Self-propelled strawberry yield estimation robot

Abstract

The utility model relates to the technical field of robots, in particular to a self-propelled strawberry yield estimation robot, an anti-rollover mechanism is arranged at the bottom of a walking main body, the anti-rollover mechanism comprises a mounting seat, an air cavity seat is arranged below the mounting seat, pneumatic telescopic rods are distributed on the periphery of the air cavity seat, an air pump is arranged below the air cavity seat, and the air pump is connected with the mounting seat. The bottom of the walking body is further provided with a tilt angle sensor, the tilt angle sensor detects the tilt degree of the walking body and sends a detection result to the main controller, the main controller starts the air pump, the air pump inflates the pneumatic telescopic rod through the air cavity base, the pneumatic telescopic rod stretches out in the side turning direction of the walking body, and the walking body is prevented from turning over. The self-propelled strawberry yield estimation robot provided by the utility model is provided with an advanced walking mechanism, can stably and autonomously move in a strawberry field, and does not need manual control. The precise navigation system and the obstacle avoidance technology are benefited, and it is ensured that the robot can safely and efficiently advance in the complex environment.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a self-propelled strawberry yield estimation robot. Background Art

[0002] As a fruit widely grown around the world, strawberry is loved by consumers for its delicious taste and rich nutritional value. The strawberry planting process is affected by many factors, such as climate, soil, pests and diseases, which often lead to large fluctuations in strawberry yields. Traditional strawberry yield estimation methods mainly rely on farmers' experience and judgment. However, these methods are often greatly affected by human factors and are difficult to cope with complex and changing environmental factors. Such yield estimation methods not only have high labor costs, but also lack scientificity and accuracy.

[0003] In order to further improve the accuracy of strawberry yield estimation and the intelligent level of orchard operations and reduce labor costs, this project proposes to design a self-propelled strawberry yield estimation robot that integrates environmental perception, path planning, and precise yield measurement, which is applied to autonomous navigation, obstacle avoidance, and yield estimation. Through the application of the above technologies, not only can labor costs be effectively reduced, but also agricultural production efficiency can be significantly improved, which will help promote agriculture to develop in a more intelligent and efficient direction and provide solid technical support for achieving the goal of sustainable agricultural development. Utility Model Content

[0004] The utility model aims at solving the problems existing in the prior art and provides a self-propelled strawberry yield estimation robot.

[0005] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0006] A self-propelled strawberry yield estimation robot comprises a walking body, a monitoring device and a main control unit. An anti-rollover mechanism is arranged at the bottom of the walking body. The anti-rollover mechanism comprises a mounting seat. An air cavity seat is arranged below the mounting seat. Pneumatic telescopic rods are arranged around the air cavity seat. An air pump is arranged below the air cavity seat. An inclination sensor is also arranged at the bottom of the walking body. The inclination sensor detects the inclination degree of the walking body and sends the detection result to a main controller. The main controller starts the air pump. The air pump inflates the pneumatic telescopic rod through the air cavity seat, so that the pneumatic telescopic rod extends in the rollover direction of the walking body to prevent the walking body from turning over.

[0007] Furthermore, the pneumatic telescopic rod includes a telescopic rod body, one end of the telescopic rod is connected to the air cavity seat through an air valve, and the other end is a closed end. A return spring is provided inside the telescopic rod, and both ends of the return spring are respectively connected to the two ends of the telescopic rod.

[0008] Furthermore, the walking body includes a bottom plate and a top plate, and mounting groove 1 and mounting groove 2 are respectively provided at the front and rear ends between the bottom plate and the top plate. Driving mechanisms are provided inside mounting groove 1 and mounting groove 2, and walking wheels are provided outside. The driving mechanisms are connected to the corresponding walking wheels and drive the walking wheels to rotate.

[0009] Furthermore, the driving mechanism includes a driver, a driving end of the driver is connected to a belt transmission structure, and the belt transmission structure is connected to a traveling wheel.

[0010] Furthermore, the first mounting groove and the second mounting groove are U-shaped mounting grooves.

[0011] Furthermore, the monitoring device is a monitoring camera, and the monitoring camera is fixed on the top plate.

[0012] Furthermore, a satellite positioning antenna is fixed above the walking body, and the satellite positioning antenna is connected to the main control unit.

[0013] Beneficial effects of the utility model:

[0014] The self-propelled strawberry yield estimation robot provided by the utility model is equipped with an advanced walking mechanism, which can move stably and autonomously in the strawberry field without manual control. This is due to the precise navigation system and obstacle avoidance technology, which ensures that the robot can move safely and efficiently in complex environments. The robot is equipped with a high-resolution monitoring camera and a variety of sensors for real-time collection of strawberry growth images and environmental data. This information is the basis for yield estimation and ensures the accuracy and reliability of the estimation results. Taking into account the complexity of the strawberry field environment, the robot is ensured to remain stable at all times during work by optimizing the center of gravity design and using technical means such as anti-rollover mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the self-propelled strawberry yield estimation robot of the utility model;

[0016] Figure 2 It is a structural schematic diagram of the walking main body of the utility model;

[0017] Figure 3 It is a structural schematic diagram of the driving mechanism of the utility model;

[0018] Figure 4 It is a structural schematic diagram of the anti-rollover mechanism of the utility model;

[0019] Figure 5 It is a structural schematic diagram of the pneumatic telescopic rod of the utility model.

