CN212423316U - Phenotype analysis platform of field intelligent robot - Google Patents
Phenotype analysis platform of field intelligent robot Download PDFInfo
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- CN212423316U CN212423316U CN202021174397.3U CN202021174397U CN212423316U CN 212423316 U CN212423316 U CN 212423316U CN 202021174397 U CN202021174397 U CN 202021174397U CN 212423316 U CN212423316 U CN 212423316U
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Abstract
The utility model discloses a field intelligent robot phenotype analysis platform relates to modern accurate agricultural research technical field, specifically is a field intelligent robot phenotype analysis platform, including master control case, hydraulic pressure lift platform, rail mounted three-dimensional scanning arm and spectral imaging phenotype big data acquisition platform. According to the field intelligent robot phenotype analysis platform, the robot platform and a ground station are subjected to wireless data transmission through a data transmission antenna, unmanned remote control technology, wireless communication technology, real-time dynamic differential positioning technology and other unmanned aerial vehicle remote sensing related technologies are comprehensively introduced into the robot platform, so that the robot platform can be unmanned, remotely operated, automatically cruising and returned by one key, high-resolution spectral imaging phenotype big data of field crops can be rapidly acquired in a short distance, a new idea of field intelligent phenotype analysis is created, and the automation performance of the robot platform is improved.
Description
Technical Field
The utility model relates to a modern accurate agricultural research technical field specifically is a field intelligent robot phenotype analysis platform.
Background
The existing robot platform for crop rapid phenotype analysis is generally divided into three types, namely a laboratory type, a greenhouse type and a field and field type. And the robot phenotype observation platform applied to the field is not provided at home, and similar products really put into use are not provided. The robot platform is only a large robot phenotype analysis platform which is used by a single company in China and abroad, and the robot platform is actually designed by adopting heavy mechanical equipment structures such as a large crane, a crane and the like.
The "robot" platform can only operate in large farms and requires the laying or reservation of dedicated roads of at least 3m width. And the turning radius reaches 3m, huge land space is occupied, and the space for the ordinary land to move and turn cannot be reserved at all.
The robot platform mainly carries RGB and multispectral imagers, sensors are rigidly connected with the platform, a special stability augmentation and damping device is not needed, and large data synchronous acquisition of the multiple sensors cannot be achieved. When the field advances, the damage of the platform self vibration to the imaging sensor is very large, the field applicability has a huge defect, and the requirement of modern precision agriculture on multi-source data comprehensive acquisition and analysis cannot be met.
The prior art can not solve the technical problems of the self volume, weight and field movement of the robot platform. The prior art is based on the existing solution of heavy mechanical equipment, with platform dimensions of about 5m × 2.5m × 3m, and overall weight up to 8 tons. For field phenotype analysis, such huge objects are difficult to be effectively utilized, and the operation and maintenance are very inconvenient.
In addition, the "robot" platform can only be manually operated remotely in a series of actions such as moving, stopping, advancing, backing, turning, accelerating, decelerating and the like. The timeliness and accuracy of manual operation are influenced by human factors, have large errors and randomness and are influenced by the weight of the manual operation, and the motion inertia of the platform is very large. Resulting in greater randomness and non-uniformity in response amplitude, time, etc. each time the platform receives an action command. Thereby reducing measurement accuracy and the presence.
The technical problems of automatic lifting and free rotation of a sensor load platform and real-time monitoring and data acquisition of a binocular camera cannot be synchronously solved in the prior art.
The existing scheme is based on a mechanical arm of large-scale hoisting equipment, and the design of the mechanical arm is not specially used for carrying an imaging sensor to carry out all-dimensional data acquisition. The sensor can be adjusted to move back and forth only by controlling the mechanical arm to stretch back and forth, and free rotation cannot be realized. Meanwhile, due to the limitation of a large-scale mechanical structure, the existing robot platform cannot acquire field crop data close to the edge of the robot platform at a short distance, and data loss is caused.
The prior art can not solve the technical problems of a mechanical arm of a robot platform, omnibearing three-dimensional scanning, left-right free expansion and automatic height adjustment. The existing scheme does not have the function of freely extending left and right and can only fix one direction for extension and retraction. When data is collected, the data can be collected on one side only and then the data is turned around to collect the other side. Therefore, the scanning in the all-round three-dimensional direction cannot be realized. The height can only be adjusted through the telescopic mechanical arm, so that the height of the far end (fully extended) can reach tens of meters, and the height of the near end (fully retracted) is very low and cannot be freely adjusted, thereby causing great limitation in practical use.
