Orchard planting monitoring equipment and use method thereof

Abstract

The invention relates to the technical field of orchard monitoring equipment, in particular to orchard planting monitoring equipment and a using method thereof.The orchard planting monitoring equipment comprises an adjusting mechanism, the adjusting mechanism comprises an unmanned aerial vehicle body, two side frames and a first limiting component, and the two side frames are fixedly connected to the two sides of the unmanned aerial vehicle body correspondingly; the outer surface of one side of each side frame is rotationally connected with a supporting shaft. When the orchard data monitoring device is used, in the orchard data monitoring process, a limiting motor is controlled to be started, so that the limiting motor is matched with a linkage bevel gear to drive a connecting shaft to rotate, and the rotating connecting shaft is matched with a limiting worm, a limiting worm gear and a linkage shaft to drive a first limiting gear to rotate; and then the rotating first limiting gear is matched with the first limiting gear to drive a two-way threaded rod to rotate, the rotating two-way threaded rod can move and adjust the two corresponding clamping plates to be away from each other, and then extrusion limiting of the clamping plates on the two sides of the push plate through limiting springs and abutting blocks is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of orchard monitoring equipment, and specifically relates to orchard planting monitoring equipment and a use method thereof. Background Art

[0002] In recent years, the UAV market has grown rapidly. As a guarantee for increasing the safety of UAV flight, obstacle avoidance technology has also been developing rapidly with the development of technology. During the flight, the UAV collects information about the surrounding environment through its sensors, measures the distance and makes corresponding action instructions to achieve the purpose of obstacle avoidance. The UAV's external laser radar is a radar system that emits a laser beam to detect the position, speed and other characteristic quantities of the target. Its working principle is to emit a detection signal (laser beam) to the target, and then compare the received signal reflected from the target (target echo) with the transmitted signal. After appropriate processing, the relevant information of the target can be obtained, such as the target distance, direction, altitude, speed, attitude, and even shape parameters.

[0003] However, in the prior art, during orchard monitoring, drones are usually equipped with external mounted radars to collect overall data of the orchard. However, the adjustment and rotation of the external mounted radar itself may affect the stability of the drone's flight, which in turn has a negative impact on the drone's control. When the drone is flying, the flight angle is tilted to a certain extent, making it easy to hit the ground when landing. At the same time, during the orchard monitoring process, the drone is prone to touch the lush branches and leaves, causing damage to the components. The drone needs to be adjusted as a whole, which adds unnecessary trouble and results in poor actual use of the existing orchard monitoring device. Summary of the invention

[0004] The purpose of the present invention is to provide an orchard planting monitoring device and a method of using the device, which can improve the flight stability of the drone body, improve the safety of the actual use of the device, and can efficiently monitor and collect orchard data.

[0005] The technical solution adopted by the present invention is as follows: an orchard planting monitoring device, comprising: an adjustment mechanism, the adjustment mechanism comprising a drone body, a side frame and a first limit component, two side frames are provided, the two side frames are respectively fixedly connected to both sides of the drone body, and the outer surface of one side of each side frame is rotatably connected to a support shaft, and the first limit component is provided on the drone body; and

[0006] A monitoring mechanism, the monitoring mechanism includes a first bogie, a second bogie, a rotating tube, a first extension tube, a second extension tube, a laser radar body and a second limiting component, the first bogie is sleeved between the outer surfaces of the two support shafts, the second bogie is rotatably connected between the opposite inner walls on both sides of the first bogie, the rotating tube is rotatably connected to the bottom of the second bogie, the first extension tube is threadedly connected to the outer surface of the rotating tube, the first extension tube has two guide grooves on the top, the second extension tube is threadedly connected to the outer surface of the first extension tube, the inner bottom surface of the second extension tube is fixedly connected with a clamping rod, the clamping rod slides through the bottom of the rotating tube, the laser radar body is rotatably connected to the bottom end of the second extension tube, and the second limiting component is arranged on the first bogie.

[0007] Among them, there are two groups of the first limiting components, each group of the first limiting components includes a bidirectional threaded rod, a push plate and two clamping plates, the bidirectional threaded rod is rotatably connected between the opposite inner walls on both sides of the corresponding side frame, the two clamping plates are threadedly connected to the outer surface of the bidirectional threaded rod, and the push plate is fixedly connected to one end of the corresponding support shaft.

[0008] Among them, a guide rod is fixedly connected between the inner walls on both sides of each side frame, one end of each guide rod slides through the corresponding push plate and two clamping plates, and the outer surface of each guide rod is slidably sleeved with two stop blocks and two limit springs.

