An intelligent green space inspection and maintenance system and method based on Internet of Things technology

Abstract

The present invention provides a green space inspection and maintenance system and method based on Internet of Things technology, which relates to the technical field of green space inspection and maintenance. The invention integrates a power switching combination module, a three-wheel obstacle-crossing module, a dual-motor multi-power output module, a soil loosening module, a fertilizing and sowing module, a soil detection module and a visual detection module, realizing the full-process operations of moving, obstacle-crossing, soil loosening, fertilizing and detection. Secondly, driven by the dual-motor multi-power output module, multi-task parallel driving is realized. Then, through the three-wheel obstacle-crossing module, the rapid switching between the obstacle-crossing mode and the moving mode is realized, improving the adaptability to complex terrains. Finally, through Internet of Things technology, data is transmitted to the cloud server, and after being analyzed by the cloud model, the system is remotely controlled through control instructions, realizing automated operation and reducing the dependence on manpower.

Description

Technical Field

[0001] The present invention relates to the technical field of green space inspection and maintenance, and in particular to a green space inspection and maintenance system and method based on Internet of Things technology. Background Art

[0002] The Green Space Patrol Maintenance Robot is a mechanical device designed to restore the natural ecosystem. Using its own detection device, it samples soil composition, automatically determines the nutrients or water needed for plant growth, and replenishes them promptly. This device is widely used in Gobi and semi-desert areas, effectively slowing desertification. With widespread adoption, it can even achieve desertification repair and windbreak and sand fixation. Applied to urban green spaces and parks, the maintenance robot can also patrol and promptly detect dead or diseased plants, removing them and maintaining green spaces.

[0003] However, existing green space inspection and maintenance robots still have some shortcomings. Many rely on manual inspections and are limited in functionality, typically only able to perform a single task, such as loosening the soil or applying fertilizer, and are unable to operate multiple tasks in parallel. Furthermore, these devices lack adaptability in complex terrain, limiting their application in diverse environments. Summary of the Invention

[0004] In order to solve the problems in the above-mentioned prior art, the present invention provides a green space inspection and maintenance system and method based on Internet of Things technology. The invention integrates a power switching combination module, a three-wheel obstacle crossing module, a dual-motor multi-power output module, a soil loosening module, a fertilization and sowing module, a soil detection module and a visual detection module into one, realizing the full process operation of movement, obstacle crossing, soil loosening, fertilization and detection. Secondly, it adopts a dual-motor multi-power output module drive to realize multi-task parallel drive. Then, through the three-wheel obstacle crossing module, it realizes the rapid switching between obstacle crossing mode and mobile mode, and improves the adaptability to complex terrain. Finally, the data is transmitted to the cloud server through the Internet of Things technology. After the cloud model analysis, the system is remotely controlled by control instructions, realizing automated operation and reducing manpower dependence. To achieve the above purpose, the technical solution is as follows:

[0005] In one aspect, the present invention provides a green space inspection and maintenance system based on Internet of Things technology, the system comprising:

[0006] Cloud server, power switching combination module, dual-motor multi-power output module and visual inspection module;

[0007] Based on the Internet of Things technology, the cloud server receives the green space image data collected by the visual detection module and the soil parameters detected by the soil detection module and generates comprehensive control instructions;

[0008] The cloud server issues comprehensive control instructions to the power switching combination module and the dual-motor multi-power output module;

[0009] The power switching combination module switches the working mode of the three-wheel obstacle crossing module according to the comprehensive control instructions. The working modes of the three-wheel obstacle crossing module include: moving mode and obstacle crossing mode;

[0010] The dual-motor multi-power output module provides working power to the power switching combination module, soil loosening module, fertilization and sowing module, and soil detection module;

[0011] The dual-motor multi-POT module includes: fertilizing and sowing module PTO gear, bracket, soil detection module PTO gear, loosening module PTO gear, first stepper motor mounting plate, second stepper motor, profile and first stepper motor;

[0012] The first stepper motor is fixedly installed on the base through the first stepper motor mounting plate. The first stepper motor drives the second stepper motor to perform linear motion on the profile. The second stepper motor gear is installed on the rotating shaft of the second stepper motor. The gear of the second stepper motor is respectively engaged with the power output gear of the fertilization and sowing module, the power output gear of the soil detection module, the power output gear of the loosening module and the reversing rack of the power switching combination module. The power output gear of the fertilization and sowing module is fixedly installed on the base through the bracket.

