A canopy spatial distribution sampling vehicle suitable for banana trees

Abstract

This invention discloses a canopy spatial distribution sampling vehicle suitable for banana trees, comprising a mobile vehicle body, a three-dimensional support device mounted on the mobile vehicle body, a clamping device, and a folding sampling device. The three-dimensional support device is fixed to the mobile vehicle body and includes a robotic arm and a telescopic module for driving the robotic arm to rise and fall. The clamping device is located below the end of the robotic arm. The folding sampling device is located above the end of the robotic arm and includes a folding frame, a sampling module mounted on the folding frame, and a folding drive mechanism for driving the folding frame to fold or unfold. This canopy spatial distribution sampling vehicle can collect sample data of banana trees at different canopy spatial locations in real time, improving sampling efficiency and reducing labor costs. Furthermore, it is less affected by wind fields from drones during sampling, resulting in more accurate sample data.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment, specifically to a canopy spatial distribution sampling vehicle suitable for banana trees. Background Technology

[0002] In the field of drone spraying, researchers need to collect samples of test strips at different heights and spatial locations on fruit trees to evaluate the spraying results. Currently, sampling of fruit trees is generally done manually by climbing up the trees, which is time-consuming, labor-intensive, and poses safety risks to the sampling personnel. Furthermore, most existing fruit tree sampling and detection devices are limited to the ground surface and cannot detect sampling data at different heights or penetrate deep into the canopy for sampling. Sampling deep into the canopy is primarily done manually, resulting in low experimental efficiency and high labor costs. Summary of the Invention

[0003] This invention provides a canopy spatial distribution sampling vehicle suitable for banana trees. The canopy spatial distribution sampling vehicle can collect sample data of banana trees at different canopy spatial locations in real time, which not only improves the sampling efficiency but also reduces labor costs. At the same time, it is less affected by the wind field of the drone during sampling, and the sample data is more accurate.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A canopy spatial distribution sampling vehicle suitable for banana trees includes a mobile vehicle body, a three-dimensional support device, a clamping device, and a folding sampling device mounted on the mobile vehicle body. The three-dimensional support device is fixed to the mobile vehicle body and includes a robotic arm and a telescopic module for driving the robotic arm to rise and fall. The clamping device is located below the end of the robotic arm. The folding sampling device is located above the end of the robotic arm and includes a folding frame, a sampling module mounted on the folding frame, and a folding drive mechanism for driving the folding frame to fold or unfold.

[0006] Preferably, the mobile vehicle body includes a vehicle frame, a main control module, a signal transmission module, a power supply module, and an electric drive module mounted on the vehicle frame; wherein, the vehicle frame includes a vehicle chassis, a front support frame and a rear support frame mounted on the vehicle chassis; the front support frame is fixed to the front end of the vehicle chassis, and the rear support frame is fixed to the rear end of the vehicle chassis.

[0007] Preferably, the telescopic module is vertically mounted at the rear end of the mobile vehicle body, passing through the rear support frame. The telescopic module includes four sets of telescopic rods and a telescopic drive mechanism disposed between adjacent sets of telescopic rods.

[0008] The four sets of telescopic rods are respectively a first-layer telescopic rod, a second-layer telescopic rod, a third-layer telescopic rod, and a fourth-layer telescopic rod; wherein, the second-layer telescopic rod is nested within the first-layer telescopic rod and can move along the axis of the first-layer telescopic rod; the third-layer telescopic rod is nested within the second-layer telescopic rod and can move along the axis of the second-layer telescopic rod; the fourth-layer telescopic rod is nested within the third-layer telescopic rod and can move along the axis of the third-layer telescopic rod.

[0009] The telescopic drive mechanism includes a stepper motor and a rack and pinion transmission mechanism. The stepper motor is mounted on the upper end of the first, second, and third telescopic rods. The rack and pinion transmission mechanism includes a climbing gear and a climbing rack. The climbing gear is connected to the main shaft of the stepper motor. The climbing rack is fixed on the arm of the second, third, and fourth telescopic rods. The climbing gears on the first, second, and third telescopic rods mesh with the climbing racks on the second, third, and fourth telescopic rods, respectively.

