Structural Design And Implementation Of Crop Phenotype Monitoring Robot

Crop phenotype is an important bridge to study the relationship among gene,phenotype and environment,which is crucial to precision agriculture and accelerate the breeding process.It is difficult to meet the demand of real-time,non-destructive and high-throughput crop phenotype monitoring using traditional manual methods.In contrast,the crop phenotype monitoring robot platform has the advantages of flexible structure,high degree of automation and well field pass ability,which has been used to rapidly obtain crop phenotype information.Based on the analysis of the research status of various crop phenotype monitoring platforms at home and abroad,the design and research of crop phenotype monitoring robot are carried out in this paper.The specific research contents are as follows:Considering the limitations of the current crop phenotype monitoring robot,for example,it is unable to adjust monitoring platform height and wheelbase.One phenotype monitoring robot design scheme has been provided in this study,which achieved wheelbase and monitoring platform height adjustment.And Pro/E software was used to draw 3D models.Static analysis was performed on the key components of the robot to verify whether them can meet the working requirements,and modal analysis of the rack was performed to determine if it will resonate with the field pavement by ANSYS.Four conditions of smooth road,pit road,raised road and slope road were simulated by ADAMS software,which were used test dynamic performance of the robot structure,including simulation analysis of obstacle performance,steering performance and grade ability.Results shows that the robot can run ideally on flat ground and can realize differential steering.When passing an obstacle with height or depth of 100 mm?the maximum vibration acceleration is not exceed 2 m/s2,and the maximum vibration is 62.5 mm and 19.9mm,less than 4%of the height of the frame;maximum climbing angle is about 31.The crop phenotype monitoring robot was tested in experimental site to verify the static performance and dynamic performance.The static performance test verifies the adjustment range and design consistency of the wheelbase adjustment and height adjustment device of the prototype.And the dynamic performance test verified the driving ability of prototype on the flat ground,the obstacle performance,the climbing ability and the driving stability in the field.The experimental results show that the maximum vibration acceleration of the prototype crop phenotype monitoring robot is 0.3m/s2.When passing an obstacle with the height of 100 mm,the vibration amounts are 98.2 mm and 88.7 mm respectively in the front and rear directions and the vertical directions.The gradeability is 20°,and the vibration amount is less than 30 mm,which is only 1.8%of the height direction of the fuselage and 1.5%of the length of the fuselage when driving in the field.The robot has good driving stability.