CN109848955B - Suspension type track agriculture intelligent inspection robot based on multidimensional sensor - Google Patents

Abstract

The invention discloses a suspended track agricultural intelligent inspection robot based on a multi-dimensional sensor, which includes two slide grooves on the lower surface of the inner wall of the C slide near the axis. The infrared obstacle avoidance sensor is mounted on a sensor mounting bracket on one side. A temperature sensor, a humidity sensor, a light intensity sensor and a carbon dioxide concentration sensor are threadedly installed respectively. The output terminals of the temperature sensor, humidity sensor, light intensity sensor, infrared obstacle avoidance sensor and carbon dioxide concentration sensor are respectively connected to the processor installed in the control box. The module input terminal is connected with wires, and the processor module is wired with the data transmission module installed in the control box; through the photo camera and monitoring camera installed on the sensor mounting frame, the disease and insect pests of crops are enhanced during use. , and its monitoring purpose is determined through image recognition, making it more effective to monitor the health of crops when used.

Description

A suspended track agricultural intelligent inspection robot based on multi-dimensional sensors

Technical field

The invention relates to the technical field of agricultural robots, specifically a suspended track agricultural intelligent inspection robot based on multi-dimensional sensors.

Background technique

A greenhouse, also known as a greenhouse, refers to a room with facilities such as cold protection, heating, and light transmission for cultivating temperature-loving plants in winter. In seasons that are not suitable for plant growth, it can provide a growth period and increase yields. It is mostly used for the cultivation or seedling cultivation of warm-loving vegetables, flowers, forest trees and other plants in low-temperature seasons. A greenhouse is a building that can control or partially control the environment in which plants grow. Mainly used for non-seasonal or non-regional plant cultivation, scientific research, additional breeding and ornamental plant cultivation, etc. Among them, most of the monitoring inside the greenhouse and the environment inside the greenhouse are done manually or with terrain robots.

However, there are the following shortcomings when using the robot:

1. At present, many large greenhouses use data collection methods based on sensors and cameras. By setting up data transmission lines, they can collect multiple temperature and humidity values at the same time. However, the use of a small number of sensors can only perform local monitoring and cannot cover the whole situation. The use of a large number of sensors will The one-time investment cost is high, the subsequent maintenance workload is large, and the circuit settings are complex; most cameras are installed in a fixed manner, making it difficult to monitor the growth status of crops in local areas.

2. There are currently a small number of greenhouses that use self-propelled inspection robots, which can complete monitoring with multiple sensors. However, there are requirements for ground space, which should be flat and free of obstacles. Generally, it is necessary to reserve space in advance to set up routes and follow fixed routes; if the route It is covered with obstacles and it is difficult to cross or identify the path; it is battery-driven and needs to regularly replace the backup battery or wait for charging.

Contents of the invention

The purpose of the present invention is to provide a suspended track agricultural intelligent inspection robot based on multi-dimensional sensors to solve the problems raised in the above background technology.

In order to achieve the above object, the present invention provides the following technical solution: a suspended track agricultural intelligent inspection robot based on multi-dimensional sensors, including two chutes on the lower surface of the inner wall of the C slide near the axis. Rollers are placed on both sides, and a support rod is connected between the rollers through a rotating shaft. A slider is welded to the top of the support rod. An air pump is welded to the axis of the lower surface of the slider. The shaft is welded to the upper surface of the slider. A control box is installed at the center position through bolts. A pneumatic telescopic rod is installed in a thread seal at the power output end of the air pump. A mounting plate is welded to the bottom end of the pneumatic telescopic rod. A sensor mounting bracket is installed on the lower surface of the mounting plate through four bolts. , four infrared obstacle avoidance sensors are installed with uniform threads on the periphery of the sensor mounting frame near the top, and a temperature sensor, a humidity sensor, a light intensity sensor and a carbon dioxide concentration sensor are respectively threaded on the sensor mounting frame on one side of the infrared obstacle avoidance sensor. Sensor, the temperature sensor, humidity sensor, light intensity sensor, infrared obstacle avoidance sensor and carbon dioxide concentration sensor output end are respectively connected with the input end of the processor module installed in the control box, and the output end of the processor module is connected to the air pump input The processor module is electrically connected to the data transmission module installed in the control box.