[0020] In the figure: 1-walking body, 11-bottom plate, 12-top plate, 13-installation slot one, 14-installation slot two, 15-driving mechanism, 151-driver, 152-belt transmission structure, 16-walking wheel, 2-monitoring equipment, 3-main control unit, 4-anti-rollover mechanism, 41-mounting seat, 42-air cavity seat, 43-pneumatic telescopic rod, 431-telescopic rod, 432-reset spring, 433-air valve, 44-air pump. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0022] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0023] Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0024] Please refer to Figure 1 , a self-propelled strawberry yield estimation robot provided by the utility model includes a walking body 1, a monitoring device 2, a main control unit 3 and an anti-rollover mechanism 4. The walking body 1 is responsible for the movement and positioning of the robot, the monitoring device 2 is used to collect strawberry growth data, the main control unit 3 is responsible for data processing and decision-making, and the anti-rollover mechanism 4 ensures the stability of the robot during walking. A satellite positioning antenna 5 is fixed above the walking body 1, and the satellite positioning antenna 5 is connected to the main control unit 3. The main control unit 3 specifically adopts the edge computer NVIDIA Jetson Xavier NX.

[0025] Please refer to Figure 1 and Figure 2The walking body 1 includes a bottom plate 11 and a top plate 12. A mounting groove 13 and a mounting groove 2 14 are respectively arranged at the front and rear ends between the bottom plate 11 and the top plate 12. The upper parts of the mounting groove 13 and the mounting groove 2 14 are connected to the top plate 12, and the lower parts are connected to the bottom plate 11. The mounting groove 13 and the mounting groove 2 14 are both U-shaped structures, which are convenient for installation and disassembly.

[0026] Please refer to Figure 1 and Figure 3 , a driving mechanism 15 is provided inside the installation groove 13 and the installation groove 2 14, and a walking wheel 16 is provided outside. The driving mechanism 15 is connected to the walking wheel 16 through a belt transmission structure 152, and drives the walking wheel 16 to rotate, so as to realize the walking of the robot. The driving mechanism 15 includes a driver 151, which receives a control signal from the main control unit 3 and converts it into mechanical energy to drive the belt transmission structure 152. The belt transmission structure 152 is composed of a driving wheel, a driven wheel and a transmission belt. The driving wheel is connected to the driver 151, and the driven wheel is connected to the walking wheel 16, thereby driving the walking wheel 16 to rotate. The driver 151 is a driving motor.

[0027] Please refer to Figure 1 , monitoring device 2 is a monitoring camera, fixed on the top plate 12, responsible for collecting strawberry growth image data. The monitoring camera adopts high resolution and wide-angle lens, which can capture the growth of strawberries in a large range. The monitoring camera is connected to the main control unit 3 by wired or wireless mode, and the collected image data is transmitted to the main control unit 3 in real time for processing. Monitoring device 2 consists of a ZED 2i binocular camera and two ordinary cameras. The model of the positioning antenna 5 is BT-770, and the distance between adjacent positioning antennas 5 needs to be kept above 1 meter, because the radio waves between adjacent antennas will interfere with each other. In order to avoid such interference, it is necessary to keep a spacing greater than one meter.

[0028] The main control unit 3 is the core control part of the robot, which is responsible for receiving data from the monitoring device 2 and the tilt sensor (not marked in the figure), and performing data processing and decision-making. The main control unit 3 uses a high-performance processor and a large-capacity memory, which can quickly process a large amount of data and store historical data for subsequent analysis. The main control unit 3 also controls the robot's walking control by controlling the driver 151, and adjusts the anti-rollover mechanism 4 by controlling the air pump 44 and the air valve 433.

[0029] Please refer to Figure 1 Figure 4 , Figure 5The anti-rollover mechanism 4 is installed at the bottom of the walking body 1 to prevent the robot from rolling over during walking. The anti-rollover mechanism 4 includes a mounting seat 41, an air cavity seat 42, a pneumatic telescopic rod 43 and an air pump 44. The mounting seat 41 is fixed to the bottom of the walking body 1, the air cavity seat 42 is installed below the mounting seat 41, and the pneumatic telescopic rod 43 is arranged around the air cavity seat 42 and is interconnected with the air cavity seat 42. The air pump 44 is connected to the air cavity seat 42 through a pipeline, and is used to inflate or deflate the pneumatic telescopic rod 43.

