Agricultural robot for field environment laser speckle monitoring

Abstract

The utility model relates to the field of agricultural machines, and provides an agricultural robot for field environment laser speckle monitoring, which comprises a movement mechanism, a mechanical arm mechanism and a detection mechanism, the movement mechanism is used for walking in the field; one end of the mechanical arm mechanism is connected with the movement mechanism, and the other end of the mechanical arm mechanism is provided with the detection mechanism for adjusting the height and angle of the detection mechanism; the detection mechanism comprises a camera assembly and a detection support, the detection support is connected with the mechanical arm mechanism, and the camera assembly is installed on the detection support and used for detecting laser speckles. The plant growth monitoring system is reasonable in structural design and complete in function, has a complete laser speckle detection function, and can complete data acquisition and monitoring of the plant growth state; the device does not need equipment installation, can independently work in a field environment, is suitable for large-scale online monitoring of farmland crops, and is beneficial to application and popularization of a laser speckle detection technology.

Description

Technical Field

[0001] The utility model belongs to the field of agricultural machinery, and in particular relates to an agricultural robot for field environment laser speckle monitoring. Background Art

[0002] Laser biological speckle technology is a laser detection technology that obtains biological information based on the formation of laser speckles by irradiating the surface of living organisms with coherent light. This technology can perform non-contact and non-destructive detection of the metabolism of plant and animal life, making up for the shortcomings of remote sensing detection in microscopic detection. Through dynamic speckle detection, the movement of water and various particles in the body of the organism is obtained to accurately reflect the physiological and biochemical processes of the organism; through static speckle, the organizational structure characteristics of the organism are obtained to achieve the detection data of the growth characteristics of living plants and animals. Compared with traditional detection technologies, biological speckle detection has the advantages of high efficiency, non-destructiveness and high sensitivity. Therefore, it has been highly valued by researchers at home and abroad and is often used for detection in medical, agricultural and special industrial fields.

[0003] At present, laser speckle detection devices are mostly used in scientific experiments, and the working environment is indoors. If they are used for agricultural detection, there are many problems in the process of use. For example, when performing laser speckle monitoring on crops, it is necessary to select the test plants, install the detection device near the plants, and perform laser speckle detection on the leaves of the selected crops. Because the detection device is immovable, it can only collect biochemical characteristic detection data of the selected plants, and cannot accurately represent the growth characteristics of crops in the planting area; at the same time, due to differences in crop types and growth states, the leaves grow at different heights, resulting in the detection device being unable to efficiently collect the biological speckle of plants, so its promotion and application in agricultural production is subject to certain restrictions. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model provides an agricultural robot for field environment laser speckle monitoring.

[0005] The utility model provides an agricultural robot for field environment laser speckle monitoring, comprising: a motion mechanism, a mechanical arm mechanism and a detection mechanism;

[0006] The movement mechanism is used for walking in the wild;

[0007] One end of the mechanical arm mechanism is connected to the motion mechanism, and the other end of the mechanical arm mechanism is installed with the detection mechanism to adjust the height and angle of the detection mechanism;

[0008] The detection mechanism comprises a camera assembly and a detection bracket, the detection bracket is connected to the mechanical arm mechanism, the detection bracket is installed with a camera assembly, and the detection mechanism is used to detect laser speckle.

[0009] According to the utility model, an agricultural robot for laser speckle monitoring in a field environment is provided, which also includes one end of the detection bracket connected to the mechanical arm mechanism and provided with a camera mounting hole, the other end of the detection bracket is provided with a laser mounting platform, the center of the laser mounting platform is provided with a laser mounting hole, the middle part of the detection bracket is provided with a loading platform, the loading platform is provided with a center hole, and the camera mounting hole, the laser mounting hole and the center hole are coaxial.

[0010] According to the utility model, an agricultural robot for laser speckle monitoring in a field environment also includes a camera assembly comprising a CCD camera, a lens and a laser, the lens being mounted on the CCD camera, the CCD camera being mounted in the camera mounting hole, and the laser being mounted in the laser mounting hole.

[0011] According to an agricultural robot for laser speckle monitoring in a field environment provided by the utility model, the motion mechanism also includes a crawler track, a tensioner wheel, a first motor, a driving wheel, and a chassis bracket. The tensioner wheel and the driving wheel are arranged at both ends of the chassis bracket, and the crawler track is respectively meshed with the tensioner wheel and the driving wheel. The first motor is installed on the chassis bracket and is connected to the driving wheel in a transmission manner.

