Intelligent inspection robot for agricultural planting and inspection method thereof
By designing height adjustment, swing, amplitude adjustment and barrier cleaning components in the intelligent inspection robot for agricultural planting, the problem of difficulty in adapting to crop growth changes and interference from foreign objects on track is solved, and all-round inspection and efficient movement are achieved.
Patent Information
- Application Number
- CN202510022615.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-07
- Publication Date
- 2025-04-08
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
During the use of existing intelligent inspection robots for agricultural planting, it is difficult to adjust the height and swing amplitude of the inspection camera adaptively according to the changes in the growth and height of the crops, resulting in the inability to comprehensively inspect crops, and the foreign matter accumulated on the tracks interferes with the movement of the robot and affects the inspection efficiency.
An intelligent patrol robot including a height adjustment component, a swing component, an amplitude adjustment component and a wrecking component is designed. The height adjustment assembly adjusts the height of the patrol camera through the second motor and the screw. The swing assembly realizes the full swing of the camera through the slide chute and the spring mechanism. The amplitude adjustment assembly adjusts the swing amplitude of the camera through the piston frame and the oil cavity. The cleaning assembly cleans up foreign objects on the guide rails through the wedge block and the oil tank.
It realizes automatic adjustment of the height and swing amplitude of the inspection camera according to the changes in the growth and height of the crop, ensuring all-round inspection and avoiding omissions; at the same time, the clearance component effectively cleans up foreign objects on the guide rails, improving the robot's movement stability and patrol efficiency.
Smart Images
Figure CN119785448A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of manipulators, and in particular to an intelligent inspection robot for agricultural planting and an inspection method thereof. Background Art
[0002] Agricultural production faces many complex and ever-changing challenges. Pests and diseases are diverse and sudden. New pathogens and pest variants continue to emerge. Traditional manual identification methods are difficult to identify quickly and accurately, resulting in missed optimal prevention and control opportunities, large-scale crop yield reductions or even crop failures. At the same time, crop growth is greatly affected by environmental factors, such as changes in light duration and intensity, temperature and humidity fluctuations, and soil fertility changes. It is difficult to control them in real time and in all aspects based on manual experience alone, and it is impossible to provide sufficient and accurate data support for scientific planting. The process of agricultural modernization has made large-scale and refined planting a trend. It integrates advanced sensor technology, artificial intelligence algorithms, precise positioning and efficient communication methods, which can replace manual in-depth field inspections along preset routes, collect crop images, growth data and environmental information in real time, and use intelligent algorithms for rapid analysis and accurate judgment of crop growth trends. It not only greatly liberates manpower, but also can detect subtle anomalies in time, issue early warnings, and provide detailed data for growers, so that they can quickly take corresponding measures, thereby reducing costs and increasing efficiency, and promoting agriculture to move forward in the direction of intelligence and precision. However, the existing intelligent inspection robots for agricultural planting still have the following problems during use: during the inspection process, the inspection robot slides on the track to inspect the crops in the greenhouse and detect the growth and health status of the crops. The inspection camera at the end of the robotic arm synchronously inspects the crops on both sides of the track by rotating. Due to different growth stages, the growth height and body shape of crops will change. When the growth height of the plant changes, the angle of the inspection equipment needs to be adjusted to keep it aimed at the key parts of the plant. For plants that grow higher and are farther away, the camera's up and down tilt angle is adaptively adjusted to ensure that the top and bottom of the plant can be captured in full view. The single method of adjusting the height of the detection camera cannot comprehensively inspect the crops, and it is easy to fail to detect some of them, which in turn affects the inspection results and is not convenient for timely and effective recording of the growth status and health status of crops. At the same time, in the agricultural environment, dust, plant branches, fallen leaves and other debris are easily accumulated on the track. These foreign objects may interfere with the movement of the inspection robot, increase the friction between the wheel and the track, and cause the robot to move at an unstable speed or even jam. Therefore, it is necessary to clean the track and remove these foreign objects in time to make the robot move more smoothly, ensure that it can inspect at the predetermined speed and route, and improve work efficiency.
