Crop growth panoramic perception and regulation mechanical holder device based on RISC-V and OpenHarmony

Abstract

The invention relates to a crop growth panoramic perception and regulation mechanical holder device based on RISC-V and OpenHarmony, and belongs to the technical field of crop growth monitoring holders. The RISC-V and OpenHarmony-based crop growth panorama perception and regulation mechanical holder device comprises a mobile vehicle seat, a control seat is fixedly mounted on the surface of the mobile vehicle seat, and a control holder is arranged on one side of the control seat; the monitoring moving mechanism comprises an electric sliding rail, a cleaning assembly and a module assembly; during use, the monitoring instrument can flexibly observe crop parts at different heights and angles through an electric sliding rail and an electric telescopic rod, a cleaning assembly can automatically clean the surface of a monitoring bin in the running process, image blurring or data errors are prevented, a monitoring moving mechanism is arranged on a moving saddle, and through combination of trolley moving and sliding rail lifting, the monitoring accuracy is improved. Multi-point and multi-angle dynamic monitoring is realized, and a monitoring instrument can be quickly replaced through the module assembly to adapt to different types of monitoring tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of crop growth monitoring pan-tilt platforms, and in particular to a crop growth panoramic perception and regulation mechanical pan-tilt platform device based on RISC-V and OpenHarmony. Background Art

[0002] As modern agriculture develops rapidly towards digitalization and intelligence, how to efficiently and accurately obtain crop growth status and environmental information has become an important issue in farmland management and crop health monitoring. Traditional crop growth monitoring methods mostly rely on fixed sensors or manual inspections, which have problems such as limited sensing range, single acquisition angle, and inability to dynamically adjust the position. It is difficult to adapt to the monitoring needs of complex crop structures and field environments. At present, some areas have begun to try to install cameras or multi-function sensors on rotatable pan-tilt platforms to obtain multi-angle information on crops.

[0003] As shown in the reference case "A real-time peer-to-peer monitoring device for greenhouse crop growth information" announcement number "CN206178392U", the required sensors and / or testing instruments are carried by the electrically controlled suspension track, and all crops to be tested can be monitored and / or tested at the same relative position, ensuring the consistency of the monitoring and / or testing results; the crops can be monitored at the canopy, single plant and single leaf levels at the same time, and the phenotype, growth or nutritional indicators of the crops can be obtained more accurately;

[0004] Most existing devices of this type use horizontal slide rails to achieve spatial displacement, and only expand the monitoring range within the horizontal plane. The monitoring position is often limited to a fixed height, making it difficult to effectively cover multiple key growth areas from the top of the crop to the stem, leaf surface and root. In addition, the agricultural environment is often accompanied by pollution sources such as wind and dust. The camera and perception modules are easily obscured by dust during long-term outdoor work, resulting in blurred images and affecting the stability of the monitoring results. Summary of the invention

[0005] Based on this, it is necessary to use horizontal slide rails to achieve spatial displacement in existing devices, which only expand the monitoring range in the horizontal plane. The monitoring position is often limited to a fixed height, which makes it difficult to effectively cover multiple key growth areas from the top of the crop to the stem, leaf surface and root. In addition, the agricultural environment is often accompanied by pollution sources such as wind, dust, mud and water. The camera and perception modules are easily blocked by dust during long-term outdoor work, resulting in blurred images and distorted data, which affects the stability of the monitoring results. A mechanical pan-tilt device for crop growth panoramic perception and control based on RISC-V and OpenHarmony is provided.

[0006] The crop growth panoramic perception and regulation mechanical pan-tilt device based on RISC-V and OpenHarmony includes: a mobile seat, on the surface of which a control seat is fixedly installed, and a control pan-tilt is arranged on one side of the control seat; a monitoring and moving mechanism, which includes an electric slide rail, a cleaning component and a module component. The electric slide rail is fixedly connected to one side of the mobile seat, the cleaning component is arranged on one side of the control pan-tilt, and the module component is arranged on one side of the cleaning component. Among them, the cleaning component includes an electric telescopic rod, a monitoring bin and monitoring instruments. The electric telescopic rod is arranged on one side of the electric slide rail, the monitoring bin is fixedly connected to the control pan-tilt, the monitoring instruments are arranged inside the monitoring bin, and the output end of the electric telescopic rod is fixedly connected to the control pan-tilt.