[0030] The pneumatic telescopic rod 43 includes a telescopic rod body 431 and a return spring 432. One end of the telescopic rod body 431 is connected to the air cavity seat 42 through an air valve 433, and the other end is a closed end. A return spring 432 is provided inside the telescopic rod body 431, and the two ends of the return spring 432 are respectively connected to the two ends of the telescopic rod body 431. When the air pump 44 inflates the pneumatic telescopic rod 43, the telescopic rod body 431 will extend in the rollover direction of the walking body 1, thereby preventing the walking body 1 from turning over. When the air pump 44 deflates, the return spring 432 will pull the telescopic rod body 431 back to its original position.

[0031] Working principle:

[0032] During operation, the binocular camera and satellite positioning antenna 5 obtain the image information of strawberries and the coordinate position information of the robot in real time, perform image processing through the deep learning model, accurately estimate the strawberry yield and identify obstacles. Based on these real-time data, the robot navigation control system calculates the optimal path through path planning algorithms such as state grid planners. Each point on the path contains information such as coordinates, heading angles, and acceleration, which are tracked by a PID controller to ensure that the robot walks accurately and efficiently in the orchard.

[0033] During the walking process, the inclination sensor will monitor the inclination degree of the walking body 1 in real time. If the inclination angle is detected to exceed the preset threshold, the main control unit 3 will immediately start the air pump 44 and the corresponding air valve 433, and the air pump 44 will inflate the pneumatic telescopic rod 43 through the air cavity seat 42 and the air valve 433. The extended pneumatic telescopic rod 43 will generate a supporting force in the opposite direction of the rollover, thereby preventing the walking body 1 from continuing to roll over. When the walking body 1 regains stability, the main control unit 3 will control the air pump 44 to stop inflating, and the pneumatic telescopic rod 43 will retract to its original position under the action of the reset spring 432. As the data continues to accumulate, the main control unit 3 will use the built-in yield estimation algorithm to estimate the yield. The algorithm will comprehensively consider historical data, current growth conditions and environmental factors such as light, temperature, humidity, etc., and predict the strawberry yield in the future. The estimation results can be displayed to growers or managers through display screens, wireless transmission, etc. After completing a yield estimation, the robot will continue to follow the preset walking route or carry out the next round of autonomous walking and monitoring based on the real-time acquired strawberry field terrain information. The entire workflow will be carried out in a continuous cycle to achieve continuous monitoring of strawberry fields and yield estimation.

[0034] The above contents are further detailed descriptions of the present invention in combination with specific preferred implementations, and the specific implementation of the present invention cannot be considered to be limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A self-propelled strawberry yield estimation robot, comprising a walking body (1), a monitoring device (2) and a main control unit (3), characterized in that: The bottom of the walking body (1) is provided with an anti-rollover mechanism (4), the anti-rollover mechanism (4) comprises a mounting seat (41), an air cavity seat (42) is provided below the mounting seat (41), a pneumatic telescopic rod (43) is arranged around the air cavity seat (42), an air pump (44) is provided below the air cavity seat (42), and an inclination sensor is also provided at the bottom of the walking body (1), the inclination sensor detects the degree of inclination of the walking body (1) and sends the detection result to the main controller, the main controller starts the air pump (44), the air pump (44) inflates the pneumatic telescopic rod (43) through the air cavity seat (42), so that the pneumatic telescopic rod (43) extends in the direction of the walking body (1) rolling over, thereby preventing the walking body (1) from turning over.

2. The self-propelled strawberry yield estimation robot according to claim 1, characterized in that: The pneumatic telescopic rod (43) comprises a telescopic rod (431), one end of the telescopic rod (431) is connected to the air cavity seat (42) via an air valve (433), and the other end is a closed end. A return spring (432) is provided inside the telescopic rod (431), and both ends of the return spring (432) are respectively connected to both ends of the telescopic rod (431).

3. The self-propelled strawberry yield estimation robot according to claim 1, characterized in that: The walking body (1) comprises a bottom plate (11) and a top plate (12); a first installation groove (13) and a second installation groove (14) are respectively provided at the front and rear ends between the bottom plate (11) and the top plate (12); a driving mechanism (15) is provided inside the first installation groove (13) and the second installation groove (14); and a walking wheel (16) is provided outside the first installation groove (13) and the second installation groove (14); the driving mechanism (15) is connected to the corresponding walking wheel (16) and drives the walking wheel (16) to rotate.

4. The self-propelled strawberry yield estimation robot according to claim 3, characterized in that: The driving mechanism (15) comprises a driver (151), a driving end of the driver (151) is connected to a belt transmission structure (152), and the belt transmission structure (152) is connected to a walking wheel (16).

5. The self-propelled strawberry yield estimation robot according to claim 3, characterized in that: The first mounting groove (13) and the second mounting groove (14) are U-shaped mounting grooves.

6. The self-propelled strawberry yield estimation robot according to claim 1, characterized in that: The monitoring device (2) is a monitoring camera, which is fixed on the top plate (12).

7. The self-propelled strawberry yield estimation robot according to claim 1, characterized in that: A satellite positioning antenna (5) is fixed above the walking body (1), and the satellite positioning antenna (5) is connected to the main control unit (3).

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