Among them, the temperature sensor, humidity sensor, light intensity sensor and carbon dioxide concentration sensor monitor various data in the greenhouse in real time and transmit them to the processor module through wires for processing.

Preferably, both ends of the slider are placed in the grooves of the guide wheels, and the first motor and the second motor are installed on the lower surface of the slider near both ends through motor brackets and bolts. The first motor The power output end of the second motor is rotationally connected through a rotating shaft and a roller.

Preferably, it also includes: a coordinate data storage module and a coordinate transmission module, wherein a coordinate data storage module and a coordinate transmission module are installed in the control box, and the first motor and the second motor input end are connected to the processor module through wires. The output end is connected with wires, the input end of the processor module is connected with the output end of the coordinate data storage module through the circuit board, and the input end of the coordinate data storage module is electrically connected with the output end of the coordinate transmission module through wires.

Preferably, a monitoring mounting frame is installed at the axis of the bottom end of the sensing mounting frame through bolts, and a photo camera and a monitoring camera are respectively mounted on the lower surface of the monitoring mounting frame through bolts.

Preferably, it also includes: an image data input module, an image data storage module, and an image recognition module, wherein an image data input module is embedded on one side of the sensor mounting frame, and an image data storage module and an image data storage module are installed in the sensor mounting frame. recognition module and data processing module.

Preferably, the output end of the monitoring camera is connected to the input end of the data processing module through a data cable, the output end of the data processor is connected to the input end of the photo camera through a wire, and the data processing module is bidirectionally connected to the image recognition module. The output end of the image data input module is electrically connected to the input end of the image data storage module through a data line, and the output end of the image data storage module is electrically connected to the input end of the image recognition module through a data line.

Preferably, the output terminals of the data processing module and the camera are electrically connected to the input terminal of the data transmission module through data lines, wherein the output terminal of the data transmission module is signal-connected to the input terminal of the control center through WiFi.

Preferably, it also includes a spring-type electric contact; a sliding contact line, wherein the spring-type electric contact is installed on the upper surface of the slider on one side of the control box through bolts, and the sliding contact line is installed on the C-type slideway The upper surface of the inner wall corresponds to the spring-type electrical contact.

Preferably, two limiting plates are welded on both sides of the inner wall of the C-shaped slide, and a plurality of guide wheels are rotatably connected between the two limiting plates through pins, wherein the guide wheels are spaced 3 mm apart. -5 cm.

Preferably, the slider is hollow inside and has a reinforcing rib welded at the center of the slider. Both ends of the slider are matched with guide wheels to form a V-shaped symmetrical structure.

Compared with the prior art, the beneficial effects of the present invention are:

1. By setting up the C-shaped slide, the first motor, the second motor and the slider, the robot movement is more effectively restricted in the air during use, avoiding the existing technology that hinders work and using infrared obstacle avoidance. The sensor, when it collects information that there are workers or obstacles in front of the robot, sends a signal to the control terminal, and the control terminal sends a command to retract vertically upwards to the telescopic mechanism, so that the intelligent inspection robot can continue to move forward while avoiding workers. or obstacles, and by setting spring-type electric contacts and sliding contact wires, it avoids the need to separately set up lithium batteries in the prior art when using it, and avoids the situation where the battery is out of power and cannot be used. situation occurs.

2. Through the photo camera and monitoring camera installed on the sensor mounting frame, the pests and diseases of crops can be strengthened when used, and the purpose of monitoring can be judged through image recognition, making it more effective to monitor crops when used. health condition.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention;

Figure 2 is a schematic diagram of the connection of movement and monitoring components in Embodiment 1 of the present invention;

Figure 3 is a schematic diagram of the connection of monitoring components in Embodiment 2 of the present invention.