[0009] Among them, the outer surface of each of the bidirectional threaded rods is sleeved with a first limiting gear, the outer surface of one side of each of the side frames is rotatably connected to a connecting shaft, the outer surface of each of the connecting shafts is sleeved with a limiting worm gear and a second limiting gear, and each of the second limiting gears is meshed with the corresponding first limiting gear.

[0010] Among them, a connecting strip is fixedly connected between the tops of the two side frames, and a connecting shaft is rotatably connected between the inner walls on both sides of the connecting strip. The outer surface of the connecting shaft is sleeved with a linked bevel gear and two limiting worms, and each of the limiting worms is meshed with the corresponding limiting worm wheel.

[0011] Wherein, a limit motor is fixedly connected to the top of the drone body, and an output end of the limit motor is also sleeved with a linked bevel gear, and the two linked bevel gears are meshed.

[0012] Wherein, two guide bars are fixedly connected to the bottom of the second bogie, and one end of each guide bar extends into the corresponding guide groove.

[0013] Among them, two positioning bars are fixedly connected to the top of the laser radar body, and the outer surface of one side of each positioning bar is in contact with the corresponding outer surface of the second bogie. The inner top surface of the second bogie is fixedly connected to a mounting frame, and the inner bottom surface of the mounting frame is fixedly connected to a positioning motor. The outer surface of the mounting frame is sleeved with a rotating frame, and the inner bottom surface of the rotating frame is rotatably connected to a gyro rotor, the top end of the gyro rotor is fixedly connected to the output end of the positioning motor, the inner bottom surface of the second bogie is fixedly connected to an extension motor, and the output end of the extension motor is fixedly connected to the top of the rotating tube.

[0014] Among them, the second limiting component includes two threaded tubes, two abutment tubes, an adjusting motor and an adjusting worm, the two threaded tubes are rotatably connected to the top of the first bogie, the outer surface of each threaded tube is sleeved with a linkage wheel, a linkage belt is sleeved between the outer surfaces of the two linkage wheels, each abutment tube is threadedly connected to the inside of the corresponding threaded tube, a linkage plate is sleeved between the outer surfaces of the two abutment tubes, a supporting spring is provided inside the inside of each abutment tube, and a pressure rod is slidably penetrated through the bottom surface of the inner part of each abutment tube, an adjusting worm wheel is sleeved on the outer surface of one of the threaded tubes, the adjusting worm is rotatably connected between the relative inner walls on both sides of the first bogie, the adjusting worm and the adjusting worm wheel are meshed, the adjusting motor is fixedly connected to the outer surface of one side of the first bogie, and the output end of the adjusting motor is fixedly connected to one end of the adjusting worm.

[0015] A method for using an orchard planting monitoring device comprises the following steps:

[0016] S1. Flight monitoring: During the orchard data monitoring process, the limit motor is controlled to start, so that the limit motor cooperates with the linked bevel gear to drive the connecting shaft to rotate, so that the rotating connecting shaft cooperates with the limit worm, the limit worm wheel and the linked shaft to drive the first limit gear to rotate, and then the rotating first limit gear cooperates with the first limit gear to drive the two-way threaded rod to rotate, so that the rotating two-way threaded rod can move and adjust the corresponding two clamps away from each other, and then reduce the clamp to squeeze and limit the two sides of the push plate through the limit spring and the stop block, so that the monitoring mechanism can maintain a vertical state under the support of the first bogie and the support shaft during the forward or backward movement of the UAV body, and then start the control. The motor is adjusted so that the motor cooperates with the adjusting worm and the adjusting worm wheel to drive the corresponding threaded tube to rotate, and then the two threaded tubes can rotate synchronously under the action of the linkage wheel and the linkage belt. At the same time, under the position limit of the linkage plate, the rotating threaded tube can adjust the use height of the abutment tube in the vertical direction, and then the abutment tube is gradually moved away from the top of the second bogie, thereby reducing the support limit of the pressure rod on the top of the second bogie under the support of the support spring, so that the second bogie can always keep the laser radar body in a vertical state during the flight of the UAV body in the deflection direction, so that the laser radar body can still efficiently monitor the orchard data during the continuous flight of the UAV;

