Unmanned farm inspection device and inspection method
By designing an unmanned farm inspection device with obstacle-blocking mechanism and a driving mechanism, the problems of low mobility efficiency and inability to effectively drive away bird flocks in the prior art are solved, and the effect of efficient movement and effective protection of crops in complex farmland environments is achieved.
Patent Information
- Application Number
- CN202510440607.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-09
- Publication Date
- 2025-06-10
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing unmanned farm inspection equipment is inefficient in movement and is easily trapped when facing complex farmland environments, and lacks effective physical intervention methods on crops, so it is unable to effectively drive away the invasion of crops by birds and other organisms.
An unmanned farm inspection device including tracked vehicles, camera equipment, obstacle-blocking mechanisms and driving mechanisms was designed. The obstacle-over-the-blocking mechanism realizes the active obstacle-over-the-blocking ability of the tracked vehicle through a square slider, a ground-up rod and a locking assembly that can slide forward and backward. The drive mechanism is able to shake the crops by clamping the assembly and driving the motor, and physically intervene to disperse bird flocks and pests.
It significantly improves the movement efficiency of tracked vehicles in complex farmland environments and the continuity of inspection tasks, can effectively drive away bird flocks and pests, protect crops, and reduce the probability of damage.
Smart Images
Figure CN120117063A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of agricultural inspection, and in particular to an unmanned farm inspection device and an inspection method. Background Art
[0002] With the rapid development of agricultural intelligence and automation technology, unmanned farms have gradually become an important development direction of modern agriculture. Unmanned farms have realized unmanned operation of crop planting, monitoring, management and other links by integrating the Internet of Things, artificial intelligence and robotics technology. In the inspection link, the existing technology mostly uses unmanned vehicles equipped with camera equipment, which move in the farmland through wheeled or tracked chassis, and use visual image sensors to collect crop growth status, pest and disease information and environmental data.
[0003] This type of inspection equipment usually relies on preset paths or remote control to complete inspection tasks and has a certain ability to adapt to terrain, but its functions are mainly concentrated at the data collection level, and its ability to actively respond to complex farmland environments is limited. First, when crossing common farmland obstacles such as ridges and gullies, traditional unmanned vehicles rely on the passive adaptability of the chassis structure and lack an active obstacle crossing mechanism, resulting in low mobility efficiency and easy to get trapped. Secondly, in response to the invasion of crops by birds and other creatures, existing devices lack the means to effectively physically intervene in the crops themselves. For example, when birds land on plants and pests gnaw on leaves, they cannot be effectively driven away, reducing the protection effect on crops. Summary of the invention
[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: an unmanned farm inspection device and inspection method, including a tracked vehicle, on which a camera is provided, a rotating frame is fixedly installed on the upper side of the tracked vehicle through a supporting round table, and the rotating frame is provided with an obstacle crossing mechanism for assisting the tracked vehicle to cross the ridges by raising and moving the tracked vehicle. The device also includes a driving mechanism for shaking crops.
[0005] The obstacle crossing mechanism includes two groups of square sliding bars arranged front and back on a rotating frame for sliding back and forth, each group is composed of two square sliding bars arranged symmetrically on the left and right, and the lower part of the square sliding bars in the same group is connected to a T-shaped frame through a connecting component on the side away from the supporting truncated table, and the left and right sides of the T-shaped frame are provided with ground-supporting rods that slide up and down. The obstacle crossing mechanism also includes a locking component for locking the ground-supporting rod and the T-shaped frame together.
[0006] The connecting assembly comprises a linkage horizontal plate which is fixedly mounted on the lower part of the square sliding rod in the same group and is away from the supporting truncated table.
[0007] The driving mechanism includes a fixed support plate fixedly installed on the side of the linkage cross plate away from the support frustum. A rocking frame is rotatably arranged on the side of the fixed support plate away from the support frustum. A clamping assembly for adaptively clamping crops is arranged on the rocking frame. A driving motor for driving the rocking frame to rock reciprocally is fixedly installed on the side of the fixed support plate close to the support frustum.
[0008] As a preferred technical solution of the present invention, the connection assembly further includes two symmetrically arranged guide rods slidably arranged up and down on the linkage cross plate. The lower sides of the two guide rods are fixedly connected to the T-shaped frame together.
