Rail type orchard inspection platform

Abstract

The invention discloses an inspection track type orchard inspection platform, and relates to the technical field of orchard inspection, the inspection track type orchard inspection platform comprises an inspection track laid between fruit tree rows and an inspection device fixing chassis slidably connected with the inspection track, and the two ends of the inspection device fixing chassis are provided with a first sensor and a second sensor respectively; a plurality of iron cores are arranged on the inspection track, each iron core corresponds to a unique fruit tree, and a controller performs deceleration brake control on the inspection device fixing chassis through the first sensor, the second sensor and the iron cores. A unique corresponding iron core corresponding to each fruit tree is arranged on the inspection track, and the stop position of the fixed chassis of the inspection device is accurately controlled through successive induction of the first sensor and the second sensor. And after stopping according to the set iron core position, the fruit tree information collection comprehensiveness of the orchard inspection device can be realized, so that the accurate extraction of the fruit tree information is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of orchard inspection, and in particular to a track-type orchard inspection platform. Background Art

[0002] In order to ensure the yield and quality of apples, orchard inspections are extremely important for the efficient and stable execution of tasks such as planting, plant protection and harvesting. Initially, experienced fruit farmers or experts inspected the orchards to observe various information conditions, which was not only time-consuming and laborious, but also prone to misjudgment.

[0003] With the development of science and technology and the improvement of orchard management efficiency and quality requirements, orchard inspection robots, as an important tool in the field of modern orchard planting and management, are gradually changing the traditional orchard inspection and management methods. The orchard inspection equipment consists of an orchard inspection chassis carrying a visual system and various sensors to extract and monitor information such as apple maturity, yield, water and fertilizer, and pests and diseases in the orchard. The comprehensive use of multiple sensors builds a sensor network, which optimizes the inspection efficiency and work intensity of the orchard.

[0004] However, when existing orchard inspection robots conduct orchard inspections, how to determine the inspection position and accurately extract the fruit tree information in the apple orchard is an urgent problem to be solved in the current orchard inspection. Summary of the invention

[0005] In order to solve the above technical problems, this application proposes the following technical solutions:

[0006] In the first aspect, an embodiment of the present application provides a patrol track type orchard inspection platform, comprising a patrol track laid between rows of fruit trees and a fixed chassis of an inspection device slidably connected to the patrol track, a first sensor and a second sensor being respectively provided at both ends of the fixed chassis of the inspection device, a plurality of iron cores being provided on the patrol track, each iron core corresponding to a unique fruit tree, and a controller performing deceleration and braking control on the fixed chassis of the inspection device via the first sensor, the second sensor and the iron core.

[0007] In a possible implementation manner, before the iron core is set on the inspection track, determining the setting position of the iron core includes:

[0008] Acquire a maximum virtual frame of a tree crown projection of a first fruit tree in a plane real scene image of the orchard, wherein the first fruit tree is any fruit tree in the orchard;

[0009] Determine a perpendicular midline between the maximum virtual border and the inspection track;

[0010] Place the fixed chassis of the inspection device in the plane real view so that the perpendicular midline passes through the middle position of the fixed chassis of the inspection device;

[0011] Determine the inspection track position corresponding to the rear end of the fixed chassis of the inspection device as the setting position of the iron core corresponding to the first fruit tree.

[0012] In one possible implementation, auxiliary wheels are installed on both sides of the fixed chassis of the inspection device, and a track wheel is arranged in the middle. The track wheel is slidably connected to the inspection track, and a brake auxiliary device is arranged adjacent to the track wheel. The brake auxiliary device is used to generate relative friction with the inspection track to achieve deceleration and braking of the fixed chassis of the inspection device. Limit springs are installed above the auxiliary wheels respectively. Facing the complex ground environment in the orchard, the four auxiliary wheels are ensured to always be close to the ground, thereby ensuring the stability of the inspection platform. In addition, the connecting beam between the front auxiliary wheel and the rear auxiliary wheel of the inspection chassis is connected by a hinge. When facing slopes and depressions, the connecting beam can float up and down to always keep the platform stable for operation.