[0017] S2, stable adjustment: by controlling the start of the extension motor, the extension motor can drive the rotating tube to rotate, and at the same time, under the action of the guide bar and the guide groove, the rotating rotating tube can adjust the use position of the first extension tube, and at the same time, under the position limit of the clamping rod, the second extension tube can rotate synchronously with the rotating tube, and then under the position limit of the first extension tube, the use position of the second extension tube can be moved synchronously, and the use height of the laser radar body can be conveniently adjusted during the movement of the first extension tube and the second extension tube, so as to facilitate the laser radar body to monitor the orchard data efficiently, and at the same time, by controlling the start of the positioning motor, the positioning motor can drive the gyro rotor to rotate, so that the high-speed rotating gyro rotor cooperates with the first bogie and the second bogie to improve the stability of the vertical state of the monitoring mechanism;

[0018] S3. Rapid transfer: by controlling the reverse operation of the limit motor and the adjustment motor, the corresponding two clamps are brought closer to each other. Under the position limit of the two clamps approaching each other, the limit spring cooperates with the abutment block to squeeze and limit the corresponding push plate, so that the push plate cannot be deflected, and the first bogie cannot drive the support shaft to deflect. At the same time, the abutment tube gradually approaches the top of the second bogie. With the support of the support spring and the abutment rod, the second bogie is deflected, and the monitoring mechanism as a whole cannot maintain a vertical state during the flight of the UAV body. At the same time, the extension motor is run in the reverse direction to restore the first extension tube and the second extension tube to their original positions, shortening the distance between the laser radar body and the UAV body. At the same time, the positioning motor is stopped so that the monitoring mechanism can follow the state change of the UAV body.

[0019] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0020] (1) In the present invention, when in use, during the process of orchard data monitoring, by controlling the start-up of the limit motor, the limit motor cooperates with the linked bevel gear to drive the connecting shaft to rotate, so that the rotating connecting shaft cooperates with the limit worm, the limit worm wheel and the linked shaft to drive the first limit gear to rotate, and then the rotating first limit gear cooperates with the first limit gear to drive the two-way threaded rod to rotate, so that the rotating two-way threaded rod can move and adjust the corresponding two clamps to be apart, and then reduce the clamp to squeeze and limit the two sides of the push plate through the limit spring and the stop block, so that when the drone body is moving forward or backward, the monitoring mechanism is supported by the first bogie and the support shaft to maintain a vertical state, and when the drone body is controlled Start the adjusting motor, so that the adjusting motor can cooperate with the adjusting worm and the adjusting worm wheel to drive the corresponding threaded tube to rotate, and then under the action of the connecting wheel and the connecting belt, the two threaded tubes can rotate synchronously, and at the same time, under the position limit of the connecting plate, the rotating threaded tube can adjust the use height of the support tube in the vertical direction, and then the support tube is gradually moved away from the top of the second bogie, thereby reducing the support limit of the pressure rod on the top of the second bogie under the support of the support spring, so that the second bogie can keep the laser radar body in a vertical state during the flight of the UAV body in the deflection direction, so that the laser radar body can still efficiently monitor the orchard data during the continuous flight of the UAV.

[0021] (2) In the present invention, by controlling the start of the extension motor, the extension motor can drive the rotating tube to rotate. At the same time, under the action of the guide bar and the guide groove, the rotating rotating tube can adjust the use position of the first extension tube. At the same time, under the position limit of the clamping rod, the second extension tube can rotate synchronously with the rotating tube. Then, under the position limit of the first extension tube, the use position of the second extension tube can be moved synchronously. During the movement of the first extension tube and the second extension tube, the use height of the laser radar body can be conveniently adjusted, thereby facilitating the laser radar body to efficiently monitor the orchard data. At the same time, by controlling the start of the positioning motor, the positioning motor can drive the gyro rotor to rotate. The high-speed rotating gyro rotor cooperates with the first bogie and the second bogie to improve the stability of the vertical state of the monitoring mechanism, thereby preventing the airflow from affecting the laser radar body during the flight of the drone body, so that the equipment can efficiently perform its functions.

[0022] (3) In the present invention, the limit motor and the adjustment motor are controlled to run in reverse, so that the corresponding two clamps are brought closer to each other. Under the position limit of the two clamps approaching each other, the limit spring cooperates with the abutment block to squeeze and limit the corresponding push plate, so that the push plate cannot be deflected, and the first bogie cannot drive the support shaft to deflect. At the same time, the abutment tube gradually approaches the top of the second bogie. Under the support of the support spring and the abutment rod, the second bogie is deflected, so that the monitoring mechanism as a whole cannot maintain a vertical state during the flight of the UAV body. At the same time, the extension motor is run in reverse to restore the first extension tube and the second extension tube to their original positions, shortening the distance between the laser radar body and the UAV body. At the same time, the positioning motor is stopped, so that the monitoring mechanism can follow the state change of the UAV body, improve the controllability of the UAV flight, facilitate the rapid position adjustment of the UAV body, enable the UAV body to quickly reach the designated use position, and improve the actual use efficiency and safety of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a first perspective stereogram of the present invention;

