A system for monitoring plant growth in grassland grazing areas

Abstract

The present invention discloses a system for monitoring the growth status of plants in grassland grazing areas. The system moves to a sampling location via an unmanned vehicle. When collecting plants, a sampling mechanism first lowers a sampling shovel to the ground, then extends the sampling shovel and cuts into the soil, while a mechanical claw descends and clamps the sampled plants. Then the sampling mechanism drives the sampling shovel to rise in coordination with the mechanical claw to separate the plants from the soil. Automatic excavation of plants is achieved through the coordination of the sampling mechanism, the sampling shovel and the mechanical claw. The active connecting rod, the driven connecting rod and the sampling seat are coordinated so that the front end of the sampling seat can be tilted downward when the unmanned vehicle is located, which is convenient for cutting soil. The front end of the sampling seat can be tilted upward when the unmanned vehicle is located, which is convenient for collecting root soil in coordination with a closed baffle. The sampling shovel is retracted to drive the baffle to open, which is convenient for dumping the root soil into a sampling box.

Description

Technical Field

[0001] The present invention relates to the field of monitoring technology, in particular to a system for monitoring plant growth conditions in grassland grazing areas. Background Art

[0002] The growth of plants in grassland grazing areas is affected by a combination of ecological factors, such as soil and weather. Monitoring plant growth in grassland grazing areas involves collecting and recording data on plants and soil. Sampling soil from plant roots is of great significance in the monitoring system for plant growth in grassland grazing areas.

[0003] Existing plant root soil sampling methods involve digging up plant roots with a shovel, shaking the plants to separate the roots and the root soil, and then preserving the roots and root soil separately. The root soil serves as a control group for studying root nutrient absorption. Existing systems for monitoring plant growth in grassland grazing areas suffer from low automation and high labor intensity when sampling plant root soil. Therefore, a more automated system for monitoring plant growth in grassland grazing areas is needed. Summary of the Invention

[0004] The purpose of the present invention is to provide a system for monitoring plant growth in grassland grazing areas to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a system for monitoring plant growth conditions in grassland grazing areas, comprising an unmanned vehicle provided with a sampling mechanism;

[0006] The sampling mechanism includes a sampling bracket, which is rotatably arranged on the unmanned vehicle, and has one end of an active connecting rod rotatably arranged on the sampling bracket, and the other end of the active connecting rod rotatably arranged on a sampling seat, and the other end of the sampling seat rotatably arranged on one end of a driven connecting rod, and the other end of the driven connecting rod rotatably arranged on the sampling bracket, and a sampling shovel is telescopically arranged on the sampling seat;

[0007] The front end of the sampling shovel is used for cutting soil, and the rear end is provided with a baffle. When the sampling shovel moves under the unmanned vehicle, the front end tilts downward, and when the sampling shovel moves onto the unmanned vehicle, the front end tilts upward. When the sampling shovel retracts, it can drive the baffle to open;

[0008] The unmanned vehicle is equipped with a two-axis gantry slide, the output end of which is fixed with a clamping telescopic rod, and the output end of which is fixed with a mechanical claw;

[0009] A working port is provided at the bottom of the unmanned vehicle, from which a sampling shovel and a mechanical claw can extend. A funnel is fixed above the working port of the unmanned vehicle, and a plurality of sampling boxes and a plurality of refrigerated boxes are fixed on the unmanned vehicle.

[0010] Preferably, one end of the sampling bracket is rotatably provided with one end of a lifting and telescopic rod, and the other end of the lifting and telescopic rod is rotatably provided on the active connecting rod.

[0011] Preferably, the mechanical claw includes a mounting box, which is fixed under the clamping telescopic rod. Two clamping claws are rotatably arranged on the mounting box. The rotation centers of the two clamping claws are symmetrically arranged, and the rotation directions of the two clamping claws are opposite. Each clamping claw is driven by a clamping motor, and the clamping motor is fixed in the mounting box.

[0012] Preferably, the clamping jaws include an inner jaw piece and two outer jaw pieces, the outer jaw pieces are rotatably arranged on the mounting box, the clamping motor can drive the outer jaw pieces, a connecting frame is fixed between the two outer jaw pieces, and the inner jaw piece is fixed on the connecting frame.

[0013] Preferably, protective plates are fixed on both sides of the sampling seat.

[0014] Preferably, one end of a return torsion spring is fixed on the baffle, and the other end of the return torsion spring is fixed on the sampling shovel. In the free state, the return torsion spring keeps the baffle pressing the rear end of the sampling shovel.

[0015] Preferably, the sampling seat includes a shell, an active connecting rod and a driven connecting rod are rotatably arranged on the shell, a sampling telescopic rod is fixed in the shell, a sampling shovel is fixed at the output end of the sampling telescopic rod, a mounting rod is fixed on the rear end of the sampling shovel, and the mounting rod is slidably arranged in the shell.

