Greenbelt inspection and maintenance system and method based on Internet of Things technology

Abstract

The invention provides a greenbelt inspection and maintenance system and method based on the Internet of Things technology, and relates to the technical field of greenbelt inspection and maintenance. According to the invention, a power switching combination module, a three-wheel obstacle crossing module, a dual-motor multi-power output module, a soil loosening module, a fertilizing and sowing module, a soil detection module and a visual detection module are integrated into a whole, so that the whole-process operation of moving, obstacle crossing, soil loosening, fertilizing and detection is realized; multi-task parallel driving is achieved, then rapid switching between an obstacle crossing mode and a moving mode is achieved through the three-spoke-wheel obstacle crossing module, the adaptability to complex terrains is improved, finally, data are transmitted to a cloud server through the Internet of Things technology, the system is remotely controlled through a control instruction after analysis of the cloud model, and the system is more intelligent. Automatic operation is achieved, and manpower dependence is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of green space inspection and maintenance, and in particular to a green space inspection and maintenance system and method based on Internet of Things technology. Background Art

[0002] The green space patrol and maintenance machine is a mechanical device for restoring the natural ecology. It samples and tests the soil composition through its own detection device, automatically determines the nutrients or water required for plant growth, and replenishes them in time. This equipment is widely used in Gobi and semi-desert areas, and can effectively slow down the speed of land desertification. With the large-scale application of the product, it can even achieve the effect of desert repair and wind and sand fixation; the maintenance machine used in urban greening and parks can also detect dead plants and diseased plants in time through patrol and remove them, completing the maintenance of green spaces.

[0003] However, existing green space inspection and maintenance machines still have some shortcomings. Many devices rely on manual inspections and have a single function. They can usually only perform a single task such as loosening the soil or applying fertilizers, and cannot achieve multi-task parallel driving. In addition, these devices are not able to adapt to complex terrains, which limits their application in diverse environments. Summary of the invention

[0004] In order to solve the problems in the above-mentioned prior art, the present invention provides a green space inspection and maintenance system and method based on the Internet of Things technology. The invention integrates a power switching combination module, a three-wheel obstacle crossing module, a dual-motor multi-power output module, a soil loosening module, a fertilization and sowing module, a soil detection module and a visual detection module into one, realizing the full process operation of movement, obstacle crossing, soil loosening, fertilization and detection. Secondly, a dual-motor multi-power output module is used to drive, and multi-task parallel driving is realized. Then, through the three-wheel obstacle crossing module, the obstacle crossing mode and the mobile mode are quickly switched, and the adaptability to complex terrain is improved. Finally, the data is transmitted to the cloud server through the Internet of Things technology, and the system is remotely controlled through control instructions after cloud model analysis, realizing automated operation and reducing manpower dependence. To achieve the above purpose, the technical solution is as follows:

[0005] On the one hand, the present invention provides a green space inspection and maintenance system based on Internet of Things technology, the system comprising:

[0006] Cloud server, power switching combination module, dual-motor multi-power output module and visual inspection module;

[0007] Based on the Internet of Things technology, the cloud server receives the green space image data collected by the visual detection module and the soil parameters detected by the soil detection module and generates comprehensive control instructions;

[0008] The cloud server issues comprehensive control instructions to the power switching combination module and the dual-motor multi-power output module;

[0009] The power switching combination module switches the working mode of the three-wheel obstacle crossing module according to the comprehensive control command. The working modes of the three-wheel obstacle crossing module include: moving mode and obstacle crossing mode;

[0010] The dual-motor multi-power output module provides working power to the power switching combination module, soil loosening module, fertilization and sowing module and soil detection module;

[0011] The dual-motor multi-power output module includes: a power output gear of a fertilizing and sowing module, a bracket, a power output gear of a soil detection module, a power output gear of a loosening module, a first stepper motor mounting plate, a second stepper motor, a profile and a first stepper motor;

[0012] The first stepper motor is fixedly installed on the base through the first stepper motor mounting plate. The first stepper motor drives the second stepper motor to perform linear motion on the profile. The second stepper motor gear is installed on the rotating shaft of the second stepper motor. The gears of the second stepper motor are respectively engaged with the power output gear of the fertilization and sowing module, the power output gear of the soil detection module, the power output gear of the loosening module and the reversing rack of the power switching combination module. The power output gear of the fertilization and sowing module is fixedly installed on the base through the bracket.

[0013] Optionally, the green space image data includes: path conditions of the green space inspection and maintenance system and growth conditions of monitored green space vegetation;

[0014] The soil parameters include: soil moisture, soil pH, soil permeability and soil organic matter content.

