Agricultural environment detection device based on quadruped robot platform

Abstract

The invention particularly relates to an agricultural environment detection device based on a quadruped robot platform, which comprises a quadruped mechanical dog, a main control board is assembled in the quadruped mechanical dog, and a spectrum sensing unit, a posture sensing module, a terrain sensing module, a data processing module and an edge AI module are integrated on the main control board. The terrain sensing module comprises a laser radar module and two image capturing cameras, the laser radar module is fixedly assembled on the quadruped mechanical dog, and the two image capturing cameras are fixedly assembled at the front end and the rear end of the quadruped mechanical dog respectively; the spectrum sensing unit comprises a visible-near infrared spectrometer, a light source adjusting system and a reflection module; the spectrum sensing unit is assembled on the front side of the quadruped mechanical dog in a lifting manner.

Description

Technical Field

[0001] The present invention belongs to the technical field of soil environment detection, and in particular relates to an agricultural environment detection device based on a quadruped robot platform. Background Art

[0002] Traditional agricultural environmental monitoring devices often rely on wheeled or tracked mobile platforms. These platforms are often limited in their maneuverability in complex scenarios, such as farmland ditches and rugged terrain, making it difficult to stably approach target areas. Furthermore, the sensor units on the platforms are typically fixed and cannot be flexibly adapted to meet different monitoring requirements, making data collection susceptible to environmental interference.

[0003] In terms of mechanical structure, the spectral probes of traditional devices are mostly exposed to the outside, lack effective protection, and are easily bumped or contaminated by dust. The lifting mechanism often leads to reduced positioning accuracy due to structural redundancy or insufficient driving force. To address the above problems, an agricultural environment detection device based on a quadruped robot platform is now provided to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide an agricultural environment detection device based on a quadruped robot platform to solve the problems existing in the background technology.

[0005] In order to achieve the above technical objectives, the technical solutions adopted by the present invention are as follows:

[0006] An agricultural environment detection device based on a quadruped robot platform includes a quadrupedal robot dog equipped with a main control board integrated with a spectral sensing unit, a posture perception module, a terrain perception module, a data processing module, and an edge AI module;

[0007] The terrain perception module includes a laser radar module and an image capture camera. The laser radar module is fixedly mounted on the quadruped robot dog. There are two image capture cameras, which are respectively fixedly mounted on the front and rear ends of the quadruped robot dog.

[0008] The spectral sensing unit includes a visible-near infrared spectrometer, a light source adjustment system and a reflection module;

[0009] The spectrum sensing unit is lifted and assembled on the front side of the four-legged mechanical dog.

[0010] Preferably, a mobile power supply assembly is installed on the inner side of the four-legged mechanical dog, and large-foot servos are fixedly installed on the four feet of the four-legged mechanical dog. The output end of the large-foot servo is transmitted and equipped with a mechanical large foot, and the mechanical large foot is hinged to the four-legged mechanical dog. The end of the mechanical large foot is fixedly equipped with a small-foot servo, and the output end of the small-foot servo is transmitted and equipped with a mechanical small foot, and the mechanical small foot is hinged to the end of the mechanical large foot.

[0011] Preferably, the end of the mechanical foot is fixedly equipped with a U-shaped frame, the U-shaped frame is fixedly equipped with a silicone sole, and the silicone sole is provided with a plurality of V-shaped anti-slip grooves.

[0012] Preferably, a slide groove is provided at the lower front end of the four-legged mechanical dog, and the spectral sensing unit is slidably assembled inside the slide groove; an assembly groove is provided at the top inner side of the slide groove, a servo motor is fixedly assembled inside the assembly groove, a bidirectional lead screw is rotatably assembled inside the assembly groove, the output end of the servo motor is fixedly connected to the bidirectional lead screw, and slide plates are threadedly assembled on the left and right sides of the bidirectional lead screw, and a number of scissor lifts are fixedly assembled on two of the slide plates, and the lower sides of the several scissor lifts are slidably assembled on the upper end of the spectral sensing unit.

[0013] Preferably, a multi-level slide rail is installed between the slide groove and the spectrum sensing unit.

[0014] Preferably, the spectral sensing unit is located in the middle of the lowest track of the multi-level slide rail, and a hinge groove is provided at the lower end of the four-legged mechanical dog. A hinge rod is rotatably installed inside the hinge groove, and the hinge rod is sleeved with a torsion spring. One end of the torsion spring is fixedly connected to the hinge groove, and the other end of the torsion spring is fixedly connected to the hinge rod. Connecting rods are fixedly provided on the left and right sides of the hinge rod, and the two connecting rods are jointly fixedly equipped with a baffle.

