Pseudo-ginseng phenotypic information intelligent acquisition vehicle with adjustable wheel track and camera position

Abstract

The invention provides a pseudo-ginseng phenotypic information intelligent acquisition vehicle with adjustable wheel track and camera position, and belongs to the technical field of agricultural robots. Aiming at the technical problems of low efficiency, poor precision and complex pseudo-ginseng planting environment (the mountain slope is 5-20 degrees, the line spacing fluctuation is 30-50cm, the plant height is 10-60cm, and a 1.5-2.5 m sunshelter is arranged above) of a traditional collecting mode, the pseudo-ginseng collecting device is characterized in that a telescopic frame is connected by a shear fork device, and a servo motor drives a wheel track adjusting device to adapt to different line spacing; the high-precision binocular camera realizes three-dimensional space adjustment through a ball screw and a guide rail slide block, and cooperates with the fixed cameras below the left and right frames to complete multi-view collection; gPS navigation, path planning and obstacle avoidance sensors are integrated, automatic tracking and manual remote control modes are supported, and an independent power supply is used for supplying power. Through wheel track self-adaptive adjustment, a camera three-dimensional motion mechanism and an integrated control system, the efficiency and precision of phenotype information collection of the panax notoginseng in the complex field are remarkably improved, and the requirement for multi-scene operation is met.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural robots, and particularly relates to an intelligent collection vehicle for Panax notoginseng phenotypic information with adjustable wheelbase and camera position. Background Technique

[0002] Crop phenotypes cover multi-dimensional parameters such as the morphological characteristics, physiological properties, and biochemical indexes of plants. Traditional phenotype collection methods have problems such as low efficiency and poor accuracy. Driven by the development of agricultural modernization and intelligence, plant phenotype collection vehicles integrating sensor technology, robot automation, and data processing technology have emerged as the times require.

[0003] Panax notoginseng mostly grows on mountains with a slope of 5-20°. Its planting row spacing fluctuates between 30-50 cm and is uneven in width. Through an adjustable wheelbase design, the collection vehicle can adapt to complex terrains and different planting spacings, effectively avoiding plant collisions. In view of the large change in the plant height of Panax notoginseng from 10-20 cm in the seedling stage to 30-60 cm in the adult stage, and the shading of the shade shed 1.5-2.5 m above, the camera height adaptive adjustment system carried can penetrate the shade shed obstacle and accurately obtain phenotypic data of plants at different growth stages.

[0004] The current collection technology has a low degree of automation and cannot adapt to different field gullies. When collecting data, it often requires manual driving of the machine or remote control operation, resulting in low efficiency and high labor costs. Summary of the Invention

[0005] In order to overcome a series of defects existing in the prior art, the purpose of the present invention is to provide an intelligent collection vehicle for Panax notoginseng phenotypic information with adjustable wheelbase and camera position in view of the above problems.

[0006] An intelligent collection vehicle for Panax notoginseng phenotypic information with adjustable wheelbase and camera position includes: A left frame, a right frame, a scissor device, a wheelbase adjustment device, an upper bracket, and a multi-camera collection module; The left frame and the right frame are hinged through the scissor device to form a telescopic vehicle body frame; The wheelbase adjustment device includes a servo motor, a reducer, and a rocker. The servo motor is fixed to the bottoms of the left frame and the right frame and drives the rocker to rotate through the reducer to synchronously adjust the wheel spacing between the left and right wheels; The upper bracket is fixed to the top of the vehicle body frame through a steel frame and is provided with a guide rail slider device and a ball screw; The multi-camera collection module includes a high-precision binocular camera, a fixed camera I, and a fixed camera II; the high-precision binocular camera is connected to the guide rail slider device through the ball screw to realize three-dimensional spatial position adjustment; the fixed camera I and the fixed camera II are respectively installed below the left frame and the right frame.

[0007] As a further improvement of the above technical solution: In the wheelbase adjustment device, the output shaft of the servo motor is coaxially connected to the input end of the reducer, and a rocker is fixed to the output end of the reducer. The rotational motion of the rocker is converted into the telescopic action of the scissor device, driving the left frame and the right frame to translate symmetrically.

[0008] The guide rail slider device includes a camera left - right adjustment motor, a coupling and a ball screw. The camera left - right adjustment motor drives the ball screw to rotate through the coupling, enabling the high - precision binocular camera to move horizontally along the guide rail; the end of the ball screw is connected to a camera height adjustment motor, which drives the outer sleeve of the screw to drive the high - precision binocular camera to move vertically.