[0012] According to the agricultural robot for field environment laser speckle monitoring provided by the utility model, the mechanical arm mechanism also includes a base, two groups of the motion mechanisms are symmetrically mounted on the base, and the base is connected to the chassis bracket.

[0013] According to the utility model, an agricultural robot for laser speckle monitoring in a field environment also includes the mechanical arm mechanism further including a forearm, a rear arm, a second motor, a connecting rod, and an active rod. The second motor is installed in the machine base, the rear arm is transmission-connected to the second motor for adjusting the height of the mechanical arm mechanism, the active rod is transmission-connected to the second motor, one end of the connecting rod is hinged to the active rod, and the other end of the connecting rod is hinged to the forearm for adjusting the height of the forearm.

[0014] According to an agricultural robot for laser speckle monitoring in a field environment provided by the utility model, the mechanical arm mechanism also includes a mechanical arm frame, the mechanical arm frame is transmission-connected to the second motor, one end of the mechanical arm frame is connected to the base, and the other end of the mechanical arm frame is hinged to the detection mechanism to adjust the working angle of the detection mechanism.

[0015] According to an agricultural robot for laser speckle monitoring in a field environment provided by the utility model, a battery unit and a data transmission unit are arranged in the base, the battery unit is used to power the camera assembly, the first motor and the second motor, and the data transmission unit is used for remote transmission of laser speckle data.

[0016] The above one or more technical solutions in the embodiments of the utility model have at least one of the following technical effects:

[0017] The utility model has a reasonable structural design, complete functions, and a complete laser speckle detection function, and can complete the data collection and monitoring of plant growth status; it adopts a crawler walking robot, which is suitable for walking under complex terrain conditions in field farmland, and can collect laser biological speckle data for multiple plants and multiple crops in a certain planting area, and the collected detection data is more representative; it can adjust the working height and working angle of the detection device according to the growth height and growth direction of the plant leaves to achieve efficient and accurate data collection; it is equipped with a battery unit and a data teletransmission unit, which is not restricted by the power supply conditions in the planting area, does not require equipment installation, and can work independently in the field environment. Therefore, it is suitable for large-scale online monitoring of farmland crops and is conducive to the application and promotion of laser speckle detection technology.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 This is an axonometric diagram of an agricultural robot for field environment laser speckle monitoring provided by the utility model.

[0021] Figure 2 The utility model provides a schematic structural diagram of an agricultural robot for field environment laser speckle monitoring.

[0022] Figure 3 The utility model provides a schematic diagram of the structure of an agricultural robot detection system for field environment laser speckle monitoring.

[0023] Reference numerals:

[0024] 1. Motion mechanism; 2. Robotic arm mechanism; 3. Detection mechanism; 4. Detection bracket; 5. CCD camera; 6. Lens; 7. Laser; 8. Center hole; 9. Forearm; 10. Rear arm; 11. Second motor; 12. Connecting rod; 13. Robotic arm frame; 14. Active rod; 15. Machine base; 16. Track; 17. Tensioner; 18. First motor; 19. Driving wheel; 20. Chassis bracket; 21. Loading table; 22. Laser mounting table. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. The following embodiments are used to illustrate the utility model, but cannot be used to limit the scope of the utility model.

[0026] In the description of the embodiments of the present invention, it should be noted that the terms “first” and “second” are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0027] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0028] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0029] Combine the following Figures 1 to 3The utility model describes an agricultural robot for monitoring laser speckle in a field environment. The utility model provides an agricultural robot for monitoring laser speckle in a field environment, comprising: a motion mechanism 1, a mechanical arm mechanism 2 and a detection mechanism 3;

[0030] The movement mechanism 1 is used for walking in the wild;

[0031] One end of the mechanical arm mechanism 2 is connected to the motion mechanism 1, and the other end of the mechanical arm mechanism 2 is installed with a detection mechanism 3 for adjusting the height and angle of the detection mechanism 3;

[0032] The detection mechanism 3 includes a camera assembly and a detection bracket 4. The detection bracket 4 is connected to the mechanical arm mechanism 2. The detection bracket 4 is installed with a camera assembly for detecting laser speckle.

[0033] According to some embodiments of the utility model, the laser speckle monitoring device can move in a field environment through a motion mechanism to meet the needs of different monitoring positions, and the angle and height of the detection mechanism are adjusted through a mechanical arm mechanism to achieve real-time monitoring of laser speckles through the detection mechanism.