[0010] Preferably, the robotic arms are in four groups, and the four groups of robotic arms are respectively installed on the first layer telescopic rod, the second layer telescopic rod, the third layer telescopic rod and the fourth layer telescopic rod, wherein the ends of the robotic arms installed on the first layer telescopic rod, the second layer telescopic rod and the third layer telescopic rod are provided with the clamping device.

[0011] Preferably, the robotic arm includes a forearm and a rear arm, wherein a first horizontal rotation mechanism for driving the forearm to rotate horizontally is provided between the forearm and a corresponding support rod; the first horizontal rotation mechanism includes an initial servo motor, the forearm is hinged to the corresponding support rod, and the initial servo motor is used to drive the forearm to rotate horizontally; a second horizontal rotation mechanism for driving the rear arm to rotate horizontally is provided between the rear arm and the forearm, wherein the second horizontal rotation mechanism includes a middle servo motor, the rear arm is hinged to the forearm, and the middle servo motor is used to drive the rear arm to rotate horizontally.

[0012] Preferably, the clamping device includes a bracket, two sets of grippers mounted on the bracket, and a clamping drive mechanism for driving the two sets of grippers to open or close, wherein three pressure sensors are evenly distributed on the inner side of each set of grippers.

[0013] Preferably, a vertical rotation mechanism for driving the clamping device to rotate vertically is further provided between the rear arm and the bracket of the clamping device. The vertical rotation mechanism includes an end servo motor, which is mounted on the bracket. The bracket rotates at the end of the rear arm via a rotating shaft, and the main shaft of the end servo motor is connected to the rotating shaft via a coupling.

[0014] Preferably, the folding sampling devices are respectively disposed on the upper ends of the rear arms of the first layer robotic arm, the second layer robotic arm, and the third layer robotic arm; the folding frame in each set of folding sampling devices includes a support and two opposing semi-circular arc folding linkage mechanisms disposed on the support; wherein, the folding drive mechanism is used to drive the two sets of semi-circular arc folding linkage mechanisms to move towards or in opposite directions, the folding drive mechanism includes a driving gear, a driven gear meshing with the driving gear, and a folding motor for driving the driving gear to rotate, wherein the driving gear is mounted on a first rotating shaft, the driven gear is mounted on a second rotating shaft, and the third... Both the first rotating shaft and the second rotating shaft are rotatably connected to the support. The driving gear and the driven gear are respectively connected to two sets of semi-circular arc folding linkage mechanisms via connecting rods. The connecting rods are in two sets, namely a first connecting rod and a second connecting rod. One end of the first connecting rod is connected to the first rotating shaft or the second rotating shaft, and the other end is connected to the semi-circular arc folding linkage mechanism. One end of the second connecting rod is hinged to the support, and the other end is connected to the semi-circular arc folding linkage mechanism. The folding motor is mounted on the support, and a drive gear is provided on the main shaft of the folding motor. The drive gear meshes with the driving gear.

[0015] Preferably, each semi-circular arc folding linkage mechanism comprises 5 folding main rods and 4 folding secondary rods. The folding main rods are designated as folding main rod 1, folding main rod 2, folding main rod 3, folding main rod 4, and folding main rod 5. The folding secondary rods are designated as folding secondary rod 1, folding secondary rod 2, folding secondary rod 3, and folding secondary rod 4. The ends of the folding main rods are rotatably connected to the ends of the second linkage via a rotating shaft, with the connection sequence from bottom to top being: folding main rod 1, folding main rod 2, folding main rod 3, folding main rod 4, and folding main rod 5. Folding main rods 1, 2, 3, and 4 are rotatably connected to the rotating shaft, while folding main rod 5 is fixedly connected to the rotating shaft. A rotary motor is installed at the lower end of the rotating shaft, and the rotary motor is mounted at the end of the second linkage. Both folding main rod 2 and folding main rod 4 are equipped with... A sliding groove extending along its axial direction; one end of the No. 1 folding auxiliary rod is rotatably connected to the middle of the No. 1 folding main rod by a pin connection, and the other end is provided with a first sliding part, which is slidably connected to the sliding groove of the No. 2 folding main rod; one end of the No. 2 folding auxiliary rod is rotatably connected to the middle of the No. 3 folding main rod by a pin connection, and the other end is provided with a second sliding part, which is slidably connected to the sliding groove of the No. 2 folding main rod; one end of the No. 3 folding auxiliary rod is rotatably connected to the middle of the No. 3 folding main rod by a pin connection, and the other end is provided with a third sliding part, which is slidably connected to the sliding groove of the No. 4 folding main rod; one end of the No. 4 folding auxiliary rod is rotatably connected to the middle of the No. 5 folding main rod by a pin connection, and the other end is provided with a fourth sliding part, which is slidably connected to the sliding groove of the No. 4 folding main rod.