[0009] As a preferred technical solution of the present invention, the locking assembly includes a rectangular rod slidably arranged up and down inside the vertical section of the T-shaped frame. Two symmetrically arranged locking plugs are slidably arranged left and right inside the horizontal section of the T-shaped frame. A plurality of positioning holes for inserting the locking plugs are equidistantly arranged in the vertical direction on the side of the ground support rod close to the middle of the corresponding T-shaped frame.
[0010] As a preferred technical solution of the present invention, a pushing spring is arranged between the rectangular rod and the T-shaped frame. The part of the locking plug close to the rectangular rod is of a square structure, and the part of the locking plug away from the rectangular rod is of a rod-shaped structure. A spiral spring for pushing the locking plug towards the direction close to the rectangular rod is arranged between the square structure of the locking plug and the T-shaped frame.
[0011] As a preferred technical solution of the present invention, an inclined surface is arranged on the upper side of the square structure of the locking plug close to the corresponding rectangular rod. When the rectangular rod moves downwards and contacts the inclined surface of the locking plug, the rectangular rod pushes the locking plugs on both sides of it into the corresponding positioning holes.
[0012] As a preferred technical solution of the present invention, a driving electric cylinder is fixedly installed on the upper side of the linkage cross plate. The telescopic section of the driving electric cylinder is fixedly connected to the upper side of the rectangular rod. A limiting rod is fixedly installed on the lower side of the middle of the T-shaped frame, and the length of the limiting rod is less than the length of the ground support rod.
[0013] As a preferred technical solution of the present invention, a pushing rod is slidably arranged up and down on the lower side of the ground support rod. A plurality of radial sliders slidably arranged in the radial direction of the pushing rod are equidistantly arranged along the circumference of the pushing rod on the lower side of the ground support rod. Anchor nails are fixedly installed on the lower sides of the radial sliders. A return spring is arranged between the radial sliders and the ground support rod. The middle part of the pushing rod is of a conical structure with a gradually increasing diameter from top to bottom.
[0014] As a preferred technical solution of the present invention, a rack is fixedly installed on the side of any one of the square sliding rods in the same group away from the supporting frustum. Servo motors are fixedly installed on the front and rear sides of the upper part of the rotating frame and corresponding to the positions of the racks, and a gear meshing with the rack at the corresponding position is fixedly installed on the output shaft of the servo motor.
[0015] As a preferred technical solution of the present invention, the clamping assembly includes two symmetrically arranged clamping plate members that slide left and right on the side of the rocking frame away from the supporting frustum. A circular pipe member fixedly connected to the output shaft of the corresponding drive motor is fixedly installed on the side of the rocking frame close to the supporting frustum. A sliding rod is slidably arranged back and forth inside the circular pipe member. The side of the sliding rod away from the supporting frustum is hinged to the two corresponding clamping plate members through a connecting plate. A compression spring is arranged between the sliding rod and the rocking frame.
[0016] As a preferred technical solution of the present invention, the present invention also provides a method for inspecting an unmanned farm. The specific inspection method steps are as follows: S1. The tracked vehicle moves to the ridge ditch and then starts to move along the preset crop planting direction. The moving tracked vehicle takes pictures and inspects the crops through the camera device thereon.
[0017] S2. When reaching the position where the bird flock often gathers, a group of square sliding rods at the corresponding position are extended to drive the clamping assembly to adaptively clamp the roots of the crops, and then the drive motor is started to drive away the bird flock by shaking the crops reciprocally.
[0018] S3. The tracked vehicle moves to the end of the ridge ditch, extends a group of square sliding rods on one side, and then moves the ground support rod downward through the connecting assembly to support on the ground, thereby lifting the tracked vehicle. Then, the extended group of square sliding rods are retracted, and at the same time, the retracted group of square sliding rods are extended, so that the tracked vehicle crosses the ridge.
[0019] S4. The tracked vehicle moves again along the preset moving route and at the same time takes pictures and inspects the crops until the inspection of all the crops is completed.