[0009] The high - precision binocular camera is also provided with a camera front - rear adjustment motor, and the camera front - rear adjustment motor drives the high - precision binocular camera to move back and forth along with the slider bracket through a belt drive mechanism.

[0010] The left frame and the right frame are respectively provided with a left storage box and a right storage box. The left storage box houses an image processing module and a left power module, and the right storage box houses a navigation module, a microcontroller and a right power module; the left power module and the right power module independently supply power to the wheelbase adjustment device, the multi - camera acquisition module and the drive device.

[0011] The navigation module integrates a GPS positioning unit and a path planning algorithm, and the microcontroller controls the start - stop and steering of the servo motor, the camera left - right adjustment motor and the camera height adjustment motor through an L9110S motor drive module.

[0012] The telescopic range of the scissor device matches the stroke of the wheelbase adjustment device, and a first telescopic rod and a second telescopic rod are arranged above the scissor device. The fixed parts of the first telescopic rod and the second telescopic rod are respectively fixedly connected to the slider of the guide rail slider device.

[0013] A laser range - finder sensor is provided at the front end of the vehicle body, and ultrasonic sensors are provided on the peripheral side of the vehicle body. The signal output ends of the laser range - finder sensor and the ultrasonic sensors are connected to the microcontroller for real - time obstacle avoidance and path correction.

[0014] The working modes of the intelligent acquisition vehicle include an automatic tracing mode and a manual remote control mode; in the automatic tracing mode, the navigation module controls the movement of the vehicle body according to a preset path, and at the same time the microcontroller synchronously adjusts the wheelbase and the camera height to adapt to the plant growth state; in the manual remote control mode, manual control is achieved by receiving external instructions through a Bluetooth module.

[0015] The beneficial effects of the present invention are: (1)The present invention provides an intelligent vehicle for collecting crop phenotypic information with a wheelbase and three-dimensional camera position that can be flexibly adjusted. The adjustable characteristics of its wheelbase and three-dimensional camera position enable the intelligent vehicle to adapt to the planting row spacing of different crops and enhance its applicability in various field environments.

[0016] (2)In the present invention, the camera bracket has the characteristic of flexible movement up, down, left, and right. Based on this advantage, by adding specific components, the collection vehicle further expands its operation scope and adds functions such as picking and spraying pesticides. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic diagram of the control system of the present invention; Figure 3 is the fixed camera under the right frame of the present invention; Figure 4 is the fixed camera under the left frame of the present invention; Figure 5 is a schematic diagram of the image processing module of the present invention; Figure 6 is a schematic structural diagram of the guide rail slider device of the present invention; Figure 7 is a schematic connection diagram of the screw rod outer sleeve and the ball screw of the present invention; Figure 8 is a schematic connection diagram of the belt, connection fixing block Ⅰ, camera front and rear adjustment motor, connection fixing block Ⅱ, camera height adjustment motor, and slider bracket of the present invention.

[0018] In the figure: 1, left frame; 2, right frame; 3, left frame; 4, right frame; 5, left storage box; 6, right storage box; 7, laser range finder; 8, servo motor; 9, scissor device; 10, reducer; 11, left wheel drive device; 12, right wheel drive device; 13, left wheel steering device; 14, right wheel steering device; 15, steel frame; 16, camera left and right adjustment motor; 17, guide rail slider device; 18, ball screw; 19, high-precision binocular camera; 20, rocker; 21, ultrasonic sensor; 22, fixed camera Ⅰ; 23, connection fixing block Ⅱ; 24, camera height adjustment motor; 25, slider bracket; 26, belt; 27, first telescopic rod; 28, second telescopic rod; 29, connection fixing block Ⅰ; 30, upper bracket; 31, steel frame sleeve; 32, screw rod outer sleeve; 33, camera rod; 34, camera front and rear adjustment motor; 35, coupling; 36, fixed camera Ⅱ. DETAILED DESCRIPTION OF THE INVENTION

[0019] The following further describes in detail the specific embodiments of the present invention in conjunction with the drawings and embodiments. The following embodiments The examples are used to illustrate the present invention, but not to limit the scope of the present invention.

[0020] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", and "horizontal" in the present invention 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.

[0021] As Figure 1 shown, an intelligent three-seven phenotype information acquisition vehicle with adjustable wheelbase and camera position mainly consists of a wheelbase adjustment device, a multi-camera acquisition module, a left frame 1, a right frame 2, and an upper bracket 30. The left frame 1 and the right frame 2 are connected by a scissor device 9 to form a fixed frame, and the upper bracket 30 is fixed on the fixed frame through a steel frame 15 to form an overall frame. The wheelbase adjustment device is installed on the left frame 1 and the right frame 2, and can adjust the distance between the left and right wheels to adapt to the row spacing of field crops. The image acquisition module is connected to the guide rail slider device 17 of the upper bracket 30.

