A Bouncing and Adsorbable Micro-Mechanical Claw Device and Method

Abstract

The present disclosure relates to the technical field of crops, and particularly to a bouncing and adsorbing micro mechanical claw device and method. An ejection device is arranged at one end of the device body, and the end of the ejection device far from the device body is connected to a mechanical foot to drive the mechanical foot to move through the ejection action of the ejection device; two sliding devices are symmetrically arranged on both sides of the device body to drive the device body to slide when the ejection device performs an ejection action; the drive assembly includes a solar energy assembly, the solar energy assembly is arranged on the device body, and the solar energy assembly is connected to the ejection device to supply energy to the ejection device; two mechanical feet are symmetrically arranged on both sides of the device body to drive the device body to move, and the mechanical feet and the sliding devices are respectively arranged at both ends of the device body. An adsorbing member is provided at the end of the mechanical foot far from the device body to adsorb on the surface of the crop. Through the above settings, the present disclosure can fly and walk, is dual-purpose on land and in the air, and can dynamically monitor the growth and pests and diseases of crops.

Description

Technical Field

[0001] The present disclosure relates to the technical field of crops, and particularly to a bouncing and adsorbing micro mechanical claw device and method. Background Art

[0002] Due to the development of greenhouse cultivation technology, many crops are now grown in greenhouses. However, due to the limited space in greenhouses, it is not suitable to use aerial devices such as drones for crop detection, which greatly limits the acquisition of information on the growth status of crops in greenhouses. Current detection devices cannot shuttle through the branches and leaves of plants to detect plant growth and plant diseases, nor can they find the origin of diseases on the back of leaves. Summary of the Invention

[0003] To solve the above technical problems, the present disclosure provides a bouncing and adsorbing micro mechanical claw device and method.

[0004] The present disclosure provides a bouncing and adsorbing micro mechanical claw device, including a device body, a sliding device, an ejection device, a driving component, and mechanical feet;

[0005] The ejection device is arranged at one end of the device body and has an ejection function. The end of the ejection device away from the device body is connected to the mechanical foot to drive the mechanical foot to move through the ejection action of the ejection device;

[0006] There are two sliding devices, which are symmetrically arranged on both sides of the device body to drive the device body to slide when the ejection device performs an ejection action;

[0007] The driving component includes a solar component, which is arranged on the device body and is connected to the ejection device to supply energy to the ejection device;

[0008] There are two mechanical feet, which are symmetrically arranged on both sides of the device body to drive the device body to move. The mechanical feet and the sliding devices are respectively arranged at both ends of the device body. An adsorbing member is provided at the end of the mechanical foot away from the device body to adsorb on the surface of the crop.

[0009] Optionally, the sliding device is in a wing-like structure, and the extending direction of the wing-like structure is arranged at an angle with the length direction of the device body.

[0010] Optionally, the adsorbing member includes multiple strip-shaped structures, the strip-shaped structures are made of nano materials, and the end of the strip-shaped structure away from the mechanical foot is used to adsorb the leaf spines on the surface of the crop.

[0011] Optionally, the solar component is a flexible part. The solar component includes a solar panel. A first flexible glass layer is laid on the light-facing side of the solar panel, and a second flexible glass layer is laid on the backlight side of the solar panel. The first flexible glass layer, the solar panel, and the second flexible glass layer together form a flexible solar component.

[0012] Optionally, the drive component further includes a capacitor. One end of the capacitor is electrically connected to the solar component, and the other end of the capacitor is connected to the ejection device, jointly forming a charging circuit. The electric energy generated by the solar component is stored by the capacitor and used to drive the movement of the ejection device.

[0013] Optionally, a temperature sensor is further provided on the device body, a controller is provided inside the device body, and a prompting device is provided on the side of the solar component away from the device body;

[0014] The temperature sensor is used to collect the temperature information on the surface of the crop. The controller is electrically connected to the temperature sensor and the prompting device respectively. The temperature information collected by the temperature sensor is transmitted to the controller. The controller judges the temperature information and sends a control signal to the prompting device to prompt whether the temperature on the surface of the crop is normal or abnormal through the prompting device.

[0015] Optionally, the prompting device includes a plurality of LED lights, and the colors of the plurality of LED lights are different from each other.

[0016] Optionally, the ejection device includes a compression pump and an ejection pipeline. The compression pump pressurizes air to form compressed air. The air outlet of the compression pump is hermetically connected to the ejection pipeline, and the air outlet of the ejection pipeline is connected to the mechanical foot. The compressed air drives the mechanical foot to perform an ejection action through the ejection pipeline.