[0003] Therefore, we propose an intelligent inspection robot and an inspection method for agricultural planting to solve the above-mentioned problems. Summary of the invention
[0004] The purpose of the present invention is to provide an intelligent inspection robot for agricultural planting and an inspection method thereof, so as to solve the problem that the intelligent inspection robot for agricultural planting and the inspection method thereof currently available on the market proposed in the above background technology is not convenient to adaptively adjust the use status of the inspection camera according to the growth of crops during use, and thus it is not convenient to conduct a comprehensive inspection of the crops, which affects the inspection results. At the same time, in an agricultural environment, dust, plant branches, fallen leaves and other debris are easily accumulated on the track. These foreign objects may interfere with the movement of the inspection robot. The track needs to be cleaned and these foreign objects need to be removed in time to make the robot move more smoothly, ensure that it can inspect at a predetermined speed and route, and improve work efficiency.
[0005] In a first aspect, the present invention provides an intelligent inspection robot for agricultural planting, comprising a body, and a shaft rod is connected to a bearing in the middle of the top surface of the body, a first motor is installed on the top of the body, and a driving gear is connected to the output end of the first motor, and the outer side of the driving gear is meshed and connected with a driven gear, and the driven gear is installed on the outer side of the shaft rod, a mounting frame is provided on the top of the shaft rod, and a bearing plate is rotatably connected to the top of the mounting frame, and an inspection camera is installed on the top of the bearing plate, a mounting seat is symmetrically provided on the bottom of the body, and a roller is connected to the middle of the mounting seat, and the roller rolls on the top of a guide rail, and the guide rail is installed on the ground of a planting greenhouse; It also includes: a height adjustment component, which is arranged at the inner middle part and the top of the shaft, and the height adjustment component adjusts the use height of the inspection camera according to the growth height of the crop; A swing assembly, which is disposed between the top of the machine body, the bottom of the mounting frame and the side of the bearing plate, and the swing assembly swings during the use of the inspection camera to comprehensively inspect the crops; An amplitude adjustment component, the amplitude adjustment component is arranged between the inside of the shaft and the bottom of the mounting frame, and the amplitude adjustment component adjusts the inspection swing amplitude of the inspection camera according to the growth height of the crop; The obstacle clearing component is arranged on the top of the body and the front side of the mounting seat, and the obstacle clearing component cleans the surface of the guide rail to reduce shaking during the movement of the robot.
[0006] Preferably, the height adjustment assembly includes a second motor installed in the middle of the inner side of the shaft, and the output end of the second motor is connected to a screw, and the top of the screw is threadedly connected to a column, and the column is slidably connected to a recess opened at the top of the shaft, the column and the recess are both configured as rectangular structures, and the top of the column is fixedly connected to the mounting frame, and the mounting frame as a whole is configured as an "L" shaped structure.
[0007] Preferably, the swing assembly includes a vertical plate fixed to the middle part of the bottom surface of the mounting frame, and a first sliding groove is opened on the side of the vertical plate, and a horizontal cylinder is slidably connected in the first sliding groove, and a slide plate is slidably connected to the middle part of the horizontal cylinder through a first spring, and a slider is hinged on the right side of the slide plate.
[0008] Preferably, the slider is slidably connected to the slide frame, and the slide frame is slidably connected to the second slide groove, and the second slide groove is opened on the left side of the bottom of the supporting plate, and after the slider is extended, the supporting plate is pushed to rotate around the hinge point through the slider.
[0009] Preferably, a guide rod is fixed to the right bottom of the slide, and the guide rod intermittently conflicts with a conflict block installed at an equal angle outside the ring, and the ring is fixed to the top of the body, and the ring is concentrically arranged with the shaft rod, and the ring is located on the periphery of the shaft rod.
[0010] Preferably, the amplitude adjustment assembly includes a first piston frame fixed to the bottom of the column, and the bottom of the first piston frame is connected to the oil chamber, and the oil chamber is opened on the inner side of the middle part of the shaft rod, and the oil chamber is connected to the sleeve through a connecting pipe, and the sleeve is fixed to the bottom of the first slide groove, and the top of the sleeve is slidably connected to a push rod, and the top of the push rod is fixedly connected to the left bottom of the horizontal cylinder.
[0011] Preferably, the obstacle clearing assembly includes a wedge block arranged in a right-angled trapezoid at the bottom of the circular ring, and the inclined surface of the wedge block is in rotational conflict with the top of the second piston rack, and the bottom of the second piston rack is slidably connected to the inside of the annular oil tank through a second spring, and the oil tank is fixed to the outside of the shaft, and the middle space of the oil tank includes the shaft, the first motor, the driving gear and the driven gear.
[0012] Preferably, the oil tank is connected to the interior of the mounting seat on the front side of the bottom of the body through a connecting pipe, and the front side of the mounting seat is sealingly and slidingly connected to a connecting frame, and the connecting frame is configured as a "U"-shaped structure when viewed from above and from the front, and the front bottom of the connecting frame is symmetrically and slidingly connected to an arc-shaped cleaning plate.