[0024] Figure 2 It is a second viewing angle stereogram of the present invention;

[0025] Figure 3 It is a cutaway stereogram of the present invention from a first viewing angle;

[0026] Figure 4 It is a cross-sectional and expanded stereoscopic view of the adjustment mechanism of the present invention;

[0027] Figure 5 For the present invention Figure 4 Enlarged view of part A;

[0028] Figure 6 It is a cutaway stereoscopic diagram of the monitoring mechanism of the present invention;

[0029] Figure 7 For the present invention Figure 6 Enlarged view of part B;

[0030] Figure 8 For the present invention Figure 6 Enlarged view of part C in the middle;

[0031] Fig. 9 It is a cutaway and expanded stereoscopic diagram of the monitoring mechanism of the present invention;

[0032] Fig.10 For the present invention Fig. 9 Enlarged view of part D in the middle;

[0033] Fig.11 For the present invention Fig. 9 Enlarged view of part E in the middle.

[0034] Markings in the figure:

[0035] 1. Adjustment mechanism; 101. UAV body; 102. Side frame; 103. Support shaft; 104. Push plate; 105. Bidirectional threaded rod; 106. Clamp; 107. Second limit gear; 108. Connecting shaft; 109. Limit worm; 110. Limit motor; 111. Stop block;

[0036] 2. Monitoring mechanism; 201. First bogie; 202. Threaded tube; 203. Butt tube; 204. Pressure rod; 205. Linking plate; 206. Adjusting worm; 207. Adjusting motor; 208. Second bogie; 209. Mounting frame; 210. Positioning motor; 211. Rotating frame; 212. Gyro rotor; 213. Extension motor; 214. Rotating tube; 215. First extension tube; 216. Guide strip; 217. Second extension tube; 218. Clamping rod; 219. LiDAR body; 220. Positioning strip. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0038] Example 1, please refer to Figure 1-Figure 3 , an orchard planting monitoring device, consists of a regulating mechanism 1 and a monitoring mechanism 2.

[0039] The details are as follows:

[0040] See also Figure 4 and Figure 5The adjustment mechanism 1 includes a drone body 101, a side frame 102 and a first limiting component. There are two side frames 102, which are fixedly connected to both sides of the drone body 101 respectively. The outer surface of one side of each side frame 102 is rotatably connected to a support shaft 103. The first limiting component is arranged on the drone body 101. There are two groups of first limiting components. Each group of first limiting components includes a bidirectional threaded rod 105, a push plate 104 and two clamping plates 106. The bidirectional threaded rod 105 is rotatably connected between the opposite inner walls on both sides of the corresponding side frame 102. The two clamping plates 106 are threadedly connected The push plate 104 is connected to the outer surface of the bidirectional threaded rod 105, and is fixedly connected to one end of the corresponding support shaft 103. A guide rod is fixedly connected between the inner walls on both sides of each side frame 102. One end of each guide rod slides through the corresponding push plate 104 and the two clamping plates 106. Two abutments 111 and two limit springs are slidably sleeved on the outer surface of each guide rod. A first limit gear is sleeved on the outer surface of each bidirectional threaded rod 105. A linkage shaft is rotatably connected to the outer surface of one side of each side frame 102. A limit worm gear and a second limit gear 107 are sleeved on the outer surface of each linkage shaft. Each second limit gear 1 07 and the corresponding first limit gear are meshed, a connecting strip is fixedly connected between the tops of the two side frames 102, and a connecting shaft 108 is rotatably connected between the inner walls on both sides of the connecting strip. The outer surface of the connecting shaft 108 is sleeved with a linked bevel gear and two limit worms 109, and each limit worm 109 is meshed with the corresponding limit worm gear. A limit motor 110 is fixedly connected to the top of the drone body 101, and a linked bevel gear is also sleeved on the output end of the limit motor 110. The two linked bevel gears are meshed, and the limit motor 110 is controlled to start, so that the limit motor 110 can cooperate with the linked bevel gear to drive the connecting shaft 108 rotates, so that the rotating connecting shaft 108 cooperates with the limiting worm 109, the limiting worm wheel and the linkage shaft to drive the first limiting gear to rotate, and then the rotating first limiting gear cooperates with the first limiting gear to drive the two-way threaded rod 105 to rotate, so that the rotating two-way threaded rod 105 can move and adjust the corresponding two clamping plates 106 away from each other, and then reduce the clamping plates 106 through the limiting spring and the stop block 111 to squeeze and limit the two sides of the push plate 104, so that the monitoring mechanism 2 can maintain a vertical state under the support of the first bogie 201 and the support shaft 103 when the drone body 101 moves forward or backward;

