Protective agricultural inspection robot

Abstract

The invention belongs to the technical field of agriculture and forestry robots, discloses a protective agricultural inspection robot, and solves the problem that an existing agricultural inspection robot is single in function. The device comprises a mechanical arm used for installing a sensor and a camera, and the mechanical arm is used for driving the camera to a set position; the switching mechanism is used for installing the mechanical arm and can adjust the direction of the mechanical arm to enable the mechanical arm to be arranged upwards or downwards; and the base mechanism is used for installing the switching mechanism, and the base mechanism can move on the sliding rails on the ground and in the air. The inspection robot can walk on the ground to achieve inspection operation, and can also conduct suspended inspection operation at a certain height through a sliding rail (track) and the like; the inspection operation of low crops can be met, and the inspection operation of crops and fruit trees with tall and large planted beads can also be met; therefore, the application range of the inspection robot is widened, and the cost of farmers is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural and forestry robots, and particularly relates to a protective agricultural inspection robot. Background Art

[0002] Agricultural and forestry inspection robots are mainly used to monitor the growth status and pest and disease conditions of crops, so as to take targeted measures according to the actual situation of the crops to increase the crop yield. At the same time, the application of agricultural and forestry inspection robots can greatly reduce the labor cost. Therefore, the scope of popularization and application of agricultural and forestry inspection robots is also increasing.

[0003] For example, the patent with the application number 201810916345X discloses a greenhouse plant disease inspection robot and an inspection method. The robot includes a mobile platform, a three-degree-of-freedom robotic arm, a disease image acquisition camera, a front navigation camera, a local environmental factor sensor, and a remote control terminal; the mobile platform is a crawler-type robot mobile platform, and a path tracking module and a PC control processing module are arranged inside; the bottom of the three-degree-of-freedom robotic arm is installed on the mobile platform.

[0004] The patent with the application number 2019102739006 discloses a hanging rail agricultural intelligent inspection robot based on multi-dimensional sensors. Two chutes are opened on the lower surface of the inner wall of the C-shaped chute near the axis. Rollers are placed in the chutes. A support rod is rotatably connected between the rollers through a rotating shaft. Sliders are welded to the tops of the support rods. An air pump is welded to the axial center position of the lower surface of the slider. A control box is installed on the axial center position of the upper surface of the slider through bolts. The power output end of the air pump is hermetically installed with a pneumatic telescopic rod through a thread. The bottom end of the pneumatic telescopic rod is welded with a mounting plate. Four bolts are installed on the lower surface of the mounting plate to install a sensor mounting bracket. Four infrared obstacle avoidance sensors are evenly installed on the periphery of the sensor mounting bracket near the top through threads.

[0005] The patent with the application number 2022112819244 discloses an agricultural inspection robot, including: a frame, arranged front and rear; a sensing member, arranged at the upper end of the frame for data collection and analysis; a driving device, including a walking execution structure; there are two walking execution structures, symmetrically arranged on both sides of the frame center about the frame, including crawlers, idler wheels and driving sprockets; the driving sprockets are rotatably arranged at the front end of the frame; there are multiple idler wheels, evenly distributed in the front-rear direction under the frame; the crawlers are sleeved outside the idler wheels and the driving sprockets, and are in meshing transmission with the driving sprockets; a shock absorption structure, arranged between the idler wheels and the frame, for shock absorption and buffering of the impact on the vehicle body due to terrain changes during the walking process of the device.

[0006] For another example, the patent with application number 2024103111438 discloses a multifunctional agricultural inspection robot, a sensing device and a navigation system, realizing the driverless function in an agricultural scenario; the navigation system adopts a multi-source fusion type automatic navigation method or a navigation control method for an inspection robot based on fuzzy control; the multi-source fusion type automatic navigation method includes slam cloud map and grid map fitting and reconstruction, laser cloud Figure 3 dimensional path fitting and navigation planning reconstruction, and navigation path fitting; a vision device for identifying the growth status of fruit trees; a variety of sensors for real-time monitoring of agricultural environmental parameters and uploading data to the cloud or a management center; a voice interaction system for realizing human-machine interaction; a face recognition and object detection device for agricultural security monitoring.