The technical problems that a robot platform is unstable in spectral imaging and large data of hyperspectral imaging cannot be accurately collected cannot be solved in the prior art. "robot" only links firmly through the plastics pendant that 3D printed among the existing scheme. Firstly, in a hot environment, a 3D printing piece is heated to be soft, so that the camera is in accidental falling damage risk, and secondly, the quality problems that acquired data is seriously deformed, blurred and misplaced and the like are directly caused due to the fact that the imaging sensor shakes or swings caused by factors such as ground fluctuation, self vibration and posture of a 'robot' platform, a strong wind environment and the like are not considered in the fixed connection design.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model provides a field intelligent robot phenotype analysis platform has solved the problem of proposing in the above-mentioned background art.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a phenotype analysis platform of an intelligent robot in a field comprises a main control box, a hydraulic lifting platform, a rail-type three-dimensional scanning mechanical arm and a spectrum imaging phenotype big data acquisition platform, wherein a chassis is fixedly installed at the bottom of the main control box, crawler wheels are arranged on two sides of the chassis, the hydraulic lifting platform is fixedly connected to the inner wall of the main control box, penetrates through the inner cavity of the main control box and extends to the outer side of the main control box, an upper cover plate is fixedly connected to one end, located on the outer side of the main control box, of the hydraulic lifting platform, a rotating disk is arranged at the top of the upper cover plate, a fastening metal block is fixedly connected to the upper portion of the rotating disk, the rail-type three-dimensional scanning mechanical arm is fixedly sleeved inside the fastening metal block, a movable sliding block is connected to the outer wall of the rail-type three-dimensional scanning mechanical arm in a sliding mode, and the spectrum imaging, and a front-view camera is fixedly mounted at the top of the rotating disc.
Optionally, a reduction gear motor and a high-power battery pack are fixedly mounted inside the chassis, the number of the reduction gear motor and the number of the high-power battery pack are two and six, and the reduction gear motor is electrically connected with the high-power battery pack.
Optionally, the crawler wheel includes main part frame, drive wheel, leading wheel, tow band pulley, thrust wheel and rubber track, the both ends of main part frame are rotated respectively and are connected with drive wheel and leading wheel, the middle part of main part frame is provided with the tow band pulley, the bottom of main part frame is rotated and is connected with the thrust wheel, equal transmission is connected with the rubber track on the outer wall of drive wheel, leading wheel, tow band pulley and thrust wheel, the drive wheel rotates to be connected in gear motor's pivot.
Optionally, the spectrum imaging phenotype big data acquisition platform comprises a hanging support plate, a stability augmentation holder main body, a magnetic coding motor, a first imaging sensor and a second imaging sensor, wherein a buckle is arranged at the top of the hanging support plate, the stability augmentation holder main body is fixedly installed at the bottom of the hanging support plate, the magnetic coding motor is fixedly installed on the side surface of the stability augmentation holder main body, the number of the stability augmentation holder main bodies is two, the two stability augmentation holder main bodies are respectively connected with the first imaging sensor and the second imaging sensor through the magnetic coding motor, and the hanging support plate is fixedly connected with the movable sliding block.
Optionally, the rail-mounted three-dimensional scanning mechanical arm can stretch out and draw back from left to right, the fastening metal block is fixedly sleeved with the rail-mounted three-dimensional scanning mechanical arm, the rotation angles of the rotating disk, the rail-mounted three-dimensional scanning mechanical arm and the spectral imaging phenotype big data acquisition platform are all 355 degrees, and the height of the rail-mounted three-dimensional scanning mechanical arm and the height of the spectral imaging phenotype big data acquisition platform can be automatically controlled through the hydraulic lifting platform.
Optionally, a data transmission antenna and an RTK module are fixedly mounted above the master control box, and the data transmission antenna is wirelessly connected with the ground station.