[0015] Optionally, the power switching combination module includes: a reversing fork, a reversing slip ring, a vertical bearing seat, a reversing rack, a power drive motor, a ratchet and a reversing paddle;

[0016] The power drive motor is connected to the switching shaft through the vertical bearing seat, and the switching shaft passes through the reversing slip ring, the reversing fork and the ratchet in sequence, and the reversing slip ring and the reversing fork are respectively connected to the reversing rack;

[0017] The reversing rack moves so that the reversing fork shifts the reversing paddle, thereby changing the matching mode between the reversing slip ring and the reversing fork. The matching mode includes: a linkage matching mode and a free movement mode.

[0018] Optionally, the three-spoke wheel obstacle crossing module comprises: a three-wheel plate, a first gear of the three-wheel plate, a second gear of the three-wheel plate, a third gear of the three-wheel plate and wheels;

[0019] The shape of the three-wheel plate is a concave curved triangle, and the first gear of the three-wheel plate is rotatably mounted on the three corners of the concave curved triangle respectively. The first gear of the three-wheel plate is coaxially mounted with the wheel and drives the wheel to rotate. The second gear of the three-wheel plate is respectively meshed with the first gear of the three-wheel plate, and the third gear of the three-wheel plate is meshed with the three second gears of the three-wheel plate. The center of the third gear of the three-wheel plate is the same as the center of the three-wheel plate.

[0020] Optionally, the profile is mounted on the base.

[0021] Optionally, the loosening module includes: a loosening bracket, a loosening cover, a loosening gear, a loosening synchronous belt wheel and a loosening gear disc;

[0022] The loosening bracket is installed on the base, the loosening synchronous belt wheel is installed on the loosening bracket, the loosening synchronous belt wheel drives the loosening gear to rotate, the loosening gear drives the loosening toothed disk to rotate through the loosening shaft, and the loosening cover is located above the loosening toothed disk.

[0023] Optionally, the fertilization and sowing module includes: a fertilization and sowing box, a third stepping motor, a first screw rod, a cam switch, a discharge port plate, a sowing wheel, a sowing transmission shaft, a fertilization and sowing synchronous pulley and a first linear motion guide rail;

[0024] The fertilizer seeding box comprises: a spreader shell and a spreader inner plate, the spreader shell is arranged in a rectangular parallelepiped, and the spreader inner plate is vertically installed at the center of the spreader shell;

[0025] The third stepper motor is installed on the side of the fertilizer sowing box, the first screw rod is connected to the rotating shaft of the third stepper motor, the cam switch is threadedly connected to the first screw rod, the discharge port plate is located on both sides of the cam switch, the first screw rod drives the cam switch to reciprocate along the direction of the first screw rod, when the protrusion position of the cam switch is located at the discharge port plate, the discharge port plate is in an open state, when the protrusion position of the cam switch is away from the discharge port plate, the discharge port plate is in a closed state, the first linear motion guide rail is installed on the spreader housing, the first linear motion guide rail is located above the first screw rod, and the first linear motion guide rail limits the continuous rotation of the cam switch, the sowing wheel is located below the discharge port plate, the sowing transmission shaft is fixedly installed and passes through the center of the sowing wheel, the fertilizer sowing synchronous pulley is located at one end of the sowing transmission shaft, and the fertilizer sowing synchronous pulley is connected to the rotating shaft driven by the fertilizer sowing module power output gear of the dual-motor multi-power output module.

[0026] Optionally, the soil detection module comprises: a soil detection screw rod, a second linear motion guide rail, a horizontal bearing seat, a measuring nut seat and a detector;

[0027] Both ends of the soil detection screw are installed on the horizontal bearing seat through bearings. The soil detection screw drives the measuring nut seat to move. The detector is fixedly installed on the measuring nut seat. The second linear motion guide rail supports the measuring nut seat to move along a fixed route.

[0028] A green space inspection and maintenance method based on the Internet of Things technology is applied to the above-mentioned green space inspection and maintenance system based on the Internet of Things technology, and the method includes:

[0029] S1. Start the green space inspection and maintenance system and obtain the surrounding environment of the green space inspection and maintenance system through the visual detection module;

[0030] S2. According to the soil detection module, soil parameters around the green space inspection and maintenance system are obtained. The soil parameters around the green space inspection and maintenance system include: soil moisture, soil pH, soil air permeability and soil organic matter content;

[0031] S3, according to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, the data is transmitted to the cloud server through the Internet of Things technology and analyzed to obtain the comprehensive control instructions of the green space inspection and maintenance system;

[0032] S4. Remotely control the green space inspection and maintenance system according to the comprehensive control instructions of the green space inspection and maintenance system.

