vertical direction to realize crop canopy phenotype and synchronous assimilation measurement.

A horizontal, movable first slide rail 16 is provided at a fixed height in the box body 1, and the two ends of the first slide rail 16 are respectively connected to the first left box surface 12 and the first right box surface 13. The fixed height can be selected as needed, and it is based on being higher than the highest height of the crop. For example, the fixed height can be slightly lower than the height of the box body. The first slide rail 16 is arranged horizontally, with one end connected to the first left box surface 12 and the other end connected to the first right box surface 13. The length of the first slide rail 16 can be the same as the width of the first front box door and the first rear box door. In this case, the first slide rail 16 can move freely between the first front box door and the first rear box door.

The sensor box 17 in the box 1 is movably arranged on the first slide rail 16, and the sensor box 17 can move freely along the length direction of the first slide rail 16. The sensor box 17 includes a CO2 concentration sensor, a laser radar sensor, a GPS positioning device and a first image sensor. Among them, the CO2 concentration sensor is used to measure the concentration of CO2 in the box 1, and the first image sensor is used to obtain images of crops in the box 1. Due to the free movement of the first slide rail 16 and the sensor box 17 in two mutually perpendicular directions, multiple images of crops in the box 1 can be obtained. The top image of the crop canopy can be obtained by image stitching and correction. On this basis, the top image of the crop canopy can be segmented, and the coverage of the crop canopy in the box 1 can be obtained. After measuring the concentration of _CO2 in the box 1 and the coverage of the crop canopy in the box 1, the assimilation rate and transpiration rate of the crop canopy in the box 4 can be determined according to the change of _CO2 concentration and the crop coverage in the box 4, so as to realize the assimilation measurement of the crop canopy in the box 4, and then realize the assimilation measurement of the crop group in the entire area.

The laser radar sensor is used to obtain point cloud data of the top of the crop canopy in the box 1, and the GPS positioning device is used to locate the crops in the box 1. Through the combination of the laser radar sensor and the GPS positioning device, the first slide rail 16 and the sensor box 17 can move freely in two mutually perpendicular directions to obtain a three-dimensional point cloud of the top of the crop canopy in the box 1. It should be noted that in order to ensure the quality of the three-dimensional point cloud, the first slide rail 16 and the sensor box 17 need to have a fixed moving trajectory and a uniform moving speed. By denoising and segmenting the three-dimensional point cloud, the number of plants, plant height, and three-dimensional distribution of the top of the canopy of the crops in the box 1 can be obtained.

A vertical, movable side sensor shaft 18 is also provided in the box body 1 near the first left box surface 12 or near the first right box surface 13, and a kinect sensor 181 and a second image sensor 182 are provided on the side sensor shaft 18. A slide rail parallel to the first left box surface 12 or the first right box surface 13 can be provided on the top box surface 11 of the box body 1, and one end of the side sensor shaft 18 can slide on the slide rail to achieve the mobility of the side sensor shaft 18. The position of the kinect sensor 181 and the position of the second image sensor 182 on the side sensor shaft 18 can be set as needed, and can be precisely positioned by a control device. The depth image in the box body 1 is obtained by the kinect sensor 181, and the visible light image in the box body 1 is obtained by the second image sensor 182. Both the depth image and the visible light image carry global position information. The stitching of the side image of the crop in the box body 1 can be achieved by combining the global position information with the image stitching method. On this basis, the node unit information of each plant in the crop is extracted through the depth information and RGB information of the image, such as the node unit phenotypic parameters such as leaf growth height, leaf length, leaf width, leaf inclination, and leaf azimuth. Using the obtained node unit information and node unit phenotypic parameters, combined with the parametric geometric modeling method and the crop organ three-dimensional template resource library, the three-dimensional reconstruction of the crops in the box 1 can be achieved.

The crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention is provided with a horizontal, movable first slide rail in the box, and the sensor box is movably arranged on the first slide rail; the sensor box includes a _CO2 concentration sensor, a laser radar sensor, a GPS positioning device and a first image sensor, and the assimilation rate and transpiration rate of the crop canopy in the box are determined by combining the _CO2 concentration sensor and the first image sensor to achieve assimilation measurement of the crop canopy in the box; at the same time, the crop canopy phenotype information in the box is determined by the laser radar sensor, the GPS positioning device, the kinect sensor and the second image sensor to achieve crop canopy phenotype measurement in the box. The crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention can achieve crop canopy phenotype and assimilation synchronous measurement, and realize comprehensive monitoring of the growth process of crops.