[0041] See also Figure 6-Figure 11The monitoring mechanism 2 includes a first bogie 201, a second bogie 208, a rotating tube 214, a first extension tube 215, a second extension tube 217, a laser radar body 219 and a second limiting component. The first bogie 201 is sleeved between the outer surfaces of the two support shafts 103, the second bogie 208 is rotatably connected between the inner walls on both sides of the first bogie 201, the rotating tube 214 is rotatably connected to the bottom of the second bogie 208, the first extension tube 215 is threadedly connected to the outer surface of the rotating tube 214, the top of the first extension tube 215 is provided with two guide grooves, the second extension tube 217 is threadedly connected to the outer surface of the first extension tube 215, and the inner bottom surface of the second extension tube 217 is fixedly connected with a clamping rod 218, and the clamping rod 218 slides through the rotating tube 21 4 bottom, the laser radar body 219 is rotatably connected to the bottom end of the second extension tube 217, the second limiting component is arranged on the first bogie 201, the bottom of the second bogie 208 is fixedly connected with two guide bars 216, one end of each guide bar 216 extends to the inside of the corresponding guide groove, the top of the laser radar body 219 is fixedly connected with two positioning bars 220, the outer surface of one side of each positioning bar 220 is in contact with the corresponding outer surface of the second bogie 208, the top surface of the second bogie 208 is fixedly connected with a mounting frame 209, the bottom surface of the mounting frame 209 is fixedly connected with a positioning motor 210, the outer surface of the mounting frame 209 is sleeved with a rotating frame 211, the bottom surface of the rotating frame 211 is rotatably connected with a gyro rotor 212, the top of the gyro rotor 212 and the fixed The output end of the positioning motor 210 is fixedly connected, and an extension motor 213 is fixedly connected to the bottom surface of the second bogie 208. The output end of the extension motor 213 is fixedly connected to the top of the rotating tube 214. The second limiting component includes two threaded tubes 202, two abutting tubes 203, an adjusting motor 207 and an adjusting worm 206. The two threaded tubes 202 are rotatably connected to the top of the first bogie 201. The outer surface of each threaded tube 202 is sleeved with a linkage wheel, and a linkage belt is sleeved between the outer surfaces of the two linkage wheels. Each abutting tube 203 is threadedly connected to the inside of the corresponding threaded tube 202, and a linkage plate 205 is sleeved between the outer surfaces of the two abutting tubes 203. A support spring is arranged inside each abutting tube 203, and a pressure rod is slidably penetrated through the inner bottom surface of each abutting tube 203. 204, an adjusting worm wheel is sleeved on the outer surface of one of the threaded tubes 202, and the adjusting worm 206 is rotatably connected between the inner surface walls on both sides of the first bogie 201, and the adjusting worm 206 is meshed with the adjusting worm wheel, and the adjusting motor 207 is fixedly connected to the outer surface of one side of the first bogie 201, and the output end of the adjusting motor 207 is fixedly connected to one end of the adjusting worm 206, and the adjusting motor 207 is controlled to start, so that the adjusting motor 207 cooperates with the adjusting worm 206 and the adjusting worm wheel to drive the corresponding threaded tube 202 to rotate, and then under the action of the linkage wheel and the linkage belt, the two threaded tubes 202 can rotate synchronously, and at the same time, under the position restriction of the linkage plate 205, the rotating threaded tube 202 can adjust the use height of the abutting tube 203 in the vertical direction,Then, the abutting tube 203 is gradually moved away from the top of the second bogie 208, thereby reducing the support limit of the pressure rod 204 on the top of the second bogie 208 under the support of the support spring, so that the second bogie 208 can always keep the laser radar body 219 in a vertical state during the flight of the deflection direction of the drone body 101, and control the start of the extension motor 213 so that the extension motor 213 can drive the rotating tube 214 to rotate. At the same time, under the action of the guide bar 216 and the guide groove, the rotating rotating tube 214 can adjust the use position of the first extension tube 215. At the same time, under the position limit of the clamping rod 218, the second extension tube 217 can rotate synchronously with the rotating tube 214, and then in the first Under the position restriction of the first extension tube 215, the use position of the second extension tube 217 can be moved synchronously. During the movement of the first extension tube 215 and the second extension tube 217, the use height of the laser radar body 219 can be conveniently adjusted, thereby facilitating the laser radar body 219 to efficiently monitor the orchard data. At the same time, by controlling the start of the positioning motor 210, the positioning motor 210 can drive the gyro rotor 212 to rotate, so that the high-speed rotating gyro rotor 212 cooperates with the first bogie 201 and the second bogie 208 to improve the stability of the vertical state of the monitoring mechanism 2, thereby preventing the airflow from affecting the laser radar body 219 during the flight of the drone body 101.