[0007] For example, the patent with application number 2014102574381 discloses an agricultural greenhouse inspection robot, including a traveling mechanism, a lifting mechanism, a box body and a monitor. The wire rope fixing frame of the traveling mechanism is fixedly connected with the wire rope of the lifting mechanism. The pedestal bearing I and pedestal bearing II of the lifting mechanism are fixedly installed on the box body. The monitors are installed in front of and behind the box body; the traveling wheels of the traveling mechanism are installed on the traveling wheel shaft. One end of the traveling wheel shaft is fixedly installed in the traveling wheel shaft installation hole of the traveling mechanism bracket. The driving gear is fixedly installed on the output shaft of the traveling motor. The traveling motor is fixedly installed in the traveling motor installation hole of the traveling mechanism bracket. One end of the wire rope fixing frame is fixedly installed with a slewing bearing, and the slewing bearing is installed in the slewing bearing installation hole of the traveling mechanism bracket; the outer contour of the traveling wheel is a groove structure, and the groove shape is adapted to the shape of the guide rail of the track system. An internal gear ring is provided on one side end face of the traveling wheel, and the traveling wheel installation hole of the traveling wheel is a round hole; the traveling mechanism bracket is an "L" shaped structure, and the long arm end is provided with a traveling wheel shaft installation hole and a traveling motor installation hole, and the short arm end is provided with a slewing bearing installation hole.

[0008] For another example, the patent with application number 2021232164528 discloses a wheat field inspection robot, including a robot chassis. A lidar, a second depth camera and a GNSS main antenna are installed at the front end of the top of the robot chassis. A GNSS directional antenna is installed at the rear end of the top of the robot chassis. A double-axis linear guide rail is installed in the middle of the top of the robot chassis; a charging port and a 2.4G antenna are arranged at the tail of the robot chassis; the double-axis linear guide rail includes: a longitudinal Z-axis guide rail and a transverse Y-axis guide rail. The bottom of the Z-axis guide rail is installed on the top of the robot chassis. A servo motor Z is arranged on the Z-axis guide rail. The servo motor Z controls the overall movement of the Y-axis guide rail up and down in the track of the Z-axis guide rail; a servo motor Y is arranged on the Y-axis guide rail. The servo motor Y controls the camera integrated box to move left and right on the track of the Y-axis guide rail; a first depth camera is integrated in the camera integrated box.

[0009] For another example, a patent with the application number 2022227639466 discloses an agricultural inspection robot, which includes a guide rail, a sliding mechanism, a control mechanism, a telescopic mechanism, a connecting plate, and a camera mechanism. The connecting plate is arranged at the center of the top of the camera mechanism. On both the left and right sides of the bottom of the connecting plate, a first electric telescopic rod is fixedly connected. On one side of the bottom of the rod body of the first electric telescopic rod close to the camera mechanism, a hollow ring is fixedly connected. In the center of the front of the inner ring of the hollow ring, a second electric telescopic rod is fixedly connected. In the center of the rod body on the back of the second electric telescopic rod, a small motor is fixedly connected. On the output shaft at the center of the back of the small motor, a circular plate is fixedly connected. A cleaning brush is arranged on the back of the plate body of the circular plate.

[0010] Just like the above-mentioned agricultural and forestry inspection robots, they can either only walk on the ground for inspection or only conduct inspections by means of hanging rails (suspension). However, in the actual use process, due to the different heights and foliage densities of different crops, only ground inspection robots or hanging inspection robots cannot accurately grasp the growth conditions of crops. Summary of the Invention

[0011] In order to solve the problem of the single function of existing agricultural and forestry inspection robots, the present invention provides a protective agricultural inspection robot, which can not only walk on the ground to achieve inspection operations, but also conduct inspection operations at a certain height by using slide rails (tracks), etc.; it can not only meet the inspection operations of low-growing crops, but also meet the inspection operations of tall-growing crops (such as fruit trees, etc.); thus, it can improve the application range of the inspection robot and reduce the costs of growers. At the same time, by combining ground inspection and inspection at a certain height (i.e., suspended inspection), it can more accurately obtain the real growth conditions of crops (grain crops, cash crops, vegetable crops, fruits, medicinal crops, forage crops, etc.), so as to facilitate growers to take appropriate measures.

