Plantation inspection device

Abstract

The utility model belongs to the technical field of agricultural machinery, and particularly relates to a plantation inspection device which comprises an unmanned vehicle, a lifting mechanism and a camera mechanism. The lifting mechanism comprises a supporting frame, a lifting frame, an electric driving part and a transmission mechanism, the electric driving part and the transmission mechanism are installed on the supporting frame, the supporting frame is installed on the unmanned vehicle, and the electric driving part is connected with the lifting frame through the transmission mechanism and used for driving the lifting frame to ascend and descend; the camera shooting mechanism comprises a camera, the camera is connected with the lifting frame, an electric driving part of the lifting mechanism drives the lifting frame to lift through the transmission mechanism, and the lifting frame drives the camera to lift, so that self-adaptive adjustment can be automatically carried out according to the height of the tree crown to realize full-area scanning on each layer of the tree crown and accurately identify a pest and disease damage area; the inspection requirement of a multi-layer plantation can also be met; in addition, the electric driving part drives the camera to automatically lift, so that the labor burden and the labor cost are reduced, and the inspection efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of agricultural machinery, and in particular, relates to a plantation inspection device. Background Art

[0002] Pests and diseases are agricultural disasters that are difficult to prevent and control, and often have adverse effects on plantations (such as orchards, planting areas, etc.). Effective pest and disease inspection devices should be used to prevent and solve pest and disease disasters in advance. At present, pest and disease identification in plantations is mostly done by manual inspection and machine-assisted inspection. Manual inspection has high labor costs. Due to the different heights of the crowns of different plant species, the commonly used auxiliary inspection tools need to manually adjust the tool height according to the crown height, which is cumbersome to operate and has low inspection efficiency. Utility Model Content

[0003] The purpose of the embodiments of the present application is to provide a plantation inspection device, including but not limited to solving the problem that the plantation inspection device in the related art requires manual labor and has low inspection efficiency.

[0004] The technical solution adopted in the embodiment of the present application is:

[0005] An embodiment of the present application provides a plantation inspection device, which includes an unmanned vehicle, a lifting mechanism and a camera mechanism; the lifting mechanism includes a support frame, a lifting frame, and an electric drive component and a transmission mechanism installed on the support frame, the support frame is installed on the unmanned vehicle, the electric drive component is connected to the lifting frame through the transmission mechanism, and the electric drive component is used to drive the lifting frame to rise and fall; the camera mechanism includes a camera, and the camera is connected to the lifting frame.

[0006] In the plantation inspection device of the embodiment of the present application, the electric drive component of the lifting mechanism drives the lifting frame to rise and fall through the transmission mechanism, and the lifting frame drives the camera to rise and fall, so that it can automatically and adaptively adjust according to the layer height of the tree crown to realize full-area scanning of each layer of the tree crown, accurately identify the disease and insect pest areas, and also meet the inspection needs of multi-level plantations; in addition, the electric drive component drives the camera to automatically rise and fall, which is conducive to reducing labor burden and labor costs and improving inspection efficiency; at the same time, the lifting mechanism and the camera mechanism are arranged on the unmanned vehicle, and the unmanned vehicle can also automatically move to realize automatic inspection of the plantation, thereby greatly improving the inspection efficiency of the automatic inspection.

[0007] In one embodiment, the transmission mechanism includes a first pulley, a winding shaft and a rope, the first pulley is installed on the support frame, the rope is wound around the first pulley and the winding shaft, the rope is connected to the lifting frame, and the electric drive is connected to the winding shaft and is used to drive the winding shaft to rotate.

[0008] By adopting the technical solution of this embodiment, the transmission mechanism adopts the structural form of a winding shaft and a first pulley, which has a simple structure and occupies a small space, which is beneficial to improving the structural compactness of the plantation inspection device and also beneficial to reducing the production cost.

[0009] In one embodiment, the transmission mechanism further includes a second pulley, the second pulley is mounted on the lifting frame, one end of the rope is wound around the winding shaft, the other end of the rope is fixedly connected to the support frame, and the rope is wound around the first pulley and the second pulley.

[0010] By adopting the technical solution of this embodiment, the setting of the second pulley can reduce the force in the rope that pulls the camera, which is beneficial to reducing the output force of the electric drive component, making the lifting of the camera easier to achieve, and also beneficial to reducing the cost of the lifting mechanism.

[0011] In one embodiment, the support frame includes a vertical rod, the lifting frame is provided with a guide groove, and the vertical rod is slidably connected in the guide groove.

[0012] By adopting the technical solution of this embodiment, under the guiding action of the guide groove and the vertical rod, the lifting and lowering of the lifting frame can be made more stable, the camera shooting can be more stable, the camera shooting quality can be better, and the accuracy of identifying the pest and disease area can be higher.

[0013] In one embodiment, the support frame includes a vertical rod, which is a telescopic rod used to adjust the height of the support frame.

[0014] By adopting the technical solution of this embodiment, the vertical rod adopts the structure of a telescopic rod, so that the vertical rod is telescopic, so that the height of the support frame can be adjusted to meet the use requirements of plants of different heights.