[0013] Optionally, the green space image data includes: path conditions of the green space inspection and maintenance system and the growth conditions of the monitored green space vegetation;

[0014] The soil parameters include: soil moisture, soil pH, soil air permeability and soil organic matter content.

[0015] Optionally, the power switching assembly module includes: a reversing fork, a reversing slip ring, a vertical bearing seat, a reversing rack, a power drive motor, a ratchet and a reversing paddle;

[0016] The power drive motor is connected to the switching shaft through the vertical bearing seat, and the switching shaft passes through the reversing slip ring, the reversing fork and the ratchet in sequence. The reversing slip ring and the reversing fork are respectively connected to the reversing rack;

[0017] The reversing rack moves so that the reversing fork shifts the reversing paddle, thereby changing the matching mode between the reversing slip ring and the reversing fork. The matching mode includes a linkage matching mode and a free movement mode.

[0018] Optionally, the three-wheel obstacle crossing module includes: a three-wheel plate, a first gear of the three-wheel plate, a second gear of the three-wheel plate, a third gear of the three-wheel plate and wheels;

[0019] The shape of the three-wheel plate is a concave curved-edge triangle. The first gears of the three-wheel plate are rotatably installed at the three corners of the concave curved-edge triangle. The first gears of the three-wheel plate are coaxially installed with the wheels and drive the wheels to rotate. The second gears of the three-wheel plate are respectively meshed with the first gears of the three-wheel plate. The third gear of the three-wheel plate is meshed with the three second gears of the three-wheel plate. The center of the third gear of the three-wheel plate is the same as the center of the three-wheel plate.

[0020] Optionally, the profile is installed on the base.

[0021] Optionally, the soil loosening module includes: a soil loosening bracket, a soil loosening cover, a soil loosening gear, a soil loosening synchronous pulley and a soil loosening tooth disc;

[0022] The soil loosening bracket is installed on the base. The soil loosening synchronous pulley is installed on the soil loosening bracket. The soil loosening synchronous pulley drives the soil loosening gear to rotate. The soil loosening gear drives the soil loosening tooth disc to rotate through a soil loosening shaft. The soil loosening cover is located above the soil loosening tooth disc.

[0023] Optionally, the fertilizing and sowing module includes: a fertilizing and sowing box, a third stepping motor, a first lead screw, a cam switch, a discharge port plate, a sowing wheel disc, a sowing transmission shaft, a fertilizing and sowing synchronous pulley and a first linear motion guide rail;

[0024] The fertilizing and sowing box includes: a sowing device housing and a sowing device inner plate. The sowing device housing is arranged in a cuboid shape. The sowing device inner plate is vertically installed at the central position of the sowing device housing;

[0025] The third stepping motor is installed on the side of the fertilizing and sowing box. The first lead screw is connected to the rotating shaft of the third stepping motor. The cam switch is threadedly connected to the first lead screw. The discharge port plate is located on both sides of the cam switch. The first lead screw drives the cam switch to make a reciprocating motion along the direction of the first lead screw. When the protruding position of the cam switch is located at the discharge port plate, the discharge port plate is in an open state. When the protruding position of the cam switch is away from the discharge port plate, the discharge port plate is in a closed state. The first linear motion guide rail is installed on the sowing device housing. The first linear motion guide rail is located above the first lead screw. The first linear motion guide rail restricts the continuous rotation of the cam switch. The sowing wheel disc is located below the discharge port plate. The sowing transmission shaft is fixedly installed and passes through the center of the sowing wheel disc. The fertilizing and sowing synchronous pulley is located at one end of the sowing transmission shaft. The fertilizing and sowing synchronous pulley is connected to the rotating shaft driven by the fertilizing and sowing module power output gear of the dual-motor multi-power output module.

[0026] Optionally, the soil detection module includes: a soil detection lead screw, a second linear motion guide rail, a horizontal bearing seat, a measuring nut seat and a detector;

[0027] Both ends of the soil detection lead screw are installed on the horizontal bearing block through bearings. The soil detection lead screw drives the movement of the measuring nut seat. The detector is fixedly installed on the measuring nut seat. The second linear motion guide supports the measuring nut seat to move along a fixed route.