In the picture: 1-C-type slide; 11-fixed mounting hole; 12-limiting plate; 13-sliding contact line; 14-guide wheel; 15-slide; 2-sliding block; 21-air pump; 22-spring type Electrical contacts; 23-pneumatic telescopic rod; 24-support rod; 25-roller; 26-first motor; 27-second motor; 28-control box; 29-mounting plate; 3-sensor mounting frame; 31-monitoring Mounting frame; 32-infrared obstacle avoidance sensor; 33-temperature sensor; 34-humidity sensor; 35-light intensity sensor; 36-carbon dioxide concentration sensor; 37-coordinate transmission module; 38-coordinate data storage module; 39-processor; 4-data processor module; 41-photo camera; 42-image recognition module; 43-image data storage module; 44-image data input module; 45-monitoring camera; 46-data transmission module.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Example 1:

Please refer to Figures 1-2. The present invention provides a technical solution: a suspended track agricultural intelligent inspection robot based on multi-dimensional sensors, including two chute 15 on the lower surface of the inner wall of C slide 1 near the axis. Rollers 25 are placed in the chute 15, and support rods 24 are connected between the rollers 25 through a rotating shaft. Sliders 2 are welded to the tops of the support rods 24, and the axis of the lower surface of the slider 2 is An air pump 21 is welded to the upper surface of the slider 2. A control box 28 is installed with bolts at the axis of the upper surface of the slider 2. A pneumatic telescopic rod 23 is installed in a thread seal at the power output end of the air pump 21. A pneumatic telescopic rod 23 is welded to the bottom end of the pneumatic telescopic rod 23. The mounting plate 29 has a sensor mounting bracket 3 installed on the lower surface of the mounting plate 29 through four bolts. Four infrared obstacle avoidance sensors 32 are evenly threaded on the periphery of the sensor mounting bracket 3 near the top. The infrared obstacle avoidance sensor A temperature sensor 33, a humidity sensor 34, a light intensity sensor 35 and a carbon dioxide concentration sensor 36 are respectively threaded on the sensor mounting frame 3 on one side of the 32 side. The temperature sensor 33, the humidity sensor 34, the light intensity sensor 35 and the infrared obstacle avoidance sensor are threaded. 32 and the output end of the carbon dioxide concentration sensor 36 are respectively connected with the input end of the processor module 39 installed in the control box 28. The output end of the processor module 39 is electrically connected to the input end of the air pump 21. The processor module 39 is electrically connected to the input end of the air pump 21. The data transmission module 46 installed in the control box 28 is connected with wires. The temperature sensor 33, the humidity sensor 34, the light intensity sensor 35 and the carbon dioxide concentration sensor 36 monitor the various data in the greenhouse in real time and transmit it to the processor through the wires. The module 39 performs processing. After being detected by the temperature sensor 33, the humidity sensor 34, the light intensity sensor 35 and the carbon dioxide concentration sensor 36, the structure obtained by monitoring the individual data in the greenhouse is processed by the processor 39 and then transmitted to the control unit by the data transmission module 46. The center conducts real-time monitoring.

Both ends of the slider 2 are placed in the grooves of the guide wheel 14. A first motor 26 and a second motor 27 are installed on the lower surface of the slider 2 near both ends through motor brackets and bolts. The power output ends of the first motor 26 and the second motor 27 are both rotationally connected to the roller 25 through a rotating shaft.

Coordinate data storage module 38, coordinate transmission module 37, wherein the coordinate data storage module 38 and coordinate transmission module 37 are installed in the control box 28. The input ends of the first motor 26 and the second motor 27 are connected to the processor through wires. The output end of the module 39 is connected with wires, the input end of the processor module 39 is connected with the output end of the coordinate data storage module 38 through a circuit board, and the input end of the coordinate data storage module 38 is electrically connected with the output end of the coordinate transmission module 37 through wires. .