[0016] Preferably, a rack is fixed to the housing near the sampling shovel, and a gear is rotatably provided on the mounting rod, and the gear can be meshed and connected to the rack;

[0017] One end of a transmission connecting rod is rotatably arranged on the gear, and the other end of the transmission connecting rod is rotatably arranged on an opening and closing wheel, and the opening and closing wheel is coaxially fixed with the baffle.

[0018] Preferably, a magnet is fixed on the shell, a pin seat is fixed on the mounting rod, a ferromagnetic slider is slidingly provided on the pin seat, a rope drum is coaxially fixed on the baffle, a pulley is rotatably provided on the mounting rod, one end of the rope is fixed on the rope drum, and the other end of the rope is passed around the pulley and fixed on the ferromagnetic slider, and a limiting platform is fixed on the end of the ferromagnetic slider close to the sampling shovel.

[0019] Preferably, the refrigerator includes a box body, which is fixed on the unmanned vehicle, and ice cubes can be placed in the box body. The box body is rotatably provided with an upper cover, which is driven by an opening and closing motor. The opening and closing motor is fixed in a protective shell, and the protective shell is fixed to the side of the box body.

[0020] Compared with the existing technology, the beneficial effect of the present invention is: when the unmanned vehicle moves to the sampling site and collects plants, the sampling mechanism first lowers the sampling shovel to the ground, then the sampling shovel extends and cuts into the soil, and at the same time the mechanical claw descends to clamp the sampled plants, and then the sampling mechanism drives the sampling shovel to rise and cooperate with the mechanical claw to rise, so that the plants are separated from the soil. Through the cooperation of the sampling mechanism, the sampling shovel and the mechanical claw, the automated excavation of plants is realized.

[0021] When separating plant roots and root soil, the sampling mechanism first drives the sampling shovel to move under the funnel, so that the front end of the sampling shovel tilts upward, and shakes the plant through the high-frequency reciprocating motion of the two-axis gantry slide, so that the root soil on the plant roots falls through the funnel onto the sampling shovel. Then the two-axis gantry slide drives the mechanical claw to store the plant in the refrigerator. At the same time, the sampling bracket rotates to move the sampling shovel to the sampling box. Then the sampling shovel retracts and drives the baffle to open, so that the root soil in the sampling shovel falls into the sampling box, realizing the automatic separation of plant roots and root soil, and the automated storage of plants and root soil, reducing labor intensity and improving the working efficiency of the grassland grazing area plant growth status monitoring system.

[0022] Through the cooperation of the active connecting rod, the driven connecting rod and the sampling seat, the front end of the sampling seat can be tilted downward when it is under the unmanned vehicle, which is convenient for cutting soil. When the sampling seat is on the unmanned vehicle, the front end can be tilted upward, and the closed baffle is used to facilitate collecting root soil. The baffle is opened when the sampling shovel is retracted, which is convenient for dumping the root soil into the sampling box. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is an axonometric view of the first embodiment of the present invention, in which the sampling shovel is located below the unmanned vehicle with its front end tilted downward;

[0024] Figure 2 This is an axonometric diagram of the sampling mechanism according to the first embodiment of the present invention;

[0025] Figure 3 This is an axonometric view of the gripping telescopic rod and mechanical claw of the present invention;

[0026] Figure 4 This is an isometric view of the sampling seat and sampling shovel according to the first embodiment of the present invention, with the sampling shovel in the retracted position and the baffle open;

[0027] Figure 5 This is an isometric view of the sampling seat and the sampling shovel from another angle according to the first embodiment of the present invention, with the sampling shovel in the retracted position and the baffle open;

[0028] Figure 6 This is an axonometric view from another angle of the first embodiment of the present invention, in which the sampling shovel is located above a sampling box;

[0029] Figure 7This is an axonometric view of the sampling seat and the sampling shovel according to the second embodiment of the present invention, with the sampling shovel in the extended position and the baffle closed;

[0030] Figure 8 This is an axonometric view of the second embodiment of the present invention, where the sampling shovel is located below the funnel;

[0031] Figure 9 For the present invention Figure 7 A partial enlarged view of point A.

[0032] In the figure: 101, unmanned vehicle, 102, sampling shovel, 103, baffle, 104, two-axis gantry slide, 105, clamping telescopic rod, 106, working port, 107, funnel, 108, sampling box, 109, protection plate, 110, indexing motor, 111, gantry, 112, crossbeam, 113, slide, 200, sampling mechanism, 201, sampling bracket, 202, active connecting rod, 203, driven connecting rod, 204, lifting telescopic rod, 300, sampling seat, 301, shell, 3 02. Sampling telescopic rod, 303. Mounting rod, 304. Rack, 305. Gear, 306. Transmission connecting rod, 307. Opening and closing wheel, 309. Magnet, 310. Ferromagnetic slider, 311. Rope drum, 312. Pulley, 313. Rope, 314. Limiting platform, 315. Pin seat, 400. Mechanical claw, 401. Mounting box, 402. Outer claw piece, 403. Inner claw piece, 404. Connecting frame, 500. Refrigerated box, 501. Box body, 502. Top cover, 503. Protective shell. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] Embodiment 1: The present invention provides a technical solution: Figure 1 As shown, a system for monitoring plant growth conditions in grassland grazing areas includes an unmanned vehicle 101 , on which a sampling mechanism 200 is provided.