[0028] A green space inspection and maintenance method based on Internet of Things technology is applied to the above-mentioned green space inspection and maintenance system based on Internet of Things technology. The method includes:

[0029] S1. Start the green space inspection and maintenance system, and obtain the surrounding environment of the green space inspection and maintenance system through the visual detection module;

[0030] S2. Obtain the soil parameters around the green space inspection and maintenance system according to the soil detection module. The soil parameters around the green space inspection and maintenance system include: soil humidity, soil pH value, soil permeability, and soil organic matter content;

[0031] S3. According to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, transmit them to the cloud server through Internet of Things technology and perform data analysis to obtain the comprehensive control instructions for the green space inspection and maintenance system;

[0032] S4. Remotely control the green space inspection and maintenance system according to the comprehensive control instructions of the green space inspection and maintenance system.

[0033] Optionally, in S3, according to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, transmit them to the cloud server through Internet of Things technology and perform data analysis to obtain the comprehensive control instructions for the green space inspection and maintenance system, including:

[0034] S31. According to the surrounding environment of the green space inspection and maintenance system, obtain the path instructions of the green space inspection and maintenance system through the path planning algorithm;

[0035] S32. According to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, obtain the control instructions for the fertilization and seeding module by analyzing the growth status of seedlings and the organic matter content of the soil;

[0036] S33. According to the soil parameters around the green space inspection and maintenance system, obtain the control instructions for the soil loosening module by analyzing the soil humidity, soil pH value, and soil permeability;

[0037] S34. Obtain the comprehensive control instructions according to the path instructions of the green space inspection and maintenance system, the control instructions for the fertilization and seeding module, and the control instructions for the soil loosening module.

[0038] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects:

[0039] On the one hand, the above solution integrates the power switching combination module, the three-wheel obstacle-crossing module, the dual-motor multi-power output module, the soil loosening module, the fertilizing and sowing module, the soil detection module, and the visual detection module into one, realizing the full-process operations of movement, obstacle crossing, soil loosening, fertilizing, and detection. On the other hand, it is driven by the dual-motor multi-power output module, achieving multi-task parallel driving. On the third hand, through the three-wheel obstacle-crossing module, it realizes the rapid switching between the obstacle-crossing mode and the movement mode, improving the adaptability to complex terrains. On the fourth hand, data is transmitted to the cloud server through the Internet of Things technology, and after being analyzed by the cloud model, the system is remotely controlled through control instructions, realizing automated operations and reducing the reliance on manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 is the system block diagram of the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0042] Figure 2 is the top view of the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0043] Figure 3 is the perspective view of the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0044] Figure 4 is the structural schematic diagram of the power switching combination module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0045] Figure 5 is the structural schematic diagram of the three-wheel obstacle-crossing module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0046] Figure 6 is the structural schematic diagram of the dual-motor multi-power output module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0047] Figure 7(a) is the front view of the structure of the soil loosening module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0048] Figure 7(b) is the left view of the structure of the soil loosening module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0049] Figure 8(a) is the front view of the structure of the fertilization and seeding module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0050] Figure 8(b) is the left view of the structure of the fertilization and seeding module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0051] Figure 8(c) is the top view of the structure of the fertilization and seeding module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0052] Figure 9(a) is the front view of the structure of the soil detection module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0053] Figure 9(b) is the left view of the structure of the soil detection module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention;

[0054] Figure 10 is the flowchart of the embodiment of the green space inspection and maintenance method based on the Internet of Things technology of the present invention;

[0055] Figure 11 is the process flowchart of generating the comprehensive control instruction of the green space inspection and maintenance system in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention.

[0056] Description of the reference numerals in the figure: Power switching combination module 1, Three-wheel over-obstacle module 2, Dual-motor multi-power output module 3, Soil loosening module 4, Fertilization and seeding module 5, Soil detection module 6, Visual detection module 7, Cloud server 8, Remote control module 9, Reversing fork 1-1, Reversing slip ring 1-2, Vertical bearing seat 1-3, Reversing rack 1-4, Power driving motor 1-5, Ratchet 1-6, Reversing paddle 1-7, Three-wheel plate 2-1, First gear of three-wheel plate 2-2, Second gear of three-wheel plate 2-3, Third gear of three-wheel plate 2-4, Wheel 2-5, Power output gear of fertilization and seeding module 3-1, Bracket 3-2, Power output gear of soil detection module 3-3, Power output gear of soil loosening module 3-4, First stepping motor mounting plate 3-5, Second stepping motor 3-6, Profile 3-7, First stepping motor 3-8, Soil loosening bracket 4-1, Soil loosening cover 4-2, Soil loosening gear 4-3, Soil loosening synchronous pulley 4-4, Soil loosening tooth disc 4-5, Spreader housing 5-1, Spreader inner plate 5-2, Third stepping motor 5-3, First lead screw 5-4, Cam switch 5-5, Discharge port plate 5-6, Spreading wheel disc 5-7, Sowing transmission shaft 5-8, Fertilization and seeding synchronous pulley 5-9, First linear motion guide 5-10, Soil detection lead screw 6-1, Second linear motion guide 6-2, Horizontal bearing seat 6-3, Measuring nut seat 6-4, Detector 6-5. Specific Embodiments

[0057] The following describes the technical solutions in the present invention with reference to the accompanying drawings.