[0022] As Figure 1 shown, the left frame 1 includes a left wheel device, a left storage box 5, and a left frame 3. The left storage box 5 is installed on the top of the left frame 3. The left storage box 5 includes a left power module, an information storage module, a left Bluetooth module, and an image processing module. The left wheel device includes a left wheel drive device 11 and a left wheel steering device 13. The left power module provides power support for the left wheel drive device 11, the left wheel steering device 13, the left wheelbase adjustment device, the left Bluetooth module, and the information storage module.

[0023] As Figure 1 shown, the right frame 2 includes a right storage box 6, a right wheel device, and a right frame 4. The right storage box 6 is installed on the top of the right frame 4. The right storage box 6 includes a right power module, a navigation module, and a microcontroller. The right wheel device includes a right wheel drive device 12 and a right wheel steering device 14. The right power module provides power for the navigation module, the microcontroller, the right wheel drive device 12, the right wheel steering device 14, and the right wheelbase device.

[0024] As Figure 1 , 5 shown, the upper bracket 30 includes a guide rail slider device 17 and an image acquisition module. The slider guide rail is fixed to the extended end of the steel frame 15 by bolts. The image acquisition module is fixed to the guide rail slider device 17. The camera left and right adjustment motor 16 and the motor of the image acquisition module in the guide rail slider device 17 are powered by the left power module and the right power module respectively.

[0025] AsFigure 1 , 3 As shown in Figures 4 and 8, the multi-camera acquisition module consists of an image acquisition module and a fixed camera. The image acquisition module includes a high-precision binocular camera 19, a ball screw 18, a screw outer sleeve 32, a camera height adjustment motor 24, a camera front-back adjustment motor 34, and a camera left-right adjustment motor 16. The camera height adjustment motor 24 and the camera left-right adjustment motor 16 are respectively powered by a left power module and a right power module. Cooperating with the camera height adjustment motor 24, it precisely controls the movement of the camera in three-dimensional space. The camera height adjustment motor 24 is powered by the left power module. The fixed camera I 22 and the fixed camera II 36 are respectively installed under the left frame 1 and the right frame 2, and the high-precision binocular camera 19 is fixed to the camera rod 33.

[0026] As Figure 1 shown, the wheelbase adjustment mechanism consists of a servo motor 8, a reducer 10, and a rocker 20. The servo motors responsible for adjusting the left and right wheelbases are respectively powered by the corresponding left and right power modules. The servo motor 8 is placed in a box under the left frame 1 and the right frame 2. The reducer 10 is installed on the frame.

[0027] During wheelbase adjustment, the microprocessor module serves as the intelligent vehicle control core and transmits signals to the L9110S motor drive module. The L9110S motor drive module sends specific electrical signals to the servo motor 8. The servo motor 8 receives the electrical signals and rotates in the direction and at the speed indicated by the signals. The rotational power of the servo motor 8 is transmitted to the reducer 10. The reducer 10 converts the power of high-speed rotation into low-speed and high-torque power. Inside the reducer 10, a rod fixed to the rocker 20 is provided. When the reducer 10 rotates, the rod rotates synchronously, and the rotation of the rod drives the rocker 20 to rotate. When the rocker 20 rotates in a specific direction and amplitude, it generates a force on the left frame 1 and the right frame 2, causing corresponding changes in the width and length of the vehicle body. Since the heights on both the left and right sides of the vehicle body are the same, during the wheelbase change process, the left and right wheels cooperate with the wheelbase adjustment device to stretch or shorten the vehicle body width in a manner where the speeds are the same and the rotation angles are opposite, ensuring the stability and coordination of the vehicle during wheelbase adjustment.

[0028] During camera height adjustment, the microprocessor module sends a signal to the L9110S motor drive module. The L9110S drive module sends the signal to the camera height adjustment motor 24, and the motor rotates forward and backward according to the signal indication. The forward and backward rotation actions of the camera height adjustment motor 24 directly drive the ball screw 18 to rotate. The rotation of the ball screw 18 causes the camera rod 33 embedded in the screw outer sleeve 32 to move up and down along the axial direction of the screw. By controlling the forward and backward rotation and the number of rotation turns of the camera height adjustment motor 24, the high-precision binocular camera 19 moves up and down. The camera height adjustment motor 24 is connected to the ball screw 18.