[0020] The beneficial effects of the present invention are as follows:
[0021] First, through the linkage design of the obstacle-crossing mechanism of the present invention, including the square sliding rod that can slide back and forth, the ground support rod and the locking assembly, this inspection device can actively move and support the ground when detecting ridges or gullies, thereby lifting the whole tracked vehicle. Then, by synchronously moving the square sliding rod, the tracked vehicle is driven to actively cross the obstacle. Compared with the traditional unmanned vehicle that adapts to the terrain passively, the risk of jamming is greatly reduced, and the moving efficiency of the tracked vehicle in the complex farmland environment and the continuity of the inspection task are significantly improved.
[0022] Second, the connection component and the locking component of the present invention cooperate to enable the two ground-supporting rods at the same T-shaped frame position to adapt to the inclination of the ground for support, increasing the adaptability of the tracked vehicle to complex farmland environments. Moreover, the connection firmness between the ground-supporting rods and the ground can be increased through the anchor nails, ensuring the stability of the tracked vehicle when crossing obstacles.
[0023] Third, the present invention uses a driving mechanism to adaptively clamp the crop rhizomes through a clamping component, and drives the rocking frame to swing reciprocally with the aid of a driving motor, causing the crops to vibrate regularly. By means of physical intervention, it directly disperses the parked birds and shakes off the pests gnawing on the leaves, making up for the deficiency of existing devices that only rely on sound and light to drive away. Moreover, combined with the moving ability of the obstacle-crossing mechanism, this device can quickly locate the bird flock aggregation area and implement targeted operations, effectively reducing the probability of crop damage. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The present invention will be further described below in conjunction with the drawings and embodiments.
[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention.
[0026] Figure 2 It is a cross-sectional view of the support frustum, the rotating frame and the obstacle-crossing mechanism of the present invention.
[0027] Figure 3 It is a cross-sectional view of the obstacle-crossing mechanism of the present invention.
[0028] Figure 4 It is a cross-sectional view of the ground-supporting rod, the pushing rod, the radial slider and the anchor nail of the present invention.
[0029] Figure 5 It is a cross-sectional view of the pushing rod, the radial slider and the anchor nail of the present invention.
[0030] Figure 6 It is a partial structural schematic diagram of the linkage cross plate and the driving mechanism of the present invention.
[0031] In the figure: 1, tracked vehicle; 2, support frustum; 3, rotating frame; 4, obstacle-crossing mechanism; 5, driving mechanism; 41, square slide bar; 42, connection component; 43, T-shaped frame; 44, ground-supporting rod; 45, locking component; 51, fixed support plate; 52, rocking frame; 53, clamping component; 54, driving motor; 421, linkage cross plate; 422, guide rod; 451, rectangular rod; 452, locking plug-in; 453, positioning hole; 454, driving electric cylinder; 455, limiting rod; 441, pushing rod; 442, radial slider; 443, anchor nail; 411, rack; 412, servo motor; 413, gear; 531, clamping plate part; 532, circular pipe part; 533, sliding rod; 534, connecting plate. Detailed implementation manners
[0032] The embodiments of the present invention will be described in detail below. The embodiments described below are exemplary and are only used to explain the present invention, and should not be construed as a limitation to the present invention. For those not specified in the embodiments regarding specific technologies or conditions, they shall be carried out according to the technologies or conditions described in the literature in this field or according to the product specifications.
[0033] Refer to Figure 1 , an unmanned farm inspection device, including a crawler vehicle 1, a camera device is arranged on the crawler vehicle 1, a rotating frame 3 is fixedly installed on the upper side of the crawler vehicle 1 through a support frustum 2, and an obstacle-crossing mechanism 4 for assisting the crawler vehicle 1 to cross the ridge by lifting and moving the crawler vehicle 1 is arranged on the rotating frame 3. The device further includes a driving mechanism 5 for shaking the crops.
[0034] When it is necessary to inspect the field, the operator starts the crawler vehicle 1, so that the crawler vehicle 1 moves along the preset moving route to the ridge groove between two rows of crops. Subsequently, the growth state, pest and disease information and environmental data of the crops are collected through the camera device, so as to inspect the crops. When the crawler vehicle 1 moves to the end between two rows of crops, the crawler vehicle 1 is stably moved to the ridge groove on the adjacent side to continue moving through the obstacle-crossing mechanism 4, so that the crawler vehicle 1 can comprehensively inspect the crops.