[0035] like Figure 1 、 2As shown, the sampling mechanism 200 includes a sampling bracket 201, which is rotatably set on the unmanned vehicle 101, and one end of an active connecting rod 202 is rotatably set on the sampling bracket 201, and the other end of the active connecting rod 202 is rotatably set on one end of a sampling seat 300, and the other end of the sampling seat 300 is rotatably set on one end of a driven connecting rod 203, and the other end of the driven connecting rod 203 is rotatably set on the sampling bracket 201, and a sampling shovel 102 is telescopically set on the sampling seat 300.

[0036] The rotation of the active connecting rod 202 can drive the sampling seat 300 to move, and then drive the driven connecting rod 203 to rotate. The movement of the sampling seat 300 can drive the sampling shovel 102 to move.

[0037] like Figure 2 As shown, the front end of the sampling shovel 102 is used for cutting soil, and the rear end is provided with a rotating baffle 103. When the baffle 103 is closed, it can block the communication between the sampling shovel 102 and the sampling seat 300. At this time, the soil in the sampling shovel 102 cannot enter the sampling seat 300. When the baffle 103 is opened, the sampling shovel 102 and the sampling seat 300 are in a communication state, and the soil in the sampling shovel 102 can enter the sampling seat 300. When the sampling shovel 102 moves under the unmanned vehicle 101, the front end of the sampling shovel 102 tilts downward, and when the sampling shovel 102 moves onto the unmanned vehicle 101, the front end tilts upward. When the sampling shovel 102 retracts, it can drive the baffle 103 to open.

[0038] like Figure 1 、 6 As shown, a two-axis gantry slide 104 is installed on the unmanned vehicle 101, and a clamping telescopic rod 105 is fixed to the output end of the two-axis gantry slide 104. The two-axis gantry slide 104 is a common component that can drive the output end to perform planar motion along the X-axis or Y-axis. In this embodiment, the two-axis gantry slide 104 includes a gantry frame 111, a crossbeam 112 and a slide 113, wherein the slide 113 serves as the output end of the two-axis gantry slide 104. In this embodiment, the gantry frame 111 is fixed to the unmanned vehicle 101. The crossbeam 112 is slidably arranged on the gantry 111. The movement of the crossbeam 112 can drive the slide 113 to move along the X-axis direction. The slide 113 is slidably arranged on the crossbeam 112. The movement of the slide 113 along the crossbeam 112 can make it move along the Y-axis direction. A clamping telescopic rod 105 is fixed on the side of the slide 113. A mechanical claw 400 is fixed to the output end of the clamping telescopic rod 105. In this embodiment, the clamping telescopic rod 105 adopts a multi-stage electric push rod, which is a commonly used telescopic component.

[0039] like Figure 1 、 6As shown, in this embodiment, the rotation of the sampling bracket 201 is achieved by an indexing motor 110. The indexing motor 110 is fixed on the gantry 111 of the two-axis gantry slide 104. The sampling bracket 201 is fixed to the output end of the indexing motor 110. The indexing motor 110 can drive the sampling bracket 201 to rotate, and then drive the sampling mechanism 200 to rotate as a whole.

[0040] like Figure 1 As shown, a working port 106 is opened at the bottom of the unmanned vehicle 101, and the sampling shovel 102 and the mechanical claw 400 can be extended from the working port 106. A funnel 107 is fixed to the position of the unmanned vehicle 101 above the working port 106, and multiple sampling boxes 108 and multiple refrigerated boxes 500 are fixed on the unmanned vehicle 101.

[0041] When collecting plants, the unmanned vehicle 101 first moves to the sampling location, and then the active connecting rod 202 rotates downward, thereby driving the sampling seat 300 to move downward, and then driving the driven connecting rod 203 to rotate downward. The downward movement of the sampling seat 300 can drive the sampling shovel 102 to move downward, so that the sampling shovel 102 extends from the working port 106 and falls to the ground.

[0042] After the sampling shovel 102 touches the ground, the sampling shovel 102 extends and cuts into the soil. At the same time, the crossbeam 112 and the slide 113 of the two-axis gantry slide 104 move to drive the clamping telescopic rod 105 to move above the sampled plant. Then the clamping telescopic rod 105 extends, thereby driving the mechanical claw 400 to descend through the working port 106. After the mechanical claw 400 descends to the ground, it clamps the sampled plant.