[0013] Preferably, the front side symmetrical bearing of the connecting frame is connected to a driving gear, and the driving gear shaft is installed with a torsion spring and a pull rope, and the top of the pull rope is fixedly connected to the front side of the mounting seat, and the top of the cleaning plate is installed with convex teeth at equal angles, and the convex teeth are meshed with the driving gear.
[0014] In a second aspect, the present invention provides an inspection method of an intelligent inspection robot for agricultural planting, the inspection method comprising the following steps: S1. Task planning and route setting: According to the farmland planting layout, crop varieties and growth cycle, the inspection tasks are planned in advance through the farm control room software or mobile APP, and daily and weekly inspection routes and key monitoring areas are set; S2. Data collection and real-time analysis: The robot moves along the predetermined route, and the robotic arm adjusts the position of the equipment as needed to collect crop images, spectra, temperature and other data in all directions, compares crop health samples and pest and disease characteristic maps in the database, and quickly determines the crop growth situation. If suspected pests and diseases are found, the location and type are immediately marked, and the relevant data are recorded in detail; S3, abnormal warning and remote intervention: once abnormal crop growth is detected, the robot quickly sends warning information to the central control room through the communication module, including the abnormal location, image, and preliminary diagnosis results; S4. Data aggregation and report generation: After completing a round of inspection, the robot transmits all collected and processed data back to the central control room, where the software system integrates the data and generates a detailed inspection report. The report covers the overall health status of the farmland, the distribution of pests and diseases, fertility trends, changes in environmental parameters, etc., and is presented intuitively in the form of charts and text, providing a scientific basis for farm managers to formulate irrigation, fertilization, plant protection and other agricultural operation plans, and helping to make precision agricultural decisions.
[0015] Compared with the prior art, the intelligent inspection robot for agricultural planting and the inspection method thereof of the present invention have the following beneficial effects: when in use, the use height and swing amplitude of the inspection camera can be adaptively adjusted according to the change in the growth height of the crops, so that the crops can be inspected more comprehensively and effectively during the inspection process to avoid omissions. At the same time, the guide rail can be cleaned during the movement of the robot to avoid foreign objects interfering with the movement of the inspection robot. The specific contents are as follows: 1. Through the swing assembly, the inspection camera can swing to conduct a comprehensive inspection of the crops. After the shaft rotates, it will drive the ring to rotate synchronously. After the ring rotates, the resistance block on the outside will intermittently resist the guide rod, thereby pushing the guide rod to slide horizontally. After the guide rod slides, it drives the slide plate to stretch the first spring and extend out of the cross cylinder. When the resistance block and the guide rod are misaligned, the first spring drives the slide plate to be recovered to the inside of the cross cylinder, thereby driving the guide rod to reset, and so on, so that the slide plate can slide horizontally. After the slide plate slides, it drives the slider at the end to slide in the slide frame, and the slide frame will move down in the second slide groove, thereby pushing the bearing plate to swing around the rotation point on the mounting frame. After the bearing plate swings, it drives the inspection camera to move synchronously, thereby enabling the inspection camera to conduct a comprehensive inspection of the crops from top to bottom to avoid omissions. 2. Through the obstacle removal component, foreign objects on the track can be cleaned to avoid interfering with the movement of the inspection robot. When the ring rotates, the wedge block is driven to rotate synchronously. After the wedge block rotates, it is squeezed by the second piston frame. The second piston frame compresses the second spring and slides in the oil tank. The oil in the oil tank is transported to the inside of the mounting seat. After the wedge block is misaligned with the second piston frame, the second spring drives the second piston frame to move up and reset. In this reciprocating manner, the oil in the oil tank will be recovered after being output, and the connecting frame on the mounting seat will be driven to slide back and forth. After the connecting frame slides out, the pull rope is pulled, and the torsion spring on the driving gear will be in a reverse state. After the driving gear rotates, it meshes with the convex teeth, thereby driving the two cleaning plates at the bottom of the connecting frame to slide and unfold. After the connecting frame is reset, the pull rope loses the external force, and the torsion spring drives the driving gear to rotate, so that the cleaning plate is closed. In this reciprocating manner, the cleaning plate moves back and forth while opening and closing to clear obstacles on the track, ensuring that the inspection robot walks more stably when in use; 3. By setting a height adjustment component, the basic use height of the inspection robot can be adjusted when the growth height of crops changes at different growth stages. After the second motor 121 is started, it drives the screw 122 to rotate. After the screw 122 rotates, it drives the column 124 to slide in the notch 123. After the column 124 slides, it drives the top mounting frame 6 to move synchronously, so that the inspection camera 8 is adjusted to a suitable use height according to the growth height of the crops; 4. By setting up the amplitude adjustment component, the swing amplitude of the corresponding inspection camera can be adaptively adjusted according to the growth changes of crops, so that it can adapt to the inspection operations of crops with different growth heights. When the column moves up for height adjustment, it will synchronously drive the first piston frame at the bottom to slide in the oil chamber, and transport the oil in the oil chamber to the inside of the sleeve. When the oil inside the sleeve increases, the push rod is pushed up, and the push rod moves up and drives the cross cylinder to move up synchronously. When the rotation point of the bearing plate remains unchanged and the extension and extension pushing distance of the slide plate remains unchanged, the closer the force application position of the external slide plate is to the rotation point of the bearing plate, the greater the rotation amplitude of the bearing plate will be, thereby allowing the inspection camera to synchronously adjust the swing amplitude. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the inspection method of the present invention; Figure 2 It is a schematic diagram of the overall front view structure of the present invention; Figure 3 It is a schematic diagram of the overall bottom-up structure of the present invention; Figure 4 It is a schematic diagram of the front view structure of the upper part of the machine body of the present invention; Figure 5 It is a schematic diagram of the cross-section structure of the shaft rod, the bearing plate and the vertical plate of the present invention; Figure 6 This is a schematic diagram of the distribution structure of the shaft rod, the ring, the abutment block and the oil tank of the present invention; Figure 7 This is a schematic diagram of the wedge block distribution structure of the present invention; Figure 8 It is a schematic diagram of the internal cross-sectional structure of the fuel tank of the present invention; Fig. 9 It is a schematic diagram of the overall structure of the obstacle removal component of the present invention; Fig.10 This is a schematic diagram of the distribution structure of the connecting frame and the cleaning plate of the present invention; Fig.11 It is a schematic diagram of the explosion structure of the obstacle removal component of the present invention.
[0017] In the figure: 1, body; 2, shaft; 3, first motor; 4, driving gear; 5, driven gear; 6, mounting frame; 7, bearing plate; 8, inspection camera; 9, mounting seat; 10, roller; 11, guide rail; 12, height adjustment assembly; 121, second motor; 122, screw; 123, notch; 124, column; 13, swing assembly; 131, vertical plate; 132, first slide groove; 133, horizontal cylinder; 134, slide plate; 135, first spring; 136, slide Block; 137, slide frame; 138, second slide groove; 139, guide rod; 1310, ring; 1311, resistance block; 14, amplitude adjustment component; 141, first piston rack; 142, oil chamber; 143, sleeve; 144, push rod; 15, obstacle removal component; 151, wedge block; 152, second piston rack; 153, oil tank; 154, second spring; 155, connecting frame; 156, cleaning plate; 157, driving gear; 158, pull rope; 159, convex tooth. DETAILED DESCRIPTION
[0018] 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.
[0019] See also Figure 1 - Fig.11As shown, the present invention provides a technical solution: an intelligent inspection robot for agricultural planting, comprising a body 1, and a shaft 2 is connected to a bearing in the middle of the top surface of the body 1, a first motor 3 is installed on the top of the body 1, and a driving gear 4 is connected to the output end of the first motor 3, and a driven gear 5 is meshed and connected to the outer side of the driving gear 4, and the driven gear 5 is installed on the outer side of the shaft 2, a mounting frame 6 is arranged on the top of the shaft 2, and a bearing plate 7 is rotatably connected to the top of the mounting frame 6, and an inspection camera 8 is installed on the top of the bearing plate 7, a mounting seat 9 is symmetrically arranged on the bottom of the body 1, and a roller 10 is connected to the middle of the mounting seat 9, and the roller 10 rolls on the top of a guide rail 11, and the guide rail 11 is installed on the ground of the planting greenhouse; First, the basic components of the inspection robot are introduced. The inspection tasks are planned according to the crop planting layout. The mounting seat 9 at the bottom of the body 1 walks on the guide rail 11 through the bottom roller 10, driving the inspection robot as a whole to move in the planting greenhouse to inspect the crops. The inspection camera 8 on the carrying plate 7 inspects the growth and health status of the crops. After the first motor 3 is started, the active gear 4 drives the driven gear 5 to rotate, thereby rotating the shaft 2. The shaft 2 drives the inspection camera 8 to rotate through the mounting frame 6. The crops on both sides of the guide rail 11 are inspected simultaneously through rotation, which is efficient and fast. Embodiment 1: When the height of the crops changes at different growth stages, the basic use height of the inspection robot is adjusted, so the following solution is proposed, please refer to the figure for details; The height adjustment component 12 is arranged at the inner middle part and the top of the shaft 2, and the height adjustment component 12 adjusts the use height of the inspection camera 8 according to the growth height of the crop. The height adjustment component 12 includes a second motor 121 installed at the inner middle part of the shaft 2, and the output end of the second motor 121 is connected to a screw 122, and the top of the screw 122 is threadedly connected to a column 124, and the column 124 is slidably connected to a recess 123 opened at the top of the shaft 2, and the column 124 and the recess 123 are both set as rectangular structures, and the top of the column 124 is fixedly connected to the mounting frame 6, and the mounting frame 6 is set as an "L"-shaped structure as a whole; When in use, the second motor 121 starts and drives the screw 122 to rotate. The screw 122 rotates and drives the column 124 to slide in the recess 123. The column 124 slides and drives the top mounting frame 6 to move synchronously, so that the inspection camera 8 is adjusted to a suitable use height according to the growth height of the crops.