[0035] When the crawler vehicle 1 moves to the gathering place of the bird flock or when pests are found climbing on the leaves of the crops through the camera device, the crawler vehicle 1 shakes the corresponding crops left and right through the driving mechanism 5, and directly disperses the parked birds or shakes off the pests gnawing on the leaves through physical intervention, effectively reducing the probability of crop damage and ensuring the inspection effect.
[0036] Refer to Figure 1 and Figure 2 , the obstacle-crossing mechanism 4 includes two groups of square sliding rods 41 arranged front and back and sliding front and back on the rotating frame 3. Each group consists of two square sliding rods 41 arranged symmetrically left and right. The lower sides of the square sliding rods 41 in the same group and away from the support frustum 2 are commonly connected with a T-shaped frame 43 through a connecting component 42. Ground-supporting rods 44 that slide up and down are arranged on the left and right sides of the T-shaped frame 43.
[0037] Continue to refer to Figure 1 and Figure 2 , the connecting component 42 includes a linkage cross plate 421 fixedly installed on the lower sides of the square sliding rods 41 in the same group and away from the support frustum 2. Two guide rods 422 arranged symmetrically left and right are slidably arranged on the linkage cross plate 421. The lower sides of the two guide rods 422 are commonly fixed to the T-shaped frame 43.
[0038] Refer to Figure 1 ,Figure 2 and Figure 3 On the side of any square slide bar 41 in the same group away from the support frustum 2, a rack 411 is fixedly installed. On the front and rear sides of the upper part of the rotating frame 3 and corresponding to the position of the rack 411, a servo motor 412 is fixedly installed. A gear 413 meshing with the rack 411 at the corresponding position is fixedly installed on the output shaft of the servo motor 412.
[0039] When it is necessary to make the tracked vehicle 1 cross the ridge and move to the furrow at the adjacent front position, start the servo motor 412 at the front to rotate forward. The gear 413 on it drives the rack 411 at the front to move forward. The rack 411 at the front drives the corresponding square slide bar 41 to move forward synchronously. The square slide bars 41 in the same group move synchronously through the linkage cross plate 421 connected to them, so that a group of square slide bars 41 at the front drive the front T-shaped frame 43 to move forward through the front linkage cross plate 421 and the guide rod 422. The front T-shaped frame 43 drives the two ground-supporting rods 44 on it to move synchronously and cross the ridge to move to the upper part of the furrow at the adjacent front position.
[0040] Refer to Figure 1 and Figure 3 Refer to FIGS. and, the obstacle-crossing mechanism 4 further includes a locking assembly 45 for locking the ground-supporting rod 44 and the T-shaped frame 43 together. The locking assembly 45 includes a rectangular rod 451 slidably arranged up and down inside the vertical section of the T-shaped frame 43. Two symmetrically arranged locking plugs 452 are slidably arranged left and right inside the horizontal section of the T-shaped frame 43. A plurality of positioning holes 453 for the locking plugs 452 to insert are equidistantly arranged in the vertical direction on the side of the ground-supporting rod 44 close to the middle of the corresponding T-shaped frame 43.
[0041] Refer to Figure 3 Refer to FIGS., a pushing spring is arranged between the rectangular rod 451 and the T-shaped frame 43. The part of the locking plug 452 close to the rectangular rod 451 is of a square structure, and the part of the locking plug 452 away from the rectangular rod 451 is of a rod-shaped structure. A spiral spring for pushing the locking plug 452 towards the direction close to the rectangular rod 451 is arranged between the square structure of the locking plug 452 and the T-shaped frame 43.
[0042] Continue to refer to Figure 3 Refer to FIGS., a slope is arranged on the side of the upper part of the square structure of the locking plug 452 close to the corresponding rectangular rod 451. The rectangular rod 451 moves downward and contacts the slope of the locking plug 452, so that the rectangular rod 451 pushes the locking plugs 452 on both sides of it into the corresponding positioning holes 453.