The utility model provides a field intelligent robot phenotype analysis platform possesses following beneficial effect:
1. the field intelligent robot phenotype analysis platform carries out wireless transmission of data between the robot platform and a ground station through a data transmission antenna, and comprehensively introduces unmanned aerial vehicle remote sensing related technologies such as an unmanned remote control technology, a wireless communication technology, a real-time dynamic differential positioning technology and the like into the robot platform, so that the robot platform can be unmanned, remotely operated, automatically cruising and returned by one key, and meanwhile, the field intelligent robot phenotype analysis platform can quickly acquire high-resolution spectral imaging data of field crops in a close range, a new idea of field intelligent phenotype analysis is created, and the automation performance of the robot platform is improved.
2. This field intelligent robot phenotype analysis platform, the utility model discloses the design theory of the crawler-type robot who adopts miniaturization, lightweight, optimize field phenotype analysis platform for the light small-size portable intelligent robot platform that the volume is not enough cubic meter, weight is not enough kilograms by traditional several heavy mechanical equipment of ton, all have very big improvement in aspects such as automatic control, cross country obstacle-surmounting ability, turn around, straight line are marchd, whole car shock attenuation and to the damage on ground, improved the practicality of this robot platform.
3. According to the field intelligent robot phenotype analysis platform, the spectrum imaging phenotype big data acquisition platform and the front-view camera are installed on the robot platform, so that the technical problem that one robot simultaneously carries infrared thermal imaging, visible light imaging and hyperspectral imaging sensors and synchronously acquires high-definition visible light, infrared thermal imaging and hyperspectral imaging data is solved, and the requirement of modern phenotype omics research on multivariate information fusion analysis is met.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a side view of the present invention;
FIG. 3 is a partial top view of the upper cover plate of the present invention;
fig. 4 is a schematic structural view of the crawler wheel of the present invention;
FIG. 5 is a schematic structural diagram of a spectral imaging phenotype big data acquisition platform according to the present invention;
fig. 6 is a partial cross-sectional view of the chassis of the present invention;
FIG. 7 is a distribution diagram of a reduction gear motor and a high-power battery pack in a chassis according to the present invention;
fig. 8 is a schematic diagram of the combination relationship of the system components of the present invention.
In the figure: 1. a master control box; 2. a chassis; 3. a hydraulic lifting platform; 4. a data transmission antenna; 5. an RTK module; 6. an upper cover plate; 7. rotating the disc; 8. fastening a metal block; 9. a rail-mounted three-dimensional scanning mechanical arm; 10. a movable slider; 11. a spectral imaging phenotype big data acquisition platform; 1101. hanging a support plate; 1102. a stability augmentation holder main body; 1103. a magnetically encoded motor; 1104. a first imaging sensor; 1105. a second imaging sensor; 12. a forward-looking camera; 13. a crawler wheel; 1301. a main body frame; 1302. a drive wheel; 1303. a guide wheel; 1304. a tow band wheel; 1305. a thrust wheel; 1306. a rubber track; 14. a reduction gear motor; 15. high power battery pack.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Referring to fig. 1 to 8, the present invention provides a technical solution: a phenotype analysis platform of an intelligent robot in a field comprises a main control box 1, a hydraulic lifting platform 3, a rail-type three-dimensional scanning mechanical arm 9 and a spectrum imaging phenotype big data acquisition platform 11, wherein the main control box 1 is used for controlling a load system, accommodating the hydraulic lifting platform 3, installing a rotating disc 7 and placing the spectrum imaging big data acquisition platform 11, the bottom of the main control box 1 is fixedly provided with a chassis 2, the front of the main control box 1 is fixedly provided with a data transmission antenna 4 and an RTK module 5, the RTK module 5 is used for receiving real-time differential signals and accurately positioning, the data transmission antenna 4 is wirelessly connected with a ground station, the data transmission antenna 4 is used for receiving remote controller signals and returning monitoring camera pictures, the ground station is used for planning air routes and parameter configuration, the state of the robot platform is monitored, the ground station adopts an open-source framework and is a one-station type intelligent software system integrating a dual-machine hot backup control, the robot bottom chassis 2 is mainly provided with the high-energy density high-power battery pack 15 and the high-power decelerating tooth motor 14, 6 high-voltage high-power battery packs 15 with 22000mAh and 2 groups of decelerating tooth motors 14 are arranged in a standard design, when the robot bottom chassis 2 works, the high-power battery pack 15 outputs stable direct current to the