Vineyard mobile adaptive multi-parameter detection device and control method thereof
By designing a mobile adaptive multi-parameter detection device for vineyards, the problems of information lag and low efficiency in vineyard management have been solved, accurate parameter collection and ecological monitoring in complex terrain have been achieved, and the level of intelligent vineyard management has been improved.
Patent Information
- Application Number
- CN202510911261.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-02
- Publication Date
- 2025-10-03
AI Technical Summary
The existing vineyard management has problems such as information lag, large sampling errors, and low work efficiency, which makes it difficult to meet the needs of modern orchards for precise, efficient, and intelligent management. In addition, the traditional management model is prone to cause environmental problems.
A mobile adaptive multi-parameter detection device for vineyards is designed, which includes front and rear leveling devices, an intermediate connecting device, a left and right leveling device, a soil detection device, and a growth condition detection device. It is equipped with an electric crawler chassis and combined with an inclination sensor, a laser ranging sensor, and a camera to achieve adaptive leveling and multi-parameter acquisition.
It realizes the continuous collection of key parameters of the vineyard and remote perception of ecological information. It can adaptively level the vineyard under complex terrain, provide accurate basis for field management, and improve work efficiency and environmental protection effects.
Smart Images
Figure CN120740672A_ABST
Abstract
Description
Technical Field
[0001] The patented invention relates to the field of agricultural machinery technology, specifically to a mobile adaptive multi-parameter detection device for vineyards and a control method thereof. Background Art
[0002] Grape cultivation is highly dependent on environmental conditions, particularly soil physical and chemical properties such as moisture, temperature, nutrients, electrical conductivity, pH, and compaction, as well as atmospheric conditions such as temperature, humidity, light, CO2 concentration, and atmospheric pressure. Grapes' requirements for these parameters vary significantly across varieties, growing seasons, and climates.
[0003] Currently, most vineyards still rely on traditional manual inspections and record-keeping methods for management. This approach, plagued by information lags, large sampling errors, and low efficiency, fails to meet the demands of modern orchards for precise, efficient, and intelligent management. As agricultural production becomes more environmentally conscious, improper water and fertilizer management can easily lead to environmental problems such as soil salinization and water pollution. Traditional, empirical management models are no longer sufficient to meet the demands of green agricultural development.
[0004] Therefore, it is of great significance to change the original manual monitoring method and design a mobile multi-parameter collection platform suitable for the complex operating environments of various vineyards to provide grape growers with accurate field management basis. Summary of the Invention
[0005] In response to the shortcomings of the existing technology, the purpose of the present invention is to provide a mobile adaptive multi-parameter detection device for vineyards and a control method thereof. While controlling costs, this device can achieve adaptive leveling to various complex terrains, realize continuous collection of key vineyard parameters and remote perception of ecological information, and at the same time realize self-propelled navigation and continuous operation.
[0006] In one aspect, the present invention provides a mobile adaptive multi-parameter detection device for vineyards, the device comprising: a front and rear leveling device, an intermediate connecting device, a left and right leveling device, a soil detection device, a growth condition detection device, and a mobile chassis; The front and rear leveling device is connected to the intermediate connecting device through a first-stroke electric push rod and bolts, the intermediate connecting device is connected to the left and right leveling device through a second-stroke electric push rod and bolts, the left and right leveling device is welded to the soil detection device, and the front and rear leveling device and the growth condition detection device are installed on the mobile chassis through bolts.
[0007] Furthermore, the first stroke of the electric push rod is 150 mm; the second stroke of the electric push rod is 200 mm; The front and rear leveling device includes a fixed square tube, a supporting link, a supporting rod, a fixed hinged rod and a push rod connecting piece A; the supporting link is welded to the fixed square tube, the supporting rod is fixed to the supporting link after being welded to the fixed hinged rod, the fixed hinged rod is welded to the fixed square tube, and two pairs of push rod connecting pieces A are welded to the fixed square tube for connecting the electric push rod.