[0043] After the sampling shovel 102 is completely cut into the soil, the active connecting rod 202 rotates upward, thereby driving the sampling seat 300 to move upward, and then driving the driven connecting rod 203 to rotate upward. The upward movement of the sampling seat 300 can drive the sampling shovel 102 to move upward until the sampling shovel 102 leaves the ground. At the same time, the clamping telescopic rod 105 is shortened, thereby driving the mechanical claw 400 to rise. The rise of the mechanical claw 400 and the upward movement of the sampling shovel 102 can make the sampled plants rise, and then make the sampled plants enter the funnel 107 on the unmanned vehicle 101 through the opening below the funnel 107, completing the plant collection work. At the same time, the upward movement of the sampling shovel 102 digs a hole in the ground.

[0044] When separating the plant roots and the root soil, the active connecting rod 202 rotates downward again, thereby driving the sampling seat 300 to move downward, and then driving the driven connecting rod 203 to rotate downward. The downward movement of the sampling seat 300 can drive the sampling shovel 102 to move downward. At this time, the surface debris and large pieces of soil in the sampling shovel 102 are separated from the root soil attached to the plant roots. The sampling shovel 102 first returns to the pit, and then the sampling shovel 102 retracts and leaves the ground, so that the surface debris and large pieces of soil in the sampling shovel 102 remain in the pit dug by the sampling shovel 102 before, thereby achieving the effect of removing surface debris and large pieces of soil.

[0045] After the sampling shovel 102 leaves the ground again, the active connecting rod 202 rotates upward again, thereby driving the sampling seat 300 to move upward, and then driving the driven connecting rod 203 to rotate upward. The upward movement of the sampling seat 300 can drive the sampling shovel 102 to move, so that the sampling shovel 102 moves to a position where the front end is tilted upward. At the same time, the sampling shovel 102 is extended again so that the sampling shovel 102 moves to the bottom of the funnel 107.

[0046] After the sampling shovel 102 moves to the bottom of the funnel 107, the high-frequency reciprocating motion of the crossbeam 112 and the slide 113 of the two-axis gantry slide 104 drives the clamping telescopic rod 105 and the mechanical claw 400 to reciprocate at high frequency, thereby causing the plant clamped by the mechanical claw 400 to shake, thereby separating the root soil on the plant root system from the plant root system. Subsequently, the root soil falls onto the sampling shovel 102 through the lower opening of the funnel 107 under the action of its own weight, completing the work of separating the plant roots and the root soil.

[0047] When storing plants, the clamping telescopic rod 105 continues to shorten, thereby driving the mechanical claw 400 and the sampled plants to rise, so that the sampled plants rise above the funnel 107, and then the crossbeam 112 and the slide 113 of the two-axis gantry slide 104 drive the clamping telescopic rod 105 to move to a cold storage box 500, and then the clamping telescopic rod 105 is extended again to store the plants in the cold storage box 500, and then the mechanical claw 400 releases the plants, and at the same time the clamping telescopic rod 105 is shortened again, so that the plants remain in the cold storage box 500.

[0048] like Figure 6 As shown, when storing root soil, the sampling bracket 201 rotates first, causing the sampling shovel 102 to rotate onto a sampling box 108, and then the sampling shovel 102 shortens again and drives the baffle 103 to open, so that the root soil in the sampling shovel 102 falls into the sampling box 108 along the sampling seat 300 under the action of its own weight.

[0049] The unmanned vehicle 101 moves to the sampling site. When collecting plants, the sampling mechanism 200 first lowers the sampling shovel 102 to the ground, and then the sampling shovel 102 extends and cuts into the soil. At the same time, the mechanical claw 400 descends to clamp the sampled plants. Then the sampling mechanism 200 drives the sampling shovel 102 to rise and cooperates with the mechanical claw 400 to rise, so that the plants are separated from the soil. Through the cooperation of the sampling mechanism 200, the sampling shovel 102 and the mechanical claw 400, the automated excavation of plants is realized.

[0050] When separating the plant roots and root soil, the sampling mechanism 200 first drives the sampling shovel 102 to move under the funnel 107, so that the front end of the sampling shovel 102 is tilted upward, and the plant is shaken by the high-frequency reciprocating motion of the two-axis gantry slide 104, so that the root soil on the plant roots falls onto the sampling shovel 102 through the funnel 107, and then the two-axis gantry slide 104 drives the mechanical claw 400 to store the plant in the refrigerator 500. At the same time, the sampling bracket 201 rotates to move the sampling shovel 102 to the sampling box 108, and then the sampling shovel 102 retracts and drives the baffle 103 to open, so that the root soil in the sampling shovel 102 falls into the sampling box 108, realizing the automatic separation of the plant roots and root soil, and the automatic storage of plants and root soil, reducing labor intensity and improving the working efficiency of the grassland grazing area plant growth status monitoring system.