[0033] Optionally, in S3, according to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, data are transmitted to the cloud server through the Internet of Things technology and data analysis is performed to obtain a comprehensive control instruction of the green space inspection and maintenance system, including:

[0034] S31, obtaining a path instruction of the green space inspection and maintenance system through a path planning algorithm according to the surrounding environment of the green space inspection and maintenance system;

[0035] S32, according to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, by analyzing the growth status of the seedlings and the organic matter content of the soil, obtaining a control instruction for the fertilization and sowing module;

[0036] S33, according to the soil parameters around the green space inspection and maintenance system, by analyzing the moisture of the soil, the pH value of the soil and the air permeability of the soil, obtaining a control instruction of the soil loosening module;

[0037] S34, obtaining a comprehensive control instruction according to the path instruction of the green space inspection and maintenance system, the control instruction of the fertilization and sowing module and the control instruction of the soil loosening module.

[0038] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects:

[0039] On the one hand, the above scheme integrates the power switching combination module, the three-wheel obstacle crossing module, the dual-motor multi-power output module, the soil loosening module, the fertilization and sowing module, the soil detection module and the visual detection module into one, so as to realize the full process operation of movement, obstacle crossing, soil loosening, fertilization and detection. On the second hand, the dual-motor multi-power output module is used to drive multi-task parallel driving. On the third hand, the three-wheel obstacle crossing module is used to realize the rapid switching between the obstacle crossing mode and the mobile mode, thereby improving the adaptability to complex terrain. On the fourth hand, the data is transmitted to the cloud server through the Internet of Things technology, and the system is remotely controlled through control instructions after cloud model analysis, thereby realizing automated operation and reducing manpower dependence. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 It is a system block diagram of an embodiment of a green space inspection and maintenance system based on Internet of Things technology of the present invention;

[0042] Figure 2 2. It is a top view of an embodiment of a green space inspection and maintenance system based on Internet of Things technology of the present invention;

[0043] Figure 3 It is an oblique view of an embodiment of a green space inspection and maintenance system based on Internet of Things technology of the present invention;

[0044] Figure 4 It is a structural schematic diagram of a power switching combination module in an embodiment of a green space inspection and maintenance system based on Internet of Things technology of the present invention;

[0045] Figure 5 It is a structural schematic diagram of a three-wheel obstacle crossing module in an embodiment of a green space inspection and maintenance system based on Internet of Things technology of the present invention;

[0046] Figure 6 It is a structural schematic diagram of a dual-motor multi-power output module in an embodiment of a green space inspection and maintenance system based on Internet of Things technology of the present invention;

[0047] Figure 7 It is a structural schematic diagram of a soil loosening module in an embodiment of a green space inspection and maintenance system based on Internet of Things technology of the present invention;

[0048] Figure 8It is a structural schematic diagram of a fertilization and sowing module in an embodiment of a green space inspection and maintenance system based on Internet of Things technology of the present invention;

[0049] Fig. 9 It is a structural schematic diagram of a soil detection module in an embodiment of a green space inspection and maintenance system based on Internet of Things technology of the present invention;

[0050] Fig.10 It is a flow chart of an embodiment of a green space inspection and maintenance method based on Internet of Things technology of the present invention;

[0051] Fig.11 It is a process flow chart of generating comprehensive control instructions of the green space inspection and maintenance system in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention.

[0052] Explanation of the numbers in the figure: power switching combination module 1, three-wheel obstacle crossing module 2, dual-motor multi-power output module 3, loosening module 4, fertilization and sowing module 5, soil detection module 6, visual detection module 7, cloud server 8, remote control module 9, reversing fork 1-1, reversing slip ring 1-2, vertical bearing seat 1-3, reversing rack 1-4, power drive motor 1-5, ratchet 1-6, reversing paddle 1-7, three-wheel plate 2-1, three-wheel plate first gear 2-2, three-wheel plate second gear 2-3, three-wheel plate third gear 2-4, wheel 2-5, fertilization and sowing module power output gear 3-1, bracket 3-2, soil detection module power output gear 3-3, loosening module power Force output gear 3-4, first stepper motor mounting plate 3-5, second stepper motor 3-6, profile 3-7, first stepper motor 3-8, loosening bracket 4-1, loosening cover 4-2, loosening gear 4-3, loosening synchronous pulley 4-4, loosening toothed disc 4-5, spreader housing 5-1, spreader inner plate 5-2, third stepper motor 5-3, first screw rod 5-4, cam switch 5-5, discharge port plate 5-6, spreading wheel 5-7, sowing transmission shaft 5-8, fertilization and sowing synchronous pulley 5-9, first linear motion guide rail 5-10, soil detection screw rod 6-1, second linear motion guide rail 6-2, horizontal bearing seat 6-3, measuring nut seat 6-4, detector 6-5. DETAILED DESCRIPTION

