Bionic beetle ecological robot

Abstract

A bionic giant beetle ecological robot is disclosed, comprising: a head, which is a bionic giant beetle streamlined head and is arranged at the front end of the robot; a tail shell, which is a bionic giant beetle carapace and is arranged at the tail end of the robot; a six-legged crawling mechanism, each of which includes a bionic leg and a driving system that drives the bionic leg to make an elliptical motion to imitate the walking of the giant beetle; a double-wing system, which includes a bionic wing and a driving mechanism that drives the bionic wing to expand, contract and flap; and a visual recognition system to perceive the robot's surrounding environment. The robot is suitable for a variety of terrains and can better meet various needs of ecological restoration and monitoring.

Description

Technical Field

[0001] The invention relates to a bionic giant beetle ecological robot. Background Art

[0002] The most commonly used forest monitoring methods in my country are: regular forest resource surveys, establishment of forest resource archives, timely updating of statistical data, or updating using mathematical models. However, this method has a large workload, large statistical errors, and there is still room for improvement in the protection of forests.

[0003] Currently, the mainstream robot design schemes are mostly wheeled robots and tracked robots. Their mechanical structures are simple, and they cannot adapt to the complex terrain of various ecosystems, and they cannot flexibly perform related tasks. Summary of the invention

[0004] The present invention provides a bionic giant beetle ecological robot, which can walk in the forest, is suitable for various terrains, and can better meet various needs of ecological restoration and monitoring.

[0005] According to an embodiment of the present invention, there is provided a bionic giant beetle ecological robot, comprising: a head, which is a bionic giant beetle streamlined head and is arranged at the front end of the robot; a tail shell, which is a bionic giant beetle shell and is arranged at the tail end of the robot; a six-legged crawling mechanism, each leg of which includes a bionic leg and a driving system for driving the bionic leg to perform elliptical motion to imitate the walking of the giant beetle; a double-wing system, which includes bionic wings and a driving mechanism for driving the bionic wings to retract, expand and flap; and a visual recognition system for sensing the robot's surrounding environment.

[0006] The above-mentioned bionic giant beetle ecological robot also includes a sample picking mechanism, which includes a three-degree-of-freedom manipulator and a driving mechanism that drives the three-degree-of-freedom manipulator to rotate horizontally, move vertically, and open and close.

[0007] The above-mentioned bionic giant beetle ecological robot also includes supporting feet that can be lowered to the ground to support the robot.

[0008] The above-mentioned bionic giant beetle ecological robot also includes a drill bit and a driving mechanism for driving the drill bit to rotate and vertically lift.

[0009] The above-mentioned bionic giant beetle ecological robot also includes: a seed storage; a distribution plate; a first driving mechanism that drives the seed storage to shake up and down to make the seeds fall into the distribution plate; and a second driving mechanism that makes the seeds in the distribution plate fall into the holes drilled by the drill bit.

[0010] The above-mentioned bionic giant beetle ecological robot is characterized in that it also includes: a weeding mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0012] Figure 1 A schematic diagram of a bionic giant beetle ecological robot provided in one embodiment of the present invention.

[0013] Figure 2 A schematic diagram of a six-legged crawling mechanism provided in one embodiment of the present invention.

[0014] Figure 3 A partial structural schematic diagram of a six-legged crawling mechanism provided in one embodiment of the present invention.

[0015] Figure 4 A schematic diagram of a sample picking mechanism provided in one embodiment of the present invention.

[0016] Figure 5 A schematic diagram of a retention working module provided in one embodiment of the present invention.

[0017] Figure 6 A schematic diagram of a weeding mechanism provided in one embodiment of the present invention.

[0018] Figure 7 A schematic diagram of a punching mechanism provided in one embodiment of the present invention.

[0019] Figure 8 A schematic diagram of a seeding mechanism provided in one embodiment of the present invention.

[0020] Fig. 9 A schematic diagram of a transport and storage device provided in one embodiment of the present invention.

[0021] Fig.10 A schematic diagram of a biplane system provided in one embodiment of the present invention.

[0022] Fig.11 A schematic diagram of a bionic head provided by an embodiment of the present invention.