On the basis of the above-mentioned embodiment, the crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention further comprises: a second slide rail and a third slide rail in the box;

The second slide rail and the third slide rail are horizontally arranged at the fixed heights on the first left box surface and the first right box surface, respectively. One end of the first slide rail is connected to the first left box surface through the second slide rail, and the other end of the first slide rail is connected to the first right box surface through the third slide rail.

Specifically, in the embodiment of the present invention, a second slide rail and a third slide rail are horizontally arranged at fixed heights on the first left box surface and the first right box surface, respectively, so that one end of the first slide rail slides on the second slide rail and the other end of the first slide rail slides on the third slide rail to achieve the mobility of the first slide rail, and the two ends are respectively connected to the first left box surface and the first right box surface.

On the basis of the above-mentioned embodiment, the crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention further includes: a first base beam, a second base beam and wheels;

The box body further comprises: a second left box surface, a second right box surface, a second front box door and a second rear box door;

The first left box surface is fixedly connected above the first base beam, and the first right box surface is fixedly connected above the second base beam; at least two wheels are respectively connected below the first base beam and the second base beam;

The second left side box surface is arranged on the outer side of the first left side box surface and is slidably connected to the first left side box surface in the vertical direction, the second right side box surface is arranged on the outer side of the first right side box surface and is slidably connected to the first right side box surface in the vertical direction, the second front box door is arranged on the outer side of the first front box door and is slidably connected to the first front box door in the vertical direction, and the second rear box door is arranged on the outer side of the first rear box door and is slidably connected to the first rear box door in the vertical direction; the second left side box surface, the second right side box surface, the second front box door and the second rear box door can all extend downward into the soil.

Specifically, as shown in FIG2 , the first left box surface 12 is fixedly connected above the first base beam 19, and the first right box surface 13 is fixedly connected above the second base beam 20; at least two wheels 21 are connected below the first base beam 19 and the second base beam 20, respectively, to ensure that the crop canopy phenotyping and assimilation synchronization measurement robot can move through the wheels 21. In order to ensure that the crop canopy phenotyping and assimilation synchronization measurement robot can move smoothly, the number of wheels 3 on each base beam is required to be at least two. FIG2 only takes the example of two wheels 21 respectively provided on the first base beam 19 and the second base beam 20 for illustration. In addition, the first base beam 19 and the second base beam 20 can also be provided with a number greater than 2 wheels 21, respectively. The number of wheels on the first base beam 19 and the second base beam 20 can be selected as needed, and can be the same or different, and this is not specifically limited in the embodiment of the present invention. The wheel 21 can specifically be a universal wheel, which is directly arranged below the first base beam 19 and the second base beam 20; it can also be an ordinary wheel, and pillars placed horizontally and perpendicular to the first base beam are arranged at corresponding positions of the first base beam 19 and the second base beam 20, respectively serving as wheel axles; other forms of wheels can also be used, as long as it can ensure that the wheel can drive the entire crop canopy phenotyping and assimilation synchronization measurement robot to move normally, which is not specifically limited in the embodiments of the present invention.

The second left side box surface is arranged on the outer side of the first left side box surface, the second left side box surface has the same width as the first left side box surface, the height of the second left side box surface is less than or equal to the height of the first left side box surface, and the second left side box surface is slidably connected to the first left side box surface in the vertical direction; the second right side box surface is arranged on the outer side of the first right side box surface, the second right side box surface has the same width as the first right side box surface, the height of the second right side box surface is less than or equal to the height of the first right side box surface, and the second right side box surface is slidably connected to the first right side box surface in the vertical direction; the second front box door is arranged on the outer side of the first front box door, the second front box door has the same width as the first front box door, the height of the second front box door is less than or equal to the height of the first front box door, and the second front box door is slidably connected to the first front box door in the vertical direction; the second rear box door is arranged on the outer side of the first rear box door, the second rear box door has the same width as the first rear box door, the height of the second rear box door is less than or equal to the height of the first rear box door, and the second rear box door is slidably connected to the first rear box door in the vertical direction; the second left side box surface, the second right side box surface, the second front box door and the second rear box door can all extend downward into the soil.

When using the crop canopy phenotype and assimilation synchronous measurement robot to perform crop canopy phenotype and assimilation synchronous measurement, the travel direction of the crop canopy phenotype and assimilation synchronous measurement robot is the same as the direction of the sowing row where the crop is located, the length direction of the first base beam 19 and the second base beam 20 is the same as the travel direction of the crop canopy phenotype and assimilation synchronous measurement robot, and the first base beam 19 and the second base beam 20 are respectively located on both sides of the sowing row where the crop is located.