[0053] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0054] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0055] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0056] like Figure 1 The system block diagram of the green space inspection and maintenance system embodiment of the present invention based on the Internet of Things technology is shown in FIG. Figure 2 The top view of the green space inspection and maintenance system embodiment based on the Internet of Things technology of the present invention and the Figure 3 The oblique view of the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention is shown. The present invention provides a green space inspection and maintenance system based on the Internet of Things technology, which can implement a green space inspection and maintenance method based on the Internet of Things technology. The system includes: a power switching combination module 1, a three-wheel obstacle crossing module 2, a dual-motor multi-power output module 3, a soil loosening module 4, a fertilization and sowing module 5, a soil detection module 6, a visual detection module 7 and a cloud server 8;

[0057] The power switching combination module 1 is used to switch the working mode of the three-wheel obstacle crossing module 2 according to the environmental conditions of the green space. The working modes of the three-wheel obstacle crossing module 2 include: a moving mode and an obstacle crossing mode;

[0058] Specifically, Figure 4 The schematic diagram of the structure of the power switching assembly module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention is shown, and the power switching assembly module 1 includes: a reversing fork 1-1, a reversing slip ring 1-2, a vertical bearing seat 1-3, a reversing rack 1-4, a power drive motor 1-5, a ratchet 1-6 and a reversing paddle 1-7;

[0059] The power drive motor 1-5 is connected to the switching shaft through the vertical bearing seat 1-3, and the switching shaft passes through the reversing slip ring 1-2, the reversing fork 1-1 and the ratchet 1-6 in sequence. The reversing slip ring 1-2 and the reversing fork 1-1 are respectively connected to the reversing rack 1-4;

[0060] By moving the reversing rack 1-4, the reversing fork 1-1 shifts the reversing paddle 1-7, changing the matching mode between the reversing slip ring 1-2 and the reversing fork 1-1, and the matching mode includes: a linkage matching mode and a free movement mode.

[0061] Furthermore, when the reversing slip ring 1-2 and the reversing fork 1-1 are in linkage cooperation, the power drive motor 1-5 drives the third gear 2-4 of the three-wheel plate to rotate, thereby realizing the movement mode of the three-spoke wheel obstacle crossing module 2;

[0062] When the reversing slip ring 1 - 2 and the reversing fork 1 - 1 are in free motion, the power drive motor 1 - 5 drives the three-wheel plate 2 - 1 to rotate, thereby realizing the obstacle crossing mode of the three-wheel obstacle crossing module 2 .

[0063] Specifically, Figure 5 The schematic diagram of the structure of the three-wheel obstacle crossing module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention is shown, and the three-wheel obstacle crossing module includes: a three-wheel plate 2-1, a first gear 2-2 of the three-wheel plate, a second gear 2-3 of the three-wheel plate, a third gear 2-4 of the three-wheel plate and a wheel 2-5;

[0064] The shape of the three-wheel plate is a concave curved triangle, and the first gear 2-2 of the three-wheel plate is rotatably installed on the three corners of the concave curved triangle respectively. The first gear 2-2 of the three-wheel plate is coaxially installed with the wheel 2-5 and drives the wheel 2-5 to rotate. The second gear 2-3 of the three-wheel plate is respectively meshed with the first gear 2-2 of the three-wheel plate, and the third gear 2-4 of the three-wheel plate is meshed with the three second gears 2-3 of the three-wheel plate. The center of the third gear 2-4 of the three-wheel plate is the same as the center of the three-wheel plate 2-1.

[0065] Among them, the structure of the inward-concave curved-edge triangle is similar to that of the curved-edge triangle. Each side of the curved-edge triangle is set in a convex manner. The side of the inward-concave curved-edge triangle in this embodiment is set in a concave manner, which is equivalent to the opposite structure.