[0008] Furthermore, the intermediate connecting device includes a U-shaped connecting rod, an intermediate connecting pipe, a connecting square tube A, a U-shaped connecting frame, a push rod connecting piece A, a fixed support rod, an articulated frame, a leveling connecting piece A and a triangular support piece; the U-shaped connecting frame is welded on the U-shaped connecting rod, the fixed support rod is welded between the U-shaped connecting rod and the U-shaped connecting frame, the intermediate connecting pipe is welded on the U-shaped connecting rod, the U-shaped connecting rod and the connecting square tube A are welded and fixed, two pairs of push rod connecting pieces A are respectively welded on the connecting square tube A and the U-shaped connecting frame, the articulated frame is welded on the U-shaped connecting rod, and the leveling connecting piece A is welded to the triangular support piece and fixed to the connecting square tube A.
[0009] Furthermore, the left and right leveling devices include a connecting square tube B, a leveling connector B, a reinforcing rib, a connecting square tube C, a push rod connecting piece A and an inclination sensor connecting plate; the leveling connector B is welded to the reinforcing rib and fixed on the connecting square tube B, the push rod connecting piece A is welded to the connecting square tube B, the connecting square tube C is welded to the side of the connecting square tube B, and the inclination sensor connecting plate is welded to the connecting square tube B.
[0010] Furthermore, the soil detection device includes a connecting square tube D, an L-shaped square tube, an inserted square tube A, an inserted square tube B, a push rod connecting piece B, a soil integrated sensor clamp, a soil compaction sensor clamp, a 300mm stroke electric push rod and a 500mm stroke electric push rod; the connecting square tube D is welded to the L-shaped square tube, and four pairs of push rod connecting pieces B are respectively welded to the connecting square tube D, the L-shaped square tube, the inserted square tube A and the inserted square tube B. The 300mm stroke electric push rod connects the L-shaped square tube and the inserted square tube A, and the 500mm stroke electric push rod connects the connecting square tube D and the inserted square tube B. The soil integrated sensor clamp and the soil compaction sensor clamp are respectively fixed at the bottom of the inserted square tube A.
[0011] Furthermore, the growth status detection device includes an angle bracket, a profile and a camera; the camera is fixed to the profile via the angle bracket and bolts, and the profile is fixed to the mobile chassis via the angle bracket and bolts.
[0012] Furthermore, the mobile chassis is an electric crawler chassis, including a track wheel group, a chassis body, a lifting support rod, a pad and a control console; the track wheel group is installed on both sides of the chassis body, and the two ends of the lifting support rod are respectively connected to the chassis body and the pad by hinges and sliders, and the electric push rod connects the chassis body and the sliding end of the lifting support rod.
[0013] Furthermore, the detection device also includes: a power supply, a control cabinet and an acquisition host; the power supply supplies power to the device, the control cabinet integrates the control module, and the acquisition host receives and processes data from the soil comprehensive sensor, the five-parameter meteorological sensor, the laser ranging sensor and the camera.
[0014] On the other hand, the present invention also provides a control method for the above-mentioned detection device, including: obtaining three-axis inclination data through an inclination sensor, adjusting the electric push rod to achieve front-to-back and left-to-right leveling; obtaining the distance from the sensor to the ground surface through a laser ranging sensor, and controlling the electric push rod to adjust the insertion depth; collecting grape growth images through a camera; and displaying and recording soil parameters, meteorological parameters, detection location and time through a collection host.
[0015] Furthermore, during the leveling process, the front and rear leveling devices and the middle connecting device drive the articulated frame to rotate through the extension and contraction of the electric push rod to achieve front and rear leveling, and the left and right leveling devices rotate around the pin shaft in the leveling connector B to achieve left and right leveling.