[0007] In one embodiment, a motor is fixedly installed on the surface of the fixed plate, a driving block is rotatably installed at the output end of the motor, a support rod is arranged on one side of the driving block, the other end of the support rod is provided with a cleaning brush, and one side of the cleaning brush is in contact with the surface of the monitoring bin.

[0008] In one embodiment, the other end of the support rod is slidably connected to the driving block, a sliding piece is fixedly installed on the surface of the support rod, the bottom of the sliding piece is slidably connected to the top of the fixed plate, and a spring is sleeved through the surface of the support rod, and the spring is fixedly connected to the sliding piece.

[0009] In one embodiment, a telescopic sleeve is arranged outside the spring, and both ends of the telescopic sleeve are fixedly connected to the support rod and the sliding piece respectively.

[0010] In one embodiment, a linear vibrator is fixedly installed at one end of the support rod, and the output end of the linear vibrator is fixedly connected to one side of the cleaning brush.

[0011] In one embodiment, the monitoring bin is set in a cylindrical shape, and a protective clamping plate is tightly clamped on the surface of the monitoring bin.

[0012] In one embodiment, a moving frame is fixedly installed at the output end of the electric slide rail, the electric telescopic rod is fixedly installed on one side of the moving frame, and buffer pads are fixedly installed on both the upper and lower sides of the moving frame.

[0013] In one embodiment, a cable management pipe is fixedly installed on one side of the moving frame, and an elastic rotating plate is rotatably installed on one side of the cable management pipe.

[0014] In one embodiment, the module assembly includes a mounting seat fixedly installed on one side of the control pan-tilt, the monitoring instrument is disposed on the surface of the mounting seat, a connection groove is formed on the surface of the mounting seat, a connection ring is threadedly connected to one side of the connection groove, and two limiting plates are fixedly installed inside the connection ring, and both of the two limiting plates are in contact with the monitoring instrument.

[0015] In one embodiment, a docking block is fixedly installed at the bottom of the monitoring instrument, a docking groove is formed on the surface of the mounting seat, and the docking groove is slidably connected to the docking block.

[0016] For the above-mentioned crop growth panoramic perception and regulation mechanical pan-tilt device based on RISC-V and OpenHarmony, during use, by setting a control seat and a control pan-tilt on the mobile seat, cooperating with the electric slide rail and the electric telescopic rod, the vertical lifting and multi-angle rotation control of the monitoring bin are realized, so that the monitoring instrument can flexibly observe crop parts at different heights and angles, improving the monitoring coverage and accuracy, and being applicable to the comprehensive information collection of tall or densely planted crops. The cleaning component can automatically clean the surface of the monitoring bin during operation or at regular intervals to prevent image blurring or data errors. The monitoring mobile mechanism is arranged on the mobile seat, and through the combination of the movement of the trolley and the lifting of the slide rail, the dynamic monitoring at multiple points and multi-angles is realized. The monitoring instrument can be quickly replaced through the module assembly to adapt to different types of monitoring tasks such as multi-spectral cameras, temperature and humidity sensors, and pest and disease image collectors.

[0017] When it is necessary to replace the monitoring instrument, only need to rotate the connection ring to disengage it from the connection groove, which can drive the limiting plates to disengage from the monitoring instrument together, thus realizing the quick disassembly and replacement of the monitoring instrument. Different types of monitoring instruments such as multi-spectral cameras, temperature and humidity combined sensors, and pest and disease image collection devices can be flexibly replaced according to the crop variety, growth cycle or monitoring target. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the monitoring mobile mechanism structure of the present invention;

[0021] Figure 3 It is a schematic diagram of the electric slide rail and the mobile frame structure of the present invention;

[0022] Figure 4 Structural schematic diagram of the monitoring bin and cleaning brush of the present invention;

[0023] Figure 5 Structural schematic diagram of the support rod and spring of the present invention;

[0024] Figure 6 Structural schematic diagram of the monitoring bin and monitoring instrument of the present invention;

[0025] Figure 7 Structural schematic diagram of the mounting seat and connecting ring of the present invention;

[0026] Figure 8 Structural schematic diagram of the monitoring instrument and mounting seat of the present invention;

[0027] Figure 9 Structural schematic diagram of the moving frame and wire management pipe of the present invention.