[0066] The dual-motor multi-power output module 3 is used to provide the switching power of the power switching combination module 1 and the working power of the soil loosening module 4, the fertilization and sowing module 5 and the soil detection module 6;

[0067] Specifically, Figure 6 The schematic diagram of the structure of the dual-motor multi-power output module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention is shown, and the dual-motor multi-power output module 3 includes: a power output gear 3-1 of a fertilizing and sowing module, a bracket 3-2, a power output gear 3-3 of a soil detection module, a power output gear 3-4 of a loosening module, a first stepper motor mounting plate 3-5, a second stepper motor 3-6, a profile 3-7 and a first stepper motor 3-8;

[0068] The first stepper motor 3-8 is fixedly mounted on the base through the first stepper motor mounting plate 3-5. The first stepper motor 3-8 drives the second stepper motor 3-6 to perform linear motion on the profile 3-7. The second stepper motor gear is installed on the rotating shaft of the second stepper motor 3-6. The second stepper motor gear is respectively engaged with the power output gear 3-1 of the fertilization and sowing module, the power output gear 3-3 of the soil detection module, the power output gear 3-4 of the loosening module and the reversing rack 1-4 of the power switching combination module 1. The power output gear 3-1 of the fertilization and sowing module is fixedly mounted on the base through the bracket 3-2; the profile 3-7 is installed on the base.

[0069] Specifically, Figure 7 The structural schematic diagram of the soil loosening module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention is shown, and the soil loosening module 4 includes: a soil loosening bracket 4-1, a soil loosening cover 4-2, a soil loosening gear 4-3, a soil loosening synchronous pulley 4-4 and a soil loosening toothed disc 4-5;

[0070] The loosening bracket 4-1 is installed on the base, and the loosening synchronous pulley 4-4 is installed on the loosening bracket 4-1. The loosening synchronous pulley 4-4 drives the loosening gear 4-3 to rotate, and the loosening gear 4-3 drives the loosening toothed disk 4-5 to rotate through the loosening shaft. The loosening cover 4-2 is located above the loosening toothed disk 4-5.

[0071] Specifically, Figure 8 The structural schematic diagram of the fertilization and sowing module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention is shown, and the fertilization and sowing module 5 includes: a fertilization and sowing box, a third stepping motor 5-3, a first screw rod 5-4, a cam switch 5-5, a discharge port plate 5-6, a sowing wheel 5-7, a sowing transmission shaft 5-8, a fertilization and sowing synchronous pulley 5-9 and a first linear motion guide rail 5-10;

[0072] The fertilizer seeding box comprises: a spreader shell 5-1 and a spreader inner plate 5-2, wherein the spreader shell 5-1 is in a rectangular parallelepiped configuration, and the spreader inner plate 5-2 is vertically mounted at the center of the spreader shell 5-1;

[0073] The third stepper motor 5-3 is installed on the side of the fertilizer sowing box, the first screw rod 5-4 is connected to the rotating shaft of the third stepper motor 5-3, the cam switch 5-5 is threadedly connected to the first screw rod 5-4, the discharge port plate is located on both sides of the cam switch 5-5, the first screw rod 5-4 drives the cam switch 5-5 to reciprocate along the direction of the first screw rod 5-4, when the protruding position of the cam switch 5-5 is located at the discharge port plate 5-6, the discharge port plate 5-6 is in the open state, when the protruding position of the cam switch 5-5 is away from the discharge port plate 5-6, the discharge port plate 5-6 is in the closed state, the third stepper motor 5-3 is installed on the side of the fertilizer sowing box, the first screw rod 5-4 is connected to the rotating shaft of the third stepper motor 5-3, the cam switch 5-5 is threadedly connected to the first screw rod 5-4, the discharge port plate is located on both sides of the cam switch 5-5, the first screw rod 5-4 drives the cam switch 5-5 to reciprocate along the direction of the first screw rod 5-4, when the protruding position of the cam switch 5-5 is located at the discharge port plate 5-6, the discharge port plate 5-6 is in the open state, and when the protruding position of the cam switch 5-5 is away from the discharge port plate 5-6, the discharge port plate 5-6 is in the closed state. A linear motion guide rail 5-10 is installed on the spreader housing 5-1, the first linear motion guide rail 5-10 is located above the first screw rod 5-4, the first linear motion guide rail 5-10 limits the continuous rotation of the cam switch 5-5, the spreading wheel 5-7 is located below the discharge port plate 5-6, the sowing transmission shaft 5-8 is fixedly installed and passes through the center of the sowing wheel 5-7, the fertilization and sowing synchronous pulley 5-9 is located at one end of the sowing transmission shaft 5-8, and the fertilization and sowing synchronous pulley 5-9 is connected to the rotating shaft driven by the fertilization and sowing module power output gear 3-1 of the dual-motor multi-power output module 3.