[0015] In one embodiment, the telescopic rod includes multiple telescopic sections, which are slidably mounted in sequence. A first locking hole is provided on the outer wall of one of the two adjacent telescopic sections, and a second locking hole is provided on the outer wall of the other telescopic section. The support frame also includes a locking piece, which can be inserted into or withdrawn from the first locking hole and the second locking hole to adjust the height of the vertical rod.

[0016] By adopting the technical solution of this embodiment, the telescopic rod adopts a method of sleeve-arranging multiple telescopic sections and the locking member passing through or withdrawing from the first locking hole and the second locking hole to achieve telescopic adjustment, the structure is simple and the cost of the support frame is low.

[0017] In one embodiment, the camera further includes a pan-tilt mechanism, the camera is mounted on the pan-tilt mechanism, the pan-tilt mechanism is mounted on a lifting frame, and the pan-tilt mechanism is connected to the camera for adjusting the camera angle.

[0018] By adopting the technical solution of this embodiment, the camera adjusts the camera angle through the pan-tilt mechanism, and the camera can better capture high-quality videos and photos to improve the recognition accuracy of pest and disease areas.

[0019] In one embodiment, the plantation inspection device also includes an AI processor for processing data, and the electric drive components, the unmanned vehicle and the camera are all communicatively connected to the AI ​​processor.

[0020] By adopting the technical solution of this embodiment and using an AI processor, the tree crown height can be calculated through an intelligent recognition algorithm, and the lifting mechanism, pan-tilt mechanism and camera can be automatically controlled according to the recognized tree crown height to achieve accurate scanning of each layer of the tree crown, which can greatly reduce the labor burden and labor costs.

[0021] In one embodiment, the plantation inspection device also includes a wireless transmission module for transmitting data to the cloud or terminal, and the wireless transmission module is communicatively connected to the AI ​​processor; and / or, the plantation inspection device also includes a GPS positioning module for positioning, and the GPS positioning module is communicatively connected to the AI ​​processor.

[0022] By adopting the technical solution of this embodiment, it is helpful to determine the area where the pests and diseases occur, making it convenient to take effective preventive and control measures later.

[0023] In one embodiment, the plantation inspection device also includes a battery and a shell, the shell is installed on the support frame, the camera is installed on the shell, the AI ​​processor and the battery are arranged in the shell, and the AI ​​processor, the camera and the electric drive component are all communicatively connected to the battery.

[0024] By adopting the technical solution of this embodiment, the battery can provide power for components such as the camera, electric drive components and the camera, which is beneficial to extending the battery life of the plantation inspection device and is more conducive to meeting the use needs of large-scale plantations; in addition, the battery and AI processor are both located in the outer casing, and the outer casing provides protection for the AI ​​processor and the battery, which is beneficial to improving the use reliability of the plantation inspection device.

[0025] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 A schematic diagram of the structure of a plantation inspection device provided in some embodiments of the present application.

[0028] Figure 2 for Figure 1 The structure diagram of the plantation inspection device shown is a first-person perspective diagram behind which the unmanned vehicle is hidden.

[0029] Figure 3 for Figure 1 The structure schematic diagram of the plantation inspection device from a second perspective behind the unmanned vehicle is shown.

[0030] Figure 4 for Figure 1 The structure diagram of the plantation inspection device from a third perspective behind the unmanned vehicle is shown.

[0031] Figure 5 for Figure 4 A partial enlarged view of point A in the middle.

[0032] Figure 6 A schematic diagram of the structure of a plantation inspection device provided in some other embodiments of the present application.

[0033] Figure 7 for Figure 6 A partial enlarged view of point B in the middle.

[0034] Figure 8 The vertical rod provided in some embodiments of the present application is Figure 6 Cross-sectional view at point B.

[0035] Fig. 9 The vertical rod provided in other embodiments of the present application is Figure 6 Cross-sectional view at point B.

[0036] Fig.10 Schematic diagram of a plantation inspection device provided in some other embodiments of the present application.

[0037] Among them, the reference numerals in the figure are:

[0038] 100. Plantation inspection device; 10. Unmanned vehicle; 20. Lifting mechanism; 21. Support frame; 211. Vertical rod; 211a. Telescopic rod; 2111. Sliding groove; 2112. Telescopic section; 2113. First locking hole; 2114. Second locking hole; 2115. Locking piece; 2116. Shrapnel; 2117. Protrusion; 212. Fixing box; 213. Base; 214. Top rod; 22. Lifting frame; 221. Guide groove; 222. Roller; 2221. Wheel axle; 223. Roller bracket; 23. Electric drive member; 24. Transmission mechanism; 241. First pulley; 242. Winding shaft; 243. Rope; 244. Second pulley; 245. Hook; 30. Camera mechanism; 31. Camera; 32. PTZ mechanism; 40. Housing. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0041] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0042] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments in any suitable manner.

[0043] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0044] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two), and similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces). "Several" means one or more than one, unless otherwise clearly and specifically defined.

[0045] In the description of the embodiments of the present application, the orientations or positional relationships indicated by technical terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0046] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0047] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0048] Pests and diseases are a type of agricultural disaster that is difficult to prevent and control, and often have adverse effects on orchards and planting areas. Effective pest and disease inspection devices should be used to prevent and resolve pest and disease disasters in advance.

