Multi-stage lifting device applied to greenhouse tomato crop information acquisition

Abstract

The invention discloses a multi-stage lifting device applied to greenhouse tomato crop information acquisition, and belongs to the field of agricultural machinery. The device can realize multi-site crop information acquisition from the ground to the height of 3-4m through cooperative work of the multi-stage lifting module, and is particularly suitable for monitoring vertically-cultivated tomato plants. The device is mounted on an unmanned vehicle platform, and accurate path planning and crop key information acquisition are realized by utilizing laser radar navigation. The lifting module is driven by a direct-current motor, a secondary frame in a sliding rail is driven to move up and down through meshing of a gear and a rack, a stepping motor drives a ball screw, the height of a visual sensor is adjusted, and therefore multi-point and refined visual information obtaining of tomato plants is achieved. The device can effectively reduce manual intervention, improves the efficiency and accuracy of crop information acquisition, and is suitable for automatic inspection tasks in modern facility agriculture.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, and in particular to a multi-stage lifting device used for obtaining information of greenhouse tomato crops. Background Art

[0002] With the increasing global demand for agricultural production efficiency and production quality, modern facility agriculture has shown a rapid growth trend in recent years. As a typical greenhouse crop, tomatoes have been widely planted worldwide due to their high economic value and wide market demand. In modern greenhouse facilities, tomato plants are cultivated vertically, with a vertical height of up to 3-4 meters. In order to achieve refined management of tomato plants, it is necessary to monitor the key organs of the plants. In the prior art, the maturity detection and counting of tomato fruits and the monitoring of key organs such as stems and leaves mainly rely on manual work, which has the problems of high labor intensity and low efficiency. Although there are methods for obtaining crop data through technologies such as visual sensors, for vertically cultivated crops such as tomatoes, especially tomato plants as high as three meters or more, the prior art is difficult to achieve multi-site and all-round crop information acquisition, which limits the implementation of refined management. Therefore, a stable and reliable lifting device equipped with sensors is needed to meet the requirements of obtaining crop information from low to high in the vertical cultivation of tomatoes at multiple sites.

[0003] In view of the above problems, a multi-level lifting device for obtaining information of greenhouse tomato crops was designed. The device works together through multi-level lifting modules, and uses the inner slide rail and slider to make the secondary module slide up and down along a straight line. The DC motor drives the module to retract or expand through the gear and rack, so as to obtain key information of crops at different heights. The visual sensor fixed on the module can be driven by a stepper motor through a ball screw to further adjust the height position of the sensor. Considering that tomato plants are planted in rows and cultivated vertically, the lifting device is mounted on an unmanned vehicle platform to ensure the stability of the device in moving between plants. The platform can navigate in real time through a laser radar to ensure that the entire platform can achieve unmanned precision operation. Summary of the invention

[0004] The purpose of the present invention is to propose a multi-stage lifting device for obtaining information of greenhouse tomato crops. The device can be installed on an unmanned vehicle platform to realize autonomous operation. The device is characterized in that the device includes a lifting module, a gear, a rack, a slider, a slide rail, a ball screw, a DC motor, a stepper motor, a visual sensor, a laser radar, a mounting base, a limiter and an angle code; the whole device works in coordination to realize multi-point monitoring of tomato crops.

[0005] The lifting module is composed of a multi-level aluminum profile frame. The multi-level lifting module is fixed on the platform through angle brackets. The platform carries the movement of the entire device and cooperates with the laser radar to travel on the designated track for fixed-point parking and starting. Inside each level of the frame, the slide rails are fixed by screws and distributed in pairs on the opposite sides of the frame. The bottom profile of the secondary frame is fixed to the slider in the slide rail, and the rack is fixed to the outside of the slide rail by screws and fixed to the DC motor coupling. The gear meshing transmission and the slide rail enable the secondary frame to slide up and down along the slide rail on the inside of the upper level frame.