[0015] Preferably, the laser radar module is fixedly mounted on the lower end of the quadruped mechanical dog.

[0016] Preferably, the posture perception module is an IMU.

[0017] Advantages of the present invention: This device adopts the bionic quadruped structure of a traditional four-legged mechanical dog, combined with the coordinated driving strategy of large-foot servos and small-foot servos, giving the device the ability to cross gullies, steep slopes and rugged terrain; it integrates a laser radar for real-time scanning of the ground's three-dimensional topography, dual cameras for front and rear visual coverage, and an IMU for posture compensation, realizing intelligent path planning and dynamic balance control in complex environments;

[0018] The scissor lift mechanism is combined with multi-stage slide rails to achieve precise vertical lifting of the spectral sensor, ensuring that the probe is close to the soil surface. The scissor lift frame can provide more lifting heights within limited storage space. The torsion spring linkage baffle design automatically closes to protect the sensor during non-working phase, reducing the risk of external impact and dust contamination. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further illustrated by means of the following non-limiting examples.

[0020] Figure 1This is a schematic diagram of the structure of an agricultural environment detection device based on a quadruped robot platform of the present invention. Figure 1 ;

[0021] Figure 2 for Figure 1 A magnified schematic diagram of point A in the middle;

[0022] Figure 3 This is a schematic diagram of the structure of an agricultural environment detection device based on a quadruped robot platform of the present invention. Figure 2 ;

[0023] Figure 4 This is a schematic diagram of the structure of an agricultural environment detection device based on a quadruped robot platform of the present invention. Figure 3 ;

[0024] Figure 5 for Figure 4 A magnified schematic diagram of point B in the middle;

[0025] Figure 6 This is a partial structural explosion diagram of an agricultural environment detection device based on a quadruped robot platform according to the present invention;

[0026] Figure 7 for Figure 6 Enlarged schematic diagram of point C in the middle;

[0027] Figure 8 This is a partial structural diagram of an agricultural environment detection device based on a quadruped robot platform according to the present invention;

[0028] Figure 9 for Figure 8 The enlarged schematic diagram of point D in the middle;

[0029] The main component symbols are described as follows:

[0030] Quadruped robotic dog 1, spectral sensing unit 11, lidar module 12, image capture camera 13, big foot servo 21, mechanical big foot 22, small foot servo 23, mechanical small foot 24, U-shaped frame 25, silicone foot sole 26, V-shaped anti-slip groove 27, slide 31, assembly groove 32, servo motor 33, bidirectional screw rod 34, slide plate 35, scissors lift frame 36, multi-stage slide rail 37, hinge slot 41, hinge rod 42, torsion spring 43, connecting rod 44, baffle 45. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0032] like Figure 1-4As shown, the present invention is an agricultural environment detection device based on a quadruped robot platform, including a quadruped robot dog 1, which is equipped with a main control board. The main control board integrates a spectral sensing unit 11, a posture perception module, a terrain perception module, a data processing module, and an edge AI module. The main control board controls the movement of the quadruped robot dog 1 to avoid obstacles, and relies on the main control board to control the operation of several unit modules in real time. Here, the main control board supports hot-swappable sensor modules, which is convenient for replacing different types of spectral sensors.

[0033] The quadrupedal bionic structure of the quadrupedal robot dog 1 can cross ditches in farmland, uneven terrain and other complex scenes, and its applicability is far higher than that of wheeled platforms.

[0034] The built-in edge AI module can perform soil property modeling and feedback collection results in real time, avoiding data return delays; the data processing module and edge AI module can perform image processing and spectral signal preprocessing, principal component extraction, soil property modeling and wireless return transmission;

[0035] The terrain perception module includes a laser radar module 12 and an image capture camera 13. The laser radar module 12 is fixedly mounted on the quadruped robot dog 1. There are two image capture cameras 13, which are respectively fixedly mounted on the front and rear ends of the quadruped robot dog 1.

[0036] The posture perception module is an IMU; the IMU, laser radar module and image capture camera 13 are used to identify terrain, avoid obstacles and maintain a stable detection angle. The IMU is installed at the geometric center of the torso of the quadruped robot dog 1 or close to the actual center of gravity to reduce vibration interference caused by leg movement or external impact, thereby more accurately reflecting the overall movement of the body.

[0037] The spectrum sensing unit 11 includes a visible-near infrared spectrometer, a light source adjustment system, and a reflection module;

[0038] The integrated visible-near infrared spectrum module, combined with the active light source adjustment system, can stably collect reflectance spectra under various lighting conditions.