[0023] Fig.12 A schematic diagram of a bionic tail shell provided in one embodiment of the present invention.

[0024] Fig.13 A schematic diagram of a visual recognition system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] Figure 1 A bionic giant beetle ecological robot is shown, including a six-legged crawling mechanism 100, a sample picking mechanism 200, a fixing working mechanism 300, a weeding mechanism 400, a punching mechanism 500, a sowing mechanism 600, a transport and storage mechanism 700, a double-wing system 800, a head and tail bionic mechanism 900 and a visual recognition system 1000.

[0026] The six-legged crawling mechanism 100 is designed to imitate the crawling mode of the giant beetle, and the movement frequency and movement rate of the six legs are changed by intelligent control to achieve differential turning. Through the visual recognition system 1000, the robot can autonomously identify the road conditions in the forest and analyze and judge, complete operations such as obstacle avoidance, so that the robot can smoothly wander in the forest to collect samples, and complete tasks such as monitoring and repairing some ecosystems. In addition, the visual recognition system 1000 can shoot videos in the forest for autonomous analysis, and feedback the terminal with red (abnormal) or green (normal) signals, and the terminal can assist in the repair. The terminal can also observe the status of the forest, and manually participate in the operation to assist in avoiding obstacles, monitoring the forest ecology, or detecting whether the forest camera is invalid. Double monitoring enhances the accuracy of robot monitoring.

[0027] like Figure 2 , Figure 3 Each foot of the six-legged crawling mechanism 100 includes a bionic leg 107 and a driving system that drives the bionic leg 107 to make an elliptical motion to imitate the walking of the giant beetle. In order to enhance the friction between the bionic leg 107 and the ground and facilitate climbing in the forest, the bottom of the bionic leg 107 is designed to be relatively rough. For example, a rubber sleeve 108 can be set on the bionic leg 107.

[0028] The driving system includes a motor 101, a gear 102, an eccentric gear 103, and a connecting assembly. The motor 101 shaft is connected to the gear 102, the gear 102 is meshed with the eccentric gear 103, the eccentric gear 103 shaft is connected to the connecting assembly, and the bionic leg 107 is installed on the connecting assembly. The motor 101 drives the eccentric gear 103 to rotate, and the eccentric gear 103 drives the bionic leg 107 to do periodic arc motion through the connecting assembly. The connecting assembly plays the role of connecting the eccentric gear 103 and the bionic leg 107. The present application does not limit the specific structure of the connecting assembly because its structure can be diverse. For example, the connecting assembly can include an inner right-angle block 104 and an outer right-angle block 105 connected to each other, and a frame 106 that supports the inner right-angle block 104 and the outer right-angle block 105 so that it moves along a set arc trajectory under the drive of the eccentric gear 103. If the robot needs to turn, the bionic legs 107 on the left and right sides are intelligently controlled to obtain different movement speeds, form a differential, and realize turning. When the speed of the right leg is greater than that of the left leg, turn left; when the speed of the left leg is greater than that of the right leg, turn right.

[0029] like Figure 4 The sample picking mechanism 200 includes a worm 201, a turntable 202, a motor 203, a gear 204, a gear 205, a gear 206, a shaft 207, a screw 208, a worm nut 209, an XS motor 210, a reduction gear box 211, a screw 212, a worm nut 213, a support rod with a hole 214, and a mechanical claw 215.

[0030] The mechanical claw 215 has three degrees of freedom and can rotate in the horizontal plane, move vertically up and down, and flip left and right. The circumferential surface of the turntable 202 has teeth that cooperate with the worm 201. The mechanical claw 215 achieves 360-degree rotation through the cooperation of the worm 201 and the turntable 202. Gears 204 and gears 205 are meshed. The motor 203 drives the gear 204 to rotate, and a gear 205 with the same specification, a module of 1.5, and a number of teeth of 10 is used to increase the transmission distance. The metal shaft 207 is connected with the same planning cylindrical through-hole gear 206. The shaft 207 is equipped with a screw 208. The manipulator 215 is connected to the screw 208 through the worm nut 209 to achieve vertical lifting. The rotation direction is changed by cooperating with the XS motor 210 and the reduction gear box 211 to drive the screw 212 to rotate, and the support rod 214 with holes is driven to rotate by the forward and backward movement of the worm nut 213 to control the opening and closing of the mechanical claw 215.