[0049] In some cases, identification of pests and diseases in plantations is mostly done by manual inspections and machine-assisted inspections. Moreover, different plant species have different crown heights, and auxiliary inspection tools need to be manually adjusted in height, which reduces manual labor and leads to low inspection efficiency.

[0050] In order to improve the inspection efficiency, an unmanned plant protection machine was proposed, but its endurance time and flight range are short. As the operation progresses, the operator needs to frequently move and replace the power supply of the drone. Moreover, it can only detect the pest and disease conditions on the top layer of the canopy, but not the bottom layer of the canopy. The degree of automation is not high, and it is difficult to apply to large-scale, multi-level plantations. In addition, the inspection effect of the pest and disease identification device is not good, and the operation cost is high. Therefore, it is necessary to provide a more efficient and reasonable plantation inspection device.

[0051] Based on this, an embodiment of the present application provides a plantation inspection device, which includes an unmanned vehicle, a lifting mechanism and a camera mechanism. The electric drive component of the lifting mechanism can drive the camera of the camera mechanism to automatically lift and lower through a transmission mechanism, so that it can automatically and adaptively adjust according to the layer height of the tree crown to achieve full-area scanning of each layer of the tree crown and accurately identify the disease and insect pest areas; in addition, the electric drive component drives the camera to automatically lift and lower, which is beneficial to reduce labor burden and labor costs and improve inspection efficiency; at the same time, the lifting mechanism and the camera mechanism are arranged on the unmanned vehicle, and the unmanned vehicle can also automatically move to achieve automatic inspection of the plantation, thereby greatly improving the inspection efficiency of the automatic inspection.

[0052] The plantation inspection device of the embodiment of the present application can be used in disease and insect pest control operations in orchards, vegetable gardens, flower gardens, tea gardens, coffee gardens, rubber gardens, oil crop gardens, timber gardens and other areas.

[0053] The following combination Figures 1 to 10 This application is described.

[0054] like Figure 1 and Figure 2 As shown, in one embodiment of the present application, a plantation inspection device 100 is provided, which includes an unmanned vehicle 10, a lifting mechanism 20 and a camera mechanism 30; the lifting mechanism 20 includes a support frame 21, a lifting frame 22, and an electric drive component 23 and a transmission mechanism 24 installed on the support frame 21, the support frame 21 is installed on the unmanned vehicle 10, the electric drive component 23 is connected to the lifting frame 22 through the transmission mechanism 24, and the electric drive component 23 is used to drive the lifting frame 22 to rise and fall; the camera mechanism 30 includes a camera 31, and the camera 31 is connected to the lifting frame 22.

[0055] The unmanned vehicle 10 (Autonomous Vehicle) may refer to a vehicle that can drive autonomously without a human driver. The unmanned vehicle 10 uses various sensors, computer vision, artificial intelligence, and machine learning technologies to perceive and analyze the surrounding environment in real time, make decisions, and control the behavior of the vehicle to achieve autonomous navigation and safe driving.

[0056] The lifting mechanism 20 may refer to a component that can drive the camera 31 to lift. For example, the lifting mechanism 20 includes a support frame 21, a lifting frame 22, an electric driver 23 and a transmission mechanism 24. The support frame 21 may refer to a component for providing a mounting base for the electric driver 23 and the transmission mechanism 24, and plays a role in supporting the electric driver 23 and the transmission mechanism 24; wherein, the support frame 21 may refer to a frame structure formed by splicing rods or plates, and the rods may refer to components such as profiles and pipes.

[0057] The electric drive component 23 may refer to the power source of the lifting mechanism 20, providing power for the lifting drive; the electric drive component 23 may be, but is not limited to, electric components such as motors and cylinders.

[0058] The transmission mechanism 24 may be a mechanism that transmits power to the lifting frame 22 to drive the lifting frame 22 to move up and down; the transmission mechanism 24 may be, but is not limited to, a gear transmission mechanism 24, a belt transmission mechanism 24, a chain transmission mechanism 24, a crank-connecting rod mechanism, a cycloid transmission mechanism 24, or a worm gear transmission.

[0059] The lifting frame 22 may refer to a mounting base for mounting the camera mechanism 30, and plays a role in supporting the camera mechanism 30. The lifting of the lifting frame 22 drives the lifting of the camera 31, so that the camera 31 can perform a full-area scan of each layer of the tree canopy, thereby facilitating accurate identification of pest and disease areas. The lifting support may refer to a frame structure formed by splicing rods or plates.

[0060] The camera mechanism 30 may refer to a component capable of acquiring an image or video, wherein the camera 31 may refer to a camera 31 (Camera) is a device for capturing images and recording videos. It is composed of optical components, image sensors, image processing chips, and interface circuits. The camera 31 focuses light onto the image sensor through optical components, and the image sensor converts the light into an electronic signal, which is processed by the image processing chip to finally generate a digital image or video. The camera 31 usually has different resolutions and frame rates, and is used to capture static images or continuous video streams.