[0006] A DC motor is installed on the side of the bottom profile of the secondary frame, and is connected to the motor coupling through a gear, and the gear is tightly meshed with the rack. The rotation of the DC motor drives the gear to move along the rack direction, thereby driving the profile to move up and down along the predetermined path. The limiter is fixed on the slide rail inside the frame, so that the maximum height of each frame is limited to "1000±200mm". In the working state, it can control the observable range to the maximum extent (the observable range is 1500mm to 4000mm), and in the non-working state, it can save space and volume.

[0007] The ball screw comprises a screw, a fixed end, a supporting end, a screw nut, and a nut seat. The fixed end and the supporting end fix the ball screw set to the outside of each level of the frame. A slide rail is installed next to the ball screw set. The visual sensor is fixed on the slider and the nut seat in the ball screw set. The stepper motor drives the screw to rotate, so that the visual sensor moves smoothly in the vertical direction of the slide rail, thereby realizing manual control of the sensor height.

[0008] The function of the visual sensor is to obtain crop image data and provide data for automated crop key information analysis, so as to facilitate tasks such as leaf health detection, crop organ information analysis, and fruit detection.

[0009] The function of the mounting base is: the mounting base is fixed to the top of the innermost frame to stabilize the laser radar. The laser radar uses point cloud data to accurately determine the inspection route to avoid missing or repeating inspections, and is used to build a three-dimensional model of the route and surrounding environment to monitor changes in environmental status in real time.

[0010] The beneficial effects of the present invention are:

[0011] 1. A nestable and expandable lifting module is used. The number of lifting modules can be determined according to the actual production scenario. For example, for modern greenhouse tomato cultivation, a maximum lifting height of 3-4 meters can be achieved by nesting three lifting modules;

[0012] 2. The lifting module can achieve vertical lifting through the cooperation of gears and racks, and the freedom is limited by the linear slider to ensure the stability of the lifting module movement;

[0013] 3. The lifting module uses aluminum profiles as the basic support frame, and the gear rack and DC motor are also low-cost parts, which reduces the production cost and assembly cost;

[0014] 4. The lifting device can be loaded and fixed on an unmanned platform vehicle, and combined with laser radar, it can realize automated, unmanned operation and information acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional schematic diagram of the unfolded multi-stage lifting device;

[0016] In the figure: 1-track, 2-unmanned vehicle platform, 3-liftable module, 4-laser radar, 5-visual sensor, 6-screw set;

[0017] Figure 2 It is a side view of a multi-stage lifting device;

[0018] In the figure: 3001-aluminum profile frame, 3002-slide rail, 3004-rack, 3005-gear, 3006-DC power, 3008-angle code, 6001-screw, 6002-fixed end, 6003-support end, 6004-nut seat, 6005-stepping motor;

[0019] Figure 3 A three-dimensional schematic diagram of a retractable multi-stage lifting device;

[0020] Figure 4 It is a schematic diagram of a single-stage framework;

[0021] In the figure: 3003-slider, 3007-limiter;

[0022] Figure 5 It is a schematic diagram of a rack and pinion transmission device; DETAILED DESCRIPTION

[0023] The present invention provides a multi-stage lifting device for obtaining information of greenhouse tomato crops. The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0024] like Figure 1 , Figure 3 , Figure 4 , Figure 5 The embodiment of the present invention shown includes: a track 1, an unmanned vehicle platform 2, a lifting device 3, a laser radar 4, a visual sensor 5, a slide rail 3002, a ball screw 6, an angle code 3008, a stepper motor 6005, a gear 3005, a slider 3003, and a stopper 3007;

[0025] The laser radar is a device that measures distance and generates three-dimensional images by emitting and receiving laser pulses. The three-dimensional point cloud data of the target is obtained. This data can be used to build a three-dimensional model of the line and the surrounding environment, and to achieve real-time monitoring of the line status. The unmanned vehicle 2 at the bottom cooperates with the laser radar 4 to travel along the designated path, thereby driving the entire device on the vehicle to move between the plants.