[0016] The present invention has the following technical effects: 1. The solution of the present invention can realize the continuous collection of key soil parameters such as soil temperature, volumetric moisture content, electrical conductivity, pH value, nitrogen, phosphorus and potassium content, and compaction in vineyard plots; 2. The solution of the present invention can monitor the air temperature and humidity, atmospheric pressure, carbon dioxide concentration, and light intensity in the vineyard in real time; 3. The present invention combines laser distance sensors, inclination sensors and electric push rods to achieve all-round adaptive leveling: 4. The solution of the present invention uses a mobile chassis and is equipped with Beidou navigation to achieve all-round automatic operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the present invention Figure 2 ; Figure 3 This is a front view of the entire machine of the present invention; Figure 4 This is a top view of the entire machine of the present invention; Figure 5 It is a left side view of the whole machine of the present invention; Figure 6 It is a structural schematic diagram of the multi-parameter detection device of the present invention; Figure 7 It is an overall schematic diagram of the mobile chassis of the present invention; Figure 8 is a schematic diagram of the front and rear leveling device of the present invention; Figure 9 It is a schematic diagram of the intermediate connecting device of the present invention; Figure 10 It is a schematic diagram of the left and right leveling device of the present invention; Figure 11 is a schematic diagram of a soil detection device of the present invention; Figure 12 is a schematic diagram of a growth status detection device of the present invention; Among them, the figure marks are: 1. front and rear leveling device; 2. middle connecting device; 3. left and right leveling device; 4. soil detection device; 5. growth status detection device; 6. mobile chassis; 7. power supply; 8. control cabinet; 9. data acquisition host; 101. meteorological five-parameter sensor; 102. laser ranging sensor; 103. soil comprehensive sensor; 104. tilt sensor; 105. soil compaction sensor; 11. fixed square tube; 12. push rod connecting piece A 13. Support link; 14. Support rod; 15. Fixed hinged rod; 21. Intermediate connecting pipe; 22. Articulated frame; 23. Fixed support rod; 24. U-shaped connecting frame; 25. U-shaped connecting rod; 26. Leveling connector A; 27. Triangular support plate; 28. Connecting square tube A; 31. Connecting square tube B; 32. Inclination sensor connecting plate; 33. Leveling connector B; 34. Reinforcement rib; 35. Connecting square tube C; 41. Soil integrated sensor clamp; 42. Insertion into square tube A; 43. 300mm stroke electric push rod; 44. Push rod connecting plate B; 45. L-shaped square tube; 46. 500mm stroke electric push rod; 47. Connecting square tube D; 48. Inserting square tube B; 49. Soil compaction sensor clamp; 51. Angle bracket; 52. Profile; 53. Camera; 61. Track wheel assembly; 62. Chassis body; 63. Lifting support rod; 64. Pad; 65. Control console. DETAILED DESCRIPTION
[0018] In order to make the objects, advantages and features of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.
[0019] like Figure 1-12 As shown, this embodiment discloses a vineyard mobile adaptive multi-parameter detection device and its control method, including: Figure 1-5 The device includes a front and rear leveling device 1, an intermediate connecting device 2, a left and right leveling device 3, a soil detection device 4, a growth condition detection device 5, a mobile chassis 6, a power supply 7, a control cabinet 8, a data acquisition host 9, a five-parameter meteorological sensor 10, a laser ranging sensor 11, a soil comprehensive sensor 12, a tilt sensor 13, and a soil compaction sensor 14; like Figure 6-10As shown, the front and rear leveling device 1, the middle connecting device 2, the left and right leveling device 3 and the soil detection device 4 constitute a multi-parameter detection device; the front and rear leveling device 1 is connected to the middle connecting device 2 through an electric push rod and bolts, and the front and rear leveling is achieved by the extension and retraction of the electric push rod; the middle connecting device 2 is connected to the left and right leveling devices 3 through an electric push rod and bolts, and the leveling connectors A26 and the leveling connector B35 on the two devices are connected together through a pin shaft and a copper sleeve, and the left and right leveling devices 3 rotate with the extension and retraction of the electric push rod, thereby achieving left and right leveling; the soil detection device 4 and the left and right leveling devices 3 are welded and fixed together; the multi-parameter detection device composed of the front and rear leveling device 1, the middle connecting device 2, the left and right leveling devices 3 and the soil detection device 4 and the growth condition detection device 5 are fixed to the mobile chassis 6 through bolts, thereby achieving adaptive leveling and vineyard multi-parameter detection functions.