[0061] The use of the plantation inspection device 100 of the embodiment of the present application is as follows:

[0062] The plantation inspection device 100 is placed in the plantation, and the unmanned vehicle 10 is started. The unmanned vehicle 10 drives the lifting mechanism 20 and the camera 31 to move in the plantation, thereby realizing the inspection of different plants in the plantation; the process of inspecting the target plant is as follows: when the unmanned vehicle 10 moves to the target plant and the camera 31 detects the crown of the target plant, the unmanned vehicle 10 stops, and the electric drive component 23 of the lifting mechanism 20 is driven. The power output by the electric drive component 23 is transmitted to the lifting frame 22 through the transmission mechanism 24 and drives the lifting frame 22 to move up and down. The lifting frame 22 moves up and down, thereby driving the camera 31 to move up and down automatically, realizing full-area scanning of each layer of the crown, and accurately identifying the pest and disease areas.

[0063] In the plantation inspection device 100 of the embodiment of the present application, the electric drive component 23 of the lifting mechanism 20 drives the lifting frame 22 to rise and fall through the transmission mechanism 24, and the lifting frame 22 drives the camera 31 to rise and fall, so that it can automatically and adaptively adjust according to the layer height of the tree crown to realize full-area scanning of each layer of the tree crown, accurately identify the disease and insect pest areas, and also meet the inspection needs of multi-level plantations; in addition, the electric drive component 23 drives the camera 31 to rise and fall automatically, which is beneficial to reduce labor burden and labor cost and improve inspection efficiency; at the same time, the lifting mechanism 20 and the camera mechanism 30 are arranged on the unmanned vehicle 10, and the unmanned vehicle 10 can also automatically move to realize automatic inspection of the plantation, thereby greatly improving the inspection efficiency of automatic inspection.

[0064] In addition, the plantation inspection device 100 of the embodiment of the present application uses the unmanned vehicle 10 to drive the lifting mechanism 20 and the camera mechanism 30 to move. The unmanned vehicle 10 has a lower manufacturing cost than the drone and a longer flight time, and can better meet the inspection needs of large-scale plantations. That is, the plantation inspection device 100 of the embodiment of the present application can be well applied to the inspection of large-scale, multi-level plantations.

[0065] In another embodiment of the present application, Figure 2 and Figure 3 As shown, the transmission mechanism 24 includes a first pulley 241, a winding shaft 242 and a rope 243. The first pulley 241 is installed on the support frame 21. The rope 243 is wound around the first pulley 241 and the winding shaft 242. The rope 243 is connected to the lifting frame 22. The electric drive 23 is connected to the winding shaft 242 and is used to drive the winding shaft 242 to rotate.

[0066] Here, it can be understood that the electric drive 23 can drive the winding shaft 242 to rotate, so that the rope 243 is wound on or detached from the winding shaft 242, so that the rope 243 moves through the first pulley 241, thereby driving the lifting frame 22 to move up and down, and then driving the camera 31 to rise and fall, thereby realizing full-area scanning of each layer of the tree crown.

[0067] By adopting the technical solution of this embodiment, the transmission mechanism 24 adopts the structural form of a winding shaft 242 and a first pulley 241, which has a simple structure and occupies a small space, which is beneficial to improving the structural compactness of the plantation inspection device 100 and also beneficial to reducing the manufacturing cost.

[0068] For example, one end of the rope 243 is wound around the winding shaft 242, and the other end of the rope 243 is fixedly connected to the lifting frame 22 after passing through the first pulley 241. The electric drive 23 drives the winding shaft 242 to rotate, and the rope 243 is wound around the winding shaft 242. The rope 243 drives the lifting frame 22 to rise via the first pulley 241, thereby realizing the ascent of the camera 31; and the electric drive 23 drives the winding shaft 242 to reverse, and the rope 243 is detached from the winding shaft 242. The rope 243 drives the lifting frame 22 to descend via the first pulley 241, thereby realizing the descent of the camera 31, thereby realizing the automatic lifting and lowering of the camera 31.

[0069] In another embodiment of the present application, Figure 2 and Figure 3 As shown, the transmission mechanism 24 also includes a second pulley 244, which is installed on the lifting frame 22, one end of the rope 243 is wound around the winding shaft 242, and the other end of the rope 243 is fixedly connected to the support frame 21, and the rope 243 is wound around the first pulley 241 and the second pulley 244.

[0070] Here, it can be understood that after the rope 243 passes around the first pulley 241 and then around the second pulley 244, the rope 243 is fixed on the support frame 21, so that during the rotation of the winding shaft 242, the rope 243 is driven to pass through the first pulley 241 and the second pulley 244, and at the same time, the second pulley 244 is driven to rise and fall, thereby driving the lifting frame 22 to rise and fall, thereby realizing the up and down lifting of the camera 31.

[0071] By adopting the technical solution of this embodiment, the setting of the second pulley 244 can reduce the force of the rope 243 pulling the camera 31, which is beneficial to reducing the output force of the electric drive component 23, making the lifting of the camera 31 easier to achieve, and is also beneficial to reducing the cost of the lifting mechanism 20.

[0072] In some embodiments, there may be multiple first pulleys 241 and multiple second pulleys 244, which can be set specifically according to actual needs; for example, there are two first pulleys 241 and two second pulleys 244, and the rope 243 is alternately passed around the two first pulleys 241 and the two second pulleys 244 in turn to facilitate the lifting and lowering of the camera 31.

[0073] In some embodiments, one end of the rope 243 is wound around the winding shaft 242, and the other end of the rope 243 can be fixed to the support frame 21 through a hook 245. With this design, the lifting mechanism 20 has a simple structure and good reliability.