[0016] Preferably, the sampling modules are evenly distributed in the middle and front end of the folding main rod, and the sampling modules are piezoelectric sensors.

[0017] The technical solution of this invention can achieve the following technical effects:

[0018] The canopy spatial distribution sampling vehicle for banana trees of the present invention uses a telescopic module and a robotic arm to clamp banana tree pseudostems of different heights in a suitable posture. At the same time, it unfolds the folding sampling device in the horizontal direction. During the drone spraying operation, it collects sample data of banana trees at different canopy spatial locations in real time, thereby improving the sampling efficiency, reducing labor costs, and the sampling process is less affected by the wind field of the drone, resulting in more accurate sample data. Attached Figure Description

[0019] Figure 1 and Figure 2This is a three-dimensional structural diagram (folded state) of the sampling vehicle for canopy spatial distribution of banana trees, applicable to the present invention, from two different perspectives.

[0020] Figure 3 This is a three-dimensional structural diagram (extended state) of the sampling vehicle for canopy spatial distribution of banana trees according to the present invention.

[0021] Figure 4 This is a schematic diagram of the telescopic drive mechanism.

[0022] Figures 5-7 The diagram shows the structure of the folding sampling device, robotic arm, and clamping device from three different perspectives.

[0023] Figure 8 This is a structural diagram of a folding frame.

[0024] Figure 9 This is a schematic diagram of the clamping device. Detailed Implementation

[0025] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0026] See Figures 1-9 The sampling vehicle for canopy spatial distribution of banana trees according to the present invention includes a mobile vehicle body 1, a three-dimensional support device, a clamping device 4, and a folding sampling device 3 disposed on the mobile vehicle body 1. The three-dimensional support device is fixed on the mobile vehicle body 1 and includes a robotic arm and a telescopic module 2 for driving the robotic arm to rise and fall. The clamping device 4 is located below the end of the robotic arm. The folding sampling device 3 is located above the end of the robotic arm and includes a folding frame, a sampling module disposed on the folding frame, and a folding drive mechanism for driving the folding frame to fold or unfold.

[0027] See Figures 1-9 The mobile vehicle body 1 includes a vehicle frame, a main control module, a signal transmission module, a power supply module, and an electric drive module mounted on the vehicle frame; wherein, the vehicle frame includes a vehicle chassis, a front support frame, and a rear support frame mounted on the vehicle chassis; the front support frame is fixed to the front end of the vehicle chassis, and the rear support frame is fixed to the rear end of the vehicle chassis; the main control module and the signal transmission module are located within the front support frame; the power supply module and the electric drive module are located within the rear support frame;

[0028] Through the above structure, the signal transmission module can receive and send signals to realize information interaction between the mobile vehicle and the operator; the main control module can process the received signals to control the sampling work of the entire mobile vehicle; the power supply module can provide power to the entire mobile vehicle to ensure the smooth completion of the sampling work; the electric drive module is used to provide power for the movement of the mobile vehicle to ensure that the mobile vehicle can move to the designated work location under the control of the operator to start the sampling work.

[0029] See Figures 1-9 The telescopic module 2 is vertically mounted at the rear end of the mobile vehicle body 1, passing through the rear support frame. The telescopic module 2 includes four sets of telescopic rods and a telescopic drive mechanism disposed between adjacent sets of telescopic rods.