[0013] In a possible implementation, the brake assist device includes a lifting plate disposed on the fixed chassis of the inspection device, and a concave structure is fixedly connected to the lifting plate, and the opening of the concave structure is adjustable. The alloy material used in the concave structure is the same as the alloy material of the inspection track, both of which are KBK aluminum alloy, and the friction coefficient of the alloy is 0.61. The opening of the concave structure is designed to be adjustable and concave to be in a semi-engaged state with the track, and relative friction is generated with the track during deceleration and braking, assisting the fixed chassis of the inspection device to decelerate and brake.

[0014] In a possible implementation, the controller performs deceleration and braking control on the fixed chassis of the inspection device through the first sensor, the second sensor, and the iron core, including:

[0015] When the first sensor detects the iron core, the detected signal is transmitted to the controller;

[0016] After receiving the signal from the first sensor, the controller executes the deceleration program, and the controller sends a deceleration command to the drive system to adjust the output power of the motor to achieve smooth deceleration;

[0017] During the deceleration process, the brake assist device assists the inspection device in decelerating and braking the fixed chassis.

[0018] In a possible implementation, the braking assisting device assists the inspection device in fixing the chassis to decelerate and brake, including:

[0019] After the controller sends a deceleration command to the drive system, the lifting plate is controlled to descend so that the concave structure is clamped on the inspection track, and then the opening of the concave structure is controlled to be a first opening. When the opening of the concave structure is the first opening, the friction force between the concave structure and the inspection track is a first friction force;

[0020] When the first sensor leaves the iron core, the opening of the concave structure is controlled to gradually become smaller, and the friction between the concave structure and the inspection track gradually increases;

[0021] When the second sensor on the fixed chassis of the inspection device detects the iron core, the opening of the concave structure is controlled to be a second opening. At the second opening, the concave structure directly clamps the inspection track, and the fixed chassis of the inspection device stops.

[0022] In the implementation of this application, a unique corresponding iron core is set for each fruit tree on the inspection track, and the first sensor and the second sensor are used to successively sense and accurately control the stop position of the fixed chassis of the inspection device. After stopping according to the set iron core position, the orchard inspection device can collect comprehensive fruit tree information, thereby ensuring the accurate extraction of fruit tree information. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the structure of a track-type orchard inspection platform provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of the position of the core provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of the structure of a brake assist device provided in an embodiment of the present application;

[0026] Figure 1-3 In the symbol, it is represented as:

[0027] 1-inspection track, 2-inspection device fixed chassis, 3-first sensor, 4-second sensor, 5-auxiliary wheel, 6-track wheel, 7-limiting spring, 8-hinge, 9-lifting plate, 10-concave structure. DETAILED DESCRIPTION

[0028] The present solution is described below in conjunction with the accompanying drawings and specific implementation methods.

[0029] See also Figure 1 The present application provides a track-type orchard inspection platform including an inspection track 1 laid between rows of fruit trees and an inspection device fixed chassis 2 slidably connected to the inspection track 1, a first sensor 3 and a second sensor 4 are respectively provided at both ends of the inspection device fixed chassis 2, a plurality of iron cores are provided on the inspection track 1, each iron core corresponds to a unique fruit tree, and a controller performs deceleration and braking control on the inspection device fixed chassis 2 through the first sensor 3, the second sensor 4 and the iron core.

[0030] In this embodiment, the position of the iron core on the track is particularly important. Only by selecting a suitable position, when the fixed chassis 2 of the inspection device stops at its position, can the orchard inspection device realize comprehensive collection of fruit tree information. Therefore, in this embodiment, before the iron core is set on the inspection track 1, the position of the iron core is determined.

[0031] Specifically, obtain the maximum virtual frame of the crown projection of the first fruit tree in the plane real scene map of the orchard, and the first fruit tree is any fruit tree in the orchard. Determine the perpendicular midline of the maximum virtual frame and the inspection track 1; place the inspection device fixed chassis 2 in the plane real scene map so that the perpendicular midline passes through the middle position of the inspection device fixed chassis 2; determine the inspection track 1 position corresponding to the rear end of the inspection device fixed chassis 2 as the setting position of the iron core corresponding to the first fruit tree. Figure 2 , is a schematic diagram of the core position determined according to the above method.