[0043] Refer to Figure 2 and Figure 3, a driving electric cylinder 454 is fixedly installed on the upper side of the linkage cross plate 421. The telescopic section of the driving electric cylinder 454 is fixedly connected to the upper side of the rectangular rod 451. A limiting rod 455 is fixedly installed on the lower side of the middle part of the T-shaped frame 43, and the length of the limiting rod 455 is less than the length of the ground-supporting rod 44.
[0044] In the initial state, the pushing spring pushes the T-shaped frame 43 and the rectangular rod 451 away from each other through its own elastic force. Under the action of its own gravity, the lower side of the ground-supporting rod 44 is located below the limiting rod 455. When the two front ground-supporting rods 44 are located above the ridge grooves at adjacent positions in the front, the telescopic sections of the front and rear driving electric cylinders 454 are simultaneously extended. The driving electric cylinder 454 drives the rectangular rod 451 at the corresponding position to move downward. The rectangular rod 451 drives the T-shaped frame 43 to move downward synchronously through the elastic force of the pushing spring on the T-shaped frame 43 and the gravity of the T-shaped frame 43 itself, so that the lower side of the ground-supporting rod 44 on the T-shaped frame 43 abuts against the ground of the ridge groove.
[0045] Subsequently, the T-shaped frame 43 continues to move downward, so that the lower side of the limiting rod 455 on the T-shaped frame 43 abuts against the ground of the ridge groove. Then, the telescopic section of the driving electric cylinder 454 at the corresponding position stops extending. At this time, the lower sides of the two ground-supporting rods 44 on the same T-shaped frame 43 as the limiting rod 455 have both abutted against the ground of the ridge groove, and the reaction force of the ridge groove ground on the two ground-supporting rods 44 pushes them to move upward relative to the T-shaped frame 43. Therefore, when the ground of the ridge groove is uneven, the lower sides of the two ground-supporting rods 44 on the same T-shaped frame 43 can also contact the ground of the ridge groove.
[0046] When the limiting rods 455 on the front and rear sides both abut against the ground of the ridge groove, the lower sides of the four ground-supporting rods 44 all contact the ground of the ridge groove. Then, the telescopic sections of the two driving electric cylinders 454 are simultaneously extended. Since the T-shaped frame 43 cannot drive the limiting rod 455 to move downward, the driving electric cylinder 454 pushes the rectangular rod 451 to move downward relative to the T-shaped frame 43 and compresses the pushing spring at the corresponding position.
[0047] When the rectangular rod 451 moves downward to contact the inclined surface of the locking plug 452 at the corresponding position, the rectangular rod 451 pushes the locking plug 452 away from itself, so that the rod-shaped structure of the locking plug 452 is inserted into the positioning hole 453 at the corresponding position, thereby locking the ground-supporting rod 44 and the T-shaped frame 43 into a whole, so that the ground-supporting rod 44 and the limiting rod 455 jointly apply a supporting force to the T-shaped frame 43.
[0048] Refer to Figure 3 、 Figure 4 and Figure 5, a push rod 441 is slidably arranged up and down on the lower side of the ground support rod 44. A plurality of radial sliders 442 slidable in the radial direction of the push rod 441 are equidistantly arranged along the circumferential direction of the push rod 441 on the lower side of the ground support rod 44. An anchor nail 443 is fixedly installed on the lower side of the radial slider 442. A return spring is arranged between the radial slider 442 and the ground support rod 44. The middle part of the push rod 441 has a conical structure with a gradually increasing diameter from top to bottom.
[0049] When the ground support rod 44 abuts against the ridge groove ground, the ground support rod 44 drives the anchor nail 443 to insert into the ridge groove ground through the radial slider 442 thereon, thereby improving the stability of the ground support rod 44 and preventing relative sliding between the ground support rod 44 and the ridge groove. Then, the telescopic section of the driving electric cylinder 454 continues to extend. The driving electric cylinder 454 drives the linkage cross plate 421 to move upward relative to the rectangular rod 451 through the rectangular rod 451. At this time, the linkage cross plate 421 drives the rotating frame 3 to move upward through the square slide rod 41, and the rotating frame 3 drives the tracked vehicle 1 to move up to the upper part of the ridge through the support frustum 2.