[0030] The four sets of telescopic rods are respectively a first-layer telescopic rod 5, a second-layer telescopic rod 6, a third-layer telescopic rod 7, and a fourth-layer telescopic rod 8; wherein, the second-layer telescopic rod 6 is nested within the first-layer telescopic rod 5 and can move along the axial direction of the first-layer telescopic rod 5; the third-layer telescopic rod 7 is nested within the second-layer telescopic rod 6 and can move along the axial direction of the second-layer telescopic rod 6; the fourth-layer telescopic rod 8 is nested within the third-layer telescopic rod 7 and can move along the axial direction of the third-layer telescopic rod 7.

[0031] The telescopic drive mechanism includes a stepper motor 9 and a gear and rack transmission mechanism. The stepper motor 9 is mounted on the upper ends of the first-layer telescopic rod 5, the second-layer telescopic rod 6, and the third-layer telescopic rod 7. The gear and rack transmission mechanism includes a climbing gear 10 and a climbing rack 11. The climbing gear 10 is connected to the main shaft of the stepper motor 9. The climbing rack 11 is fixed on the arms of the second-layer telescopic rod 6, the third-layer telescopic rod 7, and the fourth-layer telescopic rod 8. The climbing gears 10 on the first-layer telescopic rod 5, the second-layer telescopic rod 6, and the third-layer telescopic rod 7 respectively mesh with the climbing racks 11 on the second-layer telescopic rod 6, the third-layer telescopic rod 7, and the fourth-layer telescopic rod 8.

[0032] With the above settings, when it is necessary to drive the corresponding robotic arm to rise and fall, the corresponding telescopic drive mechanism will work. Specifically, the stepper motor 9 drives the climbing gear 10 to rotate, thereby driving the climbing rack 11 and the telescopic rod connected to the climbing rack 11 to perform lifting and lowering movements, thereby driving the robotic arm to rise and fall.

[0033] See Figures 1-9The robotic arms consist of four sets, which are respectively mounted on the first-layer telescopic rod 5, the second-layer telescopic rod 6, the third-layer telescopic rod 7, and the fourth-layer telescopic rod 8. Each robotic arm mounted on the first-layer telescopic rod 5, the second-layer telescopic rod 6, and the third-layer telescopic rod 7 has a clamping device 4 at its end of the rear arm 14. The clamping device 4 includes a bracket 402, two sets of grippers 403 mounted on the bracket 402, and a clamping drive mechanism 401 for driving the two sets of grippers 403 to open or close. Each set of grippers 403 has three pressure sensors evenly distributed on its inner surface. The clamping drive mechanism 401 can drive the two sets of grippers 403 to move in opposite directions, thereby achieving the opening and closing action. Because the grippers 403 have pressure sensors on their inner arms, when sufficient pressure is applied to the banana tree pseudostem, the main control module will perform a corresponding operation to maintain the clamping drive mechanism 401 in this state, i.e., not to further increase the clamping force.

[0034] In this embodiment, the specific structure of the clamping drive mechanism 401 can be implemented with reference to the specific structure of the "folding drive mechanism" below, or an existing drive method can be used.

[0035] See Figures 1-9 The robotic arm includes a forearm 13 and a rear arm 14. A first horizontal rotation mechanism for driving the forearm 13 to rotate horizontally is provided between the forearm 13 and the support rod. The first horizontal rotation mechanism includes a starting servo motor 12. The forearm 13 is hinged to the corresponding support rod, and the starting servo motor 12 drives the forearm 13 to rotate horizontally. A second horizontal rotation mechanism for driving the rear arm 14 to rotate horizontally is provided between the rear arm 14 and the forearm 13. The second horizontal rotation mechanism includes a mid-range servo motor. Arm 14 is hinged to the forearm 13, and the mid-end servo motor is used to drive the rear arm 14 to rotate horizontally; a vertical rotation mechanism for driving the clamping device 4 to rotate vertically is also provided between the rear arm 14 and the clamping device 4. The vertical rotation mechanism includes an end servo motor 15, which is mounted on the bracket 402. The bracket 402 rotates at the end of the rear arm 14 via a rotating shaft (the axis of the rotating shaft coincides with the axis of the rear arm 14). The main shaft of the end servo motor 15 is connected to the rotating shaft via a coupling.