[0058] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as an "example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of the word "example" is intended to present concepts in a specific manner. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two.

[0059] To make the technical problems, technical solutions, and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0060] As Figure 1 shown, the system block diagram of the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention and as Figure 2 shown, the top view of the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention and as Figure 3 shown, the perspective view of the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention, the present invention provides a green space inspection and maintenance system based on the Internet of Things technology, which can implement a green space inspection and maintenance method based on the Internet of Things technology. The system includes: a power switching combination module 1, a three-wheel obstacle crossing module 2, a dual-motor multi-power output module 3, a soil loosening module 4, a fertilizing and seeding module 5, a soil detection module 6, a visual detection module 7, and a cloud server 8;

[0061] The power switching combination module 1 is used to switch the working mode of the three-wheel obstacle crossing module 2 according to the environmental conditions of the green space. The working modes of the three-wheel obstacle crossing module 2 include: a moving mode and an obstacle crossing mode;

[0062] Specifically, as Figure 4 shown, the structural schematic diagram of the power switching combination module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention, the power switching combination module 1 includes: a reversing fork 1-1, a reversing slip ring 1-2, a vertical bearing seat 1-3, a reversing rack 1-4, a power driving motor 1-5, a ratchet 1-6, and a reversing paddle 1-7;

[0063] The power driving motor 1-5 is connected to the switching shaft through the vertical bearing seat 1-3. The switching shaft sequentially passes through the reversing slip ring 1-2, the reversing fork 1-1, and the ratchet 1-6. The reversing slip ring 1-2 and the reversing fork 1-1 are respectively connected to the reversing rack 1-4;

[0064] By moving the reversing rack 1-4, the reversing fork 1-1 toggles the reversing piece 1-7, changing the mating mode between the reversing slip ring 1-2 and the reversing fork 1-1. The mating modes include: a linkage mating mode and a free movement mode.

[0065] Further, when the reversing slip ring 1-2 and the reversing fork 1-1 are in the linkage mating mode, the power drive motor 1-5 drives the third gear 2-4 of the three-wheel plate to rotate, realizing the movement mode of the three-wheel obstacle-crossing module 2.

[0066] When the reversing slip ring 1-2 and the reversing fork 1-1 are in the free movement mode, the power drive motor 1-5 drives the three-wheel plate 2-1 to rotate, realizing the obstacle-crossing mode of the three-wheel obstacle-crossing module 2.

[0067] Specifically, as Figure 5 shown in the structural schematic diagram of the three-wheel obstacle-crossing module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention, the three-wheel obstacle-crossing module includes: a three-wheel plate 2-1, a first gear 2-2 of the three-wheel plate, a second gear 2-3 of the three-wheel plate, a third gear 2-4 of the three-wheel plate, and a wheel 2-5.

[0068] The shape of the three-wheel plate is an inwardly concave curved-edge triangle. The first gears 2-2 of the three-wheel plate are rotatably installed at the three corners of the inwardly concave curved-edge triangle. The first gears 2-2 of the three-wheel plate are coaxially installed with the wheel 2-5 and drive the wheel 2-5 to rotate. The second gears 2-3 of the three-wheel plate are respectively meshed with the first gears 2-2 of the three-wheel plate. The third gear 2-4 of the three-wheel plate is meshed with the three second gears 2-3 of the three-wheel plate. The center of the third gear 2-4 of the three-wheel plate is the same as the center of the three-wheel plate 2-1.

[0069] Among them, the inwardly concave curved-edge triangle is similar in structure to the curved-edge triangle. Each side of the curved-edge triangle is convexly arranged. The sides of the inwardly concave curved-edge triangle in this embodiment are concave, which is equivalent to the opposite structure.