[0020] Embodiment 2: During inspection, in order to avoid the problem of the camera not scanning in place, it is necessary to conduct a comprehensive inspection of the crops, and adopt a moving and swinging method to conduct the inspection. Therefore, the following solution is proposed, please refer to the figure for details; The swing assembly 13 is arranged between the top of the body 1, the bottom of the mounting frame 6 and the side of the bearing plate 7, and the swing assembly 13 swings during the use of the inspection camera 8 to comprehensively detect the crops. The swing assembly 13 includes a vertical plate 131 fixed to the middle of the bottom surface of the mounting frame 6, and a first slide groove 132 is opened on the side of the vertical plate 131, and a horizontal cylinder 133 is slidably connected in the first slide groove 132, and a slide plate 134 is slidably connected to the middle of the horizontal cylinder 133 through a first spring 135, and a guide rod 139 is fixed to the bottom of the right side of the slide plate 134, and the guide rod 139 intermittently conflicts with a conflict block 1311 installed at the same angle on the outside of the ring 1310, and the ring 1310 is fixed to the top of the body 1, and the ring 1310 is concentric with the shaft rod 2, and the ring 1310 is located on the periphery of the shaft rod 2; When in use, the shaft 2 rotates and drives the ring 1310 to rotate synchronously. After the ring 1310 rotates, the abutment block 1311 on the outside thereof intermittently abuts against the guide rod 139, thereby pushing the guide rod 139 to slide horizontally. After the guide rod 139 slides, the slide plate 134 stretches the first spring 135 and extends out of the horizontal cylinder 133. When the abutment block 1311 and the guide rod 139 are misaligned, the first spring 135 drives the slide plate 134 to be recovered into the inside of the horizontal cylinder 133, thereby driving the guide rod 139 to reset, and so on and so forth, thereby causing the slide plate 134 to slide horizontally back and forth. At the same time, a slider 136 is hinged on the right side of the slide plate 134, and the slider 136 is slidably connected to the slide frame 137, and the slide frame 137 is slidably connected to the second slide groove 138, and the second slide groove 138 is opened on the left side of the bottom of the carrying plate 7, and after the slide plate 134 is extended, the slider 136 pushes the carrying plate 7 to rotate around the hinge point; When in use, the slide plate 134 slides and drives the slider 136 at the end to slide in the slide frame 137, and the slide frame 137 will move downward in the second slide groove 138, thereby pushing the supporting plate 7 to swing around the rotation point on the mounting frame 6. After the supporting plate 7 swings, it drives the inspection camera 8 to move synchronously, so that the inspection camera 8 can conduct a comprehensive inspection of the crops from top to bottom to avoid omissions.