When the crop canopy phenotype and assimilation synchronous measurement robot moves on a certain sowing row, in order to ensure that the crop canopy phenotype and assimilation synchronous measurement robot does not contact the box body when it moves normally, the bottom box surface of the box body 1 is empty, that is, when observing along the moving direction of the crop canopy phenotype and assimilation synchronous measurement robot, the complete crop can be observed in the box body 1, and there is no edge of the box body 1 to block the crop. The first front box door 14 and the first rear box door 15 of the box body 1 are both rotatably connected to the top box surface 11, as shown in Figure 3, when the crop canopy phenotype and assimilation synchronous measurement robot moves normally, the first front box door 14 drives the second front box door to rotate to a height higher than the highest height of the crop on the sowing row, and the first rear box door 15 drives the second rear box door to rotate to a height higher than the highest height of the crop on the sowing row, so as to prevent the first front box door 14 and the first rear box door 15 of the box body 1 from contacting the crop. The dotted line in Figure 3 is the soil surface. When the crop canopy phenotype and assimilation synchronization measurement is performed on the crop to be tested, the crop canopy phenotype and assimilation synchronization measurement robot is moved on the sowing row where the crop to be tested is located. When the crop to be tested is in the box 1, the crop canopy phenotype and assimilation synchronization measurement robot stops moving.

When the crop canopy phenotype and assimilation synchronous measurement robot moves normally, the second left box surface, the second right box surface, the second front box door and the second rear box door of the box body 1 are all above the soil to ensure that the crop canopy phenotype and assimilation synchronous measurement robot can smoothly achieve normal movement on a certain sowing row. When performing the crop canopy phenotype and assimilation synchronous measurement, the second left box surface, the second right box surface, the second front box door and the second rear box door all slide to the lower edge and are in the soil to ensure the accuracy of the measurement results obtained by the crop canopy phenotype and assimilation synchronous measurement robot when performing the crop canopy phenotype and assimilation synchronous measurement, ensure the airtightness of the box body 1, and prevent the box body 1 from being breathable. As shown in Figure 4, when the crop canopy phenotype and assimilation synchronous measurement robot performs the crop canopy phenotype and assimilation synchronous measurement, the second left box surface, the second right box surface, the second front box door and the second rear box door all extend downward into the soil, and the dotted line in Figure 4 is the soil surface.

The crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention is a traveling crop canopy phenotype and assimilation synchronous measurement device. The movement of the crop canopy phenotype and assimilation synchronous measurement robot is realized by the first base beam, the second base beam and the wheels connected below it, which can realize the measurement of the in-situ _CO2 concentration of the crop group in the field and the extraction of the crop coverage, and then realize the measurement of the in-situ assimilation rate and transpiration rate of the crop group in the field. At the same time, the second left box surface, the second right box surface, the second front box door and the second rear box door of the box body can all extend downward into the soil, ensuring the sealing of the box body during synchronous measurement. Finally, the first front box door and the first rear box door of the box body are both rotatably connected to the top box surface. When the crop canopy phenotype and assimilation synchronous measurement robot is moving normally, the first front box door drives the second front box door to rotate to a height higher than the crop, and the first rear box door drives the second rear box door to rotate to a height higher than the crop, which can ensure that the box body does not contact the crop during normal travel. The crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention realizes the synchronous measurement of crop canopy phenotype and assimilation during the movement of the crop canopy phenotype and assimilation synchronous measurement robot, and only one device is used to realize the synchronous measurement of crop canopy phenotype and assimilation at multiple positions, and can realize the synchronous measurement of the in-situ assimilation rate and transpiration rate of crop groups in the field and canopy phenotype, and can also realize the synchronous measurement of the in-situ assimilation rate and transpiration rate and canopy phenotype of crop groups in the field at different growth periods, which improves the degree of automation of the in-situ canopy phenotype and assimilation synchronous measurement of crops in the field, reduces the measurement cost, and does not affect the natural growth of crops.