[0042] The following is a detailed description of a method for using an orchard planting monitoring device provided by an embodiment of the present invention, and the method for using the orchard planting monitoring device includes the following steps:

[0043] Step 1, flight monitoring: During the orchard data monitoring process, the limit motor 110 is controlled to be started, so that the limit motor 110 cooperates with the linked bevel gear to drive the connecting shaft 108 to rotate, so that the rotating connecting shaft 108 cooperates with the limit worm 109, the limit worm wheel and the linked shaft to drive the first limit gear to rotate, and then the rotating first limit gear cooperates with the first limit gear to drive the two-way threaded rod 105 to rotate, so that the rotating two-way threaded rod 105 can move and adjust the corresponding two clamps 106 away, and then lower the clamp 106 to squeeze and limit the two sides of the push plate 104 through the limit spring and the block 111, so that the drone body 101 is in the process of moving forward or backward. The monitoring mechanism 2 is supported by the first bogie 201 and the support shaft 103 to maintain a vertical state, and the drone body 101 is controlled to start and adjust The motor 207 enables the adjustment motor 207 to cooperate with the adjustment worm 206 and the adjustment worm wheel to drive the corresponding threaded tube 202 to rotate, and then under the action of the linkage wheel and the linkage belt, the two threaded tubes 202 can rotate synchronously, and at the same time, under the position limit of the linkage plate 205, the rotating threaded tube 202 can adjust the use height of the abutting tube 203 in the vertical direction, and then the abutting tube 203 gradually moves away from the top of the second bogie 208, thereby reducing the support limit of the pressure rod 204 on the top of the second bogie 208 under the support of the support spring, so that the second bogie 208 can always maintain a vertical state during the flight of the UAV body 101 in the deflection direction, so that the UAV can continue to fly in the process, and the laser radar body 219 can still efficiently monitor the orchard data;

[0044] Step 2, stable adjustment: by controlling and starting the extension motor 213, the extension motor 213 can drive the rotating tube 214 to rotate, and at the same time, under the action of the guide bar 216 and the guide groove, the rotating rotating tube 214 can adjust the use position of the first extension tube 215, and at the same time, under the position limit of the clamping rod 218, the second extension tube 217 can rotate synchronously with the rotating tube 214, and then under the position limit of the first extension tube 215, the use position of the second extension tube 217 can be moved synchronously, and the positions of the first extension tube 215 and the second extension tube 217 are adjusted. During the movement, the use height of the laser radar body 219 can be conveniently adjusted, so that the laser radar body 219 can monitor the orchard data efficiently. At the same time, by controlling the start of the positioning motor 210, the positioning motor 210 can drive the gyro rotor 212 to rotate, so that the high-speed rotating gyro rotor 212 cooperates with the first bogie 201 and the second bogie 208 to improve the stability of the vertical state of the monitoring mechanism 2, thereby preventing the airflow from affecting the laser radar body 219 during the flight of the drone body 101, so that the equipment can efficiently realize its due functions;