[0020] like Figure 7 As shown, the mobile chassis 6 is an electric crawler chassis, including: 61 track wheel group 61, chassis body 62, lifting support rod 63, pad 64, and control console 65. Two groups of track wheel groups 61 are installed on both sides of the crawler chassis body 62. The two ends of the lifting support rod 63 are respectively installed on the crawler chassis body 62 and the pad 65 in the form of hinge connection and slider connection. The two ends of the lifting support rod 23 are respectively installed on the crawler chassis body 62 and the sliding end of the lifting support rod 63. The extension and retraction of the lifting support rod 63 can realize the lowering and raising of the pad 65. The lifting function can enable the machine to be leveled under different terrain conditions.
[0021] like Figure 8 As shown, the bottom of the front and rear leveling device 1 is fixed to the mobile chassis 6 by bolts, including a fixed square tube 11, a push rod connecting piece A12, a support link 13, a support rod 14, and a fixed hinged rod 15; the support link 13 is welded to the fixed square tube 11 for fixing to the mobile chassis, the support rod 14 is connected to the fixed hinged rod 15 by welding and then fixed at the lower end to the support link 13 and the fixed square tube 11 for hinged intermediate connection device, and two push rod connecting pieces A12 are welded to the fixed square tube for connecting the electric push rod.
[0022] like Figure 9As shown, the intermediate connecting device 2 includes: an intermediate connecting pipe 21; a push rod connecting piece A12, a hinged frame 22, a fixed support rod 23, a U-shaped connecting frame 24, a U-shaped connecting rod 25, a leveling connector A26, a triangular support piece 27, and a connecting square tube A28; the U-shaped connecting frame 24 is welded to the U-shaped connecting rod 25, the fixed support rod 23 is fixed between the U-shaped connecting rod 25 and the U-shaped connecting frame 24 by welding, the intermediate connecting pipe is fixed to the U-shaped connecting rod 25 by welding, and the U-shaped connecting rod 25 is connected to the connecting square tube by welding. A28 is fixed, two pairs of push rod connecting plates A12, one pair is welded on the connecting square tube A28, used to connect the electric push rod and the front and rear leveling device 1, and the other pair is welded on the U-shaped connecting frame 24, used to connect the electric push rod and the left and right leveling devices 3. The articulated frame 22 is welded on the U-shaped connecting rod 25, used to articulate the front and rear leveling devices 1. The leveling connector A26 is fixed to a pair of triangular support plates 27 by welding, and the leveling connector A26 and the triangular support plates 27 are fixed to the connecting square tube A by welding.
[0023] like Figure 10 As shown, the left and right leveling device 3 includes: a connecting square tube B31, a tilt sensor connecting plate 32, a leveling connector B33, a reinforcing rib 34, a connecting square tube C35, and a push rod connecting piece A12. The leveling connector B33 and a pair of reinforcing ribs 34 are welded and fixed together to the connecting square tube B31. The push rod connecting piece A12 is welded to the connecting square tube B31 for connecting the electric push rod. The connecting square tube C35 is welded to the side of the connecting square tube B31 for connecting to the soil detection device 4. The tilt sensor connecting plate 32 is welded to the connecting square tube B31 for fixing the tilt sensor 104. like Figure 11As shown, specifically, the soil detection device includes: a soil integrated sensor clamp 41, an inserted square tube A42, a 300mm stroke electric push rod 43, a push rod connecting piece B44, an L-shaped square tube 45, a 500mm stroke electric push rod 46, a connecting square tube D47, an inserted square tube B48, and a soil compaction sensor clamp 49; the connecting square tube D47 and the L-shaped square tube 45 are fixed by welding, and the four pairs of push rod connecting pieces B44 are respectively welded to the connecting square tube D47, the L-shaped square tube 45, the inserted square tube A42, and the inserted square tube B48; the 300mm stroke electric push rod 43 is fixed to the soil compaction sensor by bolts. Between the L-shaped square tube 45 and the push rod connecting piece B44 connected to the inserted square tube A42, it is used to connect the L-shaped square tube 45 and the inserted square tube A42. The 500mm stroke electric push rod 46 is fixed by bolts between the push rod connecting piece B44 connected to the connecting square tube D47 and the inserted square tube B48, and is used to connect the connecting square tube D47 and the inserted square tube B48. The soil integrated sensor clamp 41 is fixed by bolts to the bottom of the inserted square tube A42, and is used to fix the soil integrated sensor 103. The soil integrated sensor clamp 41 is fixed by bolts to the bottom of the inserted square tube A42, and is used to fix the soil compaction sensor 105. like Figure 12 As shown, the growth status device includes: an angle code 51, a profile 52, and a camera 53; the camera 53 is fixed to the profile 52 through the angle code and bolts, and is used to monitor the growth status of grapes in the vineyard, and the profile 52 is fixed to the mobile chassis through the angle code and bolts.