[0028] Reference numerals:

[0029] 100, mobile seat; 200, control seat; 210, control pan-tilt; 300, monitoring moving mechanism; 310, electric slide rail; 311, moving frame; 312, buffer pad; 313, wire management pipe; 314, elastic rotating plate; 320, cleaning assembly; 321, electric telescopic rod; 322, monitoring bin; 323, fixing plate; 324, motor; 325, driving block; 326, support rod; 327, cleaning brush; 328, linear vibrator; 329, protective clamping plate; 3210, sliding piece; 3211, spring; 3212, telescopic sleeve; 3213, monitoring instrument; 330, module assembly; 331, mounting seat; 332, connecting groove; 333, connecting ring; 334, limiting plate; 335, docking groove; 336, docking block. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the description of the present invention are only for illustrative purposes and do not represent the only implementation manner.

[0032] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0033] In the present invention, unless otherwise clearly specified and defined, the first feature may be in direct contact with the second feature "on" or "under" the second feature, or the first feature and the second feature may be in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0034] Unless otherwise defined, all technical and scientific terms used in the description of the present invention have the same meaning as commonly understood by those skilled in the technical field to which the present invention pertains. The terms used in the description of the present invention are only for the purpose of describing specific implementation manners and are not intended to limit the present invention. The term "and / or" used in the description of the present invention includes any and all combinations of one or more of the related listed items.

[0035] Next, in conjunction with Figures 1-9 describe the crop growth panoramic perception and regulation mechanical pan-tilt device of the present invention based on RISC-V and OpenHarmony.

[0036] Such as Figure 1 、 Figure 2 、 Figure 4 、 Figure 4 、 Figure 6 and Figure 8As shown, in one embodiment, a panoramic perception and regulation mechanical pan-tilt device for crop growth based on RISC-V and OpenHarmony includes: a mobile seat 100, a control seat 200 is fixedly installed on the surface of the mobile seat 100, and a control pan-tilt 210 is arranged on one side of the control seat 200; a monitoring and moving mechanism 300, the monitoring and moving mechanism 300 includes an electric slide rail 310, a cleaning component 320 and a module component 330, the electric slide rail 310 is fixedly connected to one side of the mobile seat 100, the cleaning component 320 is arranged on one side of the control pan-tilt 210, and the module component 330 is arranged on one side of the cleaning component 320; wherein, the cleaning component 320 includes an electric telescopic rod 321, a monitoring bin 322 and a monitoring instrument 3213, the electric telescopic rod 321 is arranged on one side of the electric slide rail 310, the monitoring bin 322 is fixedly connected to the control pan-tilt 210, the monitoring instrument 3213 is arranged inside the monitoring bin 322, and the output end of the electric telescopic rod 321 is fixedly connected to the control pan-tilt 210.

[0037] In this embodiment, when in use, by arranging the control seat 200 and the control pan-tilt 210 on the mobile seat 100 and combining the cooperation of the electric slide rail 310 and the electric telescopic rod 321, the lifting adjustment and multi-angle rotation control of the monitoring bin 322 in the vertical direction are realized, so that the monitoring instrument 3213 can flexibly and accurately observe different heights and different angle parts of the crops, improving the monitoring coverage and observation flexibility. It is especially suitable for comprehensive information collection in complex growth environments such as tall crops and densely planted crops. Through the cleaning component 320, the surface of the monitoring bin 322 outside the monitoring instrument 3213 can be effectively cleaned during the working process or at regular time intervals, avoiding the generation of blurred images or data errors. In addition, the monitoring and moving mechanism 300 is arranged on the mobile seat 100. Through the movement of the trolley and the vertical slide rail structure, the mobile inspection and height-adjustable collection of the monitoring unit can be realized, so as to perform multi-point, multi-angle and high-frequency dynamic monitoring on crops in different regions and different parts. When the monitoring instrument 3213 needs to be replaced through the module component 330, the monitoring instrument 3213 can be quickly replaced, and different types of monitoring instruments 3213, such as multi-spectral cameras, temperature and humidity combined sensors, and pest and disease image acquisition devices, can be flexibly replaced according to the crop type, growth cycle or monitoring target;

[0038] The control base 200 of this device integrates an embedded control mainboard based on the RISC-V architecture, which is used to uniformly drive and schedule execution components such as the control pan-tilt 210, the electric slide rail 310, the electric telescopic rod 321, and the linear vibrator 328. This mainboard runs the OpenHarmony operating system, enabling multi-device collaborative management and status feedback. Through the scheduling program running under the OpenHarmony system, the control system can coordinately control the monitoring mobile mechanism 300 according to preset task instructions. Meanwhile, the image information and environmental parameters collected by the monitoring instrument 3213 can be uploaded to the management platform in real time through the wireless communication module, realizing remote perception and analysis of the crop growth status, and achieving data linkage and intelligent response with the farmland irrigation system, environmental control equipment, etc., significantly improving the level of agricultural digital management.

