System of crawling robot with dry ice plant cleaning light supplementing lamp

Abstract

The invention discloses a system of a crawling robot with a dry ice plant cleaning light supplementing lamp. A mode of combining simulation material adsorption and vacuum adsorption is adopted; a multi-foot walking mode is adopted, the four moving arms move pairwise and move forwards alternately, linear motion of the robot is achieved, and motion in a two-dimensional plane can be achieved in cooperation with rotation achieved by a rotating motor and an adsorption block; the mode of ground power supply and ground compressed air and vacuum supply is adopted, so that the weight of the robot is reduced, and the working efficiency and reliability are improved; the cleaning device adopts a roller brush driven by a direct-current motor, and cleaning tools made of different materials, such as a brush and lint, can be additionally arranged on the surface of a roller so as to adapt to different working requirements; the robot can move in a two-dimensional space on a horizontal plane or a vertical surface, and the coverage rate of the working range is guaranteed.

Description

Technical field:

[0001] The present invention relates to the fields of crawling robot technology and cleaning technology, and more specifically, to a crawling robot system equipped with a dry ice cleaning device, which can automatically clean plant fill light lamps, effectively improve cleaning efficiency and quality, and play a key role in agricultural production and plant factories. Background technology:

[0002] In modern agricultural production, plant supplementary lighting is an indispensable device, especially in plant factories, supplementary lighting greenhouses and other environments lacking light. The use of supplementary lighting can ensure the lighting needs of plant photosynthesis, thereby improving crop yield and quality. However, due to the long-term influence of environmental factors, supplementary lighting is easy to accumulate dust and dirt, reducing the supplementary lighting effect and even shortening the service life of the lamp.

[0003] Traditional cleaning of fill light mostly relies on manual work, which is not only inefficient and costly, but also poses safety risks when working at heights. Using drones for agricultural operations has gradually become a part of modern agricultural technology. Drones are increasingly used in plant protection, forest resource management, and pest control. However, there is currently a lack of drone technology specifically for cleaning plant fill light.

[0004] In addition, conventional drone cleaning technology mainly uses water spraying, but in some places with special requirements for water resources, such as plant factories or some environments with a lot of electronic equipment, water spraying may cause equipment damage or other safety issues. In addition, dry ice cleaning has been used in the industrial field as a clean and efficient cleaning method, but there is little research and practice on combining it with drones to meet the specific cleaning needs of agricultural plant fill lights.