[0031] See also Fig. 9 , the picking mechanism 200 can place the picked samples on the rear conveyor belt 703 by rotating, the manipulator 215 cooperates with the reduction gear box 211 through the XS motor 210, and is equipped with a sleeve and a worm 212, and cooperates with the worm nut 213 to achieve the transmission effect of linear motion, and uses the support rod accessory 214 and the black I-shaped interface support rod 214 with holes to form a low pair to achieve the effect of relative rotation, and finally forms a gripping structure of the manipulator 215 with one degree of freedom. Through the cooperation of the motor 203 and the gears 204, 205, and 206, the lead screw 208 can be used to cooperate with the worm nut 209 on the manipulator structure to enable it to move up and down. At the same time, the cooperation of the worm 201 and the turntable 202 enables it to rotate 360° to place the picked samples on the rear conveyor belt 703.

[0032] like Figure 5 The fixing working mechanism 300 includes an optical axis 301, a pressure plate 302, a connecting plate 303 and an air pump 304. The optical axis 301 is used for limiting and is installed on both sides of the module. The pressure plate 302 is connected to the optical axis 301 to play a supporting role. The connecting plate 303 is mainly used to fix the various components. The air pump 304 is the power source of the module, and cooperates with the solenoid valve to achieve the effect of lifting up and down. When the device needs to be picked, the two-position three-way solenoid valve is ventilated to increase the gas in the air pump 304, and the piston moves downward, driving the pressure plate 302 to move downward. At the same time, the optical axis 301 is used to limit and fix the movement trajectory of the pressure plate 302, so that it always moves vertically. The connecting plate 303 is connected to the bionic robot, and the retainer is started, which can increase the contact area between the device and the ground, stably fix the device at the picking point, and improve the stability and accuracy of the picked samples.

[0033] like Figure 6The weeding mechanism 400 includes a double-headed motor 401, a gear reduction box 402, a rack 403, an XS motor 404, and weeding blades 405. The weeding mechanism 400 is driven by the XS motor 404 and the gear reduction box 402. The XS motor 404 is the power source, and the gear external to the reduction box cooperates with the rack rail 403, so that the entire module can translate the grass left and right along the rack group at the front of the device; and then the double-headed motor 401 controls the left and right weeding blades 405 to rotate and weed.

[0034] During operation, the XS motor 404 is started and cooperated with the reduction box 402 rack slide rail 403 to make the entire module translate left and right along the rack at the front of the device to find a suitable position for weeding, which is conducive to all-round weeding of the device. After determining the position, the double-headed motor 401 is started to control the left and right weeding fan blades 405 to rotate to cut and weed.

[0035] like Figure 7 , the punching mechanism 500 includes an XS motor 501, a gear reduction box 502, a rack slide 503, an XS motor 504 and a screw 506. The screw drilling structure is located on both sides of the front of the overall device. Each is driven by an XS motor 501 and a gear reduction box 502. The XS motor 501 is the power source, and the external gear of the reduction box cooperates with the rack slide 503, so that the slider can move up and down on the slide. Then another XS motor 504 and a gear reduction box 505 rotate the screw 506 and the spiral moves up and down. With the XS motor 501 as the power input, the reduction box 502 can move up and down using the rack slide, which is more conducive to the device to drill downward quickly. At the same time, another XS motor 504 and a gear reduction box 505 control the rotation of the spiral screw 506, and cooperate with the motor 501 to make the punching module have both rotation and vertical lifting movements, which speeds up the drilling progress.

