Multifunctional field information acquisition robot based on binocular vision

Abstract

The invention discloses a multifunctional field information acquisition robot based on binocular vision. The field information acquisition robot based on binocular vision comprises a control system, a moving system, a driving system, a foot force measuring device, a visual recognition camera and a picking manipulator, the control system comprises a control platform, a control platform supporting rod and a control platform stepping motor. The moving system comprises a moving platform, a moving platform supporting rod and a moving platform stepping motor. The driving system is arranged in the moving system; the foot force measuring device is arranged at the bottom of the control platform supporting rod and the bottom of the mobile platform supporting rod. The visual identification camera is arranged at the center of the bottom of the control platform; the picking manipulators are arranged on the two sides of the control platform. The invention provides a multifunctional field information collection robot based on binocular vision. The problems that in the prior art, a large amount of manpower is consumed, and collected information is inaccurate are solved.

Description

Technical Field

[0001] The present invention relates to the field of agricultural equipment, and specifically to a multi-functional field information collection robot based on binocular vision. Background Art

[0002] In modern agricultural production, traditional field information collection methods have problems such as low efficiency, poor data accuracy, and high labor costs, and cannot respond to changes in the field environment in real time. The present invention utilizes advanced sensing technologies and automated systems to be able to collect data such as the real-time growth conditions of crops and field debris. Through precise data analysis, it helps farmers promptly discover problems, optimize farming operations such as irrigation and fertilization, greatly improves the efficiency and accuracy of agricultural production, reduces labor costs, and realizes precision agricultural management. Summary of the Invention

[0003] The purpose of the present invention is to provide a multi-functional field information collection robot based on binocular vision, whose functions are to automatically collect field information and remove debris, solving the deficiencies of existing field information collection.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is: a multi-functional field information collection robot based on binocular vision, including a control system, a mobile system, a drive system, a foot force measuring device, a visual recognition camera, and a picking manipulator.

[0005] The multi-functional field information collection robot based on binocular vision is characterized in that: it includes a control system, a mobile system, a drive system, a foot force measuring device, a visual recognition camera, and a picking manipulator. The control system is installed in the grooves on both sides of the mobile system, and the drive system is respectively linked to the control system and the mobile system; the foot force measuring devices are respectively arranged at the bottoms of the control system and the support rods of the mobile system; the visual recognition camera is arranged at the center of the bottom of the control system; the picking manipulator is arranged on both sides of the control system.

[0006] The control system includes a control platform, four control platform support rods, and four control platform stepping motors. Four hollow tubes are arranged on both sides of the control platform for connecting the four control platform support rods; the four control platform stepping motors are arranged at the serrated parts of the four control platform support rods. When the control platform stepping motors work, they drive the control platform support rods to expand and contract by rotating gears.

[0007] The mobile system includes a mobile platform, four support rods for the mobile platform, and four stepping motors for the mobile platform. Four hollow tubes are provided on both sides of the mobile platform for connecting the four support rods for the mobile platform; the four stepping motors for the mobile platform are arranged at the serrated parts of the four support rods for the mobile platform. When the stepping motors for the mobile platform work, they drive the support rods for the mobile platform to expand and contract by rotating gears.

[0008] The drive system includes two slide rods, two slide columns, two lead screws, and two motors. The slide rods pass through the through holes above the control platform and are respectively connected to the lead screws and the slide columns at both ends; the motors are connected to the bottoms of the lead screws; when the motors work, they drive the slide rods to slide on the slide columns to drive the control platform to slide.

[0009] The foot force measuring device includes a pressing part and a pressure sensing platform. The pressing part is connected to the support rod of the control platform and the support rod of the mobile platform; the pressure sensing platform is arranged at the bottom of the pressing part and controls the movement of the support rod of the control platform and the support rod of the mobile platform by measuring the magnitude of the pressure.

[0010] The visual recognition camera is arranged at the center of the bottom of the control platform to collect information about field crops.

[0011] The picking manipulator includes three mechanical linkages, a connecting device, and a mechanical hand; the three mechanical linkages are connected in sequence. The first link is arranged at the hollow parts on both sides of the control platform, and the third link is connected to the mechanical hand through the connecting device.

[0012] The mechanical hand includes a manipulator stepping motor, three clamping structures, three manipulator tendons, three mechanical finger joints, and five sensors; after the sensors sense the surrounding crop environment, the manipulator stepping motor drives the manipulator tendons and the mechanical finger joints to pick weeds through the clamping structures to ensure the normal growth of crops.