On the basis of the above-mentioned embodiment, the crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention further includes: two track wheels;

The box body further comprises: a second left box surface, a second right box surface, a second front box door and a second rear box door;

The two track wheels are respectively arranged below or below the first left box surface and the first right box surface;

The second left side box surface is arranged on the outer side of the first left side box surface and is slidably connected to the first left side box surface in the vertical direction, the second right side box surface is arranged on the outer side of the first right side box surface and is slidably connected to the first right side box surface in the vertical direction, the second front box door is arranged on the outer side of the first front box door and is slidably connected to the first front box door in the vertical direction, and the second rear box door is arranged on the outer side of the first rear box door and is slidably connected to the first rear box door in the vertical direction; the second left side box surface, the second right side box surface, the second front box door and the second rear box door can all extend downward into the soil.

Specifically, as shown in FIG5 , two track wheels are respectively arranged below or to the lower side of the first left box surface 12 and the first right box surface 13 to ensure that the crop canopy phenotype and assimilation synchronization measurement robot can move smoothly through the track wheels 22. FIG5 only takes the example that two track wheels are respectively arranged to the lower side of the first left box surface 12 and the first right box surface 13 as an example for explanation. Each track wheel includes a driving wheel and a driven wheel, and the diameter of the driving wheel is larger than the diameter of the driven wheel. Horizontally placed pillars perpendicular to the side box surfaces can be arranged at corresponding positions on the lower side of the first left box surface 12 and the first right box surface 13, respectively serving as the driving shaft and the driven shaft to drive the driving wheel and the driven wheel to rotate.

When using the crop canopy phenotype and assimilation synchronous measurement robot for crop canopy phenotype and assimilation synchronous measurement, the travel direction of the crop canopy phenotype and assimilation synchronous measurement robot is the same as the direction of the sowing row where the crop is located, the length direction of the track wheels is the same as the travel direction of the crop canopy phenotype and assimilation synchronous measurement robot, and the two track wheels are respectively located on both sides of the sowing row where the crop is located.

When the crop canopy phenotype and assimilation synchronous measurement robot is moving on a certain sowing row, in order to ensure that the crop does not contact the box body when the crop canopy phenotype and assimilation synchronous measurement robot is moving normally, as shown in FIG6 , the crop canopy phenotype and assimilation synchronous measurement robot drives the second front box door to rotate to a height higher than the highest height of the crop on the sowing row, and the first rear box door 15 drives the second rear box door to rotate to a height higher than the highest height of the crop on the sowing row, so as to prevent the first front box door 14 and the first rear box door 15 of the box body 1 from contacting the crop. The dotted line in FIG6 is the soil surface. When the crop canopy phenotype and assimilation synchronous measurement robot is measured, the crop canopy phenotype and assimilation synchronous measurement robot is moved on the sowing row where the crop to be measured is located. When the crop to be measured is in the box body 1, the crop canopy phenotype and assimilation synchronous measurement robot stops moving.

When the crop canopy phenotype and assimilation synchronous measurement is being performed, the second left box surface, the second right box surface, the second front box door, and the second rear box door are all slid to the lower edge and are in the soil, so as to ensure the accuracy of the measurement results obtained by the crop canopy phenotype and assimilation synchronous measurement robot when performing the crop canopy phenotype and assimilation synchronous measurement, ensure the airtightness of the box body 1, and prevent the box body 1 from being ventilated. As shown in FIG7 , when the crop canopy phenotype and assimilation synchronous measurement robot performs the crop canopy phenotype and assimilation synchronous measurement, the second left box surface, the second right box surface, the second front box door, and the second rear box door are all extended downward into the soil, and the dotted line in FIG7 is the soil surface.

On the basis of the above embodiment, when the canopy phenotype and assimilation synchronization measurement is performed on the crop to be tested in the box body 1, in order to ensure that the second left box surface, the second right box surface, the second front box door and the second rear box door can smoothly extend downward into the soil, the bottoms of the second left box surface, the second right box surface, the second front box door and the second rear box door have sharp edges, that is, the second left box surface, the second right box surface, the second front box door and the second rear box door have sharp lower edges.

On the basis of the above-mentioned embodiment, in the crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention, the sensor box further includes a light sensor, a temperature and humidity sensor, and an air pressure sensor.

Specifically, in the embodiment of the present invention, the light in the box is measured by a light sensor to determine the light change in the box, the temperature and humidity in the box are measured by a temperature and humidity sensor to determine the temperature change and humidity change in the box, and the air pressure in the box is measured by an air pressure sensor to determine the air pressure change in the box. Combined with the light change, temperature change, humidity change, air pressure change, box volume, CO ₂ concentration change and crop coverage in the box 4, the assimilation rate and transpiration rate of the canopy of the crop to be measured in the box 4 can be determined more accurately, making the assimilation measurement of the crop group in the entire area more accurate.