[0012] In order to solve the technical problems, the technical solution adopted by the present invention is: A protective agricultural inspection robot, characterized by including: A robotic arm for installing sensors and cameras, and the robotic arm is used to drive the camera to a set position; A conversion mechanism for installing the robotic arm and capable of adjusting the orientation of the robotic arm so that the robotic arm is arranged upward or downward; A base mechanism for installing the conversion mechanism, and the base mechanism can move on the ground and the base mechanism can move on a slide rail erected in the air.

[0013] In some embodiments, rollers are arranged at the lower end of the base mechanism, and clamping rollers for cooperating with the erected slide rail are arranged at the top of the base mechanism.

[0014] In some embodiments, the conversion mechanism is arranged in the middle area of the base mechanism.

[0015] In some embodiments, the base mechanism includes a housing. A first mounting hole and two second mounting holes are provided in the central area of the housing. The second mounting holes are symmetrically distributed around the first mounting hole. The first mounting hole serves both as the mounting position for the driving battery pack and as a through hole for the robotic arm to pass through. At least four hub motors driven by the driving battery pack are installed below the housing, and the hub motors are sleeved in the middle of the rollers.

[0016] In some embodiments, a first mounting cavity and a second mounting cavity are further provided in the housing. The first mounting cavity and the second mounting cavity are respectively located on both sides of the first mounting hole. A battery pack is arranged in the first mounting cavity and / or the second mounting cavity. The battery pack is used to supply electrical energy to the hub motors on the clamping rollers, the robotic arm, the sensors on the robotic arm, and the camera at the end of the robotic arm.

[0017] In some embodiments, the conversion mechanism includes a first electric telescopic rod and a second electric telescopic rod arranged in the second mounting hole. The piston rod end of the first electric telescopic rod is erected upward. The end of the piston rod of the first electric telescopic rod is connected to a second electric telescopic rod, and the second electric telescopic rod is erected downward. The piston rod end of the second electric telescopic rod is connected to a pin shaft. A rotating chassis is arranged in the first mounting hole, and the rotating chassis is rotatably connected to the pin shafts at the piston rod ends of the two second electric telescopic rods; the length of the first electric telescopic rod is greater than the length of the second electric telescopic rod, so that there is a partially overlapping area between the piston cylinders of the first electric telescopic rod and the second electric telescopic rod in the height direction; when neither the first electric telescopic rod nor the second electric telescopic rod is extended, the rotating disk is located in the middle of the first mounting hole in the height direction, and the robotic arm is mounted on the rotating disk.

[0018] In some embodiments, a third electric telescopic rod erected upward is further installed in the second mounting hole, and the piston rod end of the third electric telescopic rod is fixedly connected to the piston cylinder end of the first electric telescopic rod.

[0019] In some embodiments, a boss is provided on the rotating disk, and the robotic arm is mounted on the boss of the rotating disk; a limiting ring is provided at the lower end of the inner wall of the first mounting hole.

[0020] In some embodiments, a strip-shaped groove for the pin shaft to pass through is provided between the first mounting hole and the second mounting hole, and the pin shaft on the second electric telescopic rod passes through the strip-shaped groove and is rotatably connected to the rotating disk.

[0021] In some embodiments, an end cap is disposed at the upper end of the base mechanism, and through holes are provided in the end cap corresponding to the positions of the first mounting hole and the second mounting hole.

[0022] Compared with the prior art, the present invention has the following beneficial effects: During the actual use of the protective agricultural inspection robot of the present invention, when the base mechanism is used for inspection on the ground, the robotic arm is arranged upward, and the base mechanism is directly used to drive the robotic arm to move on the ground, so as to use the camera at the end of the robotic arm to obtain the growth status of crops and the occurrence of pests and diseases. When performing suspended inspection using the erected slide rail (track), the conversion mechanism enables the robotic arm to be arranged downward and can extend out from the bottom of the base mechanism to photograph the crops, so as to obtain the growth status of crops (such as food crops, cash crops, vegetable crops, fruits, medicinal crops, forage crops, etc.) and the occurrence of pests and diseases. Therefore, the present invention can use one robotic arm to achieve ground inspection and suspended aerial inspection, so as to obtain more accurate crop growth status and the occurrence of pests and diseases.