[0036] like Figure 8 The sowing mechanism 600 is mainly composed of a crank slider mechanism, an intermittent rotating mechanism, etc., including an XS motor 601, a gear reduction box 602, a gear shaft 603, a crankshaft 604, a support rod 605, a long column 606, a seed storage 607, a dividing disk inner disk 608, a dividing disk outer disk 609, and a micro motor 610. An XS motor 601 at the top of the device drives the gear shaft 603 to rotate under the action of the gear reduction box 602, and the gear shaft 603 drives the crankshaft 604 to rotate. The crankshaft 604 cooperates with the support rod 605, and the support rod 605 cooperates with the long column 606, thereby forming a crank slider mechanism. The gear shaft 603 is fixed to the top, and the crankshaft 604 acts as a crank to connect with the connecting rod. There is a seed storage 607 above the front of the device, which can be used to store the required sowing seeds. The dividing disk inner disk 608 and the dividing disk outer disk 609 below can control the seeds to fall at a uniform speed and periodically.

[0037] When working, the motor 601 is started to make the seed storage 607 vibrate, and then the seeds slide down the pipeline to the dividing disk. The inner disk 608 of the dividing disk has two symmetrical holes on the upper and lower sides, and the outer disk 609 is fixed. The inner disk rotates under the action of the DC 24V micro motor 610. If the upper holes of the inner disk 608 of the dividing disk and the outer disk 609 are aligned, the seeds fall into the inner cavity of the inner disk 608 for temporary storage. When the lower holes of the inner disk 608 of the dividing disk and the outer disk 609 are aligned, the seeds fall out of the inner cavity of the inner disk 608 of the dividing disk. Under the action of the limiting device, the seeds fall along the prescribed path, so as to accurately fall on the drilling point, thereby completing the sowing process. The dividing process can control the seed falling rate by controlling the rotation speed of the inner disk 608, and complete the overlap of the two holes by setting a predetermined period, thereby controlling the seed sowing efficiency, further improving the compatibility and adaptability of the device.

[0038] like Fig. 9 The transport and storage mechanism for storing and transporting samples collected by the mechanical claw includes an XS motor 701, a gear 702, a rack 703, and a triangular block 704. The conveyor belt uses a gear chain mechanism. The battery drives the XS motor 701 to rotate, driving the gear 702 directly connected to the XS motor 701 to rotate at a high speed, and transmits it through the gear rack 703 transmission mechanism. The storage cavity is mainly built by triangular blocks 704, located in the central abdomen of the "South China Sea beetle", and is wrapped by a shell at the rear. The shell is designed to be a curved surface in imitation of the South China Sea beetle. In an emergency, the bionic beetle can urgently close the shell behind itself to protect its internal organs from damage.

[0039] The conveyor belt is driven by the cooperation of the motor 701, the gear 702, and the rack 703 to transport the samples to the rear storage module 704 for storage. A gear 702 of the same specification is set at each end of the conveyor belt, and the motor drives the gear 702 to rotate, so that the rack 703 matched with it and the track connection block drive and rotate, achieving the effect of the conveyor belt, and transporting the samples taken by the robot 200.

[0040] like Fig.10The double-wing system 800 includes an I-shaped interface support rod 801, a single rivet 802, a locking ring 803, a worm 804, a worm nut 805, a motor 806, a gear 807, a support rod 808, a plastic shaft 809, a plastic shaft 810, an assembly 811 and a hinge block 812. The I-shaped interface support rods 801 with holes are connected in pairs with the locking rings 803 through the single rivet 802 of specification M6, forming a connecting rod mechanism with one degree of freedom (the direction of freedom of flapping up and down), and the motor drives the worm 804 and the worm nut 805 to move, so that the active rod realizes the specified motion state, and performs the bionic functions of spreading and retracting the wings and flapping. The flapping wing structure uses the crank slider structure principle, uses the motor 806 to drive the gear 807 to rotate, connects one end of the support rod 808 to the small hole on the surface of the gear 807 through the plastic shaft 809, and connects the other end to the small block component 811 with a hole through the plastic shaft 810, and the component 811 is connected to one end of the wing structure through the hinge block 812. When the motor 806 drives the gear 807 to rotate, the wing realizes the movement mode of flapping up and down through the constraints of the support rod 808 and the hinge block 812.

[0041] When the double-wing module is working, the motor is started to drive the worm 804 to rotate, so that the worm nut 805 moves linearly, thereby driving the bionic double wings fixed to the worm nut 805 to complete the opening and closing movement. The motor 806 is started to drive the gear 807 to rotate, so that the component 811 moves up and down, and the bionic beetle flaps its wings for emergency avoidance and short-term gliding flight.