[0034] One end of the detection bracket 4 is connected to the robot arm mechanism 2 and is provided with a camera mounting hole. The other end of the detection bracket is provided with a laser mounting platform 22. A laser mounting hole is opened in the center of the laser mounting platform 22. A stage 21 is provided in the middle of the detection bracket. The stage 21 has a center hole 8. The camera mounting hole, the laser mounting hole and the center hole 8 are coaxial.

[0035] The camera assembly includes a CCD camera 5, a lens 6 and a laser 7. The lens 6 is mounted on the CCD camera 5. The CCD camera 5 is mounted in a camera mounting hole. The laser 7 is mounted in a laser mounting hole.

[0036] According to some embodiments of the utility model, the lens 6 is mounted on the CCD camera 5, the CCD camera 5 is mounted in the camera mounting hole, and the laser 7 is mounted in the laser mounting hole. The camera mounting hole, the laser mounting hole and the center hole 8 are coaxial, so that the laser ray can vertically penetrate the center hole 8; the CCD camera collects the speckle image on the center hole.

[0037] The motion mechanism includes a crawler track 16, a tensioner wheel 17, a first motor 18, a driving wheel 19, and a chassis bracket 20. The tensioner wheel 17 and the driving wheel 19 are arranged at both ends of the chassis bracket 20. The crawler track 16 is respectively engaged with the tensioner wheel 17 and the driving wheel 19. The first motor 18 is installed on the chassis bracket 20 and is connected to the driving wheel 19 in transmission.

[0038] According to some embodiments of the utility model, the power of the first motor 18 is transmitted to the driving wheel 19 after deceleration and torque increase, and the outer teeth of the driving wheel 19 mesh with the crawler 16 to drive the crawler 16 to move. The tensioner 17 adjusts the tightness of the crawler 16 and forms a robot walking system with the driving wheel 19 and the chassis bracket 20. The chassis bracket 20 and the double crawler structure make the structure of the device stable and the force balanced. The crawler 16 meshes with the driving wheel 19 and the tensioner 17. On the one hand, the meshing is accurate, the walking is smooth, and the transmission slip is prevented; on the other hand, the driving adaptability in the field environment is enhanced.

[0039] The robot arm mechanism 2 includes a base 15 , on which two sets of motion mechanisms 1 are symmetrically mounted, and the base 15 is connected to a chassis bracket 20 .

[0040] According to some embodiments of the utility model, two sets of motion mechanisms drive the mechanical arm mechanism and the detection mechanism to move in the field environment, and the structure is stable and the force is balanced.

[0041] The robotic arm mechanism 2 also includes a forearm 9, a rear arm 10, a second motor 11, a connecting rod 12, and an active rod 14. The second motor 11 is installed in a base 15. The rear arm 10 is connected to the second motor 11 for transmission to adjust the height of the robotic arm mechanism 2. The active rod 14 is connected to the second motor 11 for transmission. One end of the connecting rod 12 is hinged to the active rod 14, and the other end of the connecting rod 12 is hinged to the forearm 9 for adjusting the height of the forearm 9.

[0042] The robotic arm mechanism 2 also includes a robotic arm frame 13, which is transmission-connected to the second motor 11, one end of the robotic arm frame 13 is connected to the base 15, and the other end of the robotic arm frame 13 is hinged to the detection mechanism 3 to adjust the working angle of the detection mechanism 3.

[0043] The mechanical arm mechanism 2 adopts a planar four-bar mechanism, and the power of the second motor 11 is transmitted to the rear arm 10 after deceleration and torque increase to achieve the height adjustment of the mechanical arm mechanism 2. Similarly, the power of the second motor 11 can also be transmitted to the active rod 14 after deceleration and torque increase to drive the connecting rod 12 to achieve the height adjustment of the forearm 9. The working angle of the detection mechanism 3 can be adjusted by rotating the mechanical arm frame 13 to adapt to the growth state of the plant leaves.

[0044] A battery unit and a data transmission unit are arranged in the base 15. The battery unit is used to supply power to the CCD camera 5, the laser 7, the first motor 18 and the second motor 11. The data transmission unit is used for remote transmission of laser speckle data.

[0045] The device is equipped with a battery unit and a data transmission unit, which are fixed on the base 15. The battery unit provides power for the CCD camera 5, the laser 7, the first motor 18 and the second motor 11. The data transmission unit is used for remote transmission of speckle image data.