[0051] Through the cooperation of the active connecting rod 202, the driven connecting rod 203 and the sampling seat 300, the front end of the sampling seat 300 can be tilted downward when it is under the unmanned vehicle 101, which is convenient for cutting soil. When the sampling seat 300 is on the unmanned vehicle 101, the front end can be tilted upward, and the closed baffle 103 is used to facilitate collecting root soil. The baffle 103 is opened when the sampling shovel 102 is retracted, which facilitates pouring the root soil into the sampling box 108.

[0052] like Figure 2 As shown, one end of the sampling bracket 201 is rotatably mounted with one end of a telescopic lifting rod 204, and the other end of the telescopic lifting rod 204 is rotatably mounted on the active connecting rod 202. In this embodiment, the telescopic lifting rod 204 is an electric push rod. The extension of the telescopic lifting rod 204 can drive the active connecting rod 202 to rotate downward, and the shortening of the telescopic lifting rod 204 can drive the active connecting rod 202 to rotate upward.

[0053] like Figure 1 、 3As shown, the mechanical gripper 400 includes a mounting box 401, which is fixed under the gripping telescopic rod 105. Two gripping jaws are rotatably mounted on the mounting box 401. The rotation centers of the two gripping jaws are symmetrically arranged, and the two gripping jaws rotate in opposite directions. Each gripping jaw is driven by a gripping motor, which is fixed inside the mounting box 401. The gripping motor can drive the gripping jaws to rotate. When the two gripping jaws approach each other, they can clamp the plant. When the two gripping jaws move away from each other, they can release the plant.

[0054] like Figure 1 、 3 As shown, to facilitate plant grasping, the clamp includes an inner jaw 403 and two outer jaws 402. The outer jaws 402 are rotatably mounted on a mounting box 401. A clamping motor drives the outer jaws 402. A connecting frame 404 is fixed between the two outer jaws 402, and the inner jaw 403 is fixed to the connecting frame 404. The rotation of the clamping motor drives the outer jaws 402, which in turn drives the connecting frame 404, which in turn drives the inner jaws 403, so that the outer jaws 402 and the inner jaws 403 are inserted into the plant branches, thereby improving the reliability of plant grasping.

[0055] like Figure 4 As shown, in order to prevent the root soil flowing out of the opening of the baffle 103 from being scattered outside the sampling box 108 when falling into the sampling box 108 by the sampling shovel 102, protective plates 109 are fixed on both sides of the sampling seat 300.

[0056] In order to enable the baffle 103 to press the sampling shovel 102, one end of a return torsion spring is fixed on the baffle 103, and the other end of the return torsion spring is fixed on the sampling shovel 102. The return torsion spring keeps the baffle 103 pressing the rear end of the sampling shovel 102 in a free state, thereby keeping the baffle 103 in a closed state.

[0057] In order to make the sampling shovel 102 drive the baffle 103 to close when it is extended and to drive the baffle 103 to open when it is retracted, as shown in FIG. Figure 2 、 4 As shown in Figures 5 and 7, the sampling seat 300 includes a housing 301, on which an active connecting rod 202 and a driven connecting rod 203 are rotatably provided. A sampling telescopic rod 302 is fixed in the housing 301. In this embodiment, the sampling telescopic rod 302 adopts an electric push rod. The output end of the sampling telescopic rod 302 is fixed with a sampling shovel 102, and a mounting rod 303 is fixed to the rear end of the sampling shovel 102. The mounting rod 303 is slidably provided in the housing 301. The extension of the sampling telescopic rod 302 can drive the sampling shovel 102 to extend, thereby driving the mounting rod 303 to extend ( Figure 7 The sampling shovel 102 and the mounting rod 303 are in the extended state), the shortening of the sampling telescopic rod 302 can drive the sampling shovel 102 to retract, and then drive the mounting rod 303 to retract ( Figure 4 、 Figure 5 The sampling shovel 102 and the mounting rod 303 are in a retracted state).

[0058] like Figure 4 、 5 As shown, a rack 304 is fixed to the housing 301 near the sampling shovel 102, and a gear 305 is rotatably provided on the mounting rod 303. The gear 305 can be engaged and connected to the rack 304. One end of a transmission connecting rod 306 is rotatably provided on the gear 305, and the other end of the transmission connecting rod 306 is rotatably provided on the opening and closing wheel 307. The opening and closing wheel 307 is coaxially fixed to the baffle 103.

[0059] When the sampling shovel 102 and the mounting rod 303 are extended, the gear 305 can be driven to roll on the rack 304, so that the gear 305 rotates relative to the mounting rod 303, thereby driving the transmission connecting rod 306 to move, thereby driving the opening and closing wheel 307 to rotate, thereby driving the baffle 103 to close. As the mounting rod 303 continues to extend, the gear 305 is separated from the rack 304. After the gear 305 is separated from the rack 304, the baffle 103 remains closed under the action of the reset torsion spring. When the sampling shovel 102 and the mounting rod 303 are retracted, the gear 305 and the rack 304 first enter into meshing. As the mounting rod 303 continues to retract, the mounting rod 303 can drive the gear 305 to roll on the rack 304, so that the gear 305 rotates relative to the mounting rod 303, thereby driving the transmission connecting rod 306 to move, thereby driving the opening and closing wheel 307 to rotate, thereby driving the baffle 103 to open.