[0070] The dual-motor multi-power output module 3 is used to provide the switching power for the power switching combination module 1 and the working power for the soil loosening module 4, the fertilizing and sowing module 5, and the soil detection module 6.

[0071] Specifically, as Figure 6 shown in the structural schematic diagram of the dual-motor multi-power output module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention, the dual-motor multi-power output module 3 includes: a power output gear 3-1 for the fertilizing and sowing module, a bracket 3-2, a power output gear 3-3 for the soil detection module, a power output gear 3-4 for the soil loosening module, a first stepping motor mounting plate 3-5, a second stepping motor 3-6, a profile 3-7, and a first stepping motor 3-8.

[0072] The first stepping motor 3-8 is fixedly installed on the base through the first stepping motor mounting plate 3-5. The first stepping motor 3-8 drives the second stepping motor 3-6 to perform a linear motion on the profile 3-7. A second stepping motor gear is installed on the rotating shaft of the second stepping motor 3-6. The second stepping motor gear meshes with the power output gear 3-1 of the fertilizing and sowing module, the power output gear 3-3 of the soil detection module, the power output gear 3-4 of the soil loosening module, and the reversing rack 1-4 of the power switching combination module 1 respectively. The power output gear 3-1 of the fertilizing and sowing module is fixedly installed on the base through the bracket 3-2; the profile 3-7 is installed on the base.

[0073] Specifically, as shown in the front view of the structure of the soil loosening module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention in FIG. 7(a) and the left view of the structure of the soil loosening module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention in FIG. 7(b), the soil loosening module 4 includes: a soil loosening bracket 4-1, a soil loosening cover 4-2, a soil loosening gear 4-3, a soil loosening synchronous pulley 4-4, and a soil loosening tooth disc 4-5;

[0074] The soil loosening bracket 4-1 is installed on the base. The soil loosening synchronous pulley 4-4 is installed on the soil loosening bracket 4-1. The soil loosening synchronous pulley 4-4 drives the soil loosening gear 4-3 to rotate. The soil loosening gear 4-3 drives the soil loosening tooth disc 4-5 to rotate through a soil loosening shaft. The soil loosening cover 4-2 is located above the soil loosening tooth disc 4-5.

[0075] Specifically, as shown in the front view of the structure of the fertilizing and sowing module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention in FIG. 8(a), the left view of the structure of the fertilizing and sowing module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention in FIG. 8(b), and the top view of the structure of the fertilizing and sowing module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention in FIG. 8(c), the fertilizing and sowing module 5 includes: a fertilizing and sowing box, a third stepping motor 5-3, a first lead screw 5-4, a cam switch 5-5, a discharge port plate 5-6, a sowing wheel disc 5-7, a sowing transmission shaft 5-8, a fertilizing and sowing synchronous pulley 5-9, and a first linear motion guide rail 5-10;

[0076] The fertilizing and sowing box includes: a sower housing 5-1 and a sower inner plate 5-2. The sower housing 5-1 is arranged in a cuboid shape. The sower inner plate 5-2 is vertically installed at the central position of the sower housing 5-1;

[0077] The third stepping motor 5-3 is installed on the side of the fertilizing and seeding box. The first lead screw 5-4 is connected to the rotating shaft of the third stepping motor 5-3. The cam switch 5-5 is threadedly connected to the first lead screw 5-4. The discharge port plate is located on both sides of the cam switch 5-5. The first lead screw 5-4 drives the cam switch 5-5 to perform a reciprocating motion along the direction of the first lead screw 5-4. When the protruding position of the cam switch 5-5 is located at the discharge port plate 5-6, the discharge port plate 5-6 is in an open state. When the protruding position of the cam switch 5-5 is away from the discharge port plate 5-6, the discharge port plate 5-6 is in a closed state. The first linear motion guide 5-10 is installed on the spreader housing 5-1. The first linear motion guide 5-10 is located above the first lead screw 5-4. The first linear motion guide 5-10 restricts the continuous rotation of the cam switch 5-5. The spreading wheel disc 5-7 is located below the discharge port plate 5-6. The seeding transmission shaft 5-8 is fixedly installed and passes through the center of the spreading wheel disc 5-7. The fertilizing and seeding synchronous belt pulley 5-9 is located at one end of the seeding transmission shaft 5-8. The fertilizing and seeding synchronous belt pulley 5-9 is connected to the rotating shaft driven by the fertilizing and seeding module power output gear 3-1 of the dual-motor multi-power output module 3.