On the basis of the above-mentioned embodiment, in the crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention, a fan and a fan cylinder are further provided in the box;

The fan cylinder is vertically arranged in the box body, the fan is installed at one end of the fan cylinder, and the other end of the fan cylinder faces the box body.

Specifically, as shown in FIG. 8 , a fan 23 and a fan cylinder 24 are further disposed in the box body 1 ; the fan cylinder 24 is vertically disposed in the box body 1 , and specifically can be disposed near a vertical edge of the box body 1 .

The fan 23 is mounted at one end of the fan cylinder 24, and the other end of the fan cylinder 24 faces the inside of the box 1. The fan 23 is used to stir the gas in the box.

As shown in FIG9 , based on the above-mentioned embodiment, the crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention further has a fill light 25 disposed in the box body 1. The fill light 25 is fixed on the top box surface 11 and is used for fill light inside the box body when the crop canopy phenotype and assimilation synchronous measurement robot performs crop canopy phenotype and assimilation synchronous measurement.

In the embodiment of the present invention, photosynthetically active radiation sensors can be provided inside and outside the box, and the timing of turning on the fill light is determined by comparing the first measurement value of the photosynthetically active radiation sensor inside the box with the second measurement value of the photosynthetically active radiation sensor outside the box. When the first measurement value is less than the second measurement value, the fill light is turned on for fill light. When the first measurement value is greater than or equal to the second measurement value, there is no need to turn on the fill light for fill light.

The light environment inside the box can be adjusted in two ways:

(1) The box is transparent. Under the external visible light source, gradually reduce or increase the light intensity;

(2) Artificial light source, that is, the fill light installed in the box. The box is black and opaque, and the fill light design is carried out through artificial light source.

On the basis of the above-mentioned embodiment, the crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiment of the present invention further includes: a battery, which is fixed on the outer surface of the first left box surface or the outer surface of the first right box surface to prevent the heat generated by the battery when working from affecting the crop canopy phenotype and assimilation synchronous measurement results. The battery is respectively connected to the fan, the fill light and each sensor in the sensor box, and is used to provide power for the crop canopy phenotype and assimilation synchronous measurement robot, and to supply power to the fan, the fill light and each sensor in the sensor box.

On the basis of the above-mentioned embodiments, in the crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiments of the present invention, the materials of the top box surface, the first left box surface, the second left box surface, the first right box surface, the second right box surface, the first front box door, the second front box door, the first rear box door and the second rear box door are all light-weight and translucent materials, so that external light sources can be absorbed by the crops in the box through the first left box surface, the second left box surface, the first right box surface, the second right box surface, the first front box door, the second front box door, the first rear box door and the second rear box door, and at the same time, the pressure of the box on the wheels and track wheels can be reduced. The light transmittance of the light-weight and translucent materials is controllable, such as electrochromic materials, etc., so that the light transmittance in the box can be controlled.

By adjusting the light intensity inside the box through the fill light fixed on the top box surface and the light transmittance of the box material, the assimilation rate under different light intensities is measured, and the light response curve of the crops in the box is obtained. Multiple photosynthetically active radiation sensors can be integrated inside the box to adjust, calculate and measure the light environment by setting and monitoring the light environment.

On the basis of the above-mentioned embodiments, in the crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiments of the present invention, the edges of the first left box surface, the second left box surface, the first right box surface, the second right box surface, the first front box door, the second front box door, the first rear box door and the second rear box door all have suction devices.

Specifically, in the embodiment of the present invention, when performing crop canopy phenotype and assimilation synchronous measurement, the suction device can ensure that the four contact edges in the vertical direction are sealed to avoid air permeability and ensure the airtightness of the box. The suction device can be covered by a dust cover to avoid long-term exposure of the suction device.

On the basis of the above-mentioned embodiments, the width of the crop canopy phenotype and assimilation synchronous measurement robot provided in the embodiments of the present invention is greater than or equal to the sowing row spacing of the crops to be measured, which can ensure the smooth movement of the crop canopy phenotype and assimilation synchronous measurement robot.