[0074] Specifically, Fig. 9 The structural schematic diagram of the soil detection module in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention is shown, and the soil detection module 6 includes: a soil detection screw rod 6-1, a second linear motion guide rail 6-2, a horizontal bearing seat 6-3, a measuring nut seat 6-4 and a detector 6-5;

[0075] Both ends of the soil detection screw rod 6-1 are installed on the horizontal bearing seat 6-3 through bearings. The soil detection screw rod 6-1 drives the measuring nut seat 6-4 to move. The detector 6-5 is fixedly installed on the measuring nut seat 6-4. The second linear motion guide rail 6-2 supports the measuring nut seat 6-4 to move along a fixed route.

[0076] Furthermore, the detector 6-5 reciprocates up and down along the second linear motion guide rail 6-2.

[0077] A visual detection module 7 is used to collect the path conditions of the green space inspection and maintenance system and monitor the growth of green space vegetation, and transmit the path conditions of the green space inspection and maintenance system and the growth conditions of the green space vegetation to a cloud server 8 through the Internet of Things technology;

[0078] The cloud server 8 is used to generate comprehensive control instructions by analyzing and processing the data of the soil detection module 6 and the data of the visual detection module 7.

[0079] Specifically, the comprehensive control instruction remotely controls the green space inspection and maintenance system through the remote control module 9.

[0080] like Fig.10 The flowchart of the embodiment of the green space inspection and maintenance method based on the Internet of Things technology of the present invention is shown in FIG. The present invention provides a green space inspection and maintenance method based on the Internet of Things technology, which is applied to a green space inspection and maintenance system based on the Internet of Things technology. The method includes:

[0081] S1. Start the green space inspection and maintenance system and obtain the surrounding environment of the green space inspection and maintenance system through the visual detection module;

[0082] Specifically, the surrounding environment of the green space inspection and maintenance system includes: the obstacles around the green space inspection and maintenance system and the green space missing rate around the green space inspection and maintenance system (that is, the path of the green space inspection and maintenance system and the vegetation growth of the green space).

[0083] S2. According to the soil detection module, soil parameters around the green space inspection and maintenance system are obtained. The soil parameters around the green space inspection and maintenance system include: soil moisture, soil pH, soil air permeability and soil organic matter content;

[0084] S3, according to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, the data is transmitted to the cloud server through the Internet of Things technology and analyzed to obtain the comprehensive control instructions of the green space inspection and maintenance system;

[0085] Specifically, Fig.11 The process flow chart of generating comprehensive control instructions of the green space inspection and maintenance system in the embodiment of the green space inspection and maintenance system based on the Internet of Things technology of the present invention is shown. In S3, according to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, the comprehensive control instructions of the green space inspection and maintenance system are obtained by transmitting the data to the cloud server through the Internet of Things technology and performing data analysis, including:

[0086] S31, obtaining a path instruction of the green space inspection and maintenance system through a path planning algorithm according to the surrounding environment of the green space inspection and maintenance system;

[0087] S32, according to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, by analyzing the growth status of the seedlings and the organic matter content of the soil, obtaining a control instruction for the fertilization and sowing module;

[0088] S33, according to the soil parameters around the green space inspection and maintenance system, by analyzing the moisture of the soil, the pH value of the soil and the air permeability of the soil, obtaining a control instruction for the soil loosening module;

[0089] S34, obtaining a comprehensive control instruction according to the path instruction of the green space inspection and maintenance system, the control instruction of the fertilization and sowing module and the control instruction of the soil loosening module.

[0090] Furthermore, according to the green space missing rate (i.e. the growth of vegetation) around the green space inspection and maintenance system, command control is performed according to the following rules:

[0091] Rule 1: If the green space loss rate is ≤30%, a sowing instruction is required to replant grass seeds;

[0092] Rule 2: When the green space loss rate is between 30% and 70%, fertilization and seeding instructions are required;

[0093] Rule 3: If the green space loss rate is ≥ 70%, fertilization, soil loosening and sowing instructions are required.

[0094] According to the soil parameters around the green space inspection and maintenance system, the soil parameters are maintained as follows:

[0095] Soil moisture: 40%~60%;

[0096] Soil pH: pH 6.0~7.5;

[0097] Soil permeability: A mixture of sand and clay, with a ratio of about 70% sand and 30% clay;

[0098] Organic matter content of soil: ≥3%.