[0074] In another embodiment of the present application, the support frame 21 includes a vertical rod 211 , and the lifting frame 22 is provided with a guide groove 221 , and the vertical rod 211 is slidably connected in the guide groove 221 .

[0075] Here, it can be understood that, when the rope 243 drives the lifting frame 22 to rise and fall, the vertical rod 211 slides in the guide groove 221, that is, the guide groove 221 moves up and down along the height direction of the vertical rod 211. For example, there are two vertical rods 211, and the two vertical rods 211 are arranged at intervals and constitute the main support component of the vertical rod 211. The guide groove 221 can refer to a groove-shaped structure formed by splicing the plates on the lifting frame 22.

[0076] By adopting the technical solution of this embodiment, under the guiding action of the guide groove 221 and the vertical rod 211, the lifting and lowering of the lifting frame 22 can be made more stable, the camera 31 can shoot more stably, the camera 31 has better shooting quality, and the accuracy of identifying the pest and disease area is higher.

[0077] In some embodiments, see Figure 3 As shown, the support frame 21 also includes a fixed box 212, a base 213 and a top rod 214, the lower ends of the two vertical rods 211 are installed on the base 213, the upper ends of the two vertical rods 211 are respectively connected to the top rod 214, the first pulley 241 and the hook 245 are installed on the top rod 214, the two ends of the fixed box 212 are respectively connected to the two vertical rods 211, the electric drive 23 and the winding shaft 242 are installed on the fixed box 212. With this design, the lifting mechanism 20 has good structural reliability and the lifting stability and reliability of the camera 31 are good.

[0078] In another embodiment of the present application, Figure 4 and Figure 5 As shown, a roller 222 is provided in the guide groove 221 , and the roller 222 is used to abut against the vertical rod 211 .

[0079] Here, it can be understood that the outer peripheral surface of the roller 222 can be against the outer surface of the vertical rod 211. During the lifting and lowering process of the lifting frame 22, the roller 222 will rotate around its own axis and roll along the outer surface of the vertical rod 211, so that the friction between the vertical rod 211 and the guide groove 221 becomes rolling friction, which is beneficial to reduce the resistance of the lifting frame 22 to the lifting and lowering.

[0080] By adopting the technical solution of this embodiment, the design of the roller 222 allows the vertical rod 211 and the guide groove 221 to form rolling friction, which is beneficial to reducing the resistance of the lifting frame 22 to the lifting and lowering, and improving the smoothness and stability of the lifting and lowering of the camera 31.

[0081] For example, a roller bracket 223 is disposed in the guide groove 221 , and the roller 222 is rotatably mounted on the roller bracket 223 , thereby achieving fixed installation of the roller 222 .

[0082] For example, two ends of the wheel shaft 2221 of the roller 222 can be directly fixed to two opposite groove walls of the guide groove 221 , thereby achieving fixed installation of the roller 222 .

[0083] In another embodiment of the present application, Figure 3 , Figure 4 and Figure 5 As shown, two opposite sides of the vertical rod 211 are provided with sliding grooves 2111 , and rollers 222 are provided in the two sliding grooves 2111 .

[0084] Here, it can be understood that the roller 222 is located in the sliding groove 2111, and the roller 222 can be against the bottom surface of the sliding groove 2111 and can roll along the groove surface of the sliding groove 2111; and the sliding grooves 2111 are provided on the opposite sides of the vertical rod 211, so that the two sliding grooves 2111 are provided with rollers 222, wherein the number of rollers 222 in the sliding groove 2111 can be one or more, and the specific number can be set according to actual needs and is not limited here. For example, two rollers 222 arranged up and down are provided in the sliding groove 2111.

[0085] By adopting the technical solution of this embodiment, due to the limitation of the groove wall surfaces of the two sliding grooves 2111, it is difficult for the roller 222 to disengage from the sliding groove 2111, that is, it is difficult for the vertical rod 211 to disengage from the guide groove 221, the lifting and lowering stability and reliability of the lifting frame 22 are good, and the stability of the lifting and lowering of the camera 31 is improved.

[0086] In some embodiments, at least one of the other relative sides of the vertical rod 211 is slidably connected to at least one roller 222, that is, at least one side between two relative sides with sliding grooves 2111 is abutted against the roller 222, so that the vertical rod 211 and the guide groove 221 are slidably connected on at least three sides by the roller 222, the lifting frame 22 has less resistance to lifting and lowering, and the smoothness and stability of the lifting and lowering of the camera 31 are better.

[0087] In another embodiment of the present application, Figure 6 As shown, the support frame 21 includes a vertical rod 211 , and the vertical rod 211 is a telescopic rod 211 a , and the telescopic rod 211 a is used to adjust the height of the support frame 21 .

[0088] The vertical rod 211 may refer to a rod member arranged vertically, and the vertical rod 211 is a telescopic rod 211a, that is, the telescopic rod 211a can be extended and retracted to achieve height adjustment of the support frame 21. The telescopic rod 211a may be an electric telescopic rod 211a.

[0089] By adopting the technical solution of this embodiment, the vertical rod 211 adopts the structure of the telescopic rod 211a, so that the vertical rod 211 is telescopic, so that the height of the support frame 21 can be adjusted to meet the use requirements of plants of different heights.