[0046] The first motor 18 is controlled by the remote control device to drive the robot to walk in the farmland;

[0047] The robot moves to the vicinity of the plant to be inspected, controls the second motor 11 with a remote control device, adjusts the robot arm mechanism 2 to a height suitable for inspection, and places the plant leaves in the area between the lens 6 and the center hole 8 of the inspection mechanism 3; adjusts the arm frame 13, adjusts the working angle of the inspection mechanism 3, makes the plant leaves cover the center hole 8 of the loading platform, opens the inspection mechanism 3 with a remote control device, and the light beam of the laser 7 passes through the center hole 8 of the loading platform and transmits the plant leaves, presenting static laser speckle or dynamic laser speckle of the plant leaves on the other side.

[0048] The static laser speckle or dynamic laser speckle of the plant leaves is captured in real time by the CCD camera 5 through the lens 6. The collected data image is transmitted to the data center by the data transmission unit. The dynamic speckle and static speckle in the image are analyzed and processed by professional software to form monitoring data of crop growth status.

[0049] The beneficial effects of the utility model are that the utility model has a reasonable structural design, complete functions, and a complete laser speckle detection function, and can complete the data collection and monitoring of plant growth status; it adopts a crawler walking robot, which is suitable for walking under complex terrain conditions in field farmland, and can collect laser biological speckle data for multiple plants and multiple crops in a certain planting area, and the collected detection data is more representative; it can adjust the working height and working angle of the detection device according to the growth height and growth direction of the plant leaves to achieve efficient and accurate data collection; it is equipped with a battery unit and a data teletransmission unit, which is not restricted by the power supply conditions in the planting area, does not require equipment installation, and can work independently in the field environment. Therefore, it is suitable for large-scale online monitoring of farmland crops and is conducive to the application and promotion of laser speckle detection technology.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. An agricultural robot for field environment laser speckle monitoring, characterized in that: include: Motion mechanism, robotic arm mechanism and detection mechanism; The movement mechanism is used for walking in the wild; One end of the mechanical arm mechanism is connected to the motion mechanism, and the other end of the mechanical arm mechanism is installed with the detection mechanism to adjust the height and angle of the detection mechanism; The detection mechanism comprises a camera assembly and a detection bracket, the detection bracket is connected to the mechanical arm mechanism, the detection bracket is installed with a camera assembly, and the detection mechanism is used to detect laser speckle.

2. The agricultural robot for field environment laser speckle monitoring according to claim 1, characterized in that: One end of the detection bracket is connected to the mechanical arm mechanism and is provided with a camera mounting hole, the other end of the detection bracket is provided with a laser mounting platform, the center of the laser mounting platform is provided with a laser mounting hole, the middle of the detection bracket is provided with a stage, the stage is provided with a center hole, and the camera mounting hole, the laser mounting hole and the center hole are coaxial.

3. The agricultural robot for field environment laser speckle monitoring according to claim 2, characterized in that: The camera assembly includes a CCD camera, a lens and a laser. The lens is mounted on the CCD camera, the CCD camera is mounted in the camera mounting hole, and the laser is mounted in the laser mounting hole.

4. The agricultural robot for field environment laser speckle monitoring according to claim 1, characterized in that: The motion mechanism includes a crawler track, a tensioner wheel, a first motor, a driving wheel, and a chassis bracket. The tensioner wheel and the driving wheel are arranged at both ends of the chassis bracket. The crawler track is respectively engaged with the tensioner wheel and the driving wheel. The first motor is installed on the chassis bracket and is connected to the driving wheel in a transmission manner.

5. The agricultural robot for field environment laser speckle monitoring according to claim 4, characterized in that: The mechanical arm mechanism comprises a machine base, on which two sets of the motion mechanisms are symmetrically mounted, and the machine base is connected to the chassis bracket.

6. The agricultural robot for field environment laser speckle monitoring according to claim 5, characterized in that: The robotic arm mechanism also includes a forearm, a rear arm, a second motor, a connecting rod, and an active rod. The second motor is installed in the base. The rear arm is connected to the second motor in a transmission manner to adjust the height of the robotic arm mechanism. The active rod is connected to the second motor in a transmission manner. One end of the connecting rod is hinged to the active rod, and the other end of the connecting rod is hinged to the forearm to adjust the height of the forearm.

7. The agricultural robot for field environment laser speckle monitoring according to claim 6, characterized in that: The mechanical arm mechanism also includes a mechanical arm frame, which is drivingly connected to the second motor, one end of the mechanical arm frame is connected to the base, and the other end of the mechanical arm frame is hinged to the detection mechanism to adjust the working angle of the detection mechanism.

8. The agricultural robot for field environment laser speckle monitoring according to claim 6, characterized in that: A battery unit and a data transmission unit are arranged in the base. The battery unit is used to supply power to the camera assembly, the first motor and the second motor. The data transmission unit is used for remote transmission of laser speckle data.

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