[0036] By setting the first horizontal drive mechanism and the second horizontal drive mechanism, the swing of the forearm 13 and the rear arm 14 can be realized, thereby increasing the degree of freedom of the robotic arm to better cooperate with the folding sampling device 3 to complete the sampling work; in addition, the climbing gear 10 on the first three layers of telescopic rods meshes with the climbing rack 11 of the upper layer of telescopic rod under the drive of the stepper motor 9, so that the telescopic rod extends to the working height position. The starting servo motor 12 drives the rear arm 14 of the robotic arm to rotate and move, the middle servo motor drives the forearm 13 of the robotic arm to rotate and move, and the end servo motor 15 drives the clamping device 4 to rotate and move. Through the cooperation of the three servo motors, the clamping device 4 can be used to clamp the banana tree pseudostem at a suitable angle.

[0037] Furthermore, the clamping device 4 can be rotated by the end servo motor 15 to create an angle of -20° to 20° with the folding sampling device 3.

[0038] See Figures 1-9The folding sampling device 3 is respectively disposed on the upper end of the rear arm 14 of the first layer robotic arm, the second layer robotic arm, and the third layer robotic arm; the folding frame in each set of folding sampling devices 3 includes a support 302 and two opposing semi-circular arc folding linkage mechanisms 16 disposed on the support 302; wherein, the folding drive mechanism is used to drive the two sets of semi-circular arc folding linkage mechanisms 16 to move towards or in opposite directions, the folding drive mechanism includes a driving gear 304, a driven gear 305 meshing with the driving gear 304, and a folding motor 301 for driving the driving gear 304 to rotate, wherein the driving gear 304 is mounted on a first rotating shaft, the driven gear 305 is mounted on a second rotating shaft, and both the first rotating shaft and the second rotating shaft are rotatably connected to the support 302; the driving gear 304 and the driven gear 305 are respectively connected to the two sets of semi-circular arc folding linkage mechanisms 16 through linkages, wherein there are two sets of linkages, namely a first linkage 306 and a second linkage 305. Two connecting rods 307 (one connecting rod 306 and the second connecting rod 307 are arranged in parallel and of the same length, thus forming a parallel four-bar linkage mechanism) are connected. One end of the first connecting rod 306 is coaxially arranged with the driving gear 304 or the driven gear 305, and the other end is connected to the semi-circular arc folding linkage mechanism 16. One end of the second connecting rod 307 is hinged to the support 302, and the other end is connected to the semi-circular arc folding linkage mechanism 16. The folding motor 301 is mounted on the support 302. Furthermore, a drive gear 303 is provided on the main shaft of the folding motor 301, which meshes with the driving gear 304. The folding motor 301 drives the drive gear 303 to rotate, thereby driving the driving gear 304 and the driven gear 305 to rotate. The driving gear 304 and the driven gear 305 rotate in opposite directions, so they drive the two sets of semi-circular arc folding linkage mechanisms 16 to swing in opposite directions or in opposite directions through the first link 306 and the second link 307, respectively.

[0039] See Figures 1-9Each semi-circular arc folding linkage mechanism 16 consists of 5 folding main rods and 4 folding secondary rods. The folding main rods are designated as folding main rod 161, folding main rod 162, folding main rod 163, folding main rod 164, and folding main rod 165. The folding secondary rods are designated as folding secondary rod 166, folding secondary rod 167, folding secondary rod 168, and folding secondary rod 167. Their connection sequence from bottom to top is: folding main rod 161, folding main rod 162, folding main rod 163. Folding main rods 161, 162, 163, and 164 are rotatably connected to the end of the second connecting rod 307 via a rotating shaft. Folding main rods 161, 162, 163, and 164 are rotatably connected to the rotating shaft, while folding main rod 165 is fixedly connected to the rotating shaft. A rotary motor is installed at the lower end of the rotating shaft, and the rotary motor is mounted at the end of the second connecting rod 307. Folding main rod 164 is rotatably connected to the rotating shaft via a rotating shaft. 62 and the fourth folding main rod 164 are provided with sliding grooves extending along their axial direction; one end of the first folding auxiliary rod 166 is rotatably connected to the middle of the first folding main rod 161 by means of a pin connection, and the other end is provided with a first sliding part, which is slidably connected to the sliding groove of the second folding main rod 162; one end of the second folding auxiliary rod 167 is rotatably connected to the middle of the third folding main rod 163 by means of a pin connection, and the other end is provided with a second sliding part, which is slidably connected to the sliding groove of the second folding main rod 162. The sliding groove of the No. 2 folding main rod 162 is described; one end of the No. 3 folding auxiliary rod 168 is rotatably connected to the middle of the No. 3 folding main rod 163 by means of a pin connection, and the other end is provided with a third sliding part, which is slidably connected to the sliding groove of the No. 4 folding main rod 164; one end of the No. 4 folding auxiliary rod 167 is rotatably connected to the middle of the No. 5 folding main rod 165 by means of a pin connection, and the other end is provided with a fourth sliding part, which is slidably connected to the sliding groove of the No. 4 folding main rod 164;

