A tracked robot integrating multi-positioning sensing and monitoring
By designing a tracked robot that integrates multi-position sensing and monitoring, the problems of monitoring blind spots and animal damage in orchard management are solved, and the orchard is fully data acquisition and real-time monitoring are realized, reducing management costs and losses.
Patent Information
- Application Number
- CN202510234890.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-28
- Publication Date
- 2025-04-04
AI Technical Summary
The prior art is difficult to effectively monitor and prevent in orchard management, especially the monitoring blind spots of large orchards and the destruction of fruits and fruit trees by animals.
A crawler robot integrating multi-position sensing and monitoring is designed, using a crawler base, anti-stick structure, orchard data acquisition structure and positioning tracking structure to achieve all-round data acquisition and real-time monitoring of orchards.
The robot can effectively reduce the blind spots of orchard monitoring, quickly detect and locate problem areas, reduce animal damage to orchards, reduce manpower and material investment, and reduce losses by driving away sounds.
Smart Images
Figure CN119749726A_ABST
Abstract
Description
Technical Field
[0001] The invention discloses a crawler robot integrating multi-positioning sensors and monitoring. The invention belongs to the technical field of agricultural robots, and in particular relates to the technical field of crawler robots integrating multi-positioning sensors and monitoring. Background Art
[0002] As of December 31, 2019 (standard time point), there are 20.1716 million hectares (302.5733 million mu) of garden land in China, of which 13.0313 million hectares (195.4688 million mu) are orchards, accounting for 64.60%. It can be seen that orchards in my country have a very large planting area, and the corresponding orchard management robots also have a very large market prospect; However, there are very few robots used for orchard management in my country, which makes orchard management very troublesome. In addition, in order to prevent human damage, theft and other harmful behaviors in orchards, most cameras will be installed around the orchards for prevention, but most cameras are fixed in place, so there will be blind spots in monitoring, and some orchards are large in area, and the deployment and maintenance of cameras require a lot of manpower and material resources. In addition, there will be some animals inside the orchard that cause damage to fruit trees and fruits. For larger orchards, the losses caused by animal damage are also relatively large each year, but there is currently no corresponding solution. In order to solve the above problems, we proposed a tracked robot that integrates multi-positioning sensing and monitoring. Summary of the invention
[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a tracked robot with multi-positioning sensing and monitoring integration, thereby solving the problem of large orchards using cameras for prevention, which requires large investment and high maintenance costs, and the problem of difficult-to-solve damage to fruits and fruit trees by animals.
[0004] To achieve the above object, the present invention provides the following technical solutions: A crawler robot integrating multi-positioning sensing and monitoring comprises a crawler base, the side of the crawler base is provided with an anti-sticking structure for reducing the adhesion of mud on the crawler track, the surface of the crawler base is connected with a top plate via a lifting platform, the surface of the top plate is provided with an orchard data collection structure, and positioning tracking structures are distributed on the top plates on both sides of the orchard data collection structure.
[0005] As a preferred technical solution of the present invention, a servo motor 1 for providing the required power for the track wheel is symmetrically distributed inside the crawler base, a track is sleeved on the outside of the track wheel, a battery pack is arranged inside the crawler base, a mounting platform is fixed on the surface of the crawler base, a tension adjustment structure for adjusting the tightness of the track is installed on the side of the crawler base, the servo motor 1 also provides the required power for the tension adjustment structure, and an anti-collision shell is arranged between the servo motor 1 and the transmission structure of the tension adjustment structure.
[0006] As a preferred technical solution of the present invention, the tension adjustment structure includes a connecting frame installed on the side of the crawler base, auxiliary wheels are installed on both sides of the bottom end of the connecting frame, the auxiliary wheels are arranged in contact with the inner bottom end of the crawler, a U-shaped frame is connected to the bottom end of the connecting frame through an electric push rod, a top wheel is rotatably installed inside the U-shaped frame, the top wheel is arranged in contact with the inner top end of the crawler, an inner tube is installed at the bottom end of the electric push rod U-shaped frame, and an outer tube is installed at the position of the bottom end of the connecting frame corresponding to the inner tube.