[0090] In another embodiment of the present application, Figures 6 to 9 As shown, the telescopic rod 211a includes a plurality of telescopic sections 2112, and the plurality of telescopic sections 2112 are slidably mounted in sequence. A first locking hole 2113 is provided on the outer wall of one of the two adjacent telescopic sections 2112, and a second locking hole 2114 is provided on the outer wall of the other telescopic section 2112. The support frame 21 also includes a locking member 2115, and the locking member 2115 can be inserted into or withdrawn from the first locking hole 2113 and the second locking hole 2114 to adjust the height of the vertical rod 211.

[0091] The telescopic rod 211a is a multi-section structure, one of which is a telescopic section 2112, and the multiple telescopic sections 2112 are slidably sleeved together in sequence, that is, in two adjacent telescopic sections 2112, one telescopic section 2112 is sleeved outside the other telescopic section 2112, and the inner telescopic section 2112 is telescoped or retracted along its axis relative to the outer telescopic section 2112, thereby adjusting the height of the vertical rod 211, and then adjusting the height of the support frame 21. The telescopic section 2112 can refer to a hollow pipe, and the cross-sectional shape of the telescopic section 2112 can be circular, square, triangular, etc.

[0092] In two adjacent telescopic sections 2112, the outer wall of one telescopic section 2112 is provided with a first locking hole 2113, and the outer wall of the other telescopic section 2112 is provided with a second locking hole 2114. The locking piece 2115 is inserted into the first locking hole 2113 and the second locking hole 2114, and the two adjacent telescopic sections 2112 can be fixed, thereby fixing the height of the vertical rod 211. In this way, the user can fix the support frame 21 at the corresponding height in advance according to the height of the plant, so that the plantation inspection device 100 can be better inspected and a more accurate inspection structure can be obtained.

[0093] For example, combined with Figure 8 As shown, the locking member 2115 can be a latch, a bolt, or other components.

[0094] For example, combined with Fig. 9As shown, the locking member 2115 can also be a spring piece 2116, which is arranged in the inner hole of the telescopic section 2112 located on the inner side. The spring piece 2116 is V-shaped, and the two ends of the spring piece 2116 are respectively abutted against the two opposite hole walls of the inner hole. A protrusion 2117 is provided on one side of the spring piece 2116, and the protrusion 2117 can be inserted into the corresponding first locking hole 2113 and the second locking hole 2114 to achieve locking. When unlocking is required, the protrusion 2117 can be pressed to deform the spring piece 2116, so that the protrusion 2117 withdraws from the first locking hole 2113 or the second locking hole 2114, thereby releasing the lock between the two adjacent telescopic sections 2112, so that the two adjacent telescopic sections 2112 can move relatively to achieve height adjustment.

[0095] The number of telescopic sections 2112 can be but is not limited to one, two, three or four. The more telescopic sections 2112 there are, the wider the height adjustment range of the vertical rod 211 is, and the better the versatility of the plantation inspection device 100 is. For example, the number of telescopic sections 2112 is three, and the three telescopic sections 2112 are sequentially arranged from top to bottom, so that the vertical rod 211 can achieve three-level telescopic expansion, and this solution has a relatively large lifting and lowering control range.

[0096] The number of first locking holes 2113 and the number of second locking holes 2113 can be one or more, for example: one, two, three, four, etc., multiple first locking holes 2113 are arranged at axial intervals along the telescopic section 2112, and multiple second locking holes 2114 are arranged at axial intervals along the telescopic section 2112; wherein, the more the number of first locking holes 2113 and the number of second locking holes 2113 are, the wider the height adjustment range of the vertical rod 211 is, and the better the versatility of the plantation inspection device 100 is.

[0097] By adopting the technical solution of this embodiment, the telescopic rod 211a adopts a plurality of telescopic sections 2112 and the locking member 2115 is inserted into or withdrawn from the first locking hole 2113 and the second locking hole 2114 to achieve telescopic adjustment. The structure is simple and the cost of the support frame 21 is low.

[0098] In another embodiment of the present application, Figure 2 As shown, the camera 31 also includes a pan-tilt mechanism 32 , the camera 31 is installed on the pan-tilt mechanism 32 , the pan-tilt mechanism 32 is installed on the lifting frame 22 , and the pan-tilt mechanism 32 is connected to the camera 31 for adjusting the shooting angle of the camera 31 .

[0099] Here, it can be understood that the pan-tilt mechanism 32 may refer to a stabilizing device for photography, videography and aerial photography, which can control the posture of the camera through electronic or mechanical means to achieve a smooth and fluent shooting effect. The pan-tilt mechanism 32 is usually composed of three axes, namely the pitch axis, the roll axis and the yaw axis, which can be independently controlled to adjust the camera angle of the camera 31 and also enable the camera 31 to remain stable in all directions.

[0100] By adopting the technical solution of this embodiment, the camera 31 adjusts the camera angle through the pan-tilt mechanism 32, and the camera 31 can better capture high-quality videos and photos to improve the recognition accuracy of pest and disease areas.

[0101] In another embodiment of the present application, Fig.10 As shown, the plantation inspection device 100 also includes an AI processor for processing data, and the electric drive component 23, the unmanned vehicle 10 and the camera 31 are all communicatively connected to the AI ​​processor.