[0040] With the above structure, after the clamping device 4 completes the clamping operation, the folding sampling device 3 can be opened and closed, thereby moving the sampling module to the designated sampling position and completing the sampling work. Specifically, the folding motor 301 drives the drive gear 304 to rotate. Since the drive gear 304 meshes with the driven gear 305, it can drive the driven gear 305 to rotate, thereby driving the parallel four-bar linkage formed by the first link 306 and the second link 307 to extend forward. The rotary motor drives the No. 5 folding main rod 165 to rotate and move. The No. 5 folding main rod 165 is rotated to a position where it forms a 180° angle with the No. 1 folding main rod 161 and then stops. At this time, the sampling module moves to the designated working position with the movement of the folding main rod, completing the sample preparation work.

[0041] See Figures 1-9 The sampling modules are evenly distributed in the middle and front end of the folding main rod, and the sampling modules are made of piezoelectric sensors.

[0042] See Figures 1-9 The sampling vehicle for canopy spatial distribution of banana trees according to the present invention has two states: folded and extended. Initially, it is in the folded state. After the mobile vehicle moves to the designated work location and stops, it transitions to the extended state to perform sampling. After sampling is completed, it returns to the folded state and moves to a safe area. In the folded state, the robotic arm rotates to the sagittal plane, and the telescopic module 2 retracts until the folded sampling device 3 fits against the clamping device 4 on the upper layer. The horizontal angle between the folded sampling device 3 and the clamping device 4 is 0°. Simultaneously, the second folding main rod 162, the third folding main rod 163, the fourth folding main rod 164, and the fifth folding main rod 165 rotate to a 0° angle with the first folding main rod 161. In the extended state, the robotic arm rotates to the canopy plane, the telescopic module 2 extends upwards, and the fifth folding main rod 165 rotates to a 180° angle with the first folding main rod 161.

[0043] See Figures 1-9 The working principle of the sampling vehicle for canopy spatial distribution of banana trees according to the present invention is as follows:

[0044] Before operation, the canopy spatial distribution sampling vehicle of this invention is folded and parked in a safe area. The operator drives the canopy spatial distribution sampling vehicle to the banana tree to be sampled; drives the first-layer starting servo motor 12 to rotate the robotic arm out of the front support frame, and at the same time opens the gripper 403 of the clamping device 4. Simultaneously, the rear arm 14, the forearm 13, and the end servo motor 15 of the robotic arm cooperate to clamp the pseudostem of the banana tree at a suitable position and angle, completing the clamping operation of the first layer; then the second-layer telescopic rod 6 is extended to a specified height, and the clamping operation of the first layer is repeated until the clamping operation of the first three layers is completed. After the operation, the fourth-layer telescopic rod 8 is extended to the designated height. The forearm 13 and the rear arm 14 of the robotic arm move the fourth-layer folding sampling device 3 to directly above the banana tree canopy. At this time, the four-layer folding sampling device 3 has been moved to the designated position. The first connecting rod 306 and the second connecting rod 307 of each layer are extended forward at the same time. The rotary motor drives the No. 5 folding main rod 165 to rotate and move. The No. 5 folding main rod 165 is rotated to a position where it forms a 180° angle with the No. 1 folding main rod 161 and then stops. At this time, the sampling module moves to the designated working position with the movement of the folding main rod, completing the sample preparation work. Next, we wait for the droplet deposition and carry out the sampling work.