[0029] The first telescopic rod 27 and the second telescopic rod 28, the slider bracket 25 slides on the piston rods of the first telescopic rod 27 and the second telescopic rod 28, the camera height adjustment motor 24 is fixed on the top of the slider bracket 25, and the two fixing parts of the first telescopic rod 27 and the second telescopic rod 28 are installed with the connecting fixing block II 23 and the connecting fixing block I 29, and the connecting fixing block II 23 and the connecting fixing block I 29 are respectively fixedly installed with the sliders in the two guide rail slider devices 17.

[0030] When adjusting the horizontal position of the camera, the microprocessor module sends a signal to the L9110S motor drive module, and the L9110S drive module transmits the signal to the camera left and right adjustment motor 16 in the guide rail slider device 17, and the motor rotates forward and backward according to the signal. This motor is connected to the ball screw 18, and the forward and reverse rotation of the motor will drive the ball screw 18 to rotate clockwise or counterclockwise. The ball screw 18 cooperates with the slider. When the ball screw 18 rotates, the slider moves left and right along the guide rail under the action of the screw, thereby driving the high-precision binocular camera 19 to move left and right. The camera front and back adjustment motor 34 is installed in the connecting fixing block II 23, and the camera front and back adjustment motor 34 and the camera bracket transmit power through the cooperation of the belt 26 and the belt pulley, driving the high-precision binocular camera 19 to move back and forth, and one side of the belt 26 is fixedly installed with the slider bracket 25.

[0031] As Figure 6 shown, the camera left and right adjustment motor 16 on the guide rail slider device 17 is connected to the ball screw 18 through a coupling 35.

[0032] As Figure 1 shown, the mechanisms on the left and right sides of the vehicle body are exactly the same. The steel frames 15 on both sides are fixedly installed on the left frame 3 and the right frame 4 on the left vehicle frame 1 and the right vehicle frame 2 through the bolt-fixed steel frame sleeves 31.

[0033] As Figure 6 shown, the guide rail slider device 17 is fixedly installed with the extension end on the steel frame 15 through bolts.

[0034] As Figure 1 shown, the sensor module includes a laser ranging sensor 7 and an ultrasonic sensor 21. The laser ranging sensor 7 is installed at the front end of the vehicle body. The ultrasonic sensor 21 is installed around the intelligent vehicle body.

[0035] The Bluetooth module is responsible for short-range communication with the mobile phone to achieve remote control and data transmission. The navigation module locates and plans the path by receiving satellite signals, enabling the intelligent vehicle to drive to the destination according to the preset route and adjust in real time according to the road conditions.

[0036] The STM32 is selected as the control module. The sensor module transmits various signals to the microprocessor. The microprocessor processes the signals according to the preset algorithm. After the processing is completed, the processor sends corresponding instructions to the corresponding components. In terms of wheel drive and steering, the microprocessor accurately regulates the speed of the drive motor and the angle of the steering motor according to the real-time road conditions and driving requirements. The microprocessor controls the motor through the L9110S drive module and controls the movement of the camera in three-dimensional space. In the automatic path tracking link of the intelligent vehicle, the microprocessor analyzes the signals transmitted by the navigation module and adjusts the driving direction and speed of the vehicle in real time. The Raspberry Pi is the image information processor. The high-precision binocular camera 19 collects plant phenotype information. The acquired data is transmitted to the Raspberry Pi in real time. The Raspberry Pi analyzes and processes the photos according to the preset algorithm. After the processing is completed, the results are sent to the mobile phone to intuitively display the analysis results. The image information processor and the microprocessor are installed in the left storage box 5 and the right storage box 6 respectively, and are powered by the left and right power modules.

[0037] As Figure 1 shown, there are two sets of wheelbase adjustment modules, vehicle running mechanisms and vehicle steering mechanisms with exactly the same structure, which are arranged on the left and right sides of the collection vehicle.

[0038] As Figure 1 shown, the scissor device 9 is installed in the pre-designed grooves of the left frame 1 and the right frame 2, restricting the change in the width of the vehicle body within a reasonable range. The change ranges of the first telescopic rod 27 and the second telescopic rod 28 are the same as that of the scissor device 9.

[0039] As Figure 1 、 3 、4 shown, the fixed camera I 22 and the fixed camera II 36 are installed below the left frame 1 and the right frame 2.

[0040] As Figure 2 shown, the working states of the information collection robot include the automatic working state and the manual control state.