[0060] Through the cooperation of the rack 304, gear 305, transmission connecting rod 306 and opening and closing wheel 307, the sampling shovel 102 can automatically open the baffle 103 when retracted, so as to facilitate the dumping of the root soil of the sampling shovel 102, and the rack 304, gear 305, transmission connecting rod 306 and opening and closing wheel 307 are relatively sturdy and durable.

[0061] like Figure 6 As shown, in order to improve the refrigeration effect, the refrigerator 500 includes a box body 501, which is fixed on the unmanned vehicle 101. Ice cubes can be placed in the box body 501. The box body 501 is rotatably provided with an upper cover 502. The upper cover 502 is driven by an opening and closing motor. The opening and closing motor is fixed in a protective shell 503, and the protective shell 503 is fixed to the side of the box body 501.

[0062] After the sampled plant moves to the top of the box 501, the opening and closing motor drives the upper cover 502 to open, and then the mechanical claw 400 stores the sampled plant into the box 501. After the mechanical claw 400 moves away from the box 501, the opening and closing motor drives the upper cover 502 to close.

[0063] Working process: When collecting plants, the unmanned vehicle 101 first moves to the sampling location, and then the lifting and telescopic rod 204 extends, thereby driving the active connecting rod 202 to rotate downward, thereby driving the sampling seat 300 to move downward, and then driving the driven connecting rod 203 to rotate downward. The downward movement of the sampling seat 300 can drive the sampling shovel 102 to move, so that the sampling shovel 102 extends from the working port 106 and falls to the ground.

[0064] After the sampling shovel 102 touches the ground, the sampling telescopic rod 302 extends, thereby driving the sampling shovel 102 to extend and cut into the soil. At the same time, the two-axis gantry slide 104 drives the clamping telescopic rod 105 to move above the sampling plant. Then the clamping telescopic rod 105 extends, thereby driving the mechanical claw 400 to descend through the working port 106. The mechanical claw 400 descends to the ground, and then the clamping motor drives the two clamping claws to close and clamp the sampling plant.

[0065] After the sampling shovel 102 is completely cut into the soil, the lifting telescopic rod 204 shortens and drives the active connecting rod 202 to rotate upward, which in turn drives the sampling seat 300 to move upward, and then drives the driven connecting rod 203 to rotate upward. The upward movement of the sampling seat 300 can drive the sampling shovel 102 to move until the sampling shovel 102 leaves the ground. At the same time, the clamping telescopic rod 105 shortens, which drives the mechanical claw 400 to rise. The rise of the mechanical claw 400 cooperates with the upward movement of the sampling shovel 102 to make the sampled plants rise, and then make the sampled plants enter the funnel 107 on the unmanned vehicle 101, completing the plant collection work. At the same time, the rise of the sampling shovel 102 digs a hole in the ground.

[0066] When separating the plant roots and the root soil, the lifting telescopic rod 204 extends again, thereby driving the active connecting rod 202 to rotate downward, thereby driving the sampling seat 300 to move downward, and thereby driving the driven connecting rod 203 to rotate downward. The downward movement of the sampling seat 300 can drive the sampling shovel 102 to move, so that the sampling shovel 102 first returns to the pit, and then the sampling telescopic rod 302 shortens and drives the sampling shovel 102 to retract and leave the ground, so that the soil in the sampling shovel 102 remains in the pit dug by the sampling shovel 102 before.

[0067] After the sampling shovel 102 leaves the ground again, the lifting telescopic rod 204 shortens again and drives the active connecting rod 202 to rotate upward, thereby driving the sampling seat 300 to move upward, and then driving the driven connecting rod 203 to rotate upward. The upward movement of the sampling seat 300 can drive the sampling shovel 102 to move, so that the sampling shovel 102 moves to a position where the front end is tilted upward. At the same time, the sampling telescopic rod 302 extends again to extend the sampling shovel 102 until the sampling shovel 102 moves to the bottom of the funnel 107.

[0068] After the sampling shovel 102 moves to the bottom of the funnel 107, the high-frequency reciprocating motion of the two-axis gantry slide 104 causes the plant to shake, thereby separating the root soil on the root system from the plant root system. Subsequently, the root soil falls onto the sampling shovel 102 through the funnel 107 under the action of its own weight, completing the work of separating the plant roots and the root soil.