[0045] During the clamping operation, the end servo motor 15 can be adjusted according to the different inclination of the banana tree pseudostem, so that the clamp clamps in a direction parallel to the cross-section of the banana tree pseudostem, ensuring that the pressure sensor can better judge the clamping force. At this time, the folded sampling device 3 is parallel to the ground, ensuring that the collected samples are all at the same height.

[0046] After the sampling work is completed, fold the sampling device 3 of each layer, return the fourth layer robotic arm module to the top of the support frame, retract the fourth layer telescopic rod 8, open the third layer clamping device 4, return the third layer robotic arm module to the top of the support frame, and at the same time return the clamping device 4 to the horizontal direction, retract the third layer telescopic rod 7, repeat the above operation to complete the retraction of the second layer telescopic rod 6 and the first layer telescopic rod 5, and complete the folding operation. Then the operator drives the sampling trolley away to a safe area for parking.

[0047] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A canopy spatial distribution sampling vehicle suitable for banana trees, characterized in that, The device includes a mobile vehicle body, a three-dimensional support device mounted on the mobile vehicle body, a clamping device, and a folding sampling device. The three-dimensional support device is fixed to the mobile vehicle body and includes a robotic arm and a telescopic module for driving the robotic arm to rise and fall. The clamping device is located below the end of the robotic arm. The folding sampling device is located above the end of the robotic arm and includes a folding frame, a sampling module mounted on the folding frame, and a folding drive mechanism for driving the folding frame to fold or unfold. The mobile vehicle body includes a vehicle frame, a main control module, a signal transmission module, a power supply module, and an electric drive module mounted on the vehicle frame; wherein, the vehicle frame includes a vehicle chassis, a front support frame and a rear support frame mounted on the vehicle chassis; the front support frame is fixed to the front end of the vehicle chassis, and the rear support frame is fixed to the rear end of the vehicle chassis. The telescopic module is vertically mounted at the rear end of the mobile vehicle body, passing through the rear support frame. The telescopic module includes four sets of telescopic rods and a telescopic drive mechanism disposed between adjacent sets of telescopic rods. The four sets of telescopic rods are respectively a first-layer telescopic rod, a second-layer telescopic rod, a third-layer telescopic rod, and a fourth-layer telescopic rod; wherein, the second-layer telescopic rod is nested within the first-layer telescopic rod and can move along the axis of the first-layer telescopic rod; the third-layer telescopic rod is nested within the second-layer telescopic rod and can move along the axis of the second-layer telescopic rod; the fourth-layer telescopic rod is nested within the third-layer telescopic rod and can move along the axis of the third-layer telescopic rod. The telescopic drive mechanism includes a stepper motor and a rack and pinion transmission mechanism. The stepper motor is mounted on the upper ends of the first, second, and third telescopic rods. The rack and pinion transmission mechanism includes a climbing gear and a climbing rack. The climbing gear is connected to the spindle of the stepper motor. The climbing rack is fixed on the arms of the second, third, and fourth telescopic rods. The climbing gears on the first, second, and third telescopic rods mesh with the climbing racks on the second, third, and fourth telescopic rods, respectively. The robotic arm consists of four sets, which are respectively mounted on the first layer telescopic rod, the second layer telescopic rod, the third layer telescopic rod, and the fourth layer telescopic rod. The robotic arms are designated as the first layer robotic arm, the second layer robotic arm, the third layer robotic arm, and the fourth layer robotic arm. The clamping device is provided at the end of each robotic arm mounted on the first layer telescopic rod, the second layer telescopic rod, and the third layer telescopic rod. The folding sampling devices are respectively installed at the upper ends of the rear arms of the first layer robotic arm, the second layer robotic arm, and the third layer robotic arm; each set of folding sampling devices includes a folding frame comprising a support and two opposing semi-circular arc folding linkage mechanisms mounted on the support; wherein, the folding drive mechanism is used to drive the two sets of semi-circular arc folding linkage mechanisms to move in opposite directions, the folding drive mechanism includes a driving gear, a driven gear meshing with the driving gear, and a folding motor for driving the driving gear to rotate, wherein the driving gear is mounted on a first rotating shaft, the driven gear is mounted on a second rotating shaft, and the first rotating shaft... Both the moving shaft and the second rotating shaft are rotatably connected to the support; the driving gear and the driven gear are respectively connected to two sets of semi-circular arc folding linkage mechanisms via connecting rods, wherein there are two sets of connecting rods, namely a first connecting rod and a second connecting rod. One end of the first connecting rod is connected to the first rotating shaft or the second rotating shaft, and the other end is connected to the semi-circular arc folding linkage mechanism; one end of the second connecting rod is hinged to the support, and the other end is connected to the semi-circular arc folding linkage mechanism; the folding motor is mounted on the support, and a drive gear is provided on the main shaft of the folding motor, the drive gear meshing with the driving gear.