[0007] As a preferred technical solution of the present invention, the anti-sticking structure includes a connecting shaft and a mounting shaft installed on the side of the crawler base, a pulley 1 and a large gear are installed on the output shaft of servo motor 1, a pulley 2 is installed on the connecting shaft, the pulley 1 and the pulley 2 are connected by a belt, a small gear is installed on the mounting shaft, the large gear and the small gear are meshed and connected, the end of the mounting shaft is extended to the outside of the crawler, and a brush roller is installed at the position of the mounting shaft corresponding to the side of the crawler.
[0008] As a preferred technical solution of the present invention, an electric control box, a positioning box and a three-dimensional laser scanner are installed inside the orchard data collection structure, and the laser emitting end of the three-dimensional laser scanner is arranged outside the orchard data collection structure.
[0009] As a preferred technical solution of the present invention, the interior of the positioning box is provided with GNSS-RTK, an inertial navigation system, a map matching positioning system and a multi-sensor data fusion positioning system. The multi-sensor data fusion positioning system can output the speed, position and attitude information of the crawler base after preprocessing, data alignment and data fusion processing of the data generated by the GNSS-RTK, inertial navigation system and map matching positioning system.
[0010] As a preferred technical solution of the present invention, the positioning and tracking structure includes brackets distributed on both sides of the top plate, a rotating seat is installed inside the bracket, a positioning camera is installed on the surface of the rotating seat, a servo motor 2 is installed at one end of the bracket corresponding to the rotating seat, and an angle sensor is installed at the other end of the bracket corresponding to the rotating seat.
[0011] As a preferred technical solution of the present invention, the positioning and tracking structure also includes a dynamic tracking camera, and the dynamic tracking camera is distributed at both ends of the bottom surface of the top plate.
[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: the crawler base is provided to facilitate the overall mobile operation on uneven orchard ground, and the anti-sticking structure can prevent excessive adhesion of soil to the crawler, and the orchard data acquisition structure is provided to facilitate the collection of data information inside the orchard, thereby generating a complete three-dimensional structural graphic of the orchard, and the positioning and tracking structure is not only convenient for locating the overall real-time position, but also can quickly transmit the captured image information in real time, so that it can patrol the inside of the orchard, thereby facilitating the monitoring of the real-time situation in the orchard, and can quickly find and locate the area where the situation occurs, thereby replacing traditional cameras for orchard guarding operations, reducing investment and subsequent maintenance costs, and at the same time, for animal damage discovered, a driving-away sound can be played through the speaker inside the electric control box to drive away the animals and reduce the orchard losses caused by animals. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the first cross-sectional structure of the present invention; Figure 3 It is a schematic diagram of the crawler-type base structure of the present invention; Figure 4 It is a schematic diagram of the first cross-sectional structure of the present invention; Figure 5 It is a schematic diagram of the multi-sensor data fusion positioning process of the present invention; Figure 6 This is a partial enlarged view of the A1 end of the present invention; Figure 7 This is a partial enlarged view of the A2 end of the present invention; Figure 8 It is a schematic diagram of the internal structure of the U-shaped frame of the present invention; 1- crawler base; 11- servo motor 1; 12- crawler wheel; 13- crawler; 14- battery pack; 15- installation platform; 17- anti-collision shell; 2- tension adjustment structure; 21- connecting frame; 22- auxiliary wheel; 23- electric push rod; 24- U-shaped frame; 241- support shaft; 242- pressure sensor; 243- bearing seat; 25- top wheel; 26- outer tube; 27- inner tube; 3- anti-sticking structure; 31- pulley 1; 3 2-connecting shaft; 33-pulley 2; 34-large gear; 35-mounting shaft; 36-small gear; 37-brush roller; 4-lifting platform; 5-top plate; 6-orchard data acquisition structure; 61-electric control box; 62-positioning box; 63-3D laser scanner; 7-positioning tracking structure; 71-bracket; 72-rotating seat; 73-servo motor 2; 74-angle sensor; 75-positioning camera; 76-dynamic tracking camera. DETAILED DESCRIPTION
[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0015] See also Figure 1-Figure 8 , the present invention provides a technical solution: A crawler robot integrating multi-positioning sensing and monitoring comprises a crawler base 1, a side of the crawler base 1 is provided with an anti-sticking structure 3 for reducing the adhesion of mud on the crawler, a top plate 5 is connected to the surface of the crawler base 1 via a lifting platform 4, an orchard data collection structure 6 is provided on the surface of the top plate 5, and positioning tracking structures 7 are distributed on the top plates 5 on both sides of the orchard data collection structure 6. The top plates 5 are driven to rise or fall by the lifting platform 4, thereby facilitating the orchard data collection structure 6 to perform all-round data entry operations inside the orchard, and the positioning tracking structure 7 is not only convenient for locating the positions of fruit trees and fruits, but also can quickly achieve positioning when it is found that people or animals are destroying the orchard, so that people can quickly drive them away or capture them, thereby reducing losses.