[0017] Optionally, the length of the mechanical foot is 6 mm, and the maximum distance between the two mechanical feet is 7 mm.

[0018] The present disclosure also provides a method for using a bouncing and adsorbing micro mechanical claw, using the bouncing and adsorbing micro mechanical claw device as described above, including the following steps:

[0019] S1: Set the detection sampling quantity of the crop, and randomly select one crop in the greenhouse as the first detected crop;

[0020] S2: The mechanical foot adsorbs on the surface of the first detected crop through the adsorbing part and can move on the surface of the crop. The temperature sensor works, collects the temperature information on the surface of the crop and transmits it to the controller. The controller judges the temperature information and sends a signal to the prompting device. The LED lights of the prompting device flash lights of different colors according to different temperature information, completing the detection of one crop.

[0021] S3: The capacitor discharges to drive the compression pump to pressurize the air, forming compressed air. After the air pressure of the compressed air reaches the threshold, the compressed air drives the mechanical foot to perform an ejection action through the ejection pipeline. The mechanical foot detaches from the crop surface. During the ejection process, the sliding device drives the device body to slide in any direction until it reaches the next crop;

[0022] S4: Repeat steps S2 and S3 until the detection of the sampled number of crops is completed.

[0023] The technical solution provided by the embodiment of the present disclosure has the following advantages compared with the prior art:

[0024] The sliding device, ejection device, driving device and mechanical foot in the present disclosure are all connected to the device body. The mechanical foot can adsorb on the leaf, and the mechanical foot in the present disclosure can walk on the leaf, which is convenient for the detection work of the present disclosure. The driving component converts solar energy into electrical energy to supply energy for the ejection device. The ejection device is connected to the mechanical foot to drive the mechanical foot to bounce on the leaf to eject from the leaf of one crop to the leaf of another crop. In addition, during the ejection process, the sliding device in the present disclosure will generate a sliding action to drive the device body to slide to the leaf of another crop for the next detection work. The present disclosure provides a solar-driven mechanical claw device. Through the settings of the sliding device, ejection device, driving device and mechanical foot, the present disclosure can fly and walk, is amphibious, and can dynamically monitor the growth of crops and pests and diseases. Description of the Drawings

[0025] The drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments that conform to the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0027] Figure 1 It is the overall structure diagram of the bouncing and adsorbable micro mechanical claw device described in the embodiment of the present disclosure;

[0028] Figure 2 It is the side view of the bouncing and adsorbable micro mechanical claw device described in the embodiment of the present disclosure.

[0029] Among them, 1. Device body; 2. Sliding device; 3. Ejection device; 31. Compression pump; 32. Ejection pipeline; 4. Driving component; 5. Mechanical foot; 51. Adsorbing part; 6. Prompt device. Detailed Embodiments

[0030] In order to more clearly understand the above-mentioned objects, features, and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0031] Many specific details are set forth in the following description in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all of the embodiments.

[0032] The present disclosure provides a bouncing and adsorbing micro mechanical claw device, including a device body 1, a sliding device 2, an ejection device 3, a driving component 4, and mechanical feet 5; the ejection device 3 is arranged at one end of the device body 1, the ejection device 3 has an ejection function, and one end of the ejection device 3 away from the device body 1 is connected to the mechanical feet 5 to drive the mechanical feet 5 to move through the ejection action of the ejection device 3; there are two sliding devices 2, and the two sliding devices 2 are symmetrically arranged on both sides of the device body 1 to drive the device body 1 to slide when the ejection device 3 performs an ejection action; the driving component 4 includes a solar component, the solar component is arranged on the device body 1, and the solar component is connected to the ejection device 3 to supply energy to the ejection device 3; there are two mechanical feet 5, and the two mechanical feet 5 are symmetrically arranged on both sides of the device body 1 to drive the movement of the device body 1, and the mechanical feet 5 and the sliding device 2 are respectively arranged at both ends of the device body 1, and an adsorbing member 51 is arranged at one end of the mechanical feet 5 away from the device body 1 to adsorb on the surface of the crop.

[0033] In this embodiment, the sliding device 2, the ejection device 3, the driving device, and the mechanical feet 5 are all connected to the device body 1. The mechanical feet 5 can adsorb on the leaves, and the mechanical feet 5 in this embodiment can walk on the leaves, which is convenient for this embodiment to perform detection work on the leaves. The driving component 4 includes a solar component, which can convert solar energy into electrical energy for supplying energy to the ejection device 3. The ejection device 3 is connected to the mechanical feet 5 to drive the mechanical feet 5 to bounce on the leaves to eject from the leaves of one crop to the leaves of another crop. In addition, during the ejection process, the sliding device 2 in this embodiment will generate a sliding action to drive the device body 1 to slide to the leaves of another crop for the next detection work.