[0026] In this embodiment, the multi-stage lifting device 3 is mainly composed of a DC motor 3006, a gear 3005, a rack 3004, a slider 3003 and a slide rail 3002. Figure 5 As shown. The DC motor 3006 drives the gear 3005 through the coupling, and the gear meshes with the rack 3004. The rack is fixed to the side of the slide rail 3002 on the inner side of the frame. When the DC motor rotates, the gear is transmitted on the rack, thereby driving the secondary frame to slide up and down along the slide rail. The slider 3003 is fixed to the outside of the secondary frame. When the slider moves along the slide rail, the secondary frame slides up and down more smoothly. The limiter 3007 is installed on the slide rail to limit the lifting range of the secondary frame and ensure the safety of the device in the working state.

[0027] The transmission device of the visual sensor 5 is composed of a stepper motor 6005, a ball screw 6, a slide rail 3002 and a nut seat. Figure 4 The stepper motor 6005 drives the camera fixed on the nut seat to move up and down by controlling the rotation speed of the screw rod 6. The precise rotation of the screw rod enables the camera to move vertically along the slide rail, thereby achieving precise control of the height of the visual sensor.

[0028] During the operation, the visual sensor 5 works as follows: through the adjustment of the height of the liftable module and the sensor itself, complete information of the tomato crop is obtained. The sensor can capture key image data such as the growth status of leaves, fruits and plants, and combine with the basic detection system to monitor leaf health, crop organ analysis and fruit maturity.

[0029] like Figure 1 The workflow shown is:

[0030] 1. Place the multi-stage lifting device 3 carried by the unmanned vehicle platform 2 on the track 1 of the greenhouse and prepare for operation.

[0031] 2. The laser radar 4 is activated to plan the driving path and monitor the working environment in real time. The unmanned vehicle platform moves along the predetermined track to provide stable movement guidance.

[0032] 3. Set the type of crop information that needs to be obtained during the inspection task and set the corresponding monitoring height position.

[0033] 4. When the unmanned vehicle reaches the target crop area, the DC motor 3006 starts, driving the gear 3005 to move up and down along the rack 3004, and the secondary frame slides along the slide rail to adjust the height. The limiter 3007 ensures that the lifting range is controlled to avoid exceeding the safety range.

[0034] 5. The stepper motor 6005 adjusts the height of the visual sensor 5 through the ball screw 6, so that the sensor is accurately positioned at the specified monitoring height to complete the crop information collection.

[0035] The device realizes automatic path planning and monitoring through the coordination of laser radar and unmanned vehicle platform. The precise transmission structure of the multi-stage lifting device ensures the stability and reliability of the device during operation, while the precise adjustment function of the visual sensor ensures comprehensive monitoring of crops.