[0016] A servo motor 11 for providing the required power for the track wheel 12 is symmetrically distributed inside the crawler base 1, a track 13 is sleeved on the outside of the track wheel 12, a battery pack 14 is arranged inside the crawler base 1, a mounting platform 15 is fixed on the surface of the crawler base 1, a tension adjustment structure 2 for adjusting the tightness of the track 13 is installed on the side of the crawler base 1, the servo motor 11 also provides the required power for the tension adjustment structure 2, an anti-collision shell 16 is arranged between the servo motor 11 and the transmission structure of the tension adjustment structure 2, the servo motor 11 drives the track wheel 12 to rotate when it works, so that the track 13 can move, thereby performing the moving operation, and the tightness of the track 13 is adjusted by the tension adjustment structure 2, and the setting of the anti-collision shell 16 can effectively prevent external debris from damaging the transmission structure.
[0017] The tension adjustment structure 2 includes a connecting frame 21 installed on the side of the crawler base 1, and auxiliary wheels 22 are installed on both sides of the bottom end of the connecting frame 21. The auxiliary wheels 22 are arranged in contact with the inner bottom end of the crawler 13. A U-shaped frame 24 is connected to the bottom end of the connecting frame 21 through an electric push rod 23. A top wheel 25 is rotatably installed inside the U-shaped frame 24. The top wheel 25 is arranged in contact with the inner top end of the crawler 13. An inner tube 27 is installed at the bottom end of the electric push rod 23 and the U-shaped frame 24. An outer tube 26 is installed at the position of the bottom end of the connecting frame 21 corresponding to the inner tube 27. By controlling the operation of the electric push rod 23, the auxiliary wheels 22 and The distance between the top wheels 25 is adjusted to adjust the tightness of the track 13. A support shaft 241 is installed inside the top wheel 25. Both ends of the support shaft 241 are fixed in the U-shaped frame 24 through bearing seats 243. A pressure sensor 242 is installed at the position corresponding to the bottom end of the bearing seat 243 in the U-shaped frame 24. The tightness of the track 13 is monitored in real time through the data measured by the pressure sensor 242, and then the operation of the electric push rod 23 is controlled by the electric control box 61, so that the tightness of the track 13 is always within a certain range, thereby avoiding the problem of the track 13 falling off due to looseness.
[0018] The anti-sticking structure 3 includes a connecting shaft 32 and a mounting shaft 35 installed on the side of the crawler base 1, a pulley 31 and a large gear 34 are installed on the output shaft of the servo motor 11, a pulley 33 is installed on the connecting shaft 32, the pulley 31 and the pulley 33 are connected by a belt, a small gear 36 is installed on the mounting shaft 35, the large gear 34 and the small gear 36 are meshed and connected, the end of the mounting shaft 35 is extended to the outside of the crawler 13, and a brush roller 37 is installed at the position of the mounting shaft 35 corresponding to the side of the crawler 13, so that when the servo motor 11 is working, the brush roller 37 can be driven to rotate under the drive of the belt transmission structure and the gear transmission structure, and the rotation direction of the brush roller 37 is just opposite to the rotation direction of the crawler 13, so that it is convenient to use the brush roller 37 to remove the debris adhering to the crawler.