[0034] This embodiment provides a solar-driven mechanical claw device. Through the arrangement of the mechanical feet 5, this embodiment can adsorb on the leaves, walk on the leaves to carry out detection work, and then the driving device drives the ejection device 3 to eject, and the sliding device 2 slides during the ejection process, so that the mechanical claw device can reach the leaves of the next crop from the leaves of one crop, and then carry out the detection of the next crop to dynamically monitor the growth and pests of the crops.

[0035] In this embodiment, the sliding device 2 is in a wing-like structure, and the extending direction of the wing-like structure is arranged at an angle with the length direction of the device body 1. As Figure 1 shown, the sliding device 2 in this embodiment is similar to a transparent cicada wing and is designed according to the flapping-wing insects in nature through bionics knowledge. The sliding device 2 has a skeleton structure and a cicada wing film. Among them, the skeleton structure is made of carbon fiber, and the cicada wing film is made of PET polyester film, which together form a structure similar to a cicada wing, and finally realize the sliding function of the sliding device 2. In addition, the cicada wings in nature will form a certain angle with the insect body, and the bionic sliding device 2 also needs to be arranged at an angle with the length direction of the device body 1 to realize the sliding function.

[0036] As Figure 1 shown, the adsorbent 51 includes multiple strip structures, the strip structures are made of nano materials, and the end of the strip structure away from the mechanical foot 5 is used to adsorb the leaf thorns on the surface of the crop. The adsorbent 51 in this embodiment is a nano material with very good flexibility and a diameter of 0.1 mm to hook the leaf thorns on the surface of the crop, so that the mechanical claw device will not fall off during the movement of the mechanical foot 5.

[0037] Specifically for the solar component, the solar component is a flexible part. The solar component includes a solar panel. A first flexible glass layer is laid on the light-facing side of the solar panel, and a second flexible glass layer is laid on the backlight side of the solar panel. The first flexible glass layer, the solar panel and the second flexible glass layer together form a flexible solar component.

[0038] In the above embodiment, the first flexible glass layer and the second flexible glass layer are used as the encapsulation layers of the solar component, which improves the flexibility and reliability of the entire solar component. In addition, there are multiple solar panels in this embodiment, and the distance between the multiple solar panels can also be increased, so that the solar component has a larger bending space, further improving the flexibility of the entire flexible solar component.

[0039] By setting the solar component as a flexible part, during the sliding process of the sliding device 2, the solar component will also play a guiding role, effectively reducing the air resistance during the sliding process and making the sliding process smoother.

[0040] In this embodiment, the drive assembly 4 further includes a capacitor. One end of the capacitor is electrically connected to the solar module, and the other end of the capacitor is connected to the ejection device 3, jointly forming a charging circuit. The electric energy generated by the solar module is stored in the capacitor and used to drive the movement of the ejection device 3.

[0041] Since the overall structure of this embodiment is extremely small, using a traditional lithium battery would increase the self-weight, which is not conducive to the ejection and sliding processes. Therefore, in this embodiment, a capacitor is used instead of a lithium battery to meet the weight requirement. The solar module will first charge the capacitor, and then drive the operation of the ejection device 3 through the discharge of the capacitor. Under normal circumstances, each discharge can drive the compression pump 31 to perform twelve cycles of movement. The twelve-cycle movement of the above-mentioned compression pump 31 will form a bouncing action of the mechanical foot 5. After the bouncing action is completed, the capacitor is then charged again through the solar module, and the cycle is completed to detect the crop.

[0042] To complete the detection of the crop, a temperature sensor is further provided on the device body 1, a controller is provided inside the device body 1, and a prompting device 6 is provided on the side of the solar module away from the device body 1; the temperature sensor is used to collect the temperature information on the surface of the crop, the controller is electrically connected to the temperature sensor and the prompting device 6 respectively, the temperature information collected by the temperature sensor is transmitted to the controller, and the controller judges the temperature information and issues a control signal to the prompting device 6 to prompt whether the temperature on the surface of the crop is normal or abnormal through the prompting device 6.