decelerating tooth motor 14, and then the decelerating tooth motor 14 drives a driving wheel 1302 in a crawler wheel 13 system to rotate through a transmission shaft, thereby driving the robot platform to move, wherein the two sides of the chassis 2 are provided with the crawler wheels 13, the advancing speed of the crawler wheels 13 is 0-45km/h and is adjustable, the crawler wheels 13 comprise a main body frame 1301, a driving wheel 1302, a guide wheel 1303, a dragging wheel 1304, a thrust wheel 1305 and a rubber crawler 1306, the two ends of the main body frame 1301 are respectively and rotatably connected with the driving wheel 1302 and the guide wheel 1303, the middle part of the main body frame 1301 is provided with the dragging wheel 1304, the bottom of the main body frame 1301 is rotatably connected with the thrust wheel 1305, the outer walls of the driving wheel 1302, the guide wheel 1303, the dragging wheel 1304 and the thrust wheel 1305 are respectively and rotatably connected with the rubber crawler 1306, the driving wheel 1302 is rotatably connected with a rotating shaft of a reduction gear motor 14, the inner wall of the main control box 1 is fixedly connected with the hydraulic lifting platform 3, the hydraulic lifting platform 3 penetrates through the inner cavity of the main control box 1 and extends to the outer side of the main control box 1, one end, the top of the upper cover plate 6 is provided with a rotating disk 7 for connecting a rail-mounted three-dimensional scanning mechanical arm 9 to drive the rail-mounted three-dimensional scanning mechanical arm 9 to rotate at 355 degrees, a fastening metal block 8 is fixedly connected above the rotating disk 7, the rail-mounted three-dimensional scanning mechanical arm 9 is fixedly sleeved inside the fastening metal block 8, the length of the rail-mounted three-dimensional scanning mechanical arm 9 is 1.3m, the movable distance is 1.2m, the rail-mounted three-dimensional scanning mechanical arm is customizable and can extend from left to right and rotate at 355 degrees, the rail-mounted three-dimensional scanning mechanical arm 9 can stretch from left to right, the fastening metal block 8 and the rail-mounted three-dimensional scanning mechanical arm 9 are fixedly sleeved, the rotating angles of the rotating disk 7, the rail-mounted three-dimensional scanning mechanical arm 9 and the spectral imaging phenotype big data acquisition platform 11 are 355 degrees, the height of, the spectrum imaging phenotype big data acquisition platform 11 is fixedly connected below the movable sliding block 10 and is used for scanning and imaging at a constant speed, a hyperspectral imaging, infrared thermal imaging, a visible light camera, a multispectral imaging and environmental quality monitoring module can be carried on the spectrum imaging phenotype big data acquisition platform 11 and can be used for acquiring image data, illuminance, temperature, humidity and imaging distance, other sensors can be expanded according to requirements, the spectrum imaging phenotype big data acquisition platform 11 can vertically pitch at +/-85 degrees and horizontally rotate at 355 degrees along with the rail-mounted three-dimensional scanning mechanical arm 9, the spectrum imaging phenotype big data acquisition platform 11 comprises a mounting plate 1101, a stability-increasing tripod head main body 1102, a magnetic coding motor 1103, a first imaging sensor 1104 and a second imaging sensor 1105, a buckle is arranged at the top of the mounting plate 1101, the stability-increasing tripod head main body 1102 is fixedly installed at the bottom of the mounting plate 1101, the side surface of the stability augmentation cloud platform main body 1102 is fixedly provided with two magnetic coding motors 1103, the stability augmentation cloud platform main body 1102 is connected with a first imaging sensor 1104 and a second imaging sensor 1105 through the magnetic coding motors 1103, the mounting plate 1101 is fixedly connected with the movable sliding block 10, the spectrum imaging phenotype big data acquisition platform 11 is integrated with the self-developed magnetic coding motors 1103, the frequency of the spectrum imaging phenotype big data acquisition platform can be adjusted by 300 times per second, the spectrum imaging phenotype big data acquisition platform can synchronously carry multiple sensors such as hyperspectral imaging, multispectral imaging, infrared thermal imaging, RGB imaging and the like, and can keep stable postures constantly, so as to ensure high-quality phenotype big data acquisition, the top of the rotating disk 7 is fixedly provided with the front-looking camera 12, the infrared thermal imaging phenotype big data acquisition platform and the RGB camera can be carried for real-time monitoring and data acquisition, the top of the robot is mainly provided with the rotating, the rotary disk 7 is installed on the upper cover plate 6, the rail-mounted three-dimensional scanning mechanical arm 9 is fixed on the rotary disk through two fastening metal blocks 8, a movable sliding block 10 is installed on the front section of the rail-mounted three-dimensional scanning mechanical arm 9, the spectrum imaging phenotype big data acquisition platform 11 is hung on the movable sliding block 10 through a holder, the front-view camera 12 is fixedly installed on the fastening metal blocks 8, and the weight of the robot platform is smaller than 200 kg.