[0032] In this embodiment, auxiliary wheels 5 are installed on both sides of the fixed chassis 2 of the inspection device, and a track wheel 6 is arranged in the middle. The track wheel 6 is slidably connected to the inspection track 1, and a brake auxiliary device is arranged adjacent to the track wheel 6. The brake auxiliary device is used to generate relative friction with the inspection track 1 to achieve deceleration and braking of the fixed chassis 2 of the inspection device. Limit springs 7 are installed above the auxiliary wheels 5 respectively. Facing the complex ground environment in the orchard, the four auxiliary wheels 5 are ensured to always be close to the ground, thereby ensuring the stability of the inspection platform. In addition, the connecting beam between the front auxiliary wheel 5 and the rear auxiliary wheel 5 of the inspection chassis is connected by a hinge 8. When facing slopes and depressions, the connecting beam can float up and down to always keep the platform stable for operation.

[0033] See also Figure 3 The brake assist device includes a lifting plate 9 disposed on the fixed chassis 2 of the inspection device, and a concave structure 10 is fixedly connected to the lifting plate 9, and the opening of the concave structure 10 is adjustable. The alloy material used in the concave structure 10 is the same as the alloy material of the inspection track 1, both of which are KBK aluminum alloy, and the friction coefficient of the alloy is 0.61. The opening of the concave structure 10 is designed to be adjustable and concave to be in a semi-engaged state with the track, and relative friction is generated with the track during deceleration and braking, assisting the fixed chassis 2 of the inspection device to decelerate and brake.

[0034] In this embodiment, the controller performs deceleration and braking control on the fixed chassis 2 of the inspection device through the first sensor 3, the second sensor 4 and the iron core, including:

[0035] When the first sensor 3 detects the iron core, the detected signal is transmitted to the controller;

[0036] After receiving the signal from the first sensor 3, the controller executes the deceleration program, and sends a deceleration command to the drive system to adjust the output power of the motor to achieve smooth deceleration;

[0037] During the deceleration process, the brake assist device assists the inspection device in decelerating and braking the fixed chassis 2 .

[0038] Specifically, the braking assist device assists the inspection device to fix the chassis 2 to decelerate and brake, including:

[0039] After the controller sends a deceleration command to the drive system, the lifting plate 9 is controlled to descend so that the concave structure 10 is clamped on the inspection track 1, and then the opening of the concave structure 10 is controlled to be a first opening. When the opening of the concave structure 10 is the first opening, the friction force between the concave structure 10 and the inspection track 1 is a first friction force;

[0040] When the first sensor 3 leaves the iron core, the opening of the concave structure 10 is controlled to gradually become smaller, and the friction between the concave structure 10 and the inspection track 1 gradually increases;

[0041] When the second sensor 4 on the fixed chassis 2 of the inspection device detects the iron core, the opening of the concave structure 10 is controlled to be a second opening. At the second opening, the concave structure 10 directly clamps the inspection track 1, and the fixed chassis 2 of the inspection device stops.

[0042] In this embodiment, the controller type is Arduino, the sensor is a Hall sensor and a motor drive module, the lifting plate is lifted and lowered by a servo motor, the motor is connected to a PWM pin 9 of the controller, the Hall sensor is connected to the pin 2 position of the microcontroller, and the motor drive module is connected to the PWM pin of the controller. The following is the control program code for the fixed chassis deceleration of the inspection device involved in the embodiment of the present application:

[0043] #include<Servo.h>

[0044] const int sensorPin = 2; / / The pin to which the sensor is connected

[0045] const int motorPin = 3; / / motor control pin

[0046] const int servoPin = 9; / / Servo motor control pin

[0047] Servo myServo; / / Create a servo motor object

[0048] void setup(){

[0049] pinMode(sensorPin,INPUT); / / Set the sensor pin to input

[0050] pinMode(motorPin,OUTPUT); / / Set the motor pin to output

[0051] myServo.attach(servoPin); / / Initialize servo motor pin

[0052] Serial.begin(9600); / / Initialize the serial port monitor

[0053] }

[0054] void loop(){

[0055] int sensorState = digitalRead(sensorPin); / / Read sensor status

[0056] if(sensorState==HIGH){ / / If the sensor detects the iron core, the state is HIGH

[0057] Serial.println("The iron core is detected, and the board starts to slow down and drop.");

[0058] / / Control chassis deceleration

[0059] for(int speed=3;speed>=0;speed-=1){ / / gradually decelerate from the maximum speed analogWrite(motorPin,speed);

[0060] delay(5); / / Wait for a while to achieve smooth deceleration

[0061] }

[0062] / / Control the board to descend

[0063] myServo.write(45); / / Assume 45 degrees is the descending position

[0064] delay(50); / / Wait 50 seconds to ensure the board is fully lowered

[0065] / / You can choose to stop the motor here or do something else

[0066] analogWrite(motorPin,0); / / Stop the motor

[0067] }

[0068] else{

[0069] Serial.println("No iron core detected.");

[0070] / / Can do other things here, keep motors running, etc.