[0043] When the mechanical foot 5 adsorbs on the surface of the crop leaf, the device body 1 starts to detect the surface temperature of the leaf to indicate whether the crop is healthy through the surface temperature of the leaf. Moreover, the device body 1 is not only equipped with a temperature sensor and a controller, but also a prompting device 6. When the mechanical foot 5 adsorbs on the leaf surface, the temperature sensor starts to work, collects the temperature information on the leaf surface and transmits it to the controller. The controller judges whether the collected temperature information is normal. If it is normal, the controller sends a normal signal to the prompting device 6, and the prompting device 6 will display that the temperature is normal. If it is abnormal, the controller sends an abnormal signal to the prompting device 6, and the prompting device 6 will display that the temperature is abnormal to prompt the staff to detect the health of the crop plant.

[0044] In addition, in other embodiments, the temperature sensor can be replaced with an image sensor, which captures an image of the crop surface and transmits it to the controller. The controller makes a judgment and then transmits the judgment result to the prompting device 6. This is more complex than the temperature sensor and can better judge the growth state information of the plant.

[0045] Specifically for the prompting device 6, the prompting device 6 includes a plurality of LED lights, and the colors of the plurality of LED lights are different from each other. Through the display of different colors of the LED lights, the health condition of the crops can be displayed in this embodiment. For example, simply, the LED lights can be set to two colors, red and green. When the temperature is normal, it shows green, and when the temperature is abnormal, it shows red to indicate whether the crops are healthy. Or, in this embodiment, a yellow LED light can be added. When the yellow light is shown, it means that the temperature of the crops is in an interval that is difficult to judge, and it is necessary for the staff to make a comprehensive judgment in combination with the rest of the situation of the crops.

[0046] In this embodiment, the ejection device 3 includes a compression pump 31 and an ejection pipeline 32. The compression pump 31 pressurizes air to form compressed air. The air outlet of the compression pump 31 is hermetically connected to the ejection pipeline 32, and the air outlet of the ejection pipeline 32 is connected to the mechanical foot 5. The compressed air drives the mechanical foot 5 to perform an ejection action through the ejection pipeline 32.

[0047] The capacitor will drive the compression pump 31 to perform twelve cycles of movement. The compression pump 31 will slowly inflate the internal air chamber of the pump body of the compression pump 31 during these twelve cycles. When a bouncing action is required, the air inflated by the compression pump 31 within twelve cycles will suddenly deflate and act on the mechanical foot 5 through the ejection pipeline 32, and finally a bouncing action of the mechanical foot 5 will be formed.

[0048] This embodiment is a micro mechanical claw device. The length of the mechanical foot 5 is 6 mm, and the maximum distance between the two mechanical feet 5 is 7 mm. The overall structure is very small, which is conducive to shuttling in the narrow space of the greenhouse.

[0049] The present disclosure also provides a usage method of the bouncing and adsorbing micro mechanical claw, using the above-mentioned bouncing and adsorbing micro mechanical claw device, including the following steps:

[0050] S1: Set the detection sampling quantity of the crops, and randomly select one of the crops in the greenhouse as the first detected crop;

[0051] S2: The mechanical foot 5 adsorbs on the surface of the first detected crop through the adsorbing member 51 and can move on the crop surface. The temperature sensor works, collects the temperature information on the crop surface and transmits it to the controller. The controller judges the temperature information and sends a signal to the prompting device 6. The LED lights of the prompting device 6 flash lights of different colors according to different temperature information, and the detection of one crop is completed;

[0052] S3: The capacitor discharges to drive the compression pump 31 to pressurize the air to form compressed air. After the air pressure of the compressed air reaches the threshold value, the compressed air drives the mechanical foot 5 to perform an ejection action through the ejection pipeline 32. The mechanical foot 5 detaches from the crop surface. During the ejection process, the sliding device 2 drives the device body 1 to slide in any direction until it reaches the next crop;

[0053] S4: Repeat steps S2 and S3 until the detection of the sampled number of crops is completed.

[0054] Through the settings of the solar module and the capacitor, this embodiment uses solar energy to drive the capacitor to discharge, which is not only energy-saving and environmentally friendly, but also can replace the setting of the lithium battery to meet the self-weight requirements of the robotic claw device. Through the actions of the ejection device 3 and the sliding device 2, this embodiment can make the sliding device 2 slide during the ejection process, so that the robotic claw device can reach from the leaves of one crop to the leaves of the next crop, and then conduct the detection of the next crop, thereby dynamically monitoring the growth and pests and diseases of the crops.