[0013] After the present invention collects the surrounding environment of field crops through the visual recognition camera, the drive system connected to the mobile system drives the control system to move, and the picking manipulator picks up sundries; through the cooperation of the support rod and the stepping motor in the control system, the support rod and the stepping motor in the mobile system, and the drive system, the robot is driven to move to an ideal position. After the robot collects the crop information of the entire planting area, the work ends. Description of the Drawings

[0014] Figure 1 It is a schematic top view of a multi-functional field information collection robot based on binocular vision of the present invention.

[0015] Figure 2It is a schematic diagram of the bottom structure of a multi-functional field information acquisition robot based on binocular vision of the present invention.

[0016] Figure 3 It is a schematic diagram of the structure of the motor and the lead screw of the present invention.

[0017] Figure 4 It is a schematic diagram of the structure of the support rod of the present invention.

[0018] Figure 5 It is a schematic diagram of the structure of the stepper motor of the present invention

[0019] Figure 6 It is a schematic diagram of the structure of the picking manipulator of the present invention

[0020] Figure 7 It is a schematic diagram of the structure of the robotic hand of the present invention

[0021] As shown in the figure: 1 - control system, 101 - control platform, 102 - control platform support rod, 103 - control platform stepper motor, 2 - mobile system, 201 - mobile platform, 202 - mobile platform support rod, 203 - mobile platform stepper motor, 3 - drive system, 301 - slide bar, 302 - slide column, 3031 - lead screw, 3032 - motor, 4 - foot force measuring device, 401 - pressing part, 402 - pressure sensor, 5 - vision recognition camera, 6 - manipulator, 601 - mechanical link 1, 602 - mechanical link 2, 603 - mechanical link 3, 604 - tail of mechanical link 3, 605 - linking device, 606 - robotic hand, 6061 - manipulator stepper motor, 6062 - mechanical finger joint, 6063 - clamping structure, 6064 - manipulator tendon, 6065 - sensor. Detailed implementation manners

[0022] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, in the description of the present invention, the meaning of "a plurality of" is two or more, unless otherwise specifically defined.

[0024] The following further elaborates on a multi-functional robot based on binocular vision of the present invention with reference to the accompanying drawings.

[0025] The control system 1 includes a control platform 101, four control platform support rods 102, and four control platform stepping motors 103. Four hollow tubes are provided on both sides of the control platform 101 for connecting the four control platform support rods 102; the four control platform stepping motors 103 are arranged at the serrated parts of the four control platform support rods 102. When the control platform stepping motor 103 operates, it drives the control platform support rod 102 to expand and contract by rotating the gear.

[0026] The mobile system 2 includes a mobile platform 201, four mobile platform support rods 202, and four mobile platform stepping motors 203. Four hollow tubes are provided on both sides of the mobile platform 201 for connecting the four mobile platform support rods 202; the four mobile platform stepping motors 203 are arranged at the serrated parts of the four mobile platform support rods 202. When the mobile platform stepping motor 203 operates, it drives the mobile platform support rod 202 to expand and contract by rotating the gear.

[0027] The drive system 3 includes two slide bars 301, two slide columns 302, two lead screws 3031, and two motors 3032. The slide bar 301 passes through the through holes above the control platform 1 and is connected to the lead screw 3031 and the slide column 302 at both ends respectively; the motor 3032 is connected to the bottom of the lead screw 3031; when the motor 3032 operates, it drives the slide bar 301 to slide on the slide column 302 to drive the control platform 1 to slide.

[0028] The foot force measuring device 4 includes a pressing part 401 and a pressure sensing platform 402. The pressing part 401 is connected to the control platform support rod 102 and the mobile platform support rod 202; the pressure sensing platform 402 is arranged at the bottom of the pressing part 401 and controls the movement of the control platform support rod 102 and the mobile platform support rod 202 by measuring the magnitude of the pressure.

[0029] The visual recognition camera 5 is arranged at the center of the bottom of the control platform 1 to collect information on field crops.

[0030] The picking manipulator 6 includes three mechanical linkages 601-603, a linkage tail 604, a linking device 605, and a mechanical hand 606; the three mechanical linkages 601-603 are linked in sequence, the first linkage 601 is arranged at the hollow parts on both sides of the control platform 1, and the tail 604 of the third linkage is linked to the mechanical hand 606 through the linking device 605.

[0031] The mechanical hand 606 includes a manipulator stepping motor 6061, three clamping structures 6063, three manipulator tendons 6064, three mechanical finger joints 6062, and five sensors 6065; after the sensors 6065 sense the surrounding crop environment, the manipulator stepping motor 6061 drives the manipulator tendons 6064 and the mechanical finger joints 6062, and clamps the picked weeds through the clamping structures 6063 to ensure the normal growth of crops.