To sum up, when the field intelligent robot phenotype analysis platform is used, firstly, a spectral imaging phenotype big data acquisition platform 11, such as a hyperspectral camera and a multispectral camera which are provided with adaptive stability augmentation damping devices, is arranged on a rail-mounted three-dimensional scanning mechanical arm 9, a forward-looking camera 12, such as an infrared thermal imaging camera and an RGB camera, is arranged on a rotating disk 7, secondly, the robot platform is powered on and started, a high-power battery pack 15 and a reduction gear motor 14 which are integrated through a chassis 2 are responsible for power supply and power, a route is planned in advance in a ground station, corresponding parameters are set according to the models and technical indexes of the spectral imaging phenotype big data acquisition platform 11 and the forward-looking camera 12, a file is sent to the robot platform through a data transmission antenna 4, the route is moved through a remote controller or the ground station to test the running state of the platform, and finally, the test, after checking each parameter, the robot platform can be released by one key to enter a normal operation state, the state of the robot platform is monitored in real time through the ground station, and when a fault occurs or the operation needs to be interrupted, the robot platform is turned to a return mode by using a remote controller, and then the robot platform can be returned by one key.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (6)
1. The utility model provides a field intelligent robot phenotype analysis platform, includes master control case (1), hydraulic lifting platform (3), rail mounted three-dimensional scanning arm (9) and spectral imaging phenotype big data acquisition platform (11), its characterized in that: the bottom of the main control box (1) is fixedly provided with a chassis (2), crawler wheels (13) are arranged on two sides of the chassis (2), the inner wall of the main control box (1) is fixedly connected with a hydraulic lifting platform (3), the hydraulic lifting platform (3) penetrates through the inner cavity of the main control box (1) and extends to the outer side of the main control box (1), one end, located on the outer side of the main control box (1), of the hydraulic lifting platform (3) is fixedly connected with an upper cover plate (6), the top of the upper cover plate (6) is provided with a rotating disc (7), a fastening metal block (8) is fixedly connected to the upper portion of the rotating disc (7), a rail-type three-dimensional scanning mechanical arm (9) is fixedly sleeved inside the fastening metal block (8), the outer wall of the rail-type three-dimensional scanning mechanical arm (9) is slidably connected with a movable sliding block (10), and a spectrum imaging phenotype big data acquisition platform (11) is fixedly connected to the lower portion of, the top of the rotating disc (7) is fixedly provided with a front-view camera (12).
2. The field intelligent robot phenotype analysis platform of claim 1, wherein: the novel motor vehicle is characterized in that a reduction gear motor (14) and a high-power battery pack (15) are fixedly mounted inside the chassis (2), the number of the reduction gear motor (14) and the number of the high-power battery pack (15) are two and six respectively, and the reduction gear motor (14) is electrically connected with the high-power battery pack (15).
3. The field intelligent robot phenotype analysis platform of claim 1, wherein: the crawler wheel (13) comprises a main body frame (1301), a driving wheel (1302), a guide wheel (1303), a dragging wheel (1304), a thrust wheel (1305) and a rubber crawler belt (1306), wherein the two ends of the main body frame (1301) are respectively connected with the driving wheel (1302) and the guide wheel (1303) in a rotating mode, the middle of the main body frame (1301) is provided with the dragging wheel (1304), the bottom of the main body frame (1301) is connected with the thrust wheel (1305) in a rotating mode, the outer walls of the driving wheel (1302), the guide wheel (1303), the dragging wheel (1304) and the thrust wheel (1305) are all connected with the rubber crawler belt (1306) in a transmission mode, and the driving wheel (1302) is connected to a rotating shaft of the reduction gear motor (14) in.