[0023] At the same time, since the present invention uses one robotic arm to achieve suspended aerial inspection and ground inspection, on the one hand, it can reduce the size and weight of the entire inspection robot, which is convenient for reducing the energy consumption of the inspection robot during operation to increase the single inspection time, and ultimately improve the efficiency of agricultural inspection. On the other hand, since the weight of the inspection robot is reduced, the inertia of the inspection robot during movement is smaller, thereby reducing the swaying amplitude of the inspection robot during movement, so as to quickly stabilize the camera at the end of the robotic arm, shortening the time for adjusting the posture of the camera, and thus making the time for the camera to prepare for shooting shorter, thereby further improving the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of an embodiment of the present invention; Figure 2 is a schematic cross-sectional structural diagram of the conversion mechanism of the present invention installed on the outer shell of the base mechanism. In this schematic diagram, the robotic arm is erected upward (used for ground inspection at this time); Figure 3 is another schematic cross-sectional structural diagram of the conversion mechanism of the present invention installed on the base mechanism. In this schematic diagram, the robotic arm is erected downward (used for suspended inspection at this time); Markings in the figure: 1. Base mechanism, 101. Outer shell, 102. Clamping roller, 103. First mounting hole, 1031. Limiting ring, 104. Driving battery pack, 105. Second mounting hole, 106. Roller, 107. First mounting cavity, 108. Second mounting cavity, 109. Battery pack, 110. End cover, 1101. Through hole, 2. Conversion mechanism, 201. Rotating disk, 2011. Boss, 2012. Positioning pin hole, 202. First electric telescopic rod, 203. Second electric telescopic rod, 2031. Pin shaft, 3. Robot arm, 4. Camera. Detailed implementation mode

[0025] The present invention will be further described below in conjunction with embodiments. The described embodiments are only a 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 those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0026] Combined with the accompanying drawings, the protective agricultural inspection robot of the present invention includes: A robot arm for installing sensors and cameras, and the robot arm is used to drive the camera to a set position; A conversion mechanism for installing the robot arm and capable of adjusting the orientation of the robot arm so that the robot arm is arranged upward or downward.

[0027] A base mechanism for installing the conversion mechanism, and the base mechanism can move on the ground and the base mechanism can move on a slide rail erected in the air.

[0028] In the actual use process of the protective agricultural inspection robot of the present invention, when performing inspections on the ground using the base mechanism, the robot arm is arranged upward, and the base mechanism is directly used to drive the robot arm to move on the ground, so as to use the camera at the end of the robot arm (wherein the robot arm can also adjust the position of the camera through the background controller) to obtain the crop growth status and pest and disease conditions. When performing inspections using the erected slide rail (track), the conversion mechanism makes the robot arm set downward and can extend out from the bottom of the base mechanism to photograph the crops, so as to obtain the crop growth status and pest and disease conditions. Therefore, the present invention can use a single robot arm to achieve ground inspections and suspended aerial inspections, so as to obtain more accurate crop growth status and pest and disease conditions.

[0029] Meanwhile, since the present invention uses a robotic arm to achieve suspended aerial inspection and ground inspection, on the one hand, it can reduce the size and weight of the entire inspection robot, facilitating the reduction of energy consumption during the operation of the inspection robot to increase the single inspection time, and ultimately improving the efficiency of agricultural inspection. On the other hand, since the weight of the inspection robot is reduced, the inertia of the inspection robot during movement is smaller, thereby reducing the sway amplitude of the inspection robot during movement, facilitating the rapid stabilization of the camera at the end of the robotic arm, shortening the time for camera attitude adjustment, and thus making the camera shooting preparation time shorter, further improving the inspection efficiency.