[0102] AI processors can refer to chips and corresponding computing platforms specifically designed to run artificial intelligence (AI) algorithms.

[0103] The electric drive component 23, the unmanned vehicle 10 and the camera 31 are all communicatively connected to the AI ​​processor. It can be understood that there is data transmission between the electric drive component 23, the unmanned vehicle 10 and the camera 31 and the AI ​​processor, so that the AI ​​processor can control the operation of the electric drive component 23, the unmanned vehicle 10 and the camera 31.

[0104] For example, the electric drive component 23, the unmanned vehicle 10 and the camera 31 are all electrically connected to the AI ​​processor via wires to achieve data transmission between the electric drive component 23, the unmanned vehicle 10 and the camera 31 and the AI ​​processor.

[0105] For example, when the plantation inspection device 100 is working, the camera 31 will monitor the surrounding environment in real time and send the image data to the AI ​​processor, and the AI ​​processor will perform deep learning processing on the image; when a plant is identified, a control signal will be sent to the unmanned vehicle 10 and the unmanned vehicle 10 will be controlled to stop. After stopping, the crown height of the plant is identified. The AI ​​processor will send a control signal to the electric drive 23 according to the identified crown height. After receiving the control signal sent by the AI ​​processor, the electric drive 23 will start the motor and control the length of the rope 243 to perform the lifting operation. After the lifting control is completed, the AI ​​processor will send a control signal to the pan-tilt mechanism 32 to drive the camera 31 to move and scan and shoot according to the crown width. The camera 31 transmits the captured picture to the AI ​​processor in real time. After the AI ​​processor completes the recognition, it will send the recognition result and send a stop end signal to the unmanned vehicle 10. The unmanned vehicle 10 continues to inspect according to the predetermined inspection path.

[0106] By adopting the technical solution of this embodiment and using an AI processor, the tree crown height can be calculated through an intelligent recognition algorithm, and the lifting mechanism 20, the pan-tilt mechanism 32 and the camera 31 can be automatically controlled according to the tree crown height to achieve accurate scanning of each layer of the tree crown, which can greatly reduce the labor burden and labor costs.

[0107] In another embodiment of the present application, the plantation inspection device 100 further includes a wireless transmission module for transmitting data to the cloud or a terminal, and the wireless transmission module is communicatively connected to the AI ​​processor.

[0108] The wireless transmission module is a hardware component used for wireless communication between devices. It can realize the wireless transmission of data, enabling devices to communicate and exchange information through wireless signals. For example: Wi-Fi (wireless LAN), NFC (near field communication), Zigbee, Z-Wave, LoRa (long distance and low power consumption), etc.

[0109] The wireless transmission module is communicatively connected to the AI ​​processor. It can be understood that the AI ​​processor can send the image information obtained by the camera to the cloud or terminal (for example, mobile phone, computer, etc.) through the wireless transmission module, and provide original data for the decision-making of the cloud or terminal to quickly determine the area where pests and diseases occur, and also facilitate personnel to view the inspection situation in real time; the wireless transmission module can also receive control instructions from the cloud or terminal and send them to the AI ​​processor. After receiving the instructions, the AI ​​processor can control the movement of the unmanned vehicle, lifting mechanism, and pan-tilt mechanism to facilitate the intelligent inspection of the plantation inspection device 100.

[0110] For example, the wireless transmission module and the AI ​​processor are electrically connected via a wire to achieve data transmission between the wireless transmission module and the AI ​​processor.

[0111] By adopting the technical solution of this embodiment, after the AI ​​processor completes the identification, the identification result can be sent to the cloud or terminal through the wireless transmission module, which can facilitate operators to observe the areas where pests and diseases occur and take effective preventive and control measures.

[0112] In another embodiment of the present application, the plantation inspection device 100 further includes a GPS positioning module for positioning, and the GPS positioning module is communicatively connected to the AI ​​processor.

[0113] The GPS positioning module is a hardware device used to receive and process global positioning system (GPS) signals. It usually consists of a GPS receiver and related circuits to receive GPS signals from satellites and calculate the accurate location information of the device.

[0114] The GPS positioning module is communicatively connected with the AI ​​processor. It is understandable that the GPS positioning module can obtain the latitude and longitude information of the area where the pests and diseases occur and send it to the AI ​​processor.

[0115] For example, the GPS positioning module and the AI ​​processor are electrically connected via wires to achieve data transmission between the GPS positioning module and the AI ​​processor.

[0116] By adopting the technical solution of this embodiment, the GPS positioning module can obtain the latitude and longitude information of the area where the pests and diseases occur and send it to the AI ​​processor, so as to facilitate the operator to accurately find the area where the pests and diseases occur and facilitate precise spraying.

[0117] In another embodiment of the present application, the plantation inspection device 100 also includes a wireless transmission module for transmitting data with the cloud or terminal and a GPS positioning module for positioning, and both the wireless transmission module and the GPS positioning module are communicatively connected to the AI ​​processor.