Spring-type electrical contacts 22 and sliding contact wires 13. The spring-type electrical contacts 22 are installed on the upper surface of the slider 2 on one side of the control box 28 through bolts. The sliding contact wires 13 are installed on the C-type slideway. 1. The upper surface of the inner wall corresponds to the spring-type electric contacts 22. This prevents separate wiring during use, avoids increasing the cost of use, and prevents obstacles in use. The spring-type electric contacts 22 and the sliding contact wire 13 Electrical energy used for various types of electrical appliances.

Two limiting plates 12 are welded on both sides of the inner wall of the C-shaped slideway 1, and a plurality of guide wheels 14 are rotatably connected between the two limiting plates 12 through pins. The distance is 3-5 cm, which facilitates the movement of the slider 2 during use. The slider 2 is hollow inside and has a reinforcing rib welded at the center of the interior. The two ends of the slider 2 are matched with the guide wheels 14 to form a V-shaped symmetrical structure to strengthen it. Constancy when moving.

The data transmission module 46 is composed of a WiFi signal transceiver, the processor module 39 is composed of a microprocessor, the coordinate data storage module 38 is composed of a data memory, and the coordinate transmission module 37 is composed of a USB interface.

Example 2:

Please refer to Figures 1-2. The present invention provides a technical solution: a suspended track agricultural intelligent inspection robot based on multi-dimensional sensors, including two chute 15 on the lower surface of the inner wall of C slide 1 near the axis. Rollers 25 are placed in the chute 15, and support rods 24 are connected between the rollers 25 through a rotating shaft. Sliders 2 are welded to the tops of the support rods 24, and the axis of the lower surface of the slider 2 is An air pump 21 is welded to the upper surface of the slider 2. A control box 28 is installed with bolts at the axial center of the upper surface of the slider 2. Two limit plates 12 are welded to both sides of the inner wall of the C-shaped slide 1. The two limit plates 12 There are a plurality of guide wheels 14 connected by rotation through pins. The guide wheels 14 are spaced 3-5 cm apart to facilitate the movement of the slider 2 during use. The slider 2 is hollow inside and has an internal center position. Reinforcement ribs are welded, and the two ends of the slider 2 are matched with the guide wheels 14 to form a V-shaped symmetrical structure to enhance the stability of its movement. The power output end of the air pump 21 is thread-sealed and installed with a pneumatic telescopic rod 23. The pneumatic telescopic rod 23 is installed in a thread seal. A mounting plate 29 is welded to the bottom of the rod 23. A sensor mounting bracket 3 is installed on the lower surface of the mounting plate 29 through four bolts. Four infrared obstacle avoidance sensors 32 are installed with uniform threads on the periphery of the sensor mounting bracket 3 near the top. Both ends of the slider 2 are placed in the grooves of the guide wheel 14. A first motor 26 and a second motor 27 are installed on the lower surface of the slider 2 near both ends through motor brackets and bolts. The power output ends of the first motor 26 and the second motor 27 are both rotationally connected to the roller 25 through the rotating shaft. The coordinate data storage module 38 detects the surrounding environment status through the infrared obstacle avoidance sensor 32. When an obstacle is detected, the data is transmitted to the processor. In the module 39, the processor module 39 controls the moving speed of the first motor 26 and the second motor 27 as well as the forward and backward stops, and controls the overall lifting through the air pump 21 to avoid obstacles.

Coordinate transmission module 37, in which a coordinate data storage module 38 and a coordinate transmission module 37 are installed in the control box 28. The input ends of the first motor 26 and the second motor 27 are connected to the output end of the processor module 39 through wires. , the input end of the processor module 39 is electrically connected to the output end of the coordinate data storage module 38 through a circuit board, and the input end of the coordinate data storage module 38 is electrically connected to the output end of the coordinate transmission module 37 through a wire, and is controlled by the coordinate transmission module 37 The forward and backward information that needs to be moved is entered and stored through the coordinate data storage module 38. The processor module 39 controls the first motor 26 and the second motor 27 to move according to the forward and backward coordinate information.