[0055] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0056] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A bouncing and adsorbable micro mechanical claw device, characterized in that It includes a device body (1), a sliding device (2), an ejection device (3), a drive assembly (4) and mechanical feet (5); The ejection device (3) is arranged at one end of the device body (1). The ejection device (3) has an ejection function. One end of the ejection device (3) far from the device body (1) is connected to the mechanical feet (5) to drive the mechanical feet (5) to move through the ejection action of the ejection device (3); There are two sliding devices (2). The two sliding devices (2) are symmetrically arranged on both sides of the device body (1) to drive the device body (1) to slide when the ejection device (3) performs an ejection action; The drive assembly (4) includes a solar energy assembly. The solar energy assembly is arranged on the device body (1), and the solar energy assembly is connected to the ejection device (3) to supply energy to the ejection device (3); There are two mechanical feet (5). The two mechanical feet (5) are symmetrically arranged on both sides of the device body (1) to drive the device body (1) to move. The mechanical feet (5) and the sliding devices (2) are respectively arranged at both ends of the device body (1). One end of the mechanical feet (5) far from the device body (1) is provided with an adsorbent (51) to adsorb on the surface of the crop; The sliding device (2) is of a wing-shaped structure. The extending direction of the wing-shaped structure is arranged at an angle with the length direction of the device body (1); The adsorbent (51) includes multiple strip-shaped structures. The strip-shaped structures are made of nano materials. One end of the strip-shaped structure far from the mechanical feet (5) is used to adsorb the leaf thorns on the surface of the crop; The solar energy assembly is a flexible component. The solar energy assembly includes a solar panel. A first flexible glass layer is laid on the light-facing side of the solar panel, and a second flexible glass layer is laid on the backlight side of the solar panel. The first flexible glass layer, the solar panel and the second flexible glass layer jointly form a flexible solar energy assembly; The ejection device (3) includes a compression pump (31) and an ejection pipeline (32). The compression pump (31) pressurizes air to form compressed air. The air outlet of the compression pump (31) is hermetically connected to the ejection pipeline (32). The air outlet of the ejection pipeline (32) is connected to the mechanical feet (5). The compressed air drives the mechanical feet (5) to perform an ejection action through the ejection pipeline (32); The drive assembly (4) further includes a capacitor; A temperature sensor is further arranged on the device body (1), and a controller is arranged inside the device body (1); A prompting device (6) is arranged on one side of the solar energy assembly far from the device body (1).

2. The bounce-adsorbable micro mechanical claw device according to claim 1, wherein One end of the capacitor is electrically connected to the solar energy assembly, and the other end of the capacitor is connected to the ejection device (3) to jointly form a charging circuit. The electric energy generated by the solar energy assembly is stored by the capacitor and the electric energy drives the movement of the ejection device (3).

3. The bounce-adsorbable micro mechanical claw device according to claim 1, characterized in that, The temperature sensor is used to collect the temperature information of the crop surface. The controller is electrically connected to the temperature sensor and the prompting device (6) respectively. The temperature information collected by the temperature sensor is transmitted to the controller, and the controller judges the temperature information and issues a control signal to the prompting device (6) to prompt whether the temperature of the crop surface is normal or abnormal through the prompting device (6).

4. The bounce-adsorbable micro mechanical claw device according to claim 3, characterized in that, The prompting device (6) includes a plurality of LED lights, and the colors of the plurality of LED lights are different from each other.

5. The bouncing and adsorbing micro mechanical claw device according to claim 1, wherein, The length of the mechanical foot (5) is 6 mm, and the maximum distance between the two mechanical feet (5) is 7 mm.

6. A method of using a bouncing and adsorbing micro mechanical claw, which uses the bouncing and adsorbing micro mechanical claw device according to any one of claims 1 to 5, characterized in that, It includes the following steps: S1: Set the detection sampling quantity of the crop, and randomly select one of the crops in the greenhouse as the first detected crop; S2: The mechanical foot (5) adsorbs on the surface of the first detected crop through the adsorbing member (51) and can move on the crop surface. The temperature sensor works, collects the temperature information of the crop surface and transmits it to the controller. The controller judges the temperature information and issues a signal to the prompting device (6). The LED lights of the prompting device (6) flash lights of different colors according to different temperature information, and the detection of one crop is completed; S3: The capacitor discharges to drive the compression pump (31) to pressurize the air to form compressed air. After the air pressure of the compressed air reaches the threshold value, the compressed air drives the mechanical foot (5) to perform an ejection action through the ejection pipeline (32). The mechanical foot (5) detaches from the crop surface. During the ejection process, the sliding device (2) drives the device body (1) to slide in any direction until it reaches the next crop; S4: Repeat steps S2 and S3 until the detection of the sampled quantity of crops is completed.

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