[0005] Therefore, in view of the problems and shortcomings in the current background technology, it is necessary to develop a new type of crawling robot equipped with a dry ice cleaning device to improve the cleaning efficiency and operation safety of plant fill light, reduce water consumption, and ensure the sustainable development of agricultural production. Summary of the invention: The invention relates to a robot and its application in the field of agriculture, in particular to an unmanned aerial vehicle equipped with a dry ice processing device for automatically cleaning a plant supplementary light. In view of the defects in the prior art, the present invention provides a crawling robot equipped with a dry ice processing device, which can automatically crawl to the designated fill light position for efficient cleaning. The robot adopts crawling path planning technology, automatically plans the crawling route according to the task information specified by the user, and performs vertical or oblique cleaning operations. In the present invention, the dry ice processing device carried by the crawling robot mainly includes a dry ice storage bin, a high-pressure gas generator and a nozzle system. When the robot crawls to the vicinity of the target plant fill light, the crawling robot uses built-in sensors and cameras to achieve autonomous navigation, avoid obstacles and find the target fill light. Furthermore, the crawling robot is equipped with a lifting device. When the robot approaches the fill light, it automatically adjusts the nozzle height to ensure the spraying effect. The robot's rotation module and cleaning module both need to be lifted and self-locking, so the lifting mechanism uses a worm gear transmission. The lifting mechanism needs to lift the cleaning device and the rotation device and control them independently. The mass of the cleaning device and the steering device is initially selected to be 15Kg, and the output shaft of the worm gear reducer needs to provide a thrust of 150N. Furthermore, the robot is designed to move in a two-dimensional plane by combining a rotary motion component with a linear motion component. The linear motion component is composed of four moving arms independently driven by a DC motor. An adsorption device is installed under the moving arm, which can contact or detach with the wall. The motor and the moving arm are driven by a gear rack mechanism. Furthermore, the suction cup that realizes the rotational movement is integrated in an adsorption block, and the adsorption block is connected to the rotation motor and installed as a whole on a set of lifting mechanisms, and the lifting mechanism controls the contact or separation between the adsorption block and the wall. Furthermore, the wall cleaning robot has a total of 8 bionic adsorption blocks, which are used for adsorption during linear movement and are divided into two groups, with 4 in each group. During the movement, at least one group is kept in a working state and adsorbed on the wall; the adsorption of rotational movement is achieved through a vacuum suction cup, and when the robot starts the rotational working state, it is adsorbed on the wall. Compared with the traditional technology, the present invention has the following beneficial effects: The present invention provides a crawling robot with a dry ice system for cleaning plant fill-in lights, which greatly improves the efficiency of cleaning work and reduces dependence on manual labor. The use of a dry ice processing device provides a clean, residue-free cleaning method that can quickly and effectively remove dust and dirt on the fill-in lights. Safe and reliable: It reduces the potential safety hazards that may arise during manual operations, and the built-in monitoring system ensures the cleaning quality. Dry ice is an environmentally friendly material and does not generate secondary pollution during the cleaning process, which meets the sustainable development requirements of modern agricultural production. The robot adopts a modular design, which includes five modules: a fuselage, a linear walking module, a rotation module, a cleaning module, and a lifting module. The modular design provides great convenience for the design, manufacture, and later maintenance of the robot, and can effectively reduce costs. Description of the drawings: Figure 1-2 Schematic diagram of crawling robot Figure 3 Crawling robot rotation device diagram Figure 4 Crawling robot cleaning device diagram Figure 5 Crawling robot walking device diagram 1. Roller 2. Deep groove ball bearing 3. Spacer 4. Roller shaft 5. Sheet metal dust cover 6. Gear shaft 7. Connecting key 8. Sliding bearing 9. Hexagon socket head screw 10. Connecting key 11. Hexagon socket head screw 12. Open washer 13. Reducer flange 14. Spacer 15. Roller shaft 16. Spacer 17. Side plate 18. Lifting mechanism drive motor 19. Coupling 20. Coupling 21. Worm gear lift 22. Linear travel drive motor 23. Worm gear reducer Speed ​​reducer 24, linear walking robot arm 25, shaft nut 26, shaft-cylinder 27, bionic adsorption block 28, adsorption block-cylinder shaft 29, cylinder joint 30, cylinder 31, adsorption block fixing frame 32, contact switch 33, planetary gear reducer 34, rotating motor 35, proximity switch 36, rotating adsorption block 37, hexagon socket cylindrical head screw 38, hexagon socket countersunk screw 39, plane bearing 40, bearing washer 41, deep groove ball bearing 42, sleeve 43, bearing washer Specific implementation method: Example 1 like Figure 1 and Figure 2 As shown, the crawling cleaning robot in the present invention may include: a crawling module and a cleaning module. Both the robot rotation module and the cleaning module need to be lifted and lowered and have self-locking properties, so the lifting mechanism uses a worm gear transmission. The cleaning device of the wall cleaning robot is placed in the middle of the lower part of the robot and connected to the lifting mechanism, which controls the lifting of the device. Figure 3 As shown in the figure, the main cleaning structure is a roller brush, which is independently driven by a motor to rotate at high speed to scrub the dirt on the wall. The motor and the roller are driven by a synchronous belt. When cleaning, the cleaning mechanism is controlled by the lifting mechanism to descend to contact with the wall and generate a certain pressure. Then the roller drive motor is started, and the roller brush rotates at high speed to start the cleaning operation. The linear motion assembly is composed of four moving arms independently driven by DC motors. Adsorption devices are installed under the moving arms, which can contact or detach with the wall. The motor and the moving arms are driven by a gear rack mechanism. Figure 2As shown. The four moving arms are divided into two groups, and the same group of moving arms moves synchronously. When the adsorption device of one group of moving arms contacts the wall, the adsorption device of the other group of moving arms detaches from the wall, and at least one group of adsorption devices is always in contact with the wall. During linear movement, the adsorption device of one group of moving arms contacts the wall, and the DC motor drives the rack and pinion mechanism to drive the fuselage to move in a straight line. When the fuselage reaches the end of the rack of one group of moving arms, the contact switch is triggered, and the cylinder pushes the adsorption device of the two groups of moving arms to contact the wall. After the adsorption is completed, the adsorption device of one group of moving arms is pushed to detach from the wall. The motor drives the two groups of rack and pinion mechanisms to move, and the fuselage moves in a straight line. The two groups of adsorption blocks alternately contact or detach from the wall, and this cycle is repeated to realize the linear motion of the robot. The lifting mechanism needs to lift the cleaning device and the rotating device, and control them independently. The masses of the cleaning device and the steering device are initially selected to be 15Kg, and the output shaft of the worm gear reducer needs to provide a thrust of 150N. The lifting device is installed on the machine body, and two sets of SWL0.5M-1A standard worm gear lifters are driven by two DC motors to lift and lower respectively. The output end of the lifter is connected to the rotating module and the cleaning module through a flange. Figure 2 shown. Select 57BL95S15 DC motor, technical parameters: Rated speed n = 3000r / min Rated torque T = 0.4Nm Rated power P = 150W The lift SWL0.5M-1A is a standard worm gear reducer with a reduction ratio of 24:1. Example 2 In this embodiment, the crawling route is optimized specifically for specific types of plant fill lights and their distribution in the plant factory. The system adopts a regional cleaning strategy based on the distribution density and coverage area of ​​the plant fill lights. In order to better suit the growth characteristics of plants and the arrangement of fill-in lights, the crawling robot in the system will perform cleaning operations according to a pre-set "Z-shaped" or "spiral" crawling path. Such a path can ensure that the area covered by the fill-in lights is cleaned without gaps. At the same time, taking into account the accidental damage that may be caused to the plant leaves during the cleaning process, the nozzle of the dry ice treatment device is designed with an angle control function. The drone controls the spraying direction and range of the dry ice particles by adjusting the nozzle angle to ensure that only the fill light is affected by the cleaning effect and avoid direct contact with the plants. After the cleaning operation is completed, the robot sends a work report to the user's mobile terminal or central control system through the built-in communication module. The report includes key information such as the cleaning area, cleaning time, and amount of dry ice consumed, which is convenient for users to record, evaluate and make decisions.