4. The field intelligent robot phenotype analysis platform of claim 1, wherein: the spectrum imaging phenotype big data acquisition platform (11) comprises a hanging plate (1101), a stability augmentation cloud platform main body (1102), a magnetic coding motor (1103), a first imaging sensor (1104) and a second imaging sensor (1105), wherein a buckle is arranged at the top of the hanging plate (1101), the stability augmentation cloud platform main body (1102) is fixedly installed at the bottom of the hanging plate (1101), the magnetic coding motor (1103) is fixedly installed on the side surface of the stability augmentation cloud platform main body (1102), the stability augmentation cloud platform main body (1102) is two in number and is respectively connected with the first imaging sensor (1104) and the second imaging sensor (1105) through the magnetic coding motor (1103), and the hanging plate (1101) is fixedly connected with a movable sliding block (10).
5. The field intelligent robot phenotype analysis platform of claim 1, wherein: the rail type three-dimensional scanning mechanical arm (9) can stretch out and draw back left and right, the fastening metal block (8) and the rail type three-dimensional scanning mechanical arm (9) are fixedly sleeved, the rotating angles of the rotating disk (7), the rail type three-dimensional scanning mechanical arm (9) and the spectral imaging phenotype big data acquisition platform (11) are all 355 degrees, and the height of the rail type three-dimensional scanning mechanical arm (9) and the height of the spectral imaging phenotype big data acquisition platform (11) can be automatically controlled through the hydraulic lifting platform (3).
6. The field intelligent robot phenotype analysis platform of claim 1, wherein: the data transmission system is characterized in that a data transmission antenna (4) and an RTK module (5) are fixedly mounted above the main control box (1), and the data transmission antenna (4) is in wireless connection with a ground station.
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| CN202021174397.3U CN212423316U (en) | 2020-06-23 | 2020-06-23 | Phenotype analysis platform of field intelligent robot |
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| CN202021174397.3U CN212423316U (en) | 2020-06-23 | 2020-06-23 | Phenotype analysis platform of field intelligent robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113311461A (en) * | 2021-05-31 | 2021-08-27 | 自然资源部第三海洋研究所 | Self-stabilizing ranging-assisted RTK data acquisition system and measuring method thereof |
| CN114754822A (en) * | 2022-04-29 | 2022-07-15 | 南京农业大学 | Multiple information intelligent fusion acquisition, study and judgment decision robot based on intelligent agriculture and use method thereof |
| GB2614447A (en) * | 2022-06-07 | 2023-07-05 | Univ Zhejiang | Tracked vehicle with autofocus for acquiring field phenotypes and method for automatic focusing |
| CN117055137A (en) * | 2023-09-01 | 2023-11-14 | 山东鑫光节能科技有限公司 | Microclimate environment temperature and humidity synchronous acquisition device |
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2020
- 2020-06-23 CN CN202021174397.3U patent/CN212423316U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113311461A (en) * | 2021-05-31 | 2021-08-27 | 自然资源部第三海洋研究所 | Self-stabilizing ranging-assisted RTK data acquisition system and measuring method thereof |
| CN114754822A (en) * | 2022-04-29 | 2022-07-15 | 南京农业大学 | Multiple information intelligent fusion acquisition, study and judgment decision robot based on intelligent agriculture and use method thereof |
| GB2614447A (en) * | 2022-06-07 | 2023-07-05 | Univ Zhejiang | Tracked vehicle with autofocus for acquiring field phenotypes and method for automatic focusing |
| GB2614447B (en) * | 2022-06-07 | 2024-04-03 | Univ Zhejiang | Tracked vehicle with autofocus for acquiring field phenotypes and method for automatic focusing |
| CN117055137A (en) * | 2023-09-01 | 2023-11-14 | 山东鑫光节能科技有限公司 | Microclimate environment temperature and humidity synchronous acquisition device |
| CN117055137B (en) * | 2023-09-01 | 2024-04-30 | 山东鑫光节能科技有限公司 | Microclimate environment temperature and humidity synchronous acquisition device |
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