On the basis of the above-mentioned embodiments, the crop canopy phenotyping and assimilation synchronous measurement robot provided in the embodiments of the present invention has sealing strips arranged on the front and rear outer sides of the top box surface. When performing the crop canopy phenotyping and assimilation synchronous measurement, the sealing strips are used to stick to the gaps between the top box surface and the first front box door and the first rear box door to ensure the sealing of the box during the crop canopy phenotyping and assimilation synchronous measurement.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (7)

1. A crop canopy phenotype and assimilation synchronous measurement robot, comprising: a case;

The box body comprises a top box surface, a first left box surface, a first right box surface, a first front box door and a first rear box door, and the bottom box surface of the box body is empty; the first left box surface and the first right box surface are parallel and vertically arranged, the first left box surface and the first right box surface are fixedly connected with the top box surface, and the first front box door and the first rear box door are rotatably connected with the top box surface;

a horizontal movable first sliding rail is arranged at a fixed height in the box body, and two ends of the first sliding rail are respectively connected with the first left box surface and the first right box surface;

A sensor box is further arranged in the box body and is movably arranged on the first sliding rail; the sensor box comprises a CO ₂ concentration sensor, a laser radar sensor, a GPS positioning device and a first image sensor;

A vertical movable side sensor shaft is further arranged in the box body and close to the first left box surface or the first right box surface, and a kinect sensor and a second image sensor are arranged on the side sensor shaft;

The materials of the top box surface, the first left box surface, the first right box surface, the first front box door and the first rear box door are all light electrochromic materials;

further comprises: the first base beam, the second base beam and the wheel;

the box further includes: a second left side box surface, a second right side box surface, a second front box door and a second rear box door;

The first left box surface is fixedly connected above the first base beam, and the first right box surface is fixedly connected above the second base beam; at least two wheels are respectively connected below the first base beam and the second base beam;

The second left box surface is arranged on the outer side of the first left box surface and is in sliding connection with the first left box surface in the vertical direction, the second right box surface is arranged on the outer side of the first right box surface and is in sliding connection with the first right box surface in the vertical direction, the second front box door is arranged on the outer side of the first front box door and is in sliding connection with the first front box door in the vertical direction, and the second rear box door is arranged on the outer side of the first rear box door and is in sliding connection with the first rear box door in the vertical direction; the second left side box surface, the second right side box surface, the second front box door and the second rear box door can all extend downwards into soil;

Or further comprising: two crawler wheels;

the box further includes: a second left side box surface, a second right side box surface, a second front box door and a second rear box door;

the two crawler wheels are respectively arranged below or below the first left box surface and the first right box surface;

The second left box surface is arranged on the outer side of the first left box surface and is in sliding connection with the first left box surface in the vertical direction, the second right box surface is arranged on the outer side of the first right box surface and is in sliding connection with the first right box surface in the vertical direction, the second front box door is arranged on the outer side of the first front box door and is in sliding connection with the first front box door in the vertical direction, and the second rear box door is arranged on the outer side of the first rear box door and is in sliding connection with the first rear box door in the vertical direction; the second left side box surface, the second right side box surface, the second front box door and the second rear box door can all extend downwards into soil;

When the crop canopy phenotype and assimilation synchronous measurement robot normally travels, the first front box door drives the second front box door to rotate to a height higher than the crop, and the first rear box door drives the second rear box door to rotate to a height higher than the crop.

2. The crop canopy phenotype and assimilation synchronization measurement robot of claim 1, wherein the housing further comprises: the second slide rail and the third slide rail;

the second sliding rail and the third sliding rail are respectively and horizontally arranged at the fixed height position on the first left side box surface and the first right side box surface, one end of the first sliding rail is connected with the first left side box surface through the second sliding rail, and the other end of the first sliding rail is connected with the first right side box surface through the third sliding rail.

3. The crop canopy phenotype and assimilation synchronous measurement robot of claim 1, wherein the sensor box further comprises an illumination sensor, a temperature and humidity sensor and an air pressure sensor.

4. The crop canopy phenotype and assimilation synchronous measurement robot according to claim 1, wherein a fan and a fan barrel are further arranged in the box body;

the fan cylinder is vertically arranged in the box body, the fan is arranged at one end of the fan cylinder, and the other end of the fan cylinder faces to the box body.

5. The crop canopy phenotype and assimilation synchronization measurement robot of claim 1, further comprising: the storage battery is fixed on the outer surface of the first left box surface or the outer surface of the first right box surface.

6. The crop canopy phenotype and assimilation synchronous measurement robot of claim 1, wherein a light supplement lamp is further arranged in the box body, and the light supplement lamp is fixed on the top box surface.

7. The crop canopy phenotype and assimilation synchronization measurement robot of any one of claims 1-6, wherein edges of the first left side box surface, the first right side box surface, the first front box door, and the first rear box door all have a suction device.