[0030] However, in the prior art, as described in the background art of the present invention, although there are suspended aerial inspection robots and ground inspection robots using tracks or sliders, their functions are independent of each other. If the method of increasing the length of the robotic arm is adopted to expand the inspection operation range, due to the increase in the length of the robotic arm, the size and weight of the entire inspection robot are bound to increase, leading to an increase in energy consumption. More importantly, due to the increase in inertia, the control difficulty of the inspection robot increases exponentially, not only increasing the manufacturing precision of the inspection robot (resulting in higher costs and maintenance costs for the inspection robot), but also taking longer adjustment time to maintain the stability of the camera attitude, ultimately leading to low inspection efficiency.

[0031] If the structure of rotating the robotic arm is adopted to adjust the arrangement position of the robotic arm (such as arranging it upward or downward), in order to prevent other structures from hindering the rotation of the robotic arm, the robotic arm must be set at one end. Since the self-weight of the robotic arm itself accounts for a relatively large proportion of the weight of the entire inspection robot, in order to balance the weight of the robotic arm, it is necessary to use a counterweight to maintain the balance and stable movement of the robotic arm. The increase in the counterweight will also lead to an increase in energy consumption and a decrease in inspection efficiency during use.

[0032] In summary, the present invention uses a conversion mechanism to adjust the arrangement direction of the robotic arm (arranging it upward or downward), which can not only walk on the ground to achieve inspection operations, but also perform inspection operations at a certain height using sliders (tracks), etc.; it can not only meet the inspection operations of low-growing crops, but also meet the inspection operations of tall-growing crops and fruit trees; thus expanding the application range of the inspection robot and reducing the costs of growers. At the same time, by combining ground inspection and inspection at a certain height (i.e., slider inspection), it can more accurately obtain the true growth conditions of crops, facilitating growers to take appropriate measures. Compared with other improved structures (such as extending the length of the robotic arm and enabling the robotic arm to rotate to adjust the arrangement direction of the robotic arm), it has lower energy consumption and higher inspection efficiency.

[0033] Although drones are also widely used in agricultural inspection operations, during the inspection process, the strong airflow generated by the drones can blow the crops, which will affect the inspection results to a certain extent. In addition, for crops that are relatively closely arranged, drones are unable to conduct inspection operations in narrow spaces. Therefore, the application scenarios of drone inspections are greatly limited.

[0034] In the specific implementation process, a camera is used to take pictures of the crops, and the images or videos captured by the camera are transmitted to the background controller. The background controller receives the images or videos to determine the growth conditions, pest and disease conditions, etc. of the crops.

[0035] Among them, the common sensors used for agricultural inspection include but are not limited to: temperature sensors, light intensity sensors, humidity sensors, carbon dioxide concentration sensors, etc., in order to use the sensors to obtain environmental information. In the specific implementation process, on the one hand, the sensors can timely obtain environmental factors; on the other hand, it is also possible to establish an analysis of the impact of environmental factors on the growth of crops. For example, by setting environmental variables (such as temperature, humidity, etc.) for comparison to obtain the impact of the environmental variable on the growth of crops. The sensors used to obtain environmental information (such as temperature sensors, light intensity sensors, humidity sensors, carbon dioxide sensors, etc.) are themselves existing technology products and are not the improvement points of the present invention, so they will not be elaborated here.

[0036] In some embodiments, the sensors also include torque sensors, acceleration sensors, speed sensors, gyro sensors, position sensors, etc. installed on the robotic arm, so as to use the torque sensors, acceleration sensors, speed sensors, gyro sensors, position sensors to obtain the motion state and position of the robotic arm, facilitating the background controller to timely grasp key information such as the motion state and position of the robotic arm. Among them, torque sensors, acceleration sensors, speed sensors, gyro sensors, position sensors, etc. are also existing technology products, which can be understood and comprehended by those skilled in the art, so they will not be elaborated here. In the specific implementation process, most purchased robotic arms also come with sensors for detecting motion state and position.

[0037] As a preferred embodiment of the present invention, the robotic arm of the present invention can directly purchase existing six-degree-of-freedom robotic arms or three-degree-of-freedom robotic arms. In the specific implementation process, it is also possible to configure robotic arms with different degrees of freedom according to the needs of customers to meet the actual usage requirements of different customers (farms, growers).