[0099] S4. Remotely control the green space inspection and maintenance system according to the comprehensive control instructions of the green space inspection and maintenance system.

[0100] The present invention provides a green space inspection and maintenance system and method based on the Internet of Things technology. The invention integrates a power switching combination module 1, a three-wheel obstacle crossing module 2, a dual-motor multi-power output module 3, a soil loosening module 4, a fertilization and sowing module 5, a soil detection module 6 and a visual detection module 7 to realize the full process operation of movement, obstacle crossing, soil loosening, fertilization and detection. Secondly, a dual-motor multi-power output module drive 3 is adopted to realize multi-task parallel driving. Then, through the three-wheel obstacle crossing module 2, a fast switching between the obstacle crossing mode and the mobile mode is realized, and the adaptability to complex terrain is improved. Finally, the data is transmitted to the cloud server 8 through the Internet of Things technology. After the cloud model analysis, the system is remotely controlled by control instructions, thereby realizing automated operation and reducing manpower dependence.

[0101] It is to be understood that the present invention is described by the above embodiments and should not be construed as limiting the embodiments of the present invention and the scope of the present invention. It is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A green space inspection and maintenance system based on Internet of Things technology, characterized in that: The system comprises: Cloud server, power switching combination module, dual-motor multi-power output module and visual inspection module; Based on the Internet of Things technology, the cloud server receives the green space image data collected by the visual detection module and the soil parameters detected by the soil detection module and generates comprehensive control instructions; The cloud server issues a comprehensive control instruction to the power switching combination module and the dual-motor multi-power output module; The power switching combination module switches the working mode of the three-wheel obstacle crossing module according to the comprehensive control instruction, and the working modes of the three-wheel obstacle crossing module include: moving mode and obstacle crossing mode; The dual-motor multi-power output module provides working power to the power switching combination module, the soil loosening module, the fertilization and sowing module and the soil detection module; The dual-motor multi-power output module includes: a fertilization and sowing module power output gear, a bracket, a soil detection module power output gear, a loosening module power output gear, a first stepper motor mounting plate, a second stepper motor, a profile and a first stepper motor; The first stepper motor is fixedly installed on the base through the first stepper motor mounting plate. The first stepper motor drives the second stepper motor to perform linear motion on the profile. The second stepper motor gear is installed on the rotating shaft of the second stepper motor. The gears of the second stepper motor are respectively engaged with the power output gear of the fertilization and sowing module, the power output gear of the soil detection module, the power output gear of the loosening module and the reversing rack of the power switching combination module. The power output gear of the fertilization and sowing module is fixedly installed on the base through the bracket.

2. The green space inspection and maintenance system based on Internet of Things technology according to claim 1 is characterized in that: The green space image data includes: the path conditions of the green space inspection and maintenance system and the growth conditions of the monitored green space vegetation; The soil parameters include: soil moisture, soil pH, soil air permeability and soil organic matter content.

3. The green space inspection and maintenance system based on Internet of Things technology according to claim 1 is characterized in that: The power switching combination module includes: a reversing fork, a reversing slip ring, a vertical bearing seat, a reversing rack, a power drive motor, a ratchet and a reversing paddle; The power drive motor is connected to the switching shaft through the vertical bearing seat, the switching shaft passes through the reversing slip ring, the reversing fork and the ratchet in sequence, and the reversing slip ring and the reversing fork are respectively connected to the reversing rack; The reversing rack moves so that the reversing fork shifts the reversing paddle, thereby changing the matching mode between the reversing slip ring and the reversing fork. The matching mode includes: a linkage matching mode and a free movement mode.

4. The green space inspection and maintenance system based on Internet of Things technology according to claim 1 is characterized in that: The three-spoke wheel obstacle crossing module comprises: a three-wheel plate, a first gear of the three-wheel plate, a second gear of the three-wheel plate, a third gear of the three-wheel plate and wheels; The shape of the three-wheel plate is a concave curved triangle, and the first gear of the three-wheel plate is rotatably installed on the three corners of the concave curved triangle respectively. The first gear of the three-wheel plate is coaxially installed with the wheel and drives the wheel to rotate. The second gear of the three-wheel plate is respectively meshed with the first gear of the three-wheel plate, and the third gear of the three-wheel plate is meshed with the three second gears of the three-wheel plates. The center of the third gear of the three-wheel plate is the same as the center of the three-wheel plate.