[0118] Here, it is understandable that the AI ​​processor will perform real-time identification of pests and diseases and obtain the current longitude and latitude information according to the GPS positioning module. After the identification is completed, the identification results and longitude and latitude information of the pests and diseases will be sent to the cloud or terminal and a stop end signal will be sent to the unmanned vehicle 10, and the unmanned vehicle 10 will continue to inspect according to the predetermined inspection path. The cloud or terminal can accurately locate the area where the pests and diseases occur and take effective preventive and remediation measures by combining the identification results and location information.

[0119] By adopting the technical solution of this embodiment, through the mutual cooperation between the AI ​​processor, the wireless transmission module and the GPS positioning module, the cloud or the terminal can combine the recognition results and the location information to quickly and accurately determine the location of the area where the pests and diseases occur, which is conducive to the subsequent effective prevention and control measures.

[0120] In another embodiment of the present application, Figure 2 As shown, the plantation inspection device 100 also includes a battery and a shell 40, the shell 40 is installed on the support frame 21, the camera 31 is installed on the shell 40, the AI ​​processor and the battery are arranged in the shell 40, and the AI ​​processor, the camera 31 and the electric drive component 23 are all communicatively connected to the battery.

[0121] By adopting the technical solution of this embodiment, the battery can provide power to components such as the camera 31, the electric drive component 23 and the camera 31, which is beneficial to extending the battery life of the plantation inspection device 100 and is more conducive to meeting the use requirements of large-scale plantations; in addition, the battery and the AI ​​processor are both located in the outer shell 40, and the outer shell 40 provides protection for the AI ​​processor and the battery, which is beneficial to improving the use reliability of the plantation inspection device 100.

[0122] For example, the camera 31 can be fixed on the pan-tilt mechanism 32 by fasteners (e.g., screws, bolts, etc.) and arc-shaped clamps, the pan-tilt mechanism 32 can be fixed to the center of the housing 40 by fasteners (e.g., screws, bolts, etc.), and the housing 40 can also be fixed to the lifting frame 22 by fasteners (e.g., screws, bolts, etc.). Among them, the AI ​​processor, wireless transmission module, GPS positioning module and battery are all integrated in the housing 40, which is conducive to improving the reliability of the plantation inspection device 100.

[0123] It should be noted here that the processing of images by the AI ​​processor and the transmission of data between the AI ​​processor and the unmanned vehicle 10, the electric drive component 23 (for example, a motor, a cylinder, etc.), the gimbal mechanism 32, the wireless transmission module, and the GPS positioning module are currently relatively mature technologies and will not be elaborated here.

[0124] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A plantation inspection device, Features: include, Autonomous vehicles; A lifting mechanism, comprising a support frame, a lifting frame, and an electric drive component and a transmission mechanism installed on the support frame, wherein the support frame is installed on the unmanned vehicle, the electric drive component is connected to the lifting frame through the transmission mechanism, and the electric drive component is used to drive the lifting frame to move up and down; A camera mechanism, comprising a camera, wherein the camera is connected to the lifting frame; The transmission mechanism includes a first pulley, a winding shaft and a rope, the first pulley is installed on the support frame, the rope is wound around the first pulley and the winding shaft, the rope is connected to the lifting frame, and the electric drive is connected to the winding shaft and is used to drive the winding shaft to rotate.

2. The plantation inspection device according to claim 1, Features: The transmission mechanism also includes a second pulley, which is installed on the lifting frame. One end of the rope is wound around the winding shaft, and the other end of the rope is fixedly connected to the support frame. The rope is wound around the first pulley and the second pulley.

3. The plantation inspection device according to claim 1, Features: The support frame comprises a vertical rod, the lifting frame is provided with a guide groove, and the vertical rod is slidably connected in the guide groove.

4. The plantation inspection device according to claim 1, Features: The support frame comprises a vertical rod, and the vertical rod is a telescopic rod, and the telescopic rod is used to adjust the height of the support frame.

5. The plantation inspection device according to claim 4, Features: The telescopic rod includes a plurality of telescopic sections, which are slidably mounted in sequence. A first locking hole is provided on the outer wall of one of two adjacent telescopic sections, and a second locking hole is provided on the outer wall of the other telescopic section. The support frame also includes a locking piece, which can be inserted into or withdrawn from the first locking hole and the second locking hole to adjust the height of the vertical rod.

6. The plantation inspection device according to any one of claims 1 to 5, Features: The camera also includes a pan-tilt mechanism, the camera is installed on the pan-tilt mechanism, the pan-tilt mechanism is installed on the lifting frame, and the pan-tilt mechanism is connected to the camera to adjust the shooting angle of the camera.

7. The plantation inspection device according to any one of claims 1 to 5, Features: The plantation inspection device also includes an AI processor for processing data, and the electric drive component, the unmanned vehicle and the camera are all communicatively connected to the AI ​​processor.

8. The plantation inspection device according to claim 7, Features: The plantation inspection device further includes a wireless transmission module for transmitting data to the cloud or a terminal, and the wireless transmission module is communicatively connected to the AI ​​processor; And / or, the plantation inspection device also includes a GPS positioning module for positioning, and the GPS positioning module is communicatively connected to the AI ​​processor.

9. The plantation inspection device according to claim 7, Features: The plantation inspection device also includes a battery and a shell, the shell is installed on the support frame, the camera is installed on the shell, the AI ​​processor and the battery are arranged in the shell, and the AI ​​processor, the camera and the electric drive component are all communicatively connected to the battery.

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