[0038] Among them, as a preferred embodiment of the present invention, in order to further reduce the overall weight of the inspection robot, the material of the robotic arm is selected as lightweight aluminum alloy or magnesium aluminum alloy.

[0039] In some embodiments, rollers are provided at the lower end of the base mechanism, and clamping rollers for cooperating with the erected slide rail are provided at the top of the base mechanism. Among them, when the inspection robot conducts inspections on the ground, the rollers are used to drive the entire inspection robot to move on the ground. The clamping rollers are used to cooperate with the erected slide rail or track and move on the slide rail or track.

[0040] In some embodiments, the conversion mechanism is arranged in the middle area of the base mechanism. In the present invention, the conversion mechanism is arranged in the middle area of the base mechanism, so that the center of mass of the entire inspection robot is located in the middle area of the base mechanism, making the inspection robot move more smoothly.

[0041] In some embodiments, the base mechanism includes a housing. A first mounting hole and two second mounting holes are provided in the central area of the housing. The second mounting holes are symmetrically distributed around the first mounting hole. The first mounting hole serves both as the mounting position for the driving battery pack and as a through hole for the robotic arm to pass through. At least four hub motors driven by the driving battery pack are installed below the housing, and the hub motors are sleeved in the middle of the rollers. In the specific implementation process, when the inspection robot moves on the ground, the driving battery pack is installed in the first mounting hole. The driving battery pack drives the hub motors to rotate, thereby driving the rollers to rotate and then driving the entire inspection robot to move on the ground for inspection operations. When the inspection robot conducts inspections through the erected slide rail, the driving battery pack below in the first mounting hole is removed, so that the first mounting hole is in a through state, facilitating the robotic arm to extend from the first mounting hole and using the camera at the end for inspection operations. The driving battery pack, as the power source when the inspection robot moves on the ground, is relatively heavy. Therefore, when conducting suspended inspections using the erected slide rail (or track), removing the driving battery pack can greatly reduce the weight of the entire inspection robot. On the one hand, it improves the convenience and use safety of erection, and on the other hand, it minimizes the inertia of the entire inspection robot, facilitating the control of actions during suspended inspections and further improving the inspection efficiency.

[0042] In the specific implementation process, both the hub motor and the roller are existing technology products, and finished products (i.e., the hub motor and the roller are an integrated structure) can be directly used during production.

[0043] In some embodiments, a first mounting cavity and a second mounting cavity are further provided in the housing. The first mounting cavity and the second mounting cavity are respectively located on both sides of the first mounting hole. A battery pack is provided in the first mounting cavity and / or the second mounting cavity. The battery pack is used to supply electrical energy to the hub motor on the clamping roller, the robotic arm, the sensors on the robotic arm, and the camera at the end of the robotic arm. That is to say, the clamping roller is also a structure in which the hub motor and the roller are integrated.

[0044] As a preferred embodiment of the present invention, in order to make the weight of the entire inspection robot more balanced, battery packs are respectively arranged in the first installation cavity and the second installation cavity.

[0045] In some embodiments, the conversion mechanism includes a first electric telescopic rod and a second electric telescopic rod arranged in the second installation hole, that is, a first electric telescopic rod and a second electric telescopic rod are installed in each second installation hole; the piston rod end of the first electric telescopic rod is erected upward (that is, the piston rod of the first electric telescopic rod is above the piston cylinder), the end of the piston rod of the first electric telescopic rod is connected to the second electric telescopic rod, the second electric telescopic rod is erected downward (that is, the piston rod of the second electric telescopic rod is below the piston cylinder), the piston rod end of the second electric telescopic rod is connected to a pin shaft, a rotating chassis is arranged in the first installation hole, and the rotating chassis is rotatably connected to the pin shafts at the piston rod ends of the two second electric telescopic rods; the length of the first electric telescopic rod is greater than the length of the second electric telescopic rod so that there is a partially overlapping area between the piston cylinders of the first electric telescopic rod and the second electric telescopic rod in the height direction; when neither the first electric telescopic rod nor the second electric telescopic rod is extended, the rotating disk is located in the middle of the first installation hole in the height direction, and the robotic arm is installed on the rotating disk.