[0071] analogWrite(motorPin,3); / / Continue running at the original speed

[0072] myServo.write(0); / / Assume 0 degrees is the rising position of the board

[0073] }

[0074] delay(100); / / Loop delay

[0075] }

[0076] After the inspection device fixed chassis brakes, the fixed-point inspection and shooting operation is completed within 50 seconds. After 50 seconds, the vehicle continues to run at an operating speed of 1m / s and the lifting plate rises. The following is the restart control code for the inspection device fixed chassis:

[0077]

[0078]

[0079] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0080] The above is only a specific implementation of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A patrol track type orchard patrol platform, characterized in that: It includes an inspection track laid between rows of fruit trees and a fixed chassis of an inspection device slidably connected to the inspection track, a first sensor and a second sensor are respectively provided at both ends of the fixed chassis of the inspection device, a plurality of iron cores are provided on the inspection track, each iron core corresponds to a unique fruit tree, and a controller performs deceleration and braking control on the fixed chassis of the inspection device through the first sensor, the second sensor and the iron core.

2. The inspection track type orchard inspection platform according to claim 1 is characterized in that: Before setting the iron core on the inspection track, determining the setting position of the iron core includes: Acquire a maximum virtual frame of a tree crown projection of a first fruit tree in a plane real scene image of the orchard, wherein the first fruit tree is any fruit tree in the orchard; Determine a perpendicular midline between the maximum virtual border and the inspection track; Place the fixed chassis of the inspection device in the plane real view so that the perpendicular midline passes through the middle position of the fixed chassis of the inspection device; Determine the inspection track position corresponding to the rear end of the fixed chassis of the inspection device as the setting position of the iron core corresponding to the first fruit tree.

3. The inspection track type orchard inspection platform according to claim 1 is characterized in that: Auxiliary wheels are installed on both sides of the fixed chassis of the inspection device, and a track wheel is arranged in the middle. The track wheel is slidably connected with the inspection track. A brake assist device is arranged adjacent to the track wheel. The brake assist device is used to generate relative friction with the inspection track to achieve deceleration and braking of the fixed chassis of the inspection device.

4. The inspection track type orchard inspection platform according to claim 3 is characterized in that: The brake assist device comprises a lifting plate arranged on the fixed chassis of the inspection device, a concave structure is fixedly connected to the lifting plate, and the opening of the concave structure is adjustable.

5. The inspection track type orchard inspection platform according to claim 4 is characterized in that: The controller performs deceleration and braking control on the fixed chassis of the inspection device through the first sensor, the second sensor and the iron core, including: When the first sensor detects the iron core, the detected signal is transmitted to the controller; After receiving the signal from the first sensor, the controller executes the deceleration program, and the controller sends a deceleration command to the drive system to adjust the output power of the motor to achieve smooth deceleration; During the deceleration process, the brake assist device assists the inspection device in decelerating and braking the fixed chassis.

6. The inspection track type orchard inspection platform according to claim 5 is characterized in that: The method of assisting the inspection device to fix the chassis to decelerate and brake by the brake assist device includes: After the controller sends a deceleration command to the drive system, the lifting plate is controlled to descend so that the concave structure is clamped on the inspection track, and then the opening of the concave structure is controlled to be a first opening. When the opening of the concave structure is the first opening, the friction force between the concave structure and the inspection track is a first friction force; When the first sensor leaves the iron core, the opening of the concave structure is controlled to gradually become smaller, and the friction between the concave structure and the inspection track gradually increases; When the second sensor on the fixed chassis of the inspection device detects the iron core, the opening of the concave structure is controlled to be a second opening. At the second opening, the concave structure directly clamps the inspection track, and the fixed chassis of the inspection device stops.

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