[0024] The general working process of the present invention is as follows: When the mobile chassis 6 reaches the designated plot in the vineyard, it stops. The inclination sensor 104 measures the three-axis inclination data of the current position. Then, the front and rear leveling device 1 and the intermediate connecting device 2 adjust the intermediate push rod according to the inclination data to perform front and rear leveling. The articulated frame 22 rotates, and the intermediate connecting device 2 tilts, thereby achieving the front and rear leveling function. At the same time, the left and right leveling device 3 and the intermediate connecting device 2 adjust the intermediate push rod according to the inclination data to perform left and right leveling. The entire left and right leveling device 3 rotates around the pin inserted in the leveling connector B33, thereby achieving the left and right leveling function. Then, the laser ranging sensor 102 measures the soil compaction sensor 105 and the soil integrated sensor 103 probe end The soil parameter detection device 4 controls the soil integrated sensor 103 and the soil compaction sensor 105 to be inserted into the soil based on the distance from the probe end of the soil compaction sensor 105 and the soil integrated sensor 103 to the ground surface. The 300mm stroke electric push rod 43 and 500mm stroke electric push rod 46 respectively control the soil integrated sensor 103 and the soil compaction sensor 105 to be inserted into the soil. Simultaneously, the five-parameter meteorological sensor 101 collects atmospheric data within the vineyard, and the growth condition detection device 5 monitors the growth of grapes in the vineyard. Finally, the soil integrated sensor 103 and the five-parameter meteorological sensor 101 transmit the collected soil temperature, volumetric moisture content, electrical conductivity, pH value, nitrogen, phosphorus, and potassium content, and compaction, as well as the air temperature and humidity, atmospheric pressure, carbon dioxide concentration, and light intensity data to the data collection host for real-time display. The camera 53 transmits the grape growth monitoring image to the data collection host 9 for real-time display.
[0025] The above embodiments are intended only to illustrate the present invention and are not intended to limit the present invention. Persons skilled in the art may make various changes and modifications without departing from the essence and scope of the present invention. Therefore, all equivalent technical solutions also fall within the scope of the present invention, and the scope of protection of the present invention shall be defined by the claims. Matters not described in detail in this specification constitute prior art known to those skilled in the art.
Claims
1. A mobile adaptive multi-parameter detection device for vineyards, characterized in that: The device includes: a front and rear leveling device, a middle connecting device, a left and right leveling device, a soil detection device, a growth condition detection device and a mobile chassis; The front and rear leveling device is connected to the intermediate connecting device through a first-stroke electric push rod and bolts, the intermediate connecting device is connected to the left and right leveling device through a second-stroke electric push rod and bolts, the left and right leveling device is welded to the soil detection device, and the front and rear leveling device and the growth condition detection device are installed on the mobile chassis through bolts.
2. The detection device according to claim 1, wherein The first stroke of the electric push rod is 150mm; the second stroke of the electric push rod is 200mm; The front and rear leveling device includes a fixed square tube, a supporting link, a supporting rod, a fixed hinged rod and a push rod connecting piece A; the supporting link is welded to the fixed square tube, the supporting rod is fixed to the supporting link after being welded to the fixed hinged rod, the fixed hinged rod is welded to the fixed square tube, and two pairs of push rod connecting pieces A are welded to the fixed square tube for connecting the electric push rod.