[0019] An electric control box 61, a positioning box 62 and a three-dimensional laser scanner 63 are installed inside the orchard data acquisition structure 6. The laser emitting end of the three-dimensional laser scanner 63 is arranged outside the orchard data acquisition structure 6. The three-dimensional laser scanner 63 can not only realize the overall automatic operation, but also effectively avoid obstacles and operate. Moreover, it is also convenient to scan the information inside the orchard, and then form a three-dimensional model, so that the user can observe the information of the orchard more intuitively.
[0020] The positioning box 62 is internally provided with GNSS-RTK, an inertial navigation system, a map matching positioning system and a multi-sensor data fusion positioning system. The multi-sensor data fusion positioning system can output the speed, position and attitude information of the crawler base 1 after pre-processing, data registration and data fusion processing of the data generated by the GNSS-RTK, inertial navigation system and map matching positioning system. The schematic diagram of the multi-sensor data fusion positioning process is shown in FIG. Figure 7 As shown in , data preprocessing can be considered as sensor initialization and calibration. Sensor initialization calibrates each sensor independently relative to the system coordinates. Once the sensor initialization is completed, the data collected by each sensor for the common target can be used for data registration. The so-called data registration is to merge the observations or point trace data from one or more sensors with known or confirmed events to ensure that the probability that the observations and point trace data contained in each event set come from the same entity is high. Specifically, it is to pair the observations or point trace data of each batch of targets with their respective data in the event set. In the sensor registration process, enough data points are collected to calculate the system deviation. The calculated system deviation is used to adjust the sensor data obtained subsequently. Secondly, the sensor registration mainly includes two aspects: time registration and space registration. Time alignment: Time alignment is to synchronize the asynchronous measurement information of various sensors related to the same target to the same time. Since each sensor measures the target independently and the sampling periods (such as the stargazing measurement unit and the large sampling period of the lidar) are often different, the time they report to the data processing center is often different. In addition, due to the different delays of the communication network, the time required to transmit information between each sensor and the fusion processing center is also different. Therefore, there may be a time difference in the transmission time of the data on each sensor, so the asynchronous information needs to be aligned to the same time before fusion processing; the general practice of time alignment is to unify the data of each sensor into the data of a sensor with a longer scanning period. At present, the commonly used methods include the least squares method and the interpolation and extrapolation method. Both methods make the assumption of uniform motion for the target's motion model. For targets with variable acceleration motion, the alignment effect is often very poor.
[0021] Spatial registration: Spatial registration is to estimate and compensate for sensor deviations by using the measurement results of multiple sensors on a common target in space. For the measurements of sensors in the same system using different coordinate systems, they must be converted into data in the same coordinate system during positioning. For multiple different subsystems, the coordinate systems used by each subsystem are different, so before fusing and processing the information between the subsystems, they also need to be converted into the same measurement coordinate system, and after processing, the results need to be converted into data in the coordinate system of each subsystem and then transmitted to each subsystem.
[0022] The positioning and tracking structure 7 includes brackets 71 distributed on both sides of the top plate 5, a rotating seat 72 is installed inside the bracket 71, a positioning camera 75 is installed on the surface of the rotating seat 72, a servo motor 2 73 is installed on one end of the bracket 71 corresponding to the rotating seat 72, and an angle sensor 74 is installed on the other end of the bracket 71 corresponding to the rotating seat 72. By controlling the operation of the servo motor 2 73, it is convenient to adjust the shooting angle of the positioning camera 75, thereby ensuring that the fruit can be positioned more accurately, which is convenient for later picking, and also convenient for judging the density of the fruit, thereby providing a more scientific theoretical basis for whether to pick the fruit.
[0023] The positioning and tracking structure 7 also includes a dynamic tracking camera 76, which is distributed at both ends of the bottom surface of the top plate 5. When a certain object is found, the dynamic tracking camera 76 can be used to continuously shoot the moving object, thereby facilitating the staff to grasp the real-time dynamics of the intruder, thereby facilitating the expulsion or capture operation.