[0046] In the specific implementation process, in order to improve the connection strength between the first electric telescopic rod and the second electric telescopic rod, an arc-shaped guide plate is connected to the piston cylinder of the first electric telescopic rod, and the arc-shaped guide plate is engaged with the piston cylinder end of the second driving telescopic rod.

[0047] The working process of the conversion mechanism of the present invention is as follows: The first electric telescopic rod moves upward to drive the second electric telescopic rod to move upward and makes the first electric telescopic rod and the second electric telescopic rod partially extend out of the first mounting hole until the top of the rotating disk is exposed on the upper surface of the base mechanism (that is, the robotic arm is arranged upward in the initial state of the inspection robot and the entire robotic arm is exposed outside the base mechanism, which means that the inspection robot is in the initial working state for ground inspection). When it is necessary to change the arrangement direction of the robotic arm, first fold and store the robotic arm, and then the first electric telescopic rod continues to move upward until the distance after the robotic arm is folded is less than the distance between the rotating disk and the upper surface of the base mechanism (that is, there is enough rotating space). The staff holds the rotating disk of the robotic arm and rotates it along the pin shaft to complete the flipping of the rotating disk and the robotic arm, so that the robotic arm is arranged downward. Then extend the robotic arm again so that the robotic arm is in a vertically downward state (or make the robotic arm able to pass through the first mounting hole), and then the first electric telescopic rod gradually retracts to the initial state (that is, the first electric telescopic rod just does not extend), and at the same time the second electric telescopic rod gradually extends to the maximum value. At this time, the rotating disk moves to the lowest end of the first mounting hole and makes the robotic arm completely exposed outside the lower surface of the base mechanism, thereby realizing the adjustment of the position of the robotic arm. Finally, use the clamping rollers to clamp on the slide rail (track) installed at a certain height, and the inspection robot can be used to perform hanging inspection operations on crops.

[0048] In some embodiments, a third electric telescopic rod vertically arranged upward is further installed in the second mounting hole, and the piston rod end of the third electric telescopic rod is fixedly connected to the piston cylinder end of the first electric telescopic rod. Thus, the third electric telescopic rod can drive the first electric telescopic rod and the second electric telescopic rod to move upward synchronously to ensure that there is enough distance between the rotating disk and the upper surface of the base mechanism after the rotating disk is lifted upward to ensure the flipping of the rotating disk. Among them, the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod are all powered by the battery pack in the first mounting cavity and / or the second mounting cavity.

[0049] In some embodiments, a convex platform is provided on the rotating disk, and the robotic arm is installed on the convex platform of the rotating disk; a limiting ring is provided at the lower end of the inner wall of the first mounting hole. The position of the rotating disk is limited by the limiting ring.

[0050] In some embodiments, a strip-shaped groove for the pin shaft to pass through is provided between the first mounting hole and the second mounting hole, and the pin shaft on the second electric telescopic rod passes through the strip-shaped groove and is rotatably connected to the rotating disk. A pin hole adapted to the pin shaft is provided on the rotating disk, so as to facilitate the rotation of the rotating disk on the pin shaft, which can be understood and comprehended by those skilled in the art.

[0051] In some embodiments, an end cap is provided at the upper end of the base mechanism, and through holes are provided in the end cap corresponding to the positions of the first mounting hole and the second mounting hole. This ensures that the end cap does not cause mechanical interference to the movement of the first electric telescopic rod, the second electric telescopic rod, and the rotating disk. In the specific implementation process, an end cap is also provided below the first mounting hole of the base mechanism to stably mount the drive battery pack in the first mounting hole.

[0052] Among them, in the specific implementation process, the installation size of the first mounting hole should be considered in design in terms of the size of the rotating disk and the size after the robotic arm is folded, to ensure that the robotic arm and the rotating disk can smoothly pass through the first mounting hole. Those skilled in the art can understand and comprehend this, and thus will not be elaborated here.