[0021] Embodiment 3: According to the growth change of crops, the swing amplitude of the corresponding inspection camera 8 needs to be adaptively adjusted so that it can adapt to the inspection operation of crops with different growth heights. Therefore, the following scheme is proposed, please refer to the figure for details; The amplitude adjustment component 14 is arranged between the inside of the shaft 2 and the bottom of the mounting frame 6, and the amplitude adjustment component 14 adjusts the inspection swing amplitude of the inspection camera 8 according to the growth height of the crop. The amplitude adjustment component 14 includes a first piston frame 141 fixed to the bottom of the column 124, and the bottom of the first piston frame 141 is connected to the oil chamber 142, and the oil chamber 142 is opened on the inner side of the middle part of the shaft 2, and the oil chamber 142 is connected to the sleeve 143 through a connecting pipe, and the sleeve 143 is fixed to the bottom of the first slide groove 132, and the top of the sleeve 143 is slidably connected with a push rod 144, and the top of the push rod 144 is fixedly connected to the left bottom of the horizontal cylinder 133; During use, as the planting time goes by, the height of the crops will gradually increase. When conducting inspections, it is necessary to adjust the height and swing amplitude of the inspection camera 8. When the column 124 moves up to adjust the height, it will simultaneously drive the first piston frame 141 at the bottom to slide in the oil chamber 142, and transport the oil in the oil chamber 142 to the inside of the sleeve 143. After the oil inside the sleeve 143 increases, the push rod 144 is pushed up, and after the push rod 144 moves up, it drives the cross cylinder 133 to move up synchronously. Under the condition that the rotation point of the supporting plate 7 remains unchanged and the telescopic pushing distance of the slide plate 134 remains unchanged, the closer the force application position of the external slide plate 134 is to the rotation point of the supporting plate 7, the greater the rotation amplitude of the supporting plate 7 will be, so that the inspection camera 8 can synchronously adjust the swing amplitude. After the amplitude is increased, inspection operations can be carried out on crops with higher height and good growth, which has adaptability adjustment and good practicality.
[0022] Embodiment 4: In an agricultural environment, dust, soil, plant branches, fallen leaves and other debris are easily accumulated on the guide rail 11, and these foreign objects may interfere with the movement of the inspection robot. In order to avoid the unstable movement speed of the robot or even the occurrence of a jamming phenomenon, the guide rail 11 needs to be cleared. Therefore, the following solution is proposed. Please refer to the figure for details; The obstacle clearing component 15 is arranged at the top of the body 1 and the front side of the mounting seat 9, and the obstacle clearing component 15 cleans the surface of the guide rail 11 to reduce shaking during the movement of the robot. The obstacle clearing component 15 includes a wedge block 151 arranged at a right-angled trapezoid at the bottom of the ring 1310, and the inclined surface of the wedge block 151 is in rotational conflict with the top of the second piston frame 152, and the bottom of the second piston frame 152 is slidably connected to the inside of the annular oil tank 153 through a second spring 154, and the oil tank 153 is mounted and fixed on the outside of the shaft 2. At the same time, the middle space of the oil tank 153 includes the shaft 2, the first motor 3, the driving gear 4 and the driven gear 5. The oil tank 153 is connected to the inside of the mounting seat 9 at the front side of the bottom of the body 1 through a connecting pipe, and the front side of the mounting seat 9 is sealed and slidably connected with a connecting frame 155, and the connecting frame 155 is set as a "U"-shaped structure when viewed from above and from the front, and the front bottom of the connecting frame 155 is symmetrically slidably connected with an arc-shaped cleaning plate 156; During operation, the ring 1310 rotates and drives the wedge block 151 to rotate synchronously. After the wedge block 151 rotates, it is squeezed by the second piston frame 152. The second piston frame 152 compresses the second spring 154 and slides in the oil tank 153. The oil in the oil tank 153 is transported to the inside of the mounting seat 9. After the wedge block 151 is misaligned with the second piston frame 152, the second spring 154 drives the second piston frame 152 to move up and reset. In this reciprocating manner, the oil in the oil tank 153 will be recovered after being output, and the connecting frame 155 on the mounting seat 9 will be driven to slide back and forth; The front side of the connecting frame 155 is symmetrically bearing-connected with a driving gear 157, and the shaft of the driving gear 157 is installed with a torsion spring and a pull rope 158, and the top of the pull rope 158 is fixedly connected to the front side of the mounting seat 9, and the top of the cleaning plate 156 is equiangularly installed with a convex tooth 159, and the convex tooth 159 is meshed and connected with the driving gear 157; When in use, after the connecting frame 155 slides out, the pull rope 158 is pulled, and the torsion spring on the driving gear 157 will be in a reverse state. After the driving gear 157 rotates, it engages with the convex tooth 159, thereby driving the two cleaning plates 156 at the bottom of the connecting frame 155 to slide and unfold. After the connecting frame 155 is reset, the pull rope 158 loses the external force, and the torsion spring drives the driving gear 157 to rotate, so that the cleaning plate 156 is closed. In this reciprocating manner, the cleaning plate 156 moves back and forth while opening and closing, and performs obstacle clearance operations on the guide rail 11, ensuring that the inspection robot walks more stably when in use.