5. The green space inspection and maintenance system based on Internet of Things technology according to claim 1 is characterized in that: The profile is mounted on the base.

6. The green space inspection and maintenance system based on Internet of Things technology according to claim 1 is characterized in that: The loosening module comprises: a loosening bracket, a loosening cover, a loosening gear, a loosening synchronous belt wheel and a loosening gear disc; The loosening bracket is installed on the base, the loosening synchronous belt wheel is installed on the loosening bracket, the loosening synchronous belt wheel drives the loosening gear to rotate, the loosening gear drives the loosening toothed disk to rotate through the loosening shaft, and the loosening cover is located above the loosening toothed disk.

7. The green space inspection and maintenance system based on Internet of Things technology according to claim 1 is characterized in that: The fertilization and sowing module comprises: a fertilization and sowing box, a third stepping motor, a first screw rod, a cam switch, a discharge port plate, a sowing wheel, a sowing transmission shaft, a fertilization and sowing synchronous pulley and a first linear motion guide rail; The fertilizer seeding box comprises: a spreader shell and a spreader inner plate, wherein the spreader shell is in a rectangular parallelepiped configuration, and the spreader inner plate is vertically mounted at the center of the spreader shell; The third stepper motor is installed on the side of the fertilizing and sowing box, the first screw rod is connected to the rotating shaft of the third stepper motor, the cam switch is threadedly connected to the first screw rod, the discharge port plate is located on both sides of the cam switch, the first screw rod drives the cam switch to reciprocate along the direction of the first screw rod, when the protruding position of the cam switch is located at the discharge port plate, the discharge port plate is in an open state, when the protruding position of the cam switch is away from the discharge port plate, the discharge port plate is in a closed state, the first linear motion guide rail is installed on the spreader housing, the first linear motion guide rail is located above the first screw rod, and the first linear motion guide rail limits the continuous rotation of the cam switch, the sowing wheel is located below the discharge port plate, the sowing transmission shaft is fixedly installed and passes through the center of the sowing wheel, the fertilizing and sowing synchronous pulley is located at one end of the sowing transmission shaft, and the fertilizing and sowing synchronous pulley is connected to the rotating shaft driven by the power output gear of the fertilizing and sowing module of the dual-motor multi-power output module.

8. The green space inspection and maintenance system based on Internet of Things technology according to claim 1 is characterized in that: The soil detection module comprises: a soil detection screw rod, a second linear motion guide rail, a horizontal bearing seat, a measuring nut seat and a detector; Both ends of the soil detection screw rod are installed on the horizontal bearing seat through bearings. The soil detection screw rod drives the measuring nut seat to move. The detector is fixedly installed on the measuring nut seat. The second linear motion guide rail supports the measuring nut seat to move along a fixed route.

9. A green space inspection and maintenance method based on Internet of Things technology, characterized in that: The green space inspection and maintenance system based on Internet of Things technology applied to any one of claims 1 to 8, the method comprising: S1. Start the green space inspection and maintenance system and obtain the surrounding environment of the green space inspection and maintenance system through the visual detection module; S2. According to the soil detection module, soil parameters around the green space inspection and maintenance system are obtained, wherein the soil parameters around the green space inspection and maintenance system include: soil moisture, soil pH, soil air permeability, and soil organic matter content; S3, according to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, the data is transmitted to the cloud server through the Internet of Things technology and the data is analyzed to obtain the comprehensive control instructions of the green space inspection and maintenance system; S4. Remotely control the green space inspection and maintenance system according to the comprehensive control instructions of the green space inspection and maintenance system.

10. The green space inspection and maintenance method based on Internet of Things technology according to claim 9 is characterized in that: In S3, based on the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system, data is transmitted to the cloud server through the Internet of Things technology and analyzed to obtain a comprehensive control instruction of the green space inspection and maintenance system, including: S31, obtaining a path instruction of the green space inspection and maintenance system through a path planning algorithm according to the surrounding environment of the green space inspection and maintenance system; S32, obtaining control instructions for a fertilization and sowing module by analyzing the growth status of seedlings and the organic matter content of the soil according to the surrounding environment of the green space inspection and maintenance system and the soil parameters around the green space inspection and maintenance system; S33, obtaining a control instruction for a soil loosening module by analyzing the soil humidity, the pH value of the soil, and the air permeability of the soil according to soil parameters around the green space inspection and maintenance system; S34, obtaining a comprehensive control instruction according to the path instruction of the green space inspection and maintenance system, the control instruction of the fertilization and sowing module, and the control instruction of the soil loosening module.

Images