[0039] As Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 shown, the cleaning component 320 further includes a fixing plate 323 fixedly installed on the top of the monitoring bin 322. The surface of the fixing plate 323 is fixedly installed with a motor 324. The output end of the motor 324 is rotatably installed with a driving block 325. One side of the driving block 325 is provided with a support rod 326. The other end of the support rod 326 is provided with a cleaning brush 327. One side of the cleaning brush 327 is in contact with the surface of the monitoring bin 322.

[0040] In this embodiment, during the cleaning process, the motor 324 drives the driving block 325 to rotate, driving the support rod 326 and the cleaning brush 327 to continuously move along the outer surface of the monitoring bin 322, thereby realizing the automatic cleaning of the surface of the monitoring bin 322 and the acquisition window of the monitoring instrument 3213, and avoiding image blurring caused by dust, rain, or insect erosion.

[0041] The other end of the support rod 326 is slidably connected to the driving block 325. The surface of the support rod 326 is fixedly installed with a sliding piece 3210. The bottom of the sliding piece 3210 is slidably connected to the top of the fixing plate 323. The surface of the support rod 326 is sleeved with a spring 3211. The spring 3211 is fixedly connected to the sliding piece 3210.

[0042] In this embodiment, the support rod 326 can usually be tightened by the elasticity of the spring 3211, thereby driving the corresponding cleaning brush 327 to abut against the surface of the monitoring bin 322, so as to drive the cleaning brush 327 to continuously fit on the surface of the monitoring bin 322, ensuring that there is always effective contact between the cleaning brush 327 and the monitoring bin 322.

[0043] An expansion sleeve 3212 is arranged outside the spring 3211. The two ends of the expansion sleeve 3212 are respectively fixedly connected to the support rod 326 and the sliding piece 3210.

[0044] In this embodiment, during the operation of the spring 3211, the telescopic sleeve 3212 can telescopically expand and contract synchronously with the sliding of the support rod 326. It is located outside the spring 3211 and is used to effectively protect the spring 3211, preventing the spring 3211 from rusting, jamming, or suffering fatigue failure due to the intrusion of external impurities such as dust, sediment, and moisture during long-term use.

[0045] One end of the support rod 326 is fixedly installed with a linear vibrator 328, and the output end of the linear vibrator 328 is fixedly connected to one side of the cleaning brush 327.

[0046] In this embodiment, during the cleaning process, the linear vibrator 328 can generate continuous and high-frequency reciprocating vibrations along the vertical direction of the cleaning brush 327, causing the cleaning brush 327 to produce a shaking brushing effect in a state of being in contact with the surface of the monitoring chamber 322, thereby effectively enhancing the frictional force between the bristles and the dirt and improving the cleaning efficiency.

[0047] The monitoring chamber 322 is set in a cylindrical shape, and a protective clamping plate 329 is tightly clamped and connected to the surface of the monitoring chamber 322.

[0048] In this embodiment, both the monitoring chamber 322 and the protective clamping plate 329 are made of transparent acrylic material. Transparent acrylic has good optical transmittance and impact resistance. It can not only meet the unobstructed acquisition requirements of the monitoring instrument 3213 for external light and images, but also has strong structural strength and weather resistance, adapting to the use environments such as wind, rain, high temperature, and sunlight in the agricultural field. The protective clamping plate 329 is detachably fixed through elastic fasteners and can be quickly disassembled when needed without affecting daily use, exposing the monitoring instrument 3213 for maintenance and calibration.

[0049] The output end of the electric slide rail 310 is fixedly installed with a moving frame 311. The electric telescopic rod 321 is fixedly installed on one side of the moving frame 311, and buffer pads 312 are fixedly installed on both the upper and lower sides of the moving frame 311.