[0050] At this time, the entire weight of the tracked vehicle 1 is applied to the ridge groove ground through the ground support rod 44, so that the ground support rod 44 drives the anchor nail 443 to continue to insert into the ridge groove ground, thereby making the ground support rod 44 drive the lower side surface of the push rod 441 thereon to abut against the ridge groove ground. The reaction force of the ridge groove ground on the push rod 441 pushes the push rod 441 to move upward relative to the ground support rod 44. Furthermore, the push rod 441 pushes the radial slider 442 in a direction away from itself, and the radial slider 442 expands and supports the ridge groove ground through the anchor nail 443, increasing the connection stability between the anchor nail 443 and the ridge groove ground.
[0051] Then, reverse the front servo motor 412 and start the rear servo motor 412 to rotate forward at the same time, so that the servo motor 412 drives the rotating frame 3 to move forward, thereby making the rotating frame 3 drive the tracked vehicle 1 to move forward to the upper part of the adjacent ridge in the front. After that, simultaneously contract the telescopic section of the driving electric cylinder 454 to the initial position, so that the tracked vehicle 1 falls onto the adjacent ridge in the front. Subsequently, reverse the rear servo motor 412, so that the rear servo motor 412 drives the rear ground support rod 44 to move to the initial position close to the tracked vehicle 1, thereby completing the crossing of the tracked vehicle 1 over obstacles such as ridges.
[0052] Refer to Figure 1 and Figure 6, the driving mechanism 5 includes a fixed support plate 51 fixedly installed on the side of the linkage cross plate 421 away from the support round platform 2. A rocking frame 52 is rotatably arranged on the side of the fixed support plate 51 away from the support round platform 2. A clamping assembly 53 for adaptively clamping crops is arranged on the rocking frame 52. A driving motor 54 for driving the rocking frame 52 to rock reciprocally is fixedly installed on the side of the fixed support plate 51 close to the support round platform 2.
[0053] Continue to refer to Figure 1 and Figure 6 , the clamping assembly 53 includes two symmetrically arranged clamping plate members 531 slidably arranged left and right on the side of the rocking frame 52 away from the support round platform 2. A circular pipe member 532 fixedly connected to the output shaft of the corresponding driving motor 54 is fixedly installed on the side of the rocking frame 52 close to the support round platform 2. A sliding rod member 533 is slidably arranged front and back inside the circular pipe member 532. The side of the sliding rod member 533 away from the support round platform 2 is hinged to the two corresponding clamping plate members 531 through a connecting plate 534. A compression spring is arranged between the sliding rod member 533 and the rocking frame 52.
[0054] In the initial state, the compression spring pushes the sliding rod member 533 through its own elastic force, so that the sliding rod member 533 pushes the two corresponding clamping plate members 531 through the connecting plate 534 to be in a state of moving away from each other.
[0055] When the tracked vehicle 1 uses the vision detection system on the camera device to judge that the tracked vehicle 1 moves to the bird flock gathering place or pests are eating crops, extend the telescopic section of the driving electric cylinder 454 on the corresponding side of the bird flock or pests, so as to adjust the position of the linkage cross plate 421 up and down, so that the linkage cross plate 421 drives the clamping plate member 531 to the position corresponding to the crop root through the fixed support plate 51 and the rocking frame 52. Then start the servo motor 412 on the corresponding side of the bird flock or pests, so that the servo motor 412 drives the linkage cross plate 421 to move towards the crop. Among them, the vision detection system mainly uses a vision image sensor to conduct visual image inspection on the crops, uses the light source of the vision detection system to illuminate the crops to ensure that the crops are clearly visible. The vision image sensor involved in the machine vision system collects the surface image of the crops. The image sensor converts the optical signal into an electrical signal, and then after analog-to-digital conversion, transmits the digital image data to the image processing unit. The image processing unit analyzes and processes the digital image data to obtain the picture situation of the crop surface. If the inspected image shows the phenomenon of a bird flock gathering place or pests eating crops, then carry out the dispersal treatment.