2. The canopy spatial distribution sampling vehicle for banana trees according to claim 1, characterized in that, The robotic arm includes a forearm and a rear arm. A first horizontal rotation mechanism for driving the forearm to rotate horizontally is provided between the forearm and a corresponding telescopic rod. The first horizontal rotation mechanism includes an initial servo motor, and the forearm is hinged to the corresponding telescopic rod. The initial servo motor is used to drive the forearm to rotate horizontally. A second horizontal rotation mechanism for driving the rear arm to rotate horizontally is provided between the rear arm and the forearm. The second horizontal rotation mechanism includes a middle servo motor, and the rear arm is hinged to the forearm. The middle servo motor is used to drive the rear arm to rotate horizontally.

3. The canopy spatial distribution sampling vehicle for banana trees according to claim 2, characterized in that, The clamping device includes a bracket, two sets of grippers mounted on the bracket, and a clamping drive mechanism for driving the two sets of grippers to open or close. Each set of grippers has three pressure sensors evenly distributed on its inner surface.

4. The canopy spatial distribution sampling vehicle for banana trees according to claim 3, characterized in that, A vertical rotation mechanism for driving the clamping device to rotate vertically is also provided between the rear arm and the bracket of the clamping device. The vertical rotation mechanism includes an end servo motor, which is mounted on the bracket. The bracket rotates at the end of the rear arm via a rotating shaft. The main shaft of the end servo motor is connected to the rotating shaft via a coupling.

5. The canopy spatial distribution sampling vehicle for banana trees according to claim 4, characterized in that, Each semi-circular arc folding linkage mechanism includes 5 folding main rods and 4 folding secondary rods. The folding main rods are designated as folding main rod 1, folding main rod 2, folding main rod 3, folding main rod 4, and folding main rod 5. The folding secondary rods are also designated as folding secondary rod 1, folding secondary rod 2, folding secondary rod 3, and folding secondary rod 4. The ends of the folding main rods are rotatably connected to the ends of the second linkages via a rotating shaft. The connection sequence from bottom to top is: folding main rod 1, folding main rod 2, folding main rod 3, folding main rod 4, and folding main rod 5. Folding main rods 1, 2, 3, and 4 are rotatably connected to the rotating shaft, while folding main rod 5 is fixedly connected to the rotating shaft. A rotary motor is installed at the lower end of the rotating shaft, and the rotary motor is mounted at the end of the second linkage. Both folding main rods 2 and 4 have a folding mechanism along their... A sliding groove extending along the axial direction; one end of the No. 1 folding auxiliary rod is rotatably connected to the middle of the No. 1 folding main rod by a pin connection, and the other end is provided with a first sliding part, which is slidably connected to the sliding groove of the No. 2 folding main rod; one end of the No. 2 folding auxiliary rod is rotatably connected to the middle of the No. 3 folding main rod by a pin connection, and the other end is provided with a second sliding part, which is slidably connected to the sliding groove of the No. 2 folding main rod; one end of the No. 3 folding auxiliary rod is rotatably connected to the middle of the No. 3 folding main rod by a pin connection, and the other end is provided with a third sliding part, which is slidably connected to the sliding groove of the No. 4 folding main rod; one end of the No. 4 folding auxiliary rod is rotatably connected to the middle of the No. 5 folding main rod by a pin connection, and the other end is provided with a fourth sliding part, which is slidably connected to the sliding groove of the No. 4 folding main rod.

6. The canopy spatial distribution sampling vehicle for banana trees according to claim 5, characterized in that, The sampling modules are evenly distributed in the middle and front end of the folding main rod, and the sampling modules are piezoelectric sensors.

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