[0036] This embodiment is only a preferred specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A multi-stage lifting device used for obtaining greenhouse tomato crop information, characterized in that: The device comprises a lifting device consisting of a track (1), an unmanned vehicle platform (2), a liftable module (3), a laser radar (4), a visual sensor (5), and a lead screw set (6). The liftable module (3) is mainly composed of an aluminum profile frame (3001), a slide rail (3002), a slider (3003), a rack (3004), a gear (3005), a DC motor (3006), a stopper (3007), and an angle code (3008); the screw rod set (6) is mainly composed of a screw rod (6001), a fixed end (6002), a support end (6003), a nut seat (6004), and a stepper motor (6005); the unmanned vehicle platform (2) is mounted on the track (1), and the multi-stage liftable aluminum profile frame (3001) is fixed to the unmanned vehicle platform (2) through the angle code (3008). The slide rail (3002) is fixed to both sides of the outer side of each stage frame by screws, and the ball screw (6001) is installed next to the slide rail (3002) by screws. The screw rod (6001) is driven to rotate by a stepper motor (6005), thereby realizing the up and down movement of the screw rod and the nut seat (6004). The visual sensor (5) realizes stable vertical movement along the slide rail (3002) through the slider (3003) fixed on the nut seat (6004). Inside each level of the frame, the slide rail (3002) is fixed on the opposite side by screws, and the bottom of the secondary frame is connected to the slider (3003), so that the secondary frame can slide up and down along the slide rail (3002) inside the upper frame. A DC motor (3006) is installed on the bottom side of the secondary frame and is connected to the motor through a gear (3005), and the gear (3005) is tightly meshed with the rack (3004). The rotation of the DC motor (3006) drives the gear (3005) to move along the direction of the rack (3004), thereby driving the profile to move up and down along a predetermined path. A limiter (3007) is installed inside the slide rail (3002) to limit the movement range of the slider (3003), thereby controlling the movement range of the profile to "1000±200mm". A base and a laser radar (4) are installed on the top of the innermost frame of the entire device for precise measurement and navigation functions.

2. A multi-stage lifting device for obtaining greenhouse tomato crop information according to claim 1, characterized in that The liftable module is composed of a multi-level aluminum profile frame. Inside each level of the frame, a slide rail (3002) is fixed on the opposite side by screws. The bottom profile of the secondary frame is connected to the slider (3003) in the slide rail (3002). The rack (3004) is fixed to the outer side frame (3001) of the slide rail by screws. The gear (3005) is meshed with the slide rail (3002) so that the secondary frame can slide up and down along the slide rail on the inner side of the upper level frame. The laser radar (4) can achieve long-distance, efficient fixed-point parking and starting, and extract key crop growth status information by combining image processing technology and deep learning algorithms. Through the autonomous lifting function, the device can obtain multi-point position information of crops such as tomatoes, thereby greatly saving manpower and time costs, reducing safety risks, and improving monitoring efficiency. In addition, the laser radar (4) can also obtain high-precision, high-resolution images, provide accurate spatial information, build a three-dimensional model of the line and its surrounding environment, monitor line status changes in real time, and ensure that the track (1) works with it to provide a smooth travel route. The track (1) constructs a track in a complex environment to provide guidance for the movement of the unmanned vehicle platform (2); the angle code (3008) connects the first-level frame and the unmanned vehicle platform (2); the limiter (3007) is fixed on the slider inside the frame to limit the height of the secondary frame, thereby ensuring the stability of the device in the movement between plants, saving manpower, and improving the overall operation efficiency of the system.

3. A multi-stage lifting device for obtaining greenhouse tomato crop information according to claim 1 or 2, characterized in that The aluminum profile frame (3001) has a height dimension of 1000 mm at each level, and can be retracted under the drive of the gear (3005), rack (3004), DC motor (3006), and slider (3003) connected thereto, and the visual sensor (5) can be retracted under the drive of the stepper motor (6005), slide rail (3002), and rolling screw set (6). In the working state, the observable range can be controlled to the greatest extent, and in the non-working state, space and volume can be saved (the observable range is 1500 mm to 3000 mm). It can be applicable to tomato plants of different varieties and growth stages.

4. A multi-stage lifting device for obtaining greenhouse tomato crop information according to claim 1 or 2, characterized in that The lifting module (3) uses aluminum profiles as a basic supporting frame, and the gear (3005), rack (3004) and DC motor (3006) are also low-cost parts, which reduces production costs and assembly costs.

5. A multi-stage lifting device for obtaining greenhouse tomato crop information according to claim 1 or 2, characterized in that The device can pre-set the type of crop information to be obtained, thereby setting different inspection height positions. The laser radar (4) provides path planning and environmental monitoring, and the unmanned vehicle platform (2) moves along the track (1) to provide stable motion guidance. The information acquisition of various types of plants can be completed smoothly, greatly improving the working ability and work efficiency.

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