The invention aims to provide a field phenotype acquisition crawler capable of automatically focusing and an automatic focusing method, and relates to the technical field of crop field phenotype acquisition, the field phenotype acquisition crawler comprises a crawler-type walking mechanism, a lifting field phenotype acquisition mechanism, a piezoelectric ultrasonic sensor device and a control system; the piezoelectric ultrasonic sensor device is used for acquiring the real-time distance between the lifting type field phenotype acquisition mechanism and crops; the control system is used for controlling the crawler-type walking mechanism to operate according to a preset route and adjusting the lifting type field phenotype obtaining mechanism to ascend and descend according to the real-time distance and the calibrated distance between the lifting type field phenotype obtaining mechanism and crops. By arranging the lifting type field phenotype acquisition mechanism, the distance between a push-broom type hyperspectral camera in the lifting type field phenotype acquisition mechanism and crops is always kept at a calibrated distance in the running process of the field phenotype acquisition crawler, and automatic focusing can be performed during field phenotype acquisition, so that the quality of a hyperspectral image is ensured.
本发明的目的是提供一种可自动调焦的田间表型获取履带车及自动调焦方法,涉及作物田间表型获取技术领域,包括履带式行走机构、升降式田间表型获取机构、压电式超声波传感器装置和控制系统;压电式超声波传感器装置用于获取升降式田间表型获取机构与作物的实时距离;控制系统用于根据预设路线控制履带式行走机构运行,并根据升降式田间表型获取机构与作物的实时距离和标定距离,调整升降式田间表型获取机构升降。本发明通过设置升降式田间表型获取机构,使田间表型获取履带车在行驶过程中,升降式田间表型获取机构内推扫式高光谱相机与作物的距离始终保持在标定距离,能够在田间表型获取时进行自动调焦,以保证高光谱图像质量。
Field phenotype acquisition crawler capable of automatically focusing and automatic focusing method
一种可自动调焦的田间表型获取履带车及自动调焦方法
2022-09-02
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge / G02B Optische Elemente, Systeme oder Geräte , OPTICAL ELEMENTS, SYSTEMS, OR APPARATUS / G03B APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM , Geräte oder Anordnungen zum Aufnehmen, Projizieren oder Betrachten von Fotografien |
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