[0042] like Fig.11 , Fig.12 The head-tail bionic module 900 includes a head 901 and a tail shell 902. The head 901 and the tail shell 902 are designed with streamlined arcs, which have low resistance and fast movement speed. The head 901 is located at the front end of the device, and the tail shell 902 is located above the sowing module at the tail end of the device. The streamlined shell is used as the main body to imitate the shell of the South Sea beetle, which reduces the running resistance of the device and increases the travel speed. At the same time, it can buffer the impact of the collision between the internal organs and the shell during the movement, and also reduce the collision force of the sample during the movement, playing a buffering role.

[0043] like Fig.13 The visual recognition system 100 includes an ultrasonic distance sensor TX1001, an optical color sensor 1002, a microcontroller 1003, a motor 1004, a worm 1005, a turntable 1006, a micro motor 1007, a gear box 1008, a coupling 1009, and a retainer 1010. The pan / tilt part mainly drives the worm 1005 to rotate through the motor 1004, so that the turntable 1006 rotates to achieve a 360° viewing angle. At the same time, the micro motor 1007 cooperates with the gear box 1008, uses the coupling 1009 and the retainer 1010 to enable the visual module to have a dual-degree-of-freedom all-round viewing angle.

[0044] After the device is started, it can identify obstacles in the path through the optical color sensor 1002, and measure the distance between the obstacle and the bionic spider through the ultrasonic distance sensor TX1001. After receiving the signal, the microcontroller 1003 automatically makes an obstacle avoidance judgment. Through the operation of the motor 1004 and the micro motor 1007, the turntable 1006 and the visual recognition device rotate, the viewing angle changes, the designated reference object is aligned, and information is transmitted.

Claims

1. A bionic giant beetle ecological robot, characterized in that: include: The head is a streamlined head of a bionic beetle, set at the front end of the robot; The tail shell, which is a bionic shell of a giant beetle, is set at the tail end of the robot; A six-legged crawling mechanism, each leg of which includes a bionic leg (107) and a driving system for driving the bionic leg (107) to perform elliptical motion to imitate the walking of a giant beetle, the driving system including: an eccentric gear (103), the shaft of the eccentric gear (103) being connected to the bionic leg (107) through a connecting assembly; a gear (102), the gear (102) being meshed with the eccentric gear (103); and a motor (101), the shaft of the motor (101) being connected to the gear (102); A double-wing system, which includes bionic wings and a driving mechanism for driving the bionic wings to expand, contract and flap; and A drill bit and a driving mechanism for driving the drill bit to rotate and vertically lift to drill a hole on the ground; A sowing mechanism, comprising: a dividing plate, the dividing plate comprising: a rotatable inner plate (608) storing seeds; a fixed outer plate (609); and a micro motor (610) driving the inner plate (608) to rotate, wherein when the inner plate (608) rotates and the hole on the inner plate is aligned with the lower hole of the outer plate (609), the seeds in the inner plate (608) fall into the hole drilled by the drill bit; a seed storage (607), the outlet at the lower end of which is aligned with the upper hole of the outer plate (609); and a first driving mechanism, which drives the seed storage (607) to vibrate up and down so that the seeds fall into the inner plate (608) of the dividing plate, comprising: a motor (601); a gear reduction box (602), wherein the input shaft of the gear reduction box (602) is connected to the rotating shaft of the motor (601), and the output shaft of the gear reduction box (602) is connected to the seed storage (607) through a crank slider mechanism; and Visual recognition system to perceive the robot's surroundings.

2. The bionic giant beetle ecological robot according to claim 1, characterized in that: It also includes a sample picking mechanism, which includes a three-degree-of-freedom manipulator and a driving mechanism for driving the three-degree-of-freedom manipulator to rotate horizontally, move vertically, and open and close.

3. The bionic giant beetle ecological robot according to claim 1, characterized in that: Also included are support feet that can be lowered to the ground to support the robot.

4. The bionic giant beetle ecological robot according to claim 1, characterized in that: Also includes: Weed control agency.

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