[0069] When storing plants, the clamping telescopic rod 105 continues to shorten, thereby driving the mechanical claw 400 and the sampled plant to rise, so that the sampled plant rises above the funnel 107, and then the two-axis gantry slide 104 drives the clamping telescopic rod 105 to move to a cold storage box 500. After the sampled plant moves to the top of the box body 501 of the cold storage box 500, the opening and closing motor drives the upper cover 502 to open, and then the clamping telescopic rod 105 extends again to drive the mechanical claw 400 to descend, and then the sampled plant is stored in the box body 501, and then the clamping motor reverses to drive the two clamps away from each other and release the sampled plant, and then the clamping telescopic rod 105 shortens again to drive the mechanical claw 400 to rise, until the mechanical claw 400 is away from the box body 501, the opening and closing motor drives the upper cover 502 to close, completing the storage of the plant.

[0070] When storing root soil, the indexing motor 110 drives the sampling bracket 201 to rotate, causing the sampling shovel 102 to rotate to a sampling box 108, and then the sampling telescopic rod 302 is shortened again to drive the sampling shovel 102 to retract, and then drive the mounting rod 303 to retract. When the mounting rod 303 retracts, the gear 305 and the rack 304 first enter into engagement. As the mounting rod 303 continues to retract, the mounting rod 303 can drive the gear 305 to roll on the rack 304, causing the gear 305 to rotate relative to the mounting rod 303, and then drive the transmission connecting rod 306 to move, and then drive the opening and closing wheel 307 to rotate, and then drive the baffle 103 to open, so that the root soil in the sampling shovel 102 falls into the sampling box 108 along the sampling seat 300 under the action of its own weight, completing the storage of the root soil.

[0071] After completing the storage of the plants and root soil, the mechanical claw 400 and the sampling mechanism 200 are reset, and the unmanned vehicle 101 moves to the next sampling location.

[0072] Embodiment 2: This embodiment provides an alternative method to enable the sampling shovel 102 to drive the baffle 103 to close when it is extended and to drive the baffle 103 to open when it is retracted, such as Figure 7 、 8As shown in Figure 9, a magnet 309 is fixed to the shell 301, a pin seat 315 is fixed to the mounting rod 303, and a ferromagnetic slider 310 is slidably provided on the pin seat 315. In this embodiment, the ferromagnetic slider 310 is made of low carbon steel, a rope drum 311 is coaxially fixed to the baffle 103, and a pulley 312 is rotatably provided on the mounting rod 303. One end of the rope 313 is fixed to the rope drum 311, and the other end of the rope 313 is passed around the pulley 312 and fixed to the ferromagnetic slider 310. A limiting platform 314 is fixed to the end of the ferromagnetic slider 310 close to the sampling shovel 102.

[0073] When the sampling shovel 102 and the mounting rod 303 are extended, they can drive the pin seat 315 to move, and then drive the limit platform 314 to move, and then drive the ferromagnetic slider 310 to move, and then separate the ferromagnetic slider 310 from the magnet 309. After the ferromagnetic slider 310 is separated from the magnet 309, the baffle 103 is closed under the action of the reset torsion spring. The closing of the baffle 103 can drive the rope drum 311 to rotate, and then drive the rope 313 to tighten, and then drive the ferromagnetic slider 310 to move relative to the mounting rod 303. After the sampling shovel 102 and the mounting rod 303 are retracted, the ferromagnetic slider 310 is attracted by the magnet 309, causing the ferromagnetic slider 310 to move relative to the mounting rod 303, and then drive the rope 313 to tighten, and then drive the rope drum 311 to rotate, and then drive the baffle 103 to open.

[0074] Through the cooperation of the magnet 309, the ferromagnetic slider 310, the rope 313 and the rope drum 311, the sampling shovel 102 can automatically open the baffle 103 when it is retracted, so as to facilitate the dumping of the root soil of the sampling shovel 102. In addition, the magnet 309, the ferromagnetic slider 310, the rope 313 and the rope drum 311 are relatively economical and cheap.

[0075] The rest of the second embodiment is the same as the first embodiment.

[0076] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A system for monitoring plant growth in grassland grazing areas, characterized by: It comprises an unmanned vehicle (101), wherein the unmanned vehicle (101) is provided with a sampling mechanism (200); The sampling mechanism (200) includes a sampling bracket (201), the sampling bracket (201) is rotatably arranged on the unmanned vehicle (101), one end of an active connecting rod (202) is rotatably arranged on the sampling bracket (201), the other end of the active connecting rod (202) is rotatably arranged with a sampling seat (300), the other end of the sampling seat (300) is rotatably arranged with one end of a driven connecting rod (203), the other end of the driven connecting rod (203) is rotatably arranged on the sampling bracket (201), and a sampling shovel (102) is telescopically arranged on the sampling seat (300); The front end of the sampling shovel (102) is used for cutting soil, and the rear end is provided with a baffle (103) for rotation. When the sampling shovel (102) moves under the unmanned vehicle (101), the front end tilts downward, and when the sampling shovel (102) moves onto the unmanned vehicle (101), the front end tilts upward. When the sampling shovel (102) retracts, it can drive the baffle (103) to open; A two-axis gantry slide (104) is installed on the unmanned vehicle (101), a clamping telescopic rod (105) is fixed to the output end of the two-axis gantry slide (104), and a mechanical claw (400) is fixed to the output end of the clamping telescopic rod (105); A working opening (106) is provided below the unmanned vehicle (101), and a sampling shovel (102) and a mechanical claw (400) can be extended from the working opening (106). A funnel (107) is fixed to a position above the working opening (106) of the unmanned vehicle (101), and a plurality of sampling boxes (108) and a plurality of refrigerated boxes (500) are fixed to the unmanned vehicle (101); When separating the plant root system and the root soil, the sampling mechanism (200) first drives the sampling shovel (102) to move under the funnel (107), so that the front end of the sampling shovel (102) tilts upward, and the plant is shaken by the high-frequency reciprocating motion of the two-axis gantry slide (104), so that the root soil on the plant root system falls onto the sampling shovel (102) through the funnel (107), and then the two-axis gantry slide (104) drives the mechanical claw (400) to store the plant in the refrigerator (500), and at the same time, the sampling bracket (201) rotates to move the sampling shovel (102) to the sampling box (108), and then the sampling shovel (102) retracts and drives the baffle (103) to open, so that the root soil in the sampling shovel (102) falls into the sampling box (108).