Spring-type electrical contacts 22 and sliding contact wires 13. The spring-type electrical contacts 22 are installed on the upper surface of the slider 2 on one side of the control box 28 through bolts. The sliding contact wires 13 are installed on the C-type slideway. 1. The upper surface of the inner wall corresponds to the spring-type electric contacts 22. This prevents separate wiring during use, avoids increasing the cost of use, and prevents obstacles in use. The spring-type electric contacts 22 and the sliding contact wire 13 Electrical energy used for various types of electrical appliances.

A monitoring mounting frame 31 is installed at the bottom axis position of the sensing mounting frame 3 through bolts. A photo camera 41 and a monitoring camera 45 are respectively mounted on the lower surface of the monitoring mounting frame 31 through bolts. It also includes: an image data input module 44 , image data storage module 43, image recognition module 42, wherein the image data input module 44 is embedded on one side of the sensor mounting frame 3, and the image data storage module 43, image recognition module 42 and Data processing module 4. The output end of the monitoring camera 45 is connected to the input end of the data processing module 4 through a data cable, the output end of the data processor 4 is connected to the input end of the photo camera 41 through a wire, and the data processing module 4 is connected to the image recognition module 42 Bidirectional connection, the output end of the image data input module 44 is electrically connected to the input end of the image data storage module 43 through a data line, and the output end of the image data storage module 43 is electrically connected to the input end of the image recognition module 42 through a data line. The output terminals of the data processing module 4 and the camera 41 are electrically connected to the input terminal of the data transmission module 46 through data lines, and the output terminal of the data transmission module 46 is signal-connected to the input terminal of the control center through WiFi. First, the picture information of various plant diseases and insect pests is input through the image data input module 44, and then stored through the image data storage module 43. The video pattern at any time period is monitored in real time through the surveillance camera 45, and then the image is intercepted by the processor, and passed through the image recognition module 42. Compare whether there are plant diseases and insect pests. If the recognition result shows that there are pests or diseases, it will be processed by the data processing module 4 and transmitted to the control center by the data transmission module 46. When this situation occurs in the image recognition, the area will be captured through the camera 41. High-definition shooting is performed, and the data transmission module 46 transmits it to the control center.

The image data input module 44 is composed of a USB interface, the image data storage module 43 is composed of a memory, the data processing module 4 is composed of a microprocessor, and the data transmission module 46 is composed of a WiFi signal transceiver. The processor module 39 is composed of a microprocessor.

In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device implementation described above is only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, for example, multiple units or components may be The combination can either be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple units. . Some or all of the units can be selected according to actual needs to achieve the purpose of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .

The above descriptions are only embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the description and drawings of the present invention, or directly or indirectly applied to other related technologies fields are equally included in the scope of patent protection of the present invention.

Claims (7)