[0056] The linkage cross plate 421 drives the sliding rod member 533 away from one side of the support round table 2 through the fixed support plate 51 and the rocking frame 52 and abuts against the root of the crop. At this time, the two clamping plate members 531 corresponding to the sliding rod member 533 are located on both sides of the root of the crop. Then, the linkage cross plate 421 is continuously moved towards the crop, so that the root of the crop pushes the sliding rod member 533 to move relative to the rocking frame 52 towards the support round table 2 through the reaction force on the sliding rod member 533, so that the sliding rod member 533 drives the clamping plate members 531 to clamp on the root of the crop by pulling the connecting plates 534 on both sides thereof.
[0057] Then, the driving motor 54 is started to drive the rocking frame 52 to rock reciprocally through the reciprocating rotating circular pipe member 532. The rocking frame 52 rocks the crop reciprocally through the clamping plate members 531, so as to directly disperse the parked birds and shake off the pests gnawing on the leaves by means of physical intervention, making up for the deficiency that the existing device only relies on sound and light to drive away.
[0058] Then, the tracked vehicle 1 is moved again along the preset moving route, and the crops are photographed and inspected at the same time until the inspection of all the crops is completed.
[0059] In addition, the present invention also provides an inspection method for an unmanned farm. The specific inspection method steps are as follows: S1. The operator starts the tracked vehicle 1, and the tracked vehicle 1 moves to the ridge groove between two rows of crops according to the preset moving route. Then, the growth state, pest and disease information and environmental data of the crops are collected through the camera device on the rotating frame 3, so as to inspect the crops.
[0060] S2. When it is necessary to make the tracked vehicle 1 cross the ridge and move to the ridge groove at the adjacent front position, the front support rod member 44 is driven to abut against the ground of the front ridge groove through the front servo motor 412 and the front driving electric cylinder 454. Then, the tracked vehicle 1 is lifted to the upper part of the ridge through the two driving electric cylinders 454. After that, all the driving electric cylinders 454 and the servo motor 412 are used to make the tracked vehicle 1 move forward across the ridge, and the tracked vehicle 1 falls to the ground of the front ridge groove.
[0061] S3. The tracked vehicle 1 uses the visual detection system on the camera device to judge that the tracked vehicle 1 moves to the position where there is a bird flock gathering place or pests gnawing on the crops. The clamping plate members 531 are driven to clamp on the root of the crop by extending and retracting the extending section of the corresponding driving electric cylinder 454 and starting the servo motor 412 on the corresponding side. Then, the driving motor 54 rocks the crop reciprocally, so as to directly disperse the parked birds and shake off the pests gnawing on the leaves by means of physical intervention.
[0062] S4. The tracked vehicle 1 is moved again along the preset moving route, and the crops are photographed and inspected at the same time until the inspection of all the crops is completed.
[0063] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention, and still be covered by the protection scope of the present invention.
Claims
1. An unmanned farm inspection device, comprising a crawler vehicle, on which a camera device is provided, characterized in that: A rotating frame is fixedly installed on the upper side of the crawler vehicle through a supporting round table, and an obstacle crossing mechanism is arranged on the rotating frame to assist the crawler vehicle to cross the field ridge by raising and moving the crawler vehicle. The device also includes a driving mechanism for shaking the crops. The obstacle-crossing mechanism comprises two groups of square sliding bars arranged front and back on a rotating frame for sliding forward and backward, each group is composed of two square sliding bars arranged symmetrically on the left and right, and the lower part of the square sliding bars in the same group is connected to a T-shaped frame through a connecting component on the side away from the supporting truncated table, and the left and right sides of the T-shaped frame are both arranged with supporting rods that slide up and down, and the obstacle-crossing mechanism also includes a locking component for locking the supporting rod and the T-shaped frame together; The connecting assembly comprises a linkage horizontal plate fixedly mounted on the lower part of the square slide bar in the same group and away from the supporting truncated table; The driving mechanism includes a fixed support plate fixedly installed on the side of the linkage horizontal plate away from the supporting circular table, a shaking frame is rotatably arranged on the side of the fixed support plate away from the supporting circular table, a clamping component for adaptively clamping crops is arranged on the shaking frame, and a driving motor for driving the shaking frame to shake reciprocally is fixedly installed on the side of the fixed support plate close to the supporting circular table.
2. The unmanned farm inspection device according to claim 1, characterized in that: The connecting assembly also includes two guide rods symmetrically arranged on the linkage horizontal plate and slidably arranged up and down, and the lower sides of the two guide rods are fixedly connected to the T-shaped frame.