[0023] refer to Figure 1 As shown, an inspection method of an intelligent inspection robot for agricultural planting includes the following steps: S1. Task planning and route setting: According to the farmland planting layout, crop varieties and growth cycle, the inspection tasks are planned in advance through the farm control room software or mobile APP, and daily and weekly inspection routes and key monitoring areas are set; S2. Data collection and real-time analysis: The robot moves along the predetermined route, and the robotic arm adjusts the position of the equipment as needed to collect crop images, spectra, temperature and other data in all directions, compares crop health samples and pest and disease characteristic maps in the database, and quickly determines the crop growth situation. If suspected pests and diseases are found, the location and type are immediately marked, and the relevant data are recorded in detail; S3, abnormal warning and remote intervention: once abnormal crop growth is detected, the robot quickly sends warning information to the central control room through the communication module, including the abnormal location, image, and preliminary diagnosis results; S4. Data aggregation and report generation: After completing a round of inspection, the robot transmits all collected and processed data back to the central control room, where the software system integrates the data and generates a detailed inspection report. The report covers the overall health status of the farmland, the distribution of pests and diseases, fertility trends, changes in environmental parameters, etc., and is presented intuitively in the form of charts and text, providing a scientific basis for farm managers to formulate irrigation, fertilization, plant protection and other agricultural operation plans, and helping to make precision agricultural decisions.
[0024] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.
[0025] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.
[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0027] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. An intelligent inspection robot for agricultural planting, comprising a body (1), wherein a shaft (2) is connected to a bearing in the middle of the top surface of the body (1), a first motor (3) is installed on the top of the body (1), and an output end of the first motor (3) is connected to a driving gear (4), and the outer side of the driving gear (4) is meshingly connected to a driven gear (5), and the driven gear (5) is installed on the outer side of the shaft (2), a mounting frame (6) is arranged on the top of the shaft (2), and a bearing plate (7) is rotatably connected to the top of the mounting frame (6), and an inspection camera (8) is installed on the top of the bearing plate (7), and a mounting seat (9) is symmetrically arranged on the bottom of the body (1), and a roller (10) is connected to the middle of the mounting seat (9), and the roller (10) rolls on the top of a guide rail (11), and the guide rail (11) is installed on the ground of a planting greenhouse; Features: Also includes: A height adjustment component (12), the height adjustment component (12) being arranged at the inner middle portion and the top portion of the shaft (2), and the height adjustment component (12) adjusting the use height of the inspection camera (8) according to the growth height of the crop; A swing assembly (13), wherein the swing assembly (13) is arranged between the top of the machine body (1), the bottom of the mounting frame (6), and the side of the bearing plate (7), and the swing assembly (13) swings during the use of the inspection camera (8) to comprehensively inspect the crops; An amplitude adjustment component (14), the amplitude adjustment component (14) being arranged between the interior of the shaft (2) and the bottom of the mounting frame (6), and the amplitude adjustment component (14) adjusting the inspection swing amplitude of the inspection camera (8) according to the growth height of the crop; An obstacle clearing component (15) is arranged on the top of the body (1) and the front side of the mounting seat (9), and the obstacle clearing component (15) cleans the surface of the guide rail (11) to reduce shaking during the movement of the robot.
2. The intelligent inspection robot for agricultural planting according to claim 1, characterized in that: The height adjustment assembly (12) comprises a second motor (121) mounted on the middle portion of the inner side of the shaft (2), the output end of the second motor (121) is connected to a screw rod (122), the top of the screw rod (122) is threadedly connected to a column (124), and the column (124) is slidably connected to a recess (123) provided at the top of the shaft (2), the column (124) and the recess (123) are both configured as rectangular structures, the top of the column (124) is fixedly connected to the mounting frame (6), and the mounting frame (6) is configured as an "L"-shaped structure as a whole.
3. The intelligent inspection robot for agricultural planting according to claim 1, characterized in that: The swing assembly (13) comprises a vertical plate (131) fixed to the middle part of the bottom surface of the mounting frame (6), a first slide groove (132) is provided on the side of the vertical plate (131), a horizontal cylinder (133) is slidably connected in the first slide groove (132), a slide plate (134) is slidably connected to the middle part of the horizontal cylinder (133) via a first spring (135), and a slider (136) is hinged on the right side of the slider (134).