[0078] Specifically, as shown in the front view of the structure of the soil detection module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention in FIG. 9(a) and the left view of the structure of the soil detection module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention in FIG. 9(b), the soil detection module 6 includes: a soil detection lead screw 6-1, a second linear motion guide 6-2, a horizontal bearing block 6-3, a measuring nut seat 6-4, and a detector 6-5;

[0079] Both ends of the soil detection lead screw 6-1 are installed on the horizontal bearing block 6-3 through bearings. The soil detection lead screw 6-1 drives the measuring nut seat 6-4 to move. The detector 6-5 is fixedly installed on the measuring nut seat 6-4. The second linear motion guide 6-2 supports the measuring nut seat 6-4 to move along a fixed route.

[0080] Further, the detector 6-5 performs a reciprocating motion up and down along the second linear motion guide 6-2.

[0081] The visual detection module 7 is used to collect the path conditions of the green space inspection and maintenance system and monitor the growth conditions of the green space vegetation, and transmit the path conditions of the green space inspection and maintenance system and the growth conditions of the green space vegetation to the cloud server 8 through the Internet of Things technology;

[0082] The cloud server 8 is used to generate a comprehensive control instruction by analyzing and processing the data of the soil detection module 6 and the data of the visual detection module 7.

[0083] Specifically, the comprehensive control instruction remotely controls the green space inspection and maintenance system through the remote control module 9.

[0084] As Figure 10 shown in the flowchart of the embodiment of the method for inspecting and maintaining green spaces based on the Internet of Things technology of the present invention, the present invention provides a method for inspecting and maintaining green spaces based on the Internet of Things technology. This method is applied to a green space inspection and maintenance system based on the Internet of Things technology, and the method includes:

[0085] S1. Start the green space inspection and maintenance system, and obtain the surrounding environment of the green space inspection and maintenance system through the visual detection module;

[0086] Specifically, the surrounding environment of the green space inspection and maintenance system includes: the situation of obstacles around the green space inspection and maintenance system and the green space loss rate around the green space inspection and maintenance system (that is, the path of the green space inspection and maintenance system and the vegetation growth situation of the green space).

[0087] S2. Obtain the soil parameters around the green space inspection and maintenance system according to the soil detection module. The soil parameters around the green space inspection and maintenance system include: the humidity of the soil, the pH value of the soil, the air permeability of the soil, and the organic matter content of the soil;

[0088] S3. According to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, transmit them to the cloud server through the Internet of Things technology and perform data analysis to obtain the comprehensive control instruction of the green space inspection and maintenance system;

[0089] Specifically, as Figure 11 shown in the process flowchart for generating the comprehensive control instruction of the green space inspection and maintenance system in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention, in S3, according to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, transmit them to the cloud server through the Internet of Things technology and perform data analysis to obtain the comprehensive control instruction of the green space inspection and maintenance system, including:

[0090] S31. According to the surrounding environment of the green space inspection and maintenance system, obtain the path instruction of the green space inspection and maintenance system through the path planning algorithm;

[0091] S32. According to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, obtain the control instruction of the fertilization and seeding module by analyzing the growth status of the seedlings and the organic matter content of the soil;

[0092] S33. According to the soil parameters around the green space inspection and maintenance system, obtain the control instruction of the soil loosening module by analyzing the humidity of the soil, the pH value of the soil, and the air permeability of the soil;

[0093] S34. Obtain a comprehensive control instruction based on the path instruction of the green space inspection and maintenance system, the control instruction of the fertilization and seeding module, and the control instruction of the soil loosening module.

[0094] Further, according to the green space loss rate (i.e., the growth condition of vegetation) around the green space inspection and maintenance system, conduct instruction control according to the following rules:

[0095] Rule 1: When the green space loss rate ≤ 30%, a seeding instruction is required to replant grass seeds.

[0096] Rule 2: When the green space loss rate is between 30% and 70%, fertilization and seeding instructions are required.

[0097] Rule 3: When the green space loss rate ≥ 70%, fertilization, soil loosening, and seeding instructions are required.

[0098] According to the soil parameters around the green space inspection and maintenance system, maintain the soil parameters as follows:

[0099] Soil humidity: 40% - 60%;

[0100] Soil pH value: pH 6.0 - 7.5;

[0101] Soil permeability: A mixture of sand and clay, with a proportion of approximately 70% sand and 30% clay;

[0102] Soil organic matter content: ≥ 3%.