3. The unmanned farm inspection device according to claim 1, characterized in that: The locking assembly includes a rectangular rod that is slidably arranged on the inner side of the vertical section of the T-shaped frame, and two symmetrically arranged locking plug-ins are slidably arranged on the inner side of the horizontal section of the T-shaped frame. A plurality of positioning holes for inserting the locking plug-ins are evenly spaced along the vertical direction on one side of the supporting rod close to the middle of the corresponding T-shaped frame.
4. The unmanned farm inspection device according to claim 3, characterized in that: A pushing spring is arranged between the rectangular rod and the T-shaped frame, the part of the locking plug-in close to the rectangular rod is a square structure, the part of the locking plug-in away from the rectangular rod is a rod-shaped structure, and a spiral spring is arranged between the square structure of the locking plug-in and the T-shaped frame to push the locking plug-in toward the rectangular rod.
5. The unmanned farm inspection device according to claim 3, characterized in that: A slope is provided on one side of the square structure upper part of the locking plug-in close to the corresponding rectangular rod, and the rectangular rod moves downward to contact the slope of the locking plug-in, so that the rectangular rod pushes the locking plug-ins on both sides thereof to be inserted into the corresponding positioning holes.
6. The unmanned farm inspection device according to claim 3, characterized in that: A driving electric cylinder is fixedly installed on the upper side of the linkage horizontal plate, and the telescopic section of the driving electric cylinder is fixedly connected to the upper side of the rectangular rod. A limiting rod is fixedly installed on the lower side of the middle part of the T-shaped frame, and the length of the limiting rod is less than the length of the ground supporting rod.
7. The unmanned farm inspection device according to claim 1, characterized in that: A pushing rod is provided on the lower side of the ground supporting rod for sliding up and down. A plurality of radial sliding blocks are provided on the lower side of the ground supporting rod at equal intervals along the circumference of the pushing rod for radial sliding along the pushing rod. Anchor nails are fixedly installed on the lower side of the radial sliding block. A return spring is provided between the radial sliding block and the ground supporting rod. The middle part of the pushing rod presents a conical structure with a diameter gradually increasing from top to bottom.
8. The unmanned farm inspection device according to claim 1, characterized in that: A rack is fixedly installed on one side of any square slide bar in the same group away from the supporting truncated table, a servo motor is fixedly installed on the front and rear sides of the upper part of the rotating frame and at the position corresponding to the rack, and a gear meshing with the rack at the corresponding position is fixedly installed on the output shaft of the servo motor.
9. The unmanned farm inspection device according to claim 1, characterized in that: The clamping assembly includes two symmetrically arranged clamping plates which are slidably arranged on the side of the rocking frame away from the supporting circular table. A round tube which is fixedly installed on the side of the rocking frame close to the supporting circular table is fixedly connected to the output shaft of the corresponding driving motor. A sliding rod is slidably arranged on the inner side of the round tube. The side of the sliding rod away from the supporting circular table is hinged to the two corresponding clamping plates through a connecting plate, and a compression spring is arranged between the sliding rod and the rocking frame.
10. An unmanned farm inspection method, using the unmanned farm inspection device according to any one of claims 1 to 9, characterized in that: The specific inspection method steps are as follows: S1, the crawler vehicle moves to the ridge ditch, and then starts to move along the preset crop planting direction, and the mobile crawler vehicle uses the camera equipment on it to take pictures and inspect the crops; S2, reaching the position where the birds usually gather, extending a set of square slide bars at the corresponding position to drive the clamping assembly to adaptively clamp the roots and stems of the crops, and then starting the drive motor to reciprocate and shake the crops to drive away the birds; S3, the crawler vehicle moves to the end of the furrow, extends a set of square slide bars on one side, then moves the ground support rod downward through the connecting assembly to support it on the ground, thereby lifting the crawler vehicle, then retracts the extended set of square slide bars, and extends the retracted set of square slide bars at the same time, so that the crawler vehicle crosses the ridge; S4, moving the crawler vehicle again along the preset moving route, and simultaneously photographing and inspecting the crops until the inspection of all the crops is completed.