[0045] Step 3: Quick transfer: by controlling the reverse operation of the limit motor 110 and the adjustment motor 207, the corresponding two clamping plates 106 are brought close to each other. Under the position limit of the two clamping plates 106 approaching each other, the limit spring cooperates with the abutment block 111 to squeeze and limit the corresponding push plate 104, so that the push plate 104 cannot deflect, and the first bogie 201 cannot drive the support shaft 103 to deflect. At the same time, the abutment tube 203 gradually approaches the top of the second bogie 208. With the support of the support spring and the abutment rod, the second bogie 208 is deflected, so that the monitoring mechanism 2 as a whole is not The method maintains the vertical state of the drone body 101 during flight, and at the same time runs the extension motor 213 in the reverse direction to restore the first extension tube 215 and the second extension tube 217 to their original positions, shortening the distance between the laser radar body 219 and the drone body 101, and at the same time stops running the positioning motor 210, so that the monitoring mechanism 2 can follow the state change of the drone body 101, thereby improving the controllability of the drone flight, facilitating the rapid position adjustment of the drone body 101, and enabling the drone body 101 to quickly reach the designated use position, thereby improving the actual use efficiency and safety of the equipment.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An orchard planting monitoring device, characterized in that: include: An adjustment mechanism (1), the adjustment mechanism (1) comprising a drone body (101), a side frame (102) and a first position-limiting component, wherein two side frames (102) are provided, the two side frames (102) are respectively fixedly connected to two sides of the drone body (101), an outer surface of one side of each side frame (102) is rotatably connected to a support shaft (103), and the first position-limiting component is provided on the drone body (101); and A monitoring mechanism (2), the monitoring mechanism (2) comprising a first bogie (201), a second bogie (208), a rotating tube (214), a first extension tube (215), a second extension tube (217), a laser radar body (219) and a second limiting component, the first bogie (201) being sleeved between the outer surfaces of two support shafts (103), the second bogie (208) being rotatably connected between the opposite inner walls on both sides of the first bogie (201), the rotating tube (214) being rotatably connected to the bottom of the second bogie (208), The first extension tube (215) is threadedly connected to the outer surface of the rotating tube (214), and two guide grooves are provided on the top of the first extension tube (215). The second extension tube (217) is threadedly connected to the outer surface of the first extension tube (215). The inner bottom surface of the second extension tube (217) is fixedly connected with a clamping rod (218), and the clamping rod (218) slides through the bottom of the rotating tube (214). The laser radar body (219) is rotatably connected to the bottom end of the second extension tube (217), and the second limiting component is arranged on the first bogie (201).

2. The orchard planting monitoring device according to claim 1, characterized in that: There are two groups of the first limiting components, each group of the first limiting components includes a bidirectional threaded rod (105), a push plate (104) and two clamping plates (106), the bidirectional threaded rod (105) is rotatably connected between the opposite inner walls on both sides of the corresponding side frame (102), the two clamping plates (106) are both threadedly connected to the outer surface of the bidirectional threaded rod (105), and the push plate (104) is fixedly connected to one end of the corresponding support shaft (103).

3. The orchard planting monitoring device according to claim 2, characterized in that: A guide rod is fixedly connected between the inner walls on both sides of each side frame (102), one end of each guide rod slides through the corresponding push plate (104) and two clamping plates (106), and the outer surface of each guide rod is slidably sleeved with two stop blocks (111) and two limit springs.

4. The orchard planting monitoring device according to claim 3, characterized in that: The outer surface of each bidirectional threaded rod (105) is sleeved with a first limit gear, the outer surface of one side of each side frame (102) is rotatably connected to a linkage shaft, the outer surface of each linkage shaft is sleeved with a limit worm wheel and a second limit gear (107), and each second limit gear (107) is meshed with the corresponding first limit gear.

5. The orchard planting monitoring device according to claim 4, characterized in that: A connecting strip is fixedly connected between the tops of the two side frames (102), and a connecting shaft (108) is rotatably connected between the inner surface walls on both sides of the connecting strip. The outer surface of the connecting shaft (108) is sleeved with a linked bevel gear and two limiting worms (109), and each limiting worm (109) is meshed with a corresponding limiting worm wheel.

6. The orchard planting monitoring device according to claim 5, characterized in that: The top of the drone body (101) is fixedly connected to a limit motor (110), and the output end of the limit motor (110) is also sleeved with a linked bevel gear, and the two linked bevel gears are meshed.

7. The orchard planting monitoring device according to claim 6, characterized in that: Two guide bars (216) are fixedly connected to the bottom of the second bogie (208), and one end of each guide bar (216) extends into the interior of a corresponding guide groove.

8. The orchard planting monitoring device according to claim 7, characterized in that: Two positioning bars (220) are fixedly connected to the top of the laser radar body (219), and the outer surface of one side of each positioning bar (220) is in contact with the corresponding outer surface of the second bogie (208). The inner top surface of the second bogie (208) is fixedly connected to a mounting frame (209), and the inner bottom surface of the mounting frame (209) is fixedly connected to a positioning motor (210). The outer surface of the mounting frame (209) is sleeved with a rotating frame (211), and the inner bottom surface of the rotating frame (211) is rotatably connected to a gyro rotor (212), and the top of the gyro rotor (212) is fixedly connected to the output end of the positioning motor (210). The inner bottom surface of the second bogie (208) is fixedly connected to an extension motor (213), and the output end of the extension motor (213) is fixedly connected to the top of the rotating tube (214).