[0039] The spectrum sensing unit 11 is lifted and assembled on the front side of the quadruped robot dog 1;

[0040] The inner side of the four-legged robot dog 1 is equipped with a mobile power supply assembly. The four legs of the four-legged robot dog 1 are fixedly equipped with large foot steering gears 21. The output end of the large foot steering gear 21 is equipped with a mechanical large foot 22. The mechanical large foot 22 is hinged to the four-legged robot dog 1. The end of the mechanical large foot 22 is fixedly equipped with a small foot steering gear 23. The output end of the small foot steering gear 23 is equipped with a mechanical small foot 24. The mechanical small foot 24 is hinged to the end of the mechanical large foot 22.

[0041] The end of the mechanical foot 24 is fixedly equipped with a U-shaped frame 25, and the U-shaped frame 25 is fixedly equipped with a silicone foot sole 26, and the silicone foot sole 26 is provided with a plurality of V-shaped anti-slip grooves 27;

[0042] like Figure 4-9 As shown, a slide groove 31 is provided at the lower front end of the quadruped mechanical dog 1, and the spectral sensing unit 11 is slidably assembled inside the slide groove 31. An assembly groove 32 is provided at the top inner side of the slide groove 31, and a servo motor 33 is fixedly assembled inside the assembly groove 32. A bidirectional screw rod 34 is rotatably assembled inside the assembly groove 32, and the output end of the servo motor 33 is fixedly connected to the bidirectional screw rod 34. Both sides of the bidirectional screw rod 34 are threadedly rotatably assembled with slide plates 35. The two slide plates 35 are jointly fixedly assembled with a number of scissor lifts 36. The lower sides of the number of scissor lifts 36 are slidably assembled to the upper end of the spectral sensing unit 11. The rotation of the bidirectional screw rod 34 can drive the upper ends of the scissor lifts 36 to move away from or closer to each other, thereby controlling the lifting and lowering of the spectral sensing unit 11.

[0043] A multi-stage slide rail 37 is installed between the slide groove 31 and the spectrum sensing unit 11; the spectrum sensing unit 11 moves up and down steadily by the multi-stage slide rail 37;

[0044] The spectral sensing unit 11 is located in the middle of the lowest track of the multi-level slide rail 37, so that the lowest track can push the baffle 45 to open, thereby preventing the lower end of the spectral sensing unit 11 from contacting the baffle 45. A hinge groove 41 is provided at the lower end of the quadruped mechanical dog 1. A hinge rod 42 is rotatably assembled inside the hinge groove 41. The hinge rod 42 is sleeved with a torsion spring 43. One end of the torsion spring 43 is fixedly connected to the hinge groove 41, and the other end of the torsion spring 43 is fixedly connected to the hinge rod 42. Connecting rods 44 are fixedly provided on both sides of the hinge rod 42. The two connecting rods 44 are jointly fixedly assembled with a baffle 45. The baffle 45 usually protects the spectral sensing unit 11 when it is not in use.

[0045] The baffle 45 hinged by the torsion spring 43 can be set to double-open according to needs, that is, baffles 45 are set on the front and back sides, thereby reducing the length of the baffle 45;

[0046] The laser radar module 12 is fixedly mounted on the lower end of the quadruped robot dog 1. This installation position can scan the ground height, slope and potholes in real time. It can also detect low obstacles and assist the quadruped robot dog 1 in gait adjustment, such as crossing a ravine.

[0047] The main control board of the quadruped robot dog 1 adopts a modular hardware architecture to integrate multiple sensor interfaces and real-time control units. Its built-in path planning, dynamic balance control, and spectral data analysis algorithms follow the existing standardized data processing process to achieve functional coupling. The terrain perception fusion SLAM algorithm, IMU posture compensation mechanism, and spectral modeling method are all based on the mature robot motion control and spectral analysis technology framework. Such algorithms do not innovate the underlying principles and only meet the needs of farmland scenarios through parameter adaptation and optimization. The core innovation of the hardware design lies in the flexible configuration of sensors through hot-swappable interfaces, and the efficient collaboration of multi-level mechanical structures and edge computing units to improve the overall stability and detection accuracy of the system. The specific implementation details of the algorithm are not described in detail here.