[0050] In this embodiment, during the operation of the electric slide rail 310, it can drive the moving frame 311 to move stably in the vertical direction, and then drive the connected control pan-tilt 210 to adjust the height, enabling the monitoring chamber 322 and the monitoring instrument 3213 to adapt to the monitoring requirements of different crop heights and different observation parts. The buffer pads 312 are arranged on both the upper and lower sides of the moving frame 311. When the moving frame 311 reaches the end of the slide rail or undergoes rapid displacement, they can play a buffering and limiting role, avoiding structural shaking or collision damage of the control pan-tilt 210 caused by inertial impact and effectively extending the service life.

[0051] One side of the moving frame 311 is fixedly installed with a cable management pipe 313, and an elastic rotating plate 314 is rotatably installed on one side of the cable management pipe 313.

[0052] In this embodiment, the cable management pipe 313 is used to bind and guide the power supply cable and signal cable between the electric slide rail 310 and the control pan-tilt 210, preventing entanglement during movement. An elastic rotating plate 314 is rotatably installed on one side of the cable management pipe 313. The elastic rotating plate 314 is connected to the cable management pipe 313 through a rotating shaft and is provided with an elastic reset structure, which can automatically reset after being forced to open.

[0053] As Figure 2 、 Figure 7 、 Figure 8 and Figure 9 shown, the module assembly 330 includes a mounting seat 331 fixedly installed on one side of the control pan-tilt 210. The monitoring instrument 3213 is disposed on the surface of the mounting seat 331. A connection groove 332 is formed on the surface of the mounting seat 331. A connection ring 333 is threadedly connected to one side of the connection groove 332. Two limiting plates 334 are fixedly installed inside the connection ring 333, and both of the two limiting plates 334 are in contact with the monitoring instrument 3213.

[0054] In this embodiment, when it is necessary to replace the monitoring instrument 3213, only need to rotate the connection ring 333 to disengage it from the connection groove 332, which can drive the limiting plate 334 to disengage from the monitoring instrument 3213 together, thus realizing the quick disassembly and replacement of the monitoring instrument 3213. Different types of monitoring instruments 3213, such as multi-spectral cameras, temperature and humidity combined sensors, pest and disease image acquisition devices, etc., can be flexibly replaced according to crop types, growth cycles or monitoring objectives.

[0055] A docking block 336 is fixedly installed at the bottom of the monitoring instrument 3213. A docking groove 335 is formed on the surface of the mounting seat 331, and the docking groove 335 is slidably connected to the docking block 336

[0056] In this embodiment, the docking block 336 is set in a frustum shape, and the shape of the docking groove 335 is adapted to that of the docking block 336. When installing the monitoring instrument 3213, the docking block 336 can be slid into and positioned along the docking groove 335 to achieve quick and stable mechanical docking. At the same time, the conical surface structure of the frustum is used to improve the fitting tightness after connection, avoiding loosening or offset of the monitoring instrument 3213 during operation.

[0057] In this embodiment, after the system is started, the main control board based on the RISC-V architecture runs the OpenHarmony system to uniformly control and regulate the entire device. First, the moving seat 100 moves and deploys within the crop planting area according to a preset path or control instructions. When it moves to the target area, the electric slide rail 310 drives the moving frame 311 to lift and lower in the vertical direction, thereby driving the control pan-tilt 210 and the monitoring bin 322 to adjust to the target height. Subsequently, the control pan-tilt 210 pitches or rotates horizontally to align the monitoring instrument 3213 with different parts of the crop for image acquisition and environmental data monitoring;

[0058] When there is occlusion or pollution on the surface of the monitoring bin 322, the cleaning component 320 is automatically started. The motor 324 drives the cleaning brush 327 to brush along the surface of the bin body, and cooperates with the linear vibrator 328 to achieve high-frequency vibration cleaning to ensure clear images. After the data acquisition is completed, the monitoring information can be uploaded to the upper platform for analysis and processing through remote communication. If it is necessary to replace the monitoring module, the operator can separate the rotating connection ring 333 from the connection slot 332 to quickly disassemble and replace the monitoring instrument 3213, and the system can continue the next round of monitoring operations to achieve multi-point, multi-angle, and automated dynamic monitoring of the crop growth status.