4. The intelligent inspection robot for agricultural planting according to claim 3, characterized in that: The slider (136) is slidably connected to the slider frame (137), and the slider frame (137) is slidably connected to the second slider groove (138), and the second slider groove (138) is opened on the left side of the bottom of the supporting plate (7), and the slider (134) is extended to push the supporting plate (7) to rotate around the hinge point through the slider (136).
5. The intelligent inspection robot for agricultural planting according to claim 4, characterized in that: A guide rod (139) is fixed to the bottom of the right side of the slide plate (134), and the guide rod (139) intermittently contacts an abutment block (1311) installed at an equal angle outside the circular ring (1310), and the circular ring (1310) is fixed to the top of the machine body (1), and the circular ring (1310) and the shaft rod (2) are concentrically arranged, and the circular ring (1310) is located on the periphery of the shaft rod (2).
6. The intelligent inspection robot for agricultural planting according to claim 1, characterized in that: The amplitude adjustment component (14) comprises a first piston frame (141) fixed to the bottom of the column (124), and the bottom of the first piston frame (141) is connected to the oil chamber (142), and the oil chamber (142) is opened on the inner side of the middle part of the shaft (2), and the oil chamber (142) is connected to the sleeve (143) through a connecting pipe, and the sleeve (143) is fixed to the bottom of the first slide groove (132), and the top of the sleeve (143) is slidably connected to the push rod (144), and the top of the push rod (144) is fixedly connected to the left bottom of the horizontal cylinder (133).
7. The intelligent inspection robot for agricultural planting according to claim 1, characterized in that: The obstacle removal assembly (15) comprises a right-angled trapezoidal wedge block (151) arranged at the bottom of the circular ring (1310), and the inclined surface of the wedge block (151) is in rotational conflict with the top of the second piston frame (152), and the bottom of the second piston frame (152) is slidably connected to the inside of the annular oil tank (153) through a second spring (154), and the oil tank (153) is mounted and fixed on the outside of the shaft (2), and the middle space of the oil tank (153) includes the shaft (2), the first motor (3), the driving gear (4) and the driven gear (5).
8. The intelligent inspection robot for agricultural planting according to claim 7, characterized in that: The oil tank (153) is connected to the interior of a mounting seat (9) at the front bottom side of the machine body (1) via a connecting pipe, and a connecting frame (155) is sealingly slidably connected to the front side of the mounting seat (9), and the connecting frame (155) is configured as a "U"-shaped structure when viewed from above and from the front, and an arc-shaped cleaning plate (156) is symmetrically slidably connected to the bottom front side of the connecting frame (155).
9. The intelligent inspection robot for agricultural planting according to claim 8, characterized in that: The front side surface of the connecting frame (155) is symmetrically bearing-connected to a driving gear (157), and a torsion spring and a pull rope (158) are installed on the shaft of the driving gear (157), and the top of the pull rope (158) is fixedly connected to the front side of the mounting seat (9), and a convex tooth (159) is installed at an equal angle on the top of the cleaning plate (156), and the convex tooth (159) is meshingly connected to the driving gear (157).
10. An inspection method of an intelligent inspection robot for agricultural planting, applicable to an intelligent inspection robot for agricultural planting as claimed in any one of claims 1 to 9, characterized in that: The inspection method includes the following steps: S1. Task planning and route setting: According to the farmland planting layout, crop varieties and growth cycle, the inspection tasks are planned in advance through the farm control room software or mobile APP, and daily and weekly inspection routes and key monitoring areas are set; S2. Data collection and real-time analysis: The robot moves along the predetermined route, and the robotic arm adjusts the position of the equipment as needed to collect crop images, spectra, temperature and other data in all directions, compares crop health samples and pest and disease characteristic maps in the database, and quickly determines the crop growth situation. If suspected pests and diseases are found, the location and type are immediately marked, and the relevant data are recorded in detail; S3, abnormal warning and remote intervention: once abnormal crop growth is detected, the robot quickly sends warning information to the central control room through the communication module, including the abnormal location, image, and preliminary diagnosis results; S4. Data aggregation and report generation: After completing a round of inspection, the robot transmits all collected and processed data back to the central control room. The software system in the central control room integrates the data and generates a detailed inspection report. The report covers the overall health status of the farmland, the distribution of pests and diseases, fertility trends, changes in environmental parameters, etc., and is presented intuitively in the form of charts and text. It provides a scientific basis for farm managers to formulate irrigation, fertilization, plant protection and other agricultural operation plans, and assists in precision agriculture decision-making.