[0103] S4. Remotely control the green space inspection and maintenance system according to the comprehensive control instruction of the green space inspection and maintenance system.

[0104] The present invention provides a green space inspection and maintenance system and method based on Internet of Things technology. This invention integrates a power switching combination module 1, a three-wheel obstacle-crossing module 2, a dual-motor multi-power output module 3, a soil loosening module 4, a fertilization and seeding module 5, a soil detection module 6, and a visual detection module 7 into one, realizing the full-process operations of movement, obstacle crossing, soil loosening, fertilization, and detection. Secondly, the dual-motor multi-power output module is used for driving 3, achieving multi-task parallel driving. Then, through the three-wheel obstacle-crossing module 2, rapid switching between the obstacle-crossing mode and the movement mode is realized, improving the adaptability to complex terrains. Finally, data is transmitted to the cloud server 8 through Internet of Things technology, and after being analyzed by the cloud model, the system is remotely controlled through control instructions, realizing automated operations and reducing the dependence on manpower.

[0105] It can be understood that the present invention is described by the above embodiments, and should not be construed as a limitation on the embodiments and scope of the present invention. Those skilled in the art will know that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. Additionally, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A green space inspection and maintenance system based on Internet of Things technology, characterized in that, The system comprises: Cloud server, power switching combination module, dual-motor multi-power output module and visual inspection module; Based on the Internet of Things technology, the cloud server receives the green space image data collected by the visual detection module and the soil parameters detected by the soil detection module and generates comprehensive control instructions; The cloud server issues comprehensive control instructions to the power switching combination module and the dual-motor multi-power output module; The power switching combination module switches the working mode of the three-wheel obstacle crossing module according to the comprehensive control instruction. The working modes of the three-wheel obstacle crossing module include: moving mode and obstacle crossing mode; The dual-motor multi-power output module provides working power to the power switching combination module, the soil loosening module, the fertilizing and sowing module and the soil detection module; The dual-motor multi-power output module includes: a power output gear of a fertilizing and sowing module, a bracket, a power output gear of a soil detection module, a power output gear of a loosening module, a first stepper motor mounting plate, a second stepper motor, a profile and a first stepper motor; The first stepper motor is fixedly mounted on the base through the first stepper motor mounting plate. The first stepper motor drives the second stepper motor to perform linear motion on the profile. The second stepper motor gear is mounted on the rotating shaft of the second stepper motor. The gear of the second stepper motor is respectively engaged with the power output gear of the fertilizing and sowing module, the power output gear of the soil detection module, the power output gear of the loosening module, and the reversing rack of the power switching combination module. The power output gear of the fertilizing and sowing module is fixedly mounted on the base through a bracket. The power switching assembly module includes: a reversing fork, a reversing slip ring, a vertical bearing seat, a reversing rack, a power drive motor, a ratchet and a reversing paddle; The power drive motor is connected to the switching shaft through the vertical bearing seat, and the switching shaft passes through the reversing slip ring, the reversing fork and the ratchet in sequence. The reversing slip ring and the reversing fork are respectively connected to the reversing rack; The reversing rack moves so that the reversing fork shifts the reversing paddle, thereby changing the matching mode between the reversing slip ring and the reversing fork. The matching mode includes: a linkage matching mode and a free movement mode.

2. The green space inspection and maintenance system based on the Internet of Things technology according to claim 1, wherein The green space image data includes: the path situation of the green space inspection and maintenance system and the growth situation of the monitored green space vegetation; The soil parameters include: soil moisture, soil pH, soil air permeability and soil organic matter content.

3. The green space inspection and maintenance system based on the Internet of Things technology according to claim 1, characterized in that, The three-spoke wheel obstacle crossing module includes: a three-wheel plate, a first gear of the three-wheel plate, a second gear of the three-wheel plate, a third gear of the three-wheel plate and wheels; The shape of the three-wheel plate is an inward-concave curved triangle, and the first gear of the three-wheel plate is rotatably mounted on the three corners of the inward-concave curved triangle. The first gear of the three-wheel plate is coaxially mounted with the wheel and drives the wheel to rotate. The second gear of the three-wheel plate is respectively engaged with the first gear of the three-wheel plate, and the third gear of the three-wheel plate is engaged with the three second gears of the three-wheel plates. The center of the third gear of the three-wheel plate is the same as the center of the three-wheel plate.

4. The green space inspection and maintenance system based on the Internet of Things technology according to claim 1, characterized in that, The profile is mounted on the base.