Claims

1. A crawling robot equipped with a dry ice plant lighting system, characterized in that: It includes a crawling module and a cleaning module, the cleaning module is connected to the crawling module, the crawling module includes at least two crawling mechanisms and at least one driving mechanism, the driving mechanism is used to drive the crawling mechanism to move, each of the crawling mechanisms includes a first adsorption walking part and a second adsorption walking part, and the first adsorption walking part and the second adsorption walking part are connected to the cleaning module in a diagonal form.

2. According to claim 1, a crawling robot equipped with a dry ice plant fill light cleaning system, characterized in that: The adsorption material is the bionic material gecko skin Geckskin, and the suction cup is the Tianxing SP-50 suction cup.

3. The crawling robot equipped with a dry ice plant fill light cleaning system according to claim 1, characterized in that: The dry ice blasting module can control the spraying direction and range of dry ice particles by adjusting the nozzle angle of the nozzle system to meet the cleaning needs of the plant fill light and reduce accidental damage to plant leaves.

4. The crawling robot equipped with a dry ice plant fill light cleaning system according to claim 1, characterized in that: The wall cleaning robot has a total of 8 bionic adsorption blocks, which are used for adsorption during linear movement. They are divided into two groups, with 4 in each group. During the movement, at least one group is kept in a working state and adsorbed on the wall surface.

5. The crawling robot equipped with a dry ice plant fill light cleaning system according to claim 4, characterized in that: Adsorption reliability The pneumatic components such as the air compressor required for the cylinder to work are designed to be separated from the robot. When the robot is working, the pneumatic components are placed on the ground, and the hoses and saddlebags are connected to the cylinder.

6. The crawling robot equipped with a dry ice plant fill light cleaning system according to claim 1, characterized in that: The linear motion assembly is composed of four moving arms independently driven by DC motors. An adsorption device is installed under the moving arms, which can contact or disengage with the wall. The motor and the moving arms are driven by a gear rack mechanism.

7. The crawling robot equipped with a dry ice plant fill light system according to claim 6, characterized in that: The four moving arms are divided into two groups, and the moving arms in the same group move synchronously; when the adsorption device of one group of moving arms contacts the wall, the adsorption device of the other group of moving arms detaches from the wall, ensuring that at least one group of adsorption devices contacts the wall at all times.

8. The crawling robot equipped with a dry ice plant light cleaning system according to claim 1, characterized in that: The drone can send a work report to the user's mobile terminal or central control system through a built-in communication module after completing all cleaning tasks. The report content includes information on the cleaning area, cleaning time and amount of dry ice consumed.

Images