9. The orchard planting monitoring device according to claim 8, characterized in that: The second limiting component comprises two threaded tubes (202), two abutting tubes (203), an adjusting motor (207) and an adjusting worm (206); the two threaded tubes (202) are rotatably connected to the top of the first bogie (201); the outer surface of each threaded tube (202) is sleeved with a linkage wheel; a linkage belt is sleeved between the outer surfaces of the two linkage wheels; each abutting tube (203) is threadedly connected to the inside of the corresponding threaded tube (202); a linkage plate (205) is sleeved between the outer surfaces of the two abutting tubes (203); and each abutting tube A support spring is arranged inside (203), and a pressure rod (204) is slidably penetrated through the inner bottom surface of each of the abutting tubes (203). An adjusting worm gear is sleeved on the outer surface of one of the threaded tubes (202), and the adjusting worm (206) is rotatably connected between the opposite inner walls on both sides of the first bogie (201). The adjusting worm (206) and the adjusting worm gear are meshed, and the adjusting motor (207) is fixedly connected to the outer surface of one side of the first bogie (201), and the output end of the adjusting motor (207) is fixedly connected to one end of the adjusting worm (206).

10. A method for using an orchard planting monitoring device, characterized in that: The orchard planting monitoring device described in claim 9 comprises the following steps: S1. Flight monitoring: During the orchard data monitoring process, the limit motor (110) is controlled to start, so that the limit motor (110) cooperates with the linked bevel gear to drive the connecting shaft (108) to rotate, so that the rotating connecting shaft (108) cooperates with the limit worm (109), the limit worm wheel and the linked shaft to drive the first limit gear to rotate, and then the rotating first limit gear cooperates with the first limit gear to drive the bidirectional threaded rod (105) to rotate, so that the rotating bidirectional threaded rod (105) can move and adjust the corresponding two clamping plates (106) away from each other, and then reduce the clamping plates (106) through the limit spring and the stop block (111) to squeeze and limit the two sides of the push plate (104), so that the monitoring mechanism (2) can maintain a vertical state under the support of the first bogie (201) and the support shaft (103) during the forward or backward movement of the drone body (101). The machine (207) enables the regulating motor (207) to cooperate with the regulating worm (206) and the regulating worm wheel to drive the corresponding threaded tube (202) to rotate, and then under the action of the linkage wheel and the linkage belt, the two threaded tubes (202) can rotate synchronously, and at the same time, under the position limit of the linkage plate (205), the rotating threaded tube (202) can adjust the use height of the abutting tube (203) in the vertical direction, and then the abutting tube (203) is gradually moved away from the top of the second bogie (208), thereby reducing the support limit of the pressure rod (204) on the top of the second bogie (208) under the support of the support spring, so that the second bogie (208) can always maintain a vertical state during the flight of the unmanned aerial vehicle body (101) in the deflection direction, so that the laser radar body (219) can still efficiently monitor the orchard data during the continuous flight of the unmanned aerial vehicle; S2. Stable adjustment: By controlling and starting the extension motor (213), the extension motor (213) can drive the rotating tube (214) to rotate. At the same time, under the action of the guide bar (216) and the guide groove, the rotating rotating tube (214) can adjust the use position of the first extension tube (215). At the same time, under the position restriction of the clamping rod (218), the second extension tube (217) can rotate synchronously with the rotating tube (214). Then, under the position restriction of the first extension tube (215), the use position of the second extension tube (217) can be synchronously adjusted. The laser radar body (219) can be easily adjusted in the process of the first extension tube (215) and the second extension tube (217) moving, thereby facilitating the laser radar body (219) to efficiently monitor the orchard data. At the same time, the positioning motor (210) is controlled to start, so that the positioning motor (210) can drive the gyro rotor (212) to rotate, so that the high-speed rotating gyro rotor (212) cooperates with the first bogie (201) and the second bogie (208) to improve the stability of the vertical state of the monitoring mechanism (2); S3, rapid transfer: by controlling the reverse operation of the limit motor (110) and the regulating motor (207), the two corresponding clamping plates (106) are brought closer to each other. Under the position restriction of the two clamping plates (106) approaching each other, the limit spring cooperates with the abutment block (111) to squeeze and restrict the corresponding push plate (104), so that the push plate (104) cannot deflect, and the first bogie (201) cannot drive the support shaft (103) to deflect. At the same time, the abutment tube (203) gradually approaches the top of the second bogie (208). Under the support of the spring and the support rod, the second bogie (208) is deflected, thereby making it impossible for the monitoring mechanism (2) as a whole to maintain a vertical state during the flight of the drone body (101). At the same time, the extension motor (213) is operated in the reverse direction to restore the first extension tube (215) and the second extension tube (217) to their original positions, shortening the distance between the laser radar body (219) and the drone body (101). At the same time, the positioning motor (210) is stopped, so that the monitoring mechanism (2) can follow the state change of the drone body (101).

Images