[0059] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0060] The above-described embodiments only represent several implementation manners of the present invention. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A mechanical pan-tilt device for crop growth panoramic perception and control based on RISC-V and OpenHarmony, characterized in that: include: A movable seat (100), a control seat (200) being fixedly mounted on the surface of the movable seat (100), and a control platform (210) being arranged on one side of the control seat (200); A monitoring mobile mechanism (300), the monitoring mobile mechanism (300) comprising an electric slide rail (310), a cleaning component (320) and a module component (330), the electric slide rail (310) being fixedly connected to one side of the mobile seat (100), the cleaning component (320) being arranged on one side of the control platform (210), and the module component (330) being arranged on one side of the cleaning component (320); The cleaning component (320) comprises an electric telescopic rod (321), a monitoring chamber (322) and a monitoring instrument (3213); the electric telescopic rod (321) is arranged on one side of the electric slide rail (310); the monitoring chamber (322) is fixedly connected to the control pan-tilt platform (210); the monitoring instrument (3213) is arranged inside the monitoring chamber (322); and the output end of the electric telescopic rod (321) is fixedly connected to the control pan-tilt platform (210).

2. The crop growth panoramic perception and control mechanical pan-tilt device based on RISC-V and OpenHarmony according to claim 1 is characterized in that: The cleaning assembly (320) further comprises a fixing plate (323) fixedly mounted on the top of the monitoring chamber (322); a motor (324) is fixedly mounted on the surface of the fixing plate (323); a driving block (325) is rotatably mounted on the output end of the motor (324); a support rod (326) is disposed on one side of the driving block (325); a cleaning brush (327) is disposed on the other end of the support rod (326); and one side of the cleaning brush (327) is in contact with the surface of the monitoring chamber (322).

3. The crop growth panoramic perception and control mechanical pan-tilt device based on RISC-V and OpenHarmony according to claim 2 is characterized in that: The other end of the support rod (326) is slidably connected to the driving block (325), a sliding sheet (3210) is fixedly installed on the surface of the support rod (326), the bottom of the sliding sheet (3210) is slidably connected to the top of the fixed plate (323), and a spring (3211) is sleeved through the surface of the support rod (326), and the spring (3211) is fixedly connected to the sliding sheet (3210).

4. The crop growth panoramic perception and control mechanical pan-tilt device based on RISC-V and OpenHarmony according to claim 3 is characterized in that: A telescopic sleeve (3212) is arranged on the outside of the spring (3211), and both ends of the telescopic sleeve 3 (212) are fixedly connected to the support rod 3 (26) and the sliding sheet (3210).

5. The crop growth panoramic perception and control mechanical pan-tilt device based on RISC-V and OpenHarmony according to claim 4 is characterized in that: A linear vibrator (328) is fixedly mounted on one end of the support rod (326), and an output end of the linear vibrator (328) is fixedly connected to one side of the cleaning brush (327).

6. The crop growth panoramic perception and control mechanical pan-tilt device based on RISC-V and OpenHarmony according to claim 1, characterized in that: The monitoring chamber (322) is configured to be cylindrical in shape, and a protective clamping plate (329) is tightly connected to the surface of the monitoring chamber (322).

7. The crop growth panoramic perception and control mechanical pan-tilt device based on RISC-V and OpenHarmony according to claim 1, characterized in that: A moving frame (311) is fixedly mounted on the output end of the electric slide rail (310), the electric telescopic rod (321) is fixedly mounted on one side of the moving frame (311), and buffer pads (312) are fixedly mounted on both upper and lower sides of the moving frame (311).

8. The crop growth panoramic perception and control mechanical pan-tilt device based on RISC-V and OpenHarmony according to claim 7 is characterized in that: A wire management tube (313) is fixedly mounted on one side of the movable frame (311), and an elastic rotating plate (314) is rotatably mounted on one side of the wire management tube (313).

9. The crop growth panoramic perception and control mechanical pan-tilt device based on RISC-V and OpenHarmony according to claim 1, characterized in that: The module assembly (330) comprises a mounting seat (331) fixedly mounted on one side of the control pan / tilt platform (210); the monitoring instrument (3213) is arranged on the surface of the mounting seat (331); a connecting groove (332) is provided on the surface of the mounting seat (331); a connecting ring (333) is threadedly connected to one side of the connecting groove (332); two limit plates (334) are fixedly mounted on the inner side of the connecting ring (333); and both limit plates (334) are in contact with the monitoring instrument (3213).

10. The crop growth panoramic perception and control mechanical pan-tilt device based on RISC-V and OpenHarmony according to claim 9, characterized in that: A docking block (336) is fixedly mounted on the bottom of the monitoring instrument (3213), and a docking groove (335) is provided on the surface of the mounting seat (331), and the docking groove (335) is slidably connected to the docking block (336).

Images