[0032] First, place the robot in a suitable position and ensure that the four control platform support rods 102 are fixed. After starting the control system 1, the four control platform stepping motors 103 start to work, driving the control platform support rods 102 to perform telescopic adjustment. Then, after the four mobile platform stepping motors 203 are enabled, they drive the mobile platform support rods 202 to expand and contract through gears, enabling the mobile platform 201 to be flexibly adjusted in space. During this process, the slide bar 301 and the slide column 302 of the drive system 3 start to work together. The slide bar 301 is driven by the motor 3032 in the control system to slide on the slide column 302, thereby realizing the precise movement of the control platform 1. This operation can ensure the smooth movement of the entire system. The foot force measuring device 4 monitors and measures the pressure under the platform in real time through the pressing part 401 and the pressure sensing platform 402. By detecting the pressure change, the system can precisely control the movement of the four support rods 102 and 202, making the operation of the entire platform more stable. At the same time, the visual recognition camera 5 starts to work, collecting and analyzing information on field crops to provide data support for subsequent picking. The three mechanical linkages 601-603 of the picking manipulator 6 are adjusted one by one under the command of the control platform, and finally the mechanical hand 606 accurately clamps the weeds through the clamping structures 6063 to ensure that the crops are not damaged during the picking process. At this time, all systems work together. After completing the tasks of collecting field information and picking weeds, the control platform returns to the initial position and ends the operation.

[0033] The above-disclosed is only a preferred embodiment of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present invention still fall within the scope covered by the invention.

Claims

1. A multi-functional field information acquisition robot based on binocular vision, characterized in that it includes a control system, a mobile system, a driving system, a foot force measuring device, a visual recognition camera, and a picking manipulator. The control system is installed in the grooves on both sides of the mobile system, and the driving system is respectively linked to the control system and the mobile system; the foot force measuring devices are respectively arranged at the bottoms of the control system and the support rods of the mobile system; the visual recognition camera is arranged at the center of the bottom of the control system; the picking manipulator is arranged on both sides of the control system.

2. The multi-functional field information acquisition robot based on binocular vision according to claim 1, characterized in that the control system includes a control platform, four control platform support rods, and four control platform stepping motors. Four hollow tubes are arranged on both sides of the control platform for linking the four control platform support rods; the four control platform stepping motors are arranged at the serrated parts of the four control platform support rods. When the control platform stepping motors work, they drive the control platform support rods to expand and contract by rotating gears.

3. The multi-functional field information acquisition robot based on binocular vision according to claim 1, characterized in that the mobile system includes a mobile platform, four mobile platform support rods, and four mobile platform stepping motors. Four hollow tubes are arranged on both sides of the mobile platform for linking the four mobile platform support rods; the four mobile platform stepping motors are arranged at the serrated parts of the four mobile platform support rods. When the mobile platform stepping motors work, they drive the mobile platform support rods to expand and contract by rotating gears.

4. The multi-functional field information acquisition robot based on binocular vision according to claim 1, characterized in that the driving system includes two slide bars, two slide columns, two lead screws, and two motors. The slide bars pass through the through holes above the control platform and are respectively linked to the lead screws and the slide columns at both ends; the motors are linked to the bottoms of the lead screws; when the motors work, they drive the slide bars to slide on the slide columns to drive the control platform to slide.

5. The multi-functional field information acquisition robot based on binocular vision according to claim 1, characterized in that the foot force measuring device includes a pressure application part and a pressure sensing platform. The pressure application part is linked to the control platform support rod and the mobile platform support rod; the pressure sensing platform is arranged at the bottom of the pressure application part and controls the movement of the control platform support rod and the mobile platform support rod by measuring the pressure.

6. The multi-functional field information acquisition robot based on binocular vision according to claim 1, characterized in that the visual recognition camera is arranged at the center of the bottom of the control platform to collect field crop information.

7. The multi-functional field information acquisition robot based on binocular vision according to claim 1, characterized in that The picking manipulator includes three mechanical linkages, a linking device, and a mechanical hand; the three mechanical linkages are linked in sequence, the first linkage is arranged at the hollow parts on both sides of the control platform, and the third linkage is linked to the mechanical hand through the linking device.

8. The mechanical hand according to claim 7, wherein it includes a manipulator stepping motor, a clamping structure, three manipulator ribs, three mechanical finger joints, and five sensors; after the sensors sense the surrounding crop environment, the manipulator stepping motor drives the manipulator ribs and the mechanical finger joints to pick weeds through the clamping structure to ensure the normal growth of crops.

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