[0053] In the specific implementation process, positioning pin holes communicating with the first mounting hole are provided at both the upper and lower ends of the outer shell, and positioning pin holes are also provided on the periphery of the rotating disk. The positioning pin holes are equipped with locking pin shafts to lock the rotating disk on the first mounting hole, thereby preventing the rotating disk from flipping and moving. Among them, when the inspection robot conducts ground inspections (i.e., the robotic arm is arranged vertically upward), the rotating disk is locked at the upper end of the first mounting hole; when the inspection robot conducts suspended inspections using a slide rail, the rotating disk is locked at the lower end of the first mounting hole.

Claims

1. A protective agricultural inspection robot, characterized in that: include: A mechanical arm, used to install sensors and cameras, and the mechanical arm is used to drive the camera to a set position; A conversion mechanism, used to install the robotic arm and capable of adjusting the orientation of the robotic arm so that the robotic arm is arranged upward or downward; The base mechanism is used for installing the conversion mechanism, and the base mechanism can move on the ground and on the slide rail erected in the air.

2. The protective agricultural inspection robot according to claim 1, characterized in that: The lower end of the base mechanism is provided with a roller, and the top of the base mechanism is provided with a clamping roller for cooperating with the erected slide rail.

3. The protective agricultural inspection robot according to claim 1, characterized in that: The conversion mechanism is arranged in a middle area of ​​the base mechanism.

4. The protective agricultural inspection robot according to claim 1, characterized in that: The base mechanism includes a shell, a first mounting hole and two second mounting holes are provided in a central area of ​​the shell, the second mounting holes are symmetrically distributed around the first mounting hole, the first mounting hole serves as both an installation position for a driving battery pack and a through hole for a robotic arm to pass through, at least four hub motors driven by the driving battery pack are installed below the shell, and the hub motor is sleeved in the middle of the roller.

5. The protective agricultural inspection robot according to claim 4, characterized in that: A first mounting cavity and a second mounting cavity are also provided in the shell, and the first mounting cavity and the second mounting cavity are respectively located on both sides of the first mounting hole. A battery pack is provided in the first mounting cavity and / or the second mounting cavity, and the battery pack is used to provide power to the hub motor on the clamping roller, the robotic arm, the sensor on the robotic arm and the camera at the end of the robotic arm.

6. The protective agricultural inspection robot according to claim 5, characterized in that: The conversion mechanism includes a first electric telescopic rod and a second electric telescopic rod arranged in the second mounting hole, the piston rod end of the first electric telescopic rod is arranged vertically upward, the end of the piston rod of the first electric telescopic rod is connected to the second electric telescopic rod, the second electric telescopic rod is arranged vertically downward, the piston rod end of the second electric telescopic rod is connected to a pin shaft, a rotating chassis is arranged in the first mounting hole, and the rotating chassis is rotatably connected to the pin shafts of the piston rod ends of the two second electric telescopic rods; the length of the first electric telescopic rod is greater than the length of the second electric telescopic rod so that the piston cylinders of the first electric telescopic rod and the second electric telescopic rod have a partial overlapping area in the height direction; when both the first electric telescopic rod and the second electric telescopic rod are not extended, the rotating disk is located in the middle of the height direction of the first mounting hole, and the mechanical arm is installed on the rotating disk.

7. The protective agricultural inspection robot according to claim 6, characterized in that: A third electric telescopic rod arranged vertically upward is also installed in the second mounting hole, and a piston rod end of the third electric telescopic rod is fixedly connected to a piston cylinder end of the first electric telescopic rod.

8. The protective agricultural inspection robot according to claim 7, characterized in that: The rotating disk is provided with a boss, and the mechanical arm is mounted on the boss of the rotating disk; a limiting ring is provided at the lower end of the inner wall of the first mounting hole.

9. The protective agricultural inspection robot according to claim 8, characterized in that: A strip groove for a pin to pass through is arranged between the first mounting hole and the second mounting hole, and the pin on the second electric telescopic rod passes through the strip groove and is rotatably connected to the rotating disk.

10. The protective agricultural inspection robot according to claim 9, characterized in that: An end cover is disposed at the upper end of the base mechanism, and through holes are disposed on the end cover at positions corresponding to the first mounting hole and the second mounting hole.

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