5. The green space inspection and maintenance system based on the Internet of Things technology according to claim 1, characterized in that, The soil loosening module includes: a soil loosening bracket, a soil loosening cover, a soil loosening gear, a soil loosening synchronous belt pulley, and a soil loosening tooth disc; The soil loosening bracket is installed on the base, the soil loosening synchronous belt pulley is installed on the soil loosening bracket, the soil loosening synchronous belt pulley drives the soil loosening gear to rotate, the soil loosening gear drives the soil loosening tooth disc to rotate through a soil loosening shaft, and the soil loosening cover is located above the soil loosening tooth disc.

6. The green space inspection and maintenance system based on the Internet of Things technology according to claim 1, characterized in that, The fertilizing and sowing module includes: a fertilizing and sowing box, a third stepping motor, a first lead screw, a cam switch, a discharge port plate, a sowing wheel disc, a sowing transmission shaft, a fertilizing and sowing synchronous belt pulley, and a first linear motion guide rail; The fertilizing and sowing box includes: a sowing device housing and a sowing device inner plate. The sowing device housing is arranged in a cuboid shape, and the sowing device inner plate is vertically installed at the central position of the sowing device housing; The third stepping motor is installed on the side of the fertilizing and sowing box. The first lead screw is connected to the rotating shaft of the third stepping motor. The cam switch is threadedly connected to the first lead screw. The discharge port plate is located on both sides of the cam switch. The first lead screw drives the cam switch to perform a reciprocating motion along the direction of the first lead screw. When the protruding position of the cam switch is located at the discharge port plate, the discharge port plate is in an open state. When the protruding position of the cam switch is away from the discharge port plate, the discharge port plate is in a closed state. The first linear motion guide rail is installed on the sowing device housing and is located above the first lead screw. The first linear motion guide rail restricts the continuous rotation of the cam switch. The sowing wheel disc is located below the discharge port plate. The sowing transmission shaft is fixedly installed and passes through the center of the sowing wheel disc. The fertilizing and sowing synchronous belt pulley is located at one end of the sowing transmission shaft. The fertilizing and sowing synchronous belt pulley is connected to the rotating shaft driven by the fertilizing and sowing module power output gear of the dual-motor multi-power output module.

7. The green space inspection and maintenance system based on the Internet of Things technology according to claim 1, characterized in that, The soil detection module includes: a soil detection lead screw, a second linear motion guide rail, a horizontal bearing seat, a measuring nut seat, and a detector; Both ends of the soil detection lead screw are installed on the horizontal bearing seat through bearings. The soil detection lead screw drives the measuring nut seat to move. The detector is fixedly installed on the measuring nut seat. The second linear motion guide rail supports the measuring nut seat to move along a fixed route.

8. A green space inspection and maintenance method based on Internet of Things technology, characterized in that, Applied to the green space inspection and maintenance system based on the Internet of Things technology according to any one of claims 1-7, the method includes: S1. Start the green space inspection and maintenance system, and obtain the surrounding environment of the green space inspection and maintenance system through the visual detection module; S2. Obtain the soil parameters around the green space inspection and maintenance system according to the soil detection module. The soil parameters around the green space inspection and maintenance system include: soil humidity, soil acidity and alkalinity, soil air permeability, and soil organic matter content; S3. According to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, transmit them to the cloud server through the Internet of Things technology and perform data analysis to obtain the comprehensive control instructions of the green space inspection and maintenance system; S4. Remotely control the green space inspection and maintenance system according to the comprehensive control instruction of the green space inspection and maintenance system.

9. The green space inspection and maintenance method based on Internet of Things technology according to claim 8, characterized in that In S3, according to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, they are transmitted to the cloud server through the Internet of Things technology and data analysis is carried out to obtain the comprehensive control instruction of the green space inspection and maintenance system, including: S31. According to the surrounding environment of the green space inspection and maintenance system, obtain the path instruction of the green space inspection and maintenance system through the path planning algorithm; S32. According to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, obtain the control instruction of the fertilization and seeding module by analyzing the growth condition of the seedlings and the organic matter content of the soil; S33. According to the soil parameters around the green space inspection and maintenance system, obtain the control instruction of the soil loosening module by analyzing the humidity of the soil, the pH value of the soil and the air permeability of the soil; S34. Obtain the comprehensive control instruction according to the path instruction of the green space inspection and maintenance system, the control instruction of the fertilization and seeding module and the control instruction of the soil loosening module.

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