1. A suspended track agricultural intelligent inspection robot based on multi-dimensional sensors, including two chutes (15) on the lower surface of the inner wall of the C-shaped slide (1) close to the axis. Rollers (25) are placed on both sides, and support rods (24) are connected between the rollers (25) through rotating shafts. Sliders (2) are welded to the tops of the support rods (24), and the sliders (2) are welded to each other. 2) An air pump (21) is welded to the axis of the lower surface, and a control box (28) is installed at the axis of the upper surface of the slider (2) through bolts. It is characterized in that: the power output end of the air pump (21) has threads. A pneumatic telescopic rod (23) is installed in a sealed manner. A mounting plate (29) is welded to the bottom end of the pneumatic telescopic rod (23). A sensor mounting frame (3) is installed on the lower surface of the mounting plate (29) through four bolts. Four infrared obstacle avoidance sensors (32) are installed with uniform threads on the periphery of the sensor mounting bracket (3) near the top, and temperature sensors (32) are threaded on the sensor mounting bracket (3) on one side of the infrared obstacle avoidance sensor (32). Sensor (33), humidity sensor (34), light intensity sensor (35) and carbon dioxide concentration sensor (36), the temperature sensor (33), humidity sensor (34), light intensity sensor (35), infrared obstacle avoidance sensor (32) and the output end of the carbon dioxide concentration sensor (36) are respectively connected with the input end of the processor module (39) installed in the control box (28), and the output end of the processor module (39) is connected to the input of the air pump (21) The processor module (39) is electrically connected to the data transmission module (46) installed in the control box (28); Among them, the temperature sensor (33), humidity sensor (34), light intensity sensor (35) and carbon dioxide concentration sensor (36) monitor various data in the greenhouse in real time and transmit them to the processor module (39) for processing through wires. ; Both ends of the slider (2) are placed in the grooves of the guide wheel (14), and the first motor (26) and the first motor (26) are installed on the lower surface of the slider (2) near both ends through motor brackets and bolts. A second motor (27), the power output ends of the first motor (26) and the second motor (27) are rotationally connected to the roller (25) through a rotating shaft; A monitoring mounting frame (31) is installed at the bottom axis of the sensor mounting frame (3) through bolts, and a photo camera (41) and a monitoring camera (45) are respectively mounted on the lower surface of the monitoring mounting frame (31) through bolts. ; Also includes: Spring-loaded electrical contacts (22); Sliding contact wire (13), wherein the spring-type electric contact (22) is installed on the upper surface of the slider (2) on one side of the control box (28) through bolts, and the sliding contact wire (13) is installed on C The upper surface of the inner wall of the slideway (1) corresponds to the spring-type electric contact (22). 2. A suspended track agricultural intelligent inspection robot based on multi-dimensional sensors according to claim 1, characterized in that: it also includes: Coordinate data storage module (38); Coordinate transmission module (37), wherein a coordinate data storage module (38) and a coordinate transmission module (37) are installed in the control box (28), and the first motor (26) and the second motor (27) input The input end of the processor module (39) is connected to the output end of the coordinate data storage module (38) through a circuit board through a wire. The coordinate data storage module (38) The input end is electrically connected to the output end of the coordinate transmission module (37) through wires. 3. A suspended track agricultural intelligent inspection robot based on multi-dimensional sensors according to claim 1, characterized in that: it also includes: Image data input module (44); Image data storage module (43); Image recognition module (42), wherein an image data input module (44) is embedded on one side of the sensor mounting frame (3), and an image data storage module (43) and an image recognition module are installed in the sensor mounting frame (3). module (42) and data processing module (4). 4. A suspended track agricultural intelligent inspection robot based on multi-dimensional sensors according to claim 3, characterized in that: the output end of the monitoring camera (45) is connected to the input end wire of the data processing module (4) through a data line. connection, the output end of the data processing module (4) is connected to the input end of the photo camera (41) through wires, the data processing module (4) is bidirectionally connected to the image recognition module (42), and the image data input module (42) is connected bidirectionally. 44) The output end is electrically connected to the input end of the image data storage module (43) through a data line, and the output end of the image data storage module (43) is electrically connected to the input end of the image recognition module (42) through a data line. 5. A suspended track agricultural intelligent inspection robot based on multi-dimensional sensors according to claim 4, characterized in that: the output terminals of the data processing module (4) and the photo camera (41) are both connected to the data transmission module ( 46) The input terminal is electrically connected through the data line; Among them, the output end of the data transmission module (46) is signal-connected to the input end of the control center through WiFi. 6. A suspended track agricultural intelligent inspection robot based on multi-dimensional sensors according to claim 1, characterized in that: two restriction plates (12) are welded on both sides of the inner wall of the C-shaped slide (1) , a plurality of guide wheels (14) are rotatably connected between the two limiting plates (12) through pins, wherein the guide wheels (14) are spaced 3-5 cm apart. 7. A suspended track agricultural intelligent inspection robot based on multi-dimensional sensors according to claim 1, characterized in that: the slider (2) is hollow inside and has a reinforcing rib welded at the center of the slider. (2) The matching guide wheels (14) at both ends form a V-shaped symmetrical structure.