3. The detection device according to claim 1, wherein The intermediate connecting device includes a U-shaped connecting rod, an intermediate connecting pipe, a connecting square tube A, a U-shaped connecting frame, a push rod connecting piece A, a fixed support rod, an articulated frame, a leveling connecting piece A and a triangular support piece; the U-shaped connecting frame is welded to the U-shaped connecting rod, the fixed support rod is welded between the U-shaped connecting rod and the U-shaped connecting frame, the intermediate connecting pipe is welded to the U-shaped connecting rod, the U-shaped connecting rod and the connecting square tube A are welded and fixed, two pairs of push rod connecting pieces A are respectively welded to the connecting square tube A and the U-shaped connecting frame, the articulated frame is welded to the U-shaped connecting rod, and the leveling connecting piece A is welded to the triangular support piece and fixed to the connecting square tube A.
4. The detection device according to claim 1, wherein The left and right leveling device includes a connecting square tube B, a leveling connector B, a reinforcing rib, a connecting square tube C, a push rod connecting piece A and an inclination sensor connecting plate; the leveling connector B is welded to the reinforcing rib and fixed on the connecting square tube B, the push rod connecting piece A is welded to the connecting square tube B, the connecting square tube C is welded to the side of the connecting square tube B, and the inclination sensor connecting plate is welded to the connecting square tube B.
5. The detection device according to claim 1, wherein The soil detection device includes a connecting square tube D, an L-shaped square tube, an inserted square tube A, an inserted square tube B, a push rod connecting piece B, a soil integrated sensor clamp, a soil compaction sensor clamp, a 300mm stroke electric push rod and a 500mm stroke electric push rod; the connecting square tube D is welded to the L-shaped square tube, and four pairs of push rod connecting pieces B are respectively welded to the connecting square tube D, the L-shaped square tube, the inserted square tube A and the inserted square tube B. The 300mm stroke electric push rod connects the L-shaped square tube and the inserted square tube A, and the 500mm stroke electric push rod connects the connecting square tube D and the inserted square tube B. The soil integrated sensor clamp and the soil compaction sensor clamp are respectively fixed to the bottom of the inserted square tube A.
6. The detection device according to claim 1, wherein The growth status detection device includes an angle bracket, a profile and a camera; the camera is fixed to the profile through the angle bracket and bolts, and the profile is fixed to the mobile chassis through the angle bracket and bolts.
7. The detection device according to claim 1, wherein: The mobile chassis is an electric crawler chassis, including a track wheel group, a chassis body, a lifting support rod, a pad and a control console; the track wheel group is installed on both sides of the chassis body, and the two ends of the lifting support rod are respectively connected to the chassis body and the pad by hinges and sliders, and the electric push rod connects the chassis body and the sliding end of the lifting support rod.
8. The detection device according to any one of claims 1 to 7, wherein: The detection device also includes: a power supply, a control cabinet and a data acquisition host; the power supply supplies power to the device, the control cabinet integrates a control module, and the data acquisition host receives and processes data from the soil comprehensive sensor, the five-parameter meteorological sensor, the laser ranging sensor and the camera.
9. A control method for the detection device according to claim 8, characterized in that: include: The three-axis inclination data is obtained through the inclination sensor, and the electric push rod is adjusted to achieve front-to-back and left-to-right leveling; the distance from the sensor to the ground is obtained through the laser ranging sensor, and the electric push rod is controlled to adjust the insertion depth; the grape growth image is collected through the camera; the soil parameters, meteorological parameters, detection location and time are displayed and recorded through the acquisition host.
10. The control method according to claim 9, wherein: During the leveling process, the front and rear leveling devices and the middle connecting device drive the articulated frame to rotate through the extension and contraction of the electric push rod to achieve front and rear leveling, and the left and right leveling devices rotate around the pin shaft in the leveling connector B to achieve left and right leveling.