[0041] In the automatic working state, the navigation module is used to record the driving trajectory of the robot, the high-precision binocular camera 19 is used to collect crop phenotype image data, and the microprocessor processes the received signals to realize the functions of automatic path tracking and automatic collection of crop phenotype information by the robot; In the manual control state, the robot's driving and steering are controlled according to the remote control signal, and the intelligent vehicle is manually controlled to collect plant phenotype information.

[0042] The specific embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the art.

Claims

1. An intelligent collection vehicle for the phenotypic information of Panax notoginseng with adjustable wheelbase and camera position, characterized in that, Including: Left frame (1), right frame (2), scissor device (9), wheelbase adjustment device, upper bracket (30) and multi-camera acquisition module; The left frame (1) and the right frame (2) are hinged through the scissor device (9) to form a telescopic vehicle body frame; The wheelbase adjustment device includes a servo motor (8), a reducer (10) and a rocker (20). The servo motor (8) is fixed to the bottoms of the left frame (1) and the right frame (2), and drives the rocker (20) to rotate through the reducer (10) to synchronously adjust the wheel spacing between the left and right wheels; The upper bracket (30) is fixed to the top of the vehicle body frame through a steel frame (15), and is provided with a guide rail slider device (17) and a ball screw (18); The multi-camera acquisition module includes a high-precision binocular camera (19), a fixed camera I (22) and a fixed camera II (36); the high-precision binocular camera (19) is connected to the guide rail slider device (17) through the ball screw (18) to realize three-dimensional spatial position adjustment; the fixed camera I (22) and the fixed camera II (36) are respectively installed below the left frame (1) and the right frame (2).

2. The intelligent acquisition vehicle according to claim 1, wherein In the wheelbase adjustment device, the output shaft of the servo motor (8) is coaxially connected to the input end of the reducer (10), and the rocker (20) is fixed to the output end of the reducer (10). The rotational motion of the rocker (20) is converted into the telescopic action of the scissor device (9) to drive the left frame (1) and the right frame (2) to translate symmetrically.

3. The intelligent acquisition vehicle according to claim 1 or 2, characterized in that, The guide rail slider device (17) includes a camera left-right adjustment motor (16), a coupling (35) and a ball screw (18). The camera left-right adjustment motor (16) drives the ball screw (18) to rotate through the coupling (35) to make the high-precision binocular camera (19) move horizontally along the guide rail; the end of the ball screw (18) is connected to a camera height adjustment motor (24) to drive the outer sleeve (32) of the screw to drive the high-precision binocular camera (19) to move vertically.

4. The intelligent acquisition vehicle according to claim 3, characterized in that, The high-precision binocular camera (19) is also provided with a camera front-back adjustment motor (34), and the camera front-back adjustment motor (34) drives the high-precision binocular camera (19) to move back and forth along with the slider bracket (25) through a belt (26) transmission mechanism.

5. The intelligent acquisition vehicle according to claim 1, wherein, The left frame (1) and the right frame (2) are respectively provided with a left storage box (5) and a right storage box (6). The left storage box (5) internally contains an image processing module and a left power module, and the right storage box (6) internally contains a navigation module, a microcontroller and a right power module; the left power module and the right power module independently supply power to the wheelbase adjustment device, the multi-camera acquisition module and the drive device.

6. The intelligent acquisition vehicle according to claim 5, wherein The navigation module integrates a GPS positioning unit and a path planning algorithm, and the microcontroller controls the start-stop and steering of the servo motor (8), the camera left-right adjustment motor (16) and the camera height adjustment motor (24) through an L9110S motor drive module.

7. The intelligent acquisition vehicle according to claim 1, wherein The telescopic range of the scissor device (9) matches the stroke of the wheelbase adjustment device, and a first telescopic rod (27) and a second telescopic rod (28) are provided above the scissor device (9). The fixed parts of the first telescopic rod (27) and the second telescopic rod (28) are fixedly connected to the slider of the guide rail slider device (17).

8. The intelligent acquisition vehicle according to claim 1, characterized in that, A laser ranging sensor (7) is provided at the front end of the vehicle body, and ultrasonic sensors (21) are provided on the periphery of the vehicle body. The signal output ends of the laser ranging sensor (7) and the ultrasonic sensors (21) are connected to a microcontroller for real-time obstacle avoidance and path correction.

9. The intelligent acquisition vehicle according to claim 1, characterized in that, The working modes of the intelligent acquisition vehicle include an automatic tracing mode and a manual remote control mode; in the automatic tracing mode, the navigation module controls the movement of the vehicle body according to a preset path, and at the same time the microcontroller synchronously adjusts the wheelbase and the camera height to adapt to the plant growth state; in the manual remote control mode, manual control is achieved by receiving external instructions through the Bluetooth module.

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