[0024] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A crawler robot with multi-positioning sensing and monitoring integration, comprising a crawler base (1), characterized in that: The side of the crawler base (1) is provided with an anti-sticking structure (3) for reducing the adhesion of mud on the crawler, the surface of the crawler base (1) is connected to a top plate (5) via a lifting platform (4), an orchard data collection structure (6) is provided on the surface of the top plate (5), and positioning tracking structures (7) are distributed on the top plate (5) on both sides of the orchard data collection structure (6).
2. The crawler robot with multi-positioning sensing and monitoring fusion according to claim 1, characterized in that: The crawler base (1) has symmetrically distributed servo motors (11) for providing the required power to the crawler wheels (12); the crawler wheels (12) are sleeved with crawler tracks (13); a battery pack (14) is arranged inside the crawler base (1); a mounting platform (15) is fixed on the surface of the crawler base (1); a tension adjustment structure (2) for adjusting the tension of the crawler tracks (13) is installed on the side of the crawler base (1); the servo motors (11) also provide the required power to the tension adjustment structure (2); and an anti-collision shell (16) is arranged between the servo motors (11) and the transmission structure of the tension adjustment structure (2).
3. The crawler robot with multi-positioning sensing and monitoring fusion according to claim 2 is characterized in that: The tension adjustment structure (2) comprises a connecting frame (21) mounted on the side of the crawler-type base (1), auxiliary wheels (22) being mounted on both sides of the bottom end of the connecting frame (21), the auxiliary wheels (22) being arranged in contact with the inner bottom end of the crawler (13), a U-shaped frame (24) being connected to the bottom end of the connecting frame (21) via an electric push rod (23), a top wheel (25) being rotatably mounted inside the U-shaped frame (24), the top wheel (25) being arranged in contact with the inner top end of the crawler (13), an inner tube (27) being mounted at the bottom end of the electric push rod (23) and the U-shaped frame (24), and an outer tube (26) being mounted at a position of the bottom end of the connecting frame (21) corresponding to the inner tube (27).
4. The crawler robot with multi-positioning sensing and monitoring fusion according to claim 2, characterized in that: The anti-sticking structure (3) comprises a connecting shaft (32) and a mounting shaft (35) mounted on the side of the crawler-type base (1); a pulley 1 (31) and a large gear (34) are mounted on the output shaft of a servo motor 1 (11); a pulley 2 (33) is mounted on the connecting shaft (32); the pulley 1 (31) and the pulley 2 (33) are connected via a belt; a small gear (36) is mounted on the mounting shaft (35); the large gear (34) and the small gear (36) are meshingly connected; an end of the mounting shaft (35) is extended to the outside of the crawler (13); and a brush roller (37) is mounted on the mounting shaft (35) at a position corresponding to the side of the crawler (13).
5. The crawler robot with multi-positioning sensing and monitoring fusion according to claim 1, characterized in that: An electric control box (61), a positioning box (62) and a three-dimensional laser scanner (63) are installed inside the orchard data collection structure (6); a laser emitting end of the three-dimensional laser scanner (63) is arranged outside the orchard data collection structure (6).
6. The crawler robot with multi-positioning sensing and monitoring fusion according to claim 5, characterized in that: The positioning box (62) is provided with a GNSS-RTK, an inertial navigation system, a map matching positioning system and a multi-sensor data fusion positioning system. The multi-sensor data fusion positioning system can output the speed, position and attitude information of the crawler base (1) after pre-processing, data registration and data fusion processing of data generated by the GNSS-RTK, the inertial navigation system and the map matching positioning system.
7. The crawler robot with multi-positioning sensing and monitoring fusion according to claim 1, characterized in that: The positioning tracking structure (7) comprises brackets (71) distributed on both sides of the top plate (5), a rotating seat (72) is installed inside the bracket (71), a positioning camera (75) is installed on the surface of the rotating seat (72), a servo motor 2 (73) is installed on one end of the bracket (71) corresponding to the rotating seat (72), and an angle sensor (74) is installed on the other end of the bracket (71) corresponding to the rotating seat (72).
8. The crawler robot with multi-positioning sensing and monitoring fusion according to claim 1, characterized in that: The positioning tracking structure (7) further comprises a dynamic tracking camera (76), wherein the dynamic tracking camera (76) is distributed at two ends of the bottom surface of the top plate (5).