[0048] When using this device to detect soil, the four-legged robot dog 1 starts up and first performs a three-dimensional terrain scan of the farmland environment through the bottom laser radar module 12, and builds a real-time terrain model by combining the visual information captured by the front and rear dual image capture cameras 13. At the same time, the posture perception module IMU continuously monitors the changes in the body posture, and the main control board integrates multi-source perception data to plan a moving path that takes into account both traffic efficiency and detection needs; the four-legged robot dog 1 drives the bionic four-legged structure through the large-foot servo 21 and the small-foot servo 23, and uses the V-shaped anti-skid groove 27 of the silicone foot sole 26 to keep it moving stably when crossing ditches or rugged terrain; when approaching the target detection area, the servo motor 33 drives the bidirectional screw rod 34 to drive the scissors lift 36 to unfold, so that the spectral sensing unit 11 descends vertically along the multi-stage slide rail 37 to On the soil surface, the torsion spring 43 linkage mechanism in the hinged slot 41 automatically opens the baffle protection structure, and the exposed visible-near infrared spectrometer collects the soil reflection spectrum under the compensation of the active light source adjustment system. During the process, the IMU feeds back the body vibration data in real time and eliminates the interference of foot movement on the sensor through the inverse kinematics algorithm; the collected spectral data is immediately subjected to noise reduction and principal component extraction by the edge AI module, and combined with the pre-trained soil model to quickly analyze multi-dimensional parameters such as organic matter content and pH value, the test results are transmitted back to the control terminal in real time through the wireless module; if an abnormal data area is found, the four-legged robot dog 1 will feedback the geographic coordinates. After completing the task, the spectral sensing unit 11 retracts into the slide 31 and is closed and protected by the baffle 45. Finally, according to the power status, an energy-saving gait is selected to return to the base along the optimized path.

[0049] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. An agricultural environment detection device based on a quadruped robot platform, comprising a quadrupedal robot dog equipped with a main control board integrated with a spectral sensing unit, a posture perception module, a terrain perception module, a data processing module, and an edge AI module, characterized by: The terrain perception module includes a lidar module and an image capture camera; The laser radar module is fixedly mounted on the quadrupedal robot dog, and the number of the image capture cameras is two, and the two image capture cameras are respectively fixedly mounted on the front and rear ends of the quadrupedal robot dog; The spectral sensing unit includes a visible-near infrared spectrometer, a light source adjustment system and a reflection module; The spectrum sensing unit is lifted and assembled on the front side of the four-legged mechanical dog.

2. The agricultural environment detection device based on a quadruped robot platform according to claim 1, characterized in that: The inner side of the four-legged mechanical dog is equipped with a mobile power supply assembly; The four legs of the four-legged mechanical dog are all fixedly equipped with large-foot servos, the output end of the large-foot servos is driven by a mechanical large foot, the mechanical large foot is hinged to the four-legged mechanical dog, the end of the mechanical large foot is fixedly equipped with a small-foot servo, the output end of the small-foot servo is driven by a mechanical small foot, and the mechanical small foot is hinged to the end of the mechanical large foot.

3. The agricultural environment detection device based on a quadruped robot platform according to claim 2, characterized in that: The end of the mechanical foot is fixedly equipped with a U-shaped frame, and the U-shaped frame is fixedly equipped with a silicone sole, and the silicone sole is provided with a plurality of V-shaped anti-slip grooves.

4. The agricultural environment detection device based on a quadruped robot platform according to claim 1, characterized in that: A slide groove is provided at the lower front end of the quadrupedal mechanical dog, and the spectral sensing unit is slidably assembled in the slide groove; An assembly groove is provided at the top inner side of the slide, a servo motor is fixedly installed inside the assembly groove, a bidirectional lead screw is rotatably installed inside the assembly groove, the output end of the servo motor is fixedly connected to the bidirectional lead screw, and slides are threadedly rotatably installed on the left and right sides of the bidirectional lead screw, and a number of scissor lifts are fixedly installed on the two slides, and the lower sides of the several scissor lifts are slidably installed on the upper end of the spectral sensing unit.

5. The agricultural environment detection device based on a quadruped robot platform according to claim 4, characterized in that: A multi-level slide rail is installed between the slide groove and the spectrum sensing unit.

6. The agricultural environment detection device based on a quadruped robot platform according to claim 5, characterized in that: The spectrum sensing unit is located in the middle of the lowest track of the multi-level slide rail; A hinge groove is provided at the lower end of the four-legged mechanical dog, a hinge rod is rotatably installed inside the hinge groove, a torsion spring is provided on the hinge rod, one end of the torsion spring is fixedly connected to the hinge groove, and the other end of the torsion spring is fixedly connected to the hinge rod, connecting rods are fixedly provided on the left and right sides of the hinge rod, and a baffle is fixedly installed on the two connecting rods.

7. The agricultural environment detection device based on a quadruped robot platform according to claim 1, characterized in that: The laser radar module is fixedly assembled on the lower end of the quadruped mechanical dog.

8. The agricultural environment detection device based on a quadruped robot platform according to claim 1, characterized in that: The posture perception module is an IMU.

Images