2. The system for monitoring plant growth in grassland grazing areas according to claim 1, characterized in that: One end of the sampling bracket (201) is rotatably provided with one end of a lifting and telescopic rod (204), and the other end of the lifting and telescopic rod (204) is rotatably provided on the active connecting rod (202).

3. The system for monitoring plant growth in grassland grazing areas according to claim 1, characterized in that: The mechanical claw (400) includes a mounting box (401), which is fixed under the clamping telescopic rod (105). Two clamping claws are rotatably arranged on the mounting box (401), and the rotation centers of the two clamping claws are symmetrically arranged. The rotation directions of the two clamping claws are opposite. Each clamping claw is driven by a clamping motor, and the clamping motor is fixed in the mounting box (401).

4. The system for monitoring plant growth in grassland grazing areas according to claim 3, characterized in that: The clamping jaws include an inner jaw piece (403) and two outer jaw pieces (402), wherein the outer jaw pieces (402) are rotatably arranged on the mounting box (401), and the clamping motor can drive the outer jaw pieces (402). A connecting frame (404) is fixed between the two outer jaw pieces (402), and the inner jaw piece (403) is fixed on the connecting frame (404).

5. The system for monitoring plant growth in grassland grazing areas according to claim 1, characterized in that: Protective plates (109) are fixed on both sides of the sampling seat (300).

6. The system for monitoring plant growth in grassland grazing areas according to claim 1, characterized in that: One end of a return torsion spring is fixed to the baffle (103), and the other end of the return torsion spring is fixed to the sampling shovel (102). In a free state, the return torsion spring keeps the baffle (103) pressed against the rear end of the sampling shovel (102).

7. The system for monitoring plant growth in grassland grazing areas according to claim 1, characterized in that: The sampling seat (300) includes a housing (301), an active connecting rod (202) and a driven connecting rod (203) are rotatably provided on the housing (301), a sampling telescopic rod (302) is fixed in the housing (301), a sampling shovel (102) is fixed at the output end of the sampling telescopic rod (302), a mounting rod (303) is fixed to the rear end of the sampling shovel (102), and the mounting rod (303) is slidably provided in the housing (301).

8. The system for monitoring plant growth in grassland grazing areas according to claim 7, characterized in that: A rack (304) is fixed to the housing (301) at a position close to the sampling shovel (102), and a gear (305) is rotatably provided on the mounting rod (303), and the gear (305) can be meshed and connected to the rack (304); One end of a transmission connecting rod (306) is rotatably provided on the gear (305), and the other end of the transmission connecting rod (306) is rotatably provided on an opening and closing wheel (307), and the opening and closing wheel (307) is coaxially fixed with the baffle (103).

9. The system for monitoring plant growth in grassland grazing areas according to claim 7, characterized in that: A magnet (309) is fixed on the housing (301), a pin seat (315) is fixed on the mounting rod (303), a ferromagnetic slider (310) is slidably provided on the pin seat (315), a rope drum (311) is coaxially fixed on the baffle (103), a pulley (312) is rotatably provided on the mounting rod (303), one end of a rope (313) is fixed on the rope drum (311), the other end of the rope (313) is passed around the pulley (312) and fixed on the ferromagnetic slider (310), and a limiting platform (314) is fixed on the end of the ferromagnetic slider (310) close to the sampling shovel (102).

10. The system for monitoring plant growth in grassland grazing areas according to claim 1, characterized in that: The refrigerator (500) includes a box body (501), which is fixed on the unmanned vehicle (101). Ice cubes can be placed in the box body (501). The box body (501) is rotatably provided with an upper cover (502). The upper cover (502) is driven by an opening and closing motor. The opening and closing motor is fixed in a protective shell (503). The protective shell (503) is fixed to the side of the box body (501).

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