Intelligent monitoring robot for ecosystem under mangrove forest

Abstract

The embodiment of the utility model relates to a mangrove forest ecological system intelligent monitoring robot which comprises a moving mechanism, and the moving mechanism comprises a base and two crawler belt assemblies. The monitoring mechanism is arranged on the base and used for acquiring ecological information of mangrove plants; the control mechanism is arranged on the base and is electrically connected with the moving mechanism and the monitoring mechanism; the crawler belt assembly comprises a supporting plate, a damping piece, a driving wheel, a driven wheel, a driving piece, an elastic piece, a bearing wheel and a crawler belt. The first side of the supporting plate is fixed to the base, the second side of the supporting plate is rotationally connected with the middle of the damping piece, and the other two opposite sides of the supporting plate are rotationally connected with the driving wheel and the driven wheel correspondingly. The driving piece is connected with the driving wheel; one end of the elastic piece is connected with the supporting plate, the other end of the elastic piece is connected with one end of the damping piece, and the other end of the damping piece is rotationally connected with the bearing wheel. By means of the robot, the ecological information of mangrove plants can be monitored, and therefore manpower can be greatly saved.

Description

Technical Field

[0001] The embodiment of the utility model relates to the technical field of ecosystem robots, and in particular to an intelligent monitoring robot for ecosystems under mangroves. Background Art

[0002] Mangroves have important ecological functions, and their protection and restoration have become a global consensus. However, due to the poor accessibility of mangroves and the low efficiency of manual surveys, the current survey and monitoring of all elements of the mangrove ecosystem is still incomplete. Drone monitoring can be achieved from outside the forest, but there is no efficient unmanned autonomous survey and monitoring technology for ecological information under mangroves. Utility Model Content

[0003] In view of the above problems, the embodiment of the utility model provides a mangrove ecosystem intelligent monitoring robot, including:

[0004] A moving mechanism, used for driving the monitoring mechanism and the control mechanism to move;

[0005] A monitoring mechanism, disposed on the mobile mechanism, for obtaining ecological information of mangrove plants;

[0006] The control mechanism is arranged on the moving mechanism and is electrically connected to the moving mechanism and the monitoring mechanism, and is used for controlling the monitoring mechanism and the moving mechanism.

[0007] In the above scheme, the mobile mechanism includes a base and two track assemblies symmetrically arranged on the base, the track assembly includes a support plate, a shock-absorbing plate, a driving wheel, a driven wheel, a driving member, an elastic member, a load-bearing wheel, and a track. The support plate has a first side and a second side that are arranged opposite to each other. The first side of the support plate is fixed to the base, the second side of the support plate is rotatably connected to the middle part of the shock-absorbing plate, and the other two opposite sides of the support plate are rotatably connected to the driving wheel and the driven wheel respectively. The driving member is connected to the driving wheel, one end of the elastic member is connected to the support plate, the other end of the elastic member is connected to one end of the shock-absorbing plate, and the other end of the shock-absorbing plate is rotatably connected to the load-bearing wheel. When the elastic member is stretched, the other end of the shock-absorbing plate drives the load-bearing wheel to approach the support plate, so that the track is sleeved on the driving wheel, the driven wheel and the load-bearing wheel. When the elastic member returns, the other end of the shock-absorbing plate drives the load-bearing wheel away from the support plate, and the driving wheel, the driven wheel and the load-bearing wheel tighten the track.

[0008] In the above solution, a limiting hole is provided on the support plate, one end of the shock absorbing plate corresponds to the limiting hole, a limiting pin is extended from one end of the shock absorbing plate toward the limiting hole, and the other end of the elastic member is connected to the limiting pin.

[0009] In the above scheme, the monitoring mechanism includes an electric telescopic rod, a cantilever bracket, and a monitoring unit. One end of the electric telescopic rod is arranged on the base, and the other end of the electric telescopic rod can be telescoped relative to the base. One end of the cantilever bracket is connected to the other end of the electric telescopic rod, and the other end of the cantilever bracket is connected to the monitoring unit. The other end of the cantilever bracket is used to drive the monitoring unit away from or close to the electric telescopic rod.

[0010] In the above scheme, the cantilever bracket includes an expansion rod, a first universal connector, and a second universal connector. The two ends of the first universal connector are respectively connected to the other end of the electric telescopic rod and one end of the expansion rod, and the two ends of the second universal connector are respectively connected to the other end of the expansion rod and the monitoring unit.

[0011] In the above solution, the cantilever bracket also includes a third universal connector, the number of the third universal connector is multiple, the number of the expansion rods is multiple, and two adjacent expansion rods are connected through one of the third universal connectors.

[0012] In the above solution, the monitoring unit includes a visible light imager and an altimeter, and the visible light imager and the altimeter are respectively connected to the other end of the cantilever bracket.

[0013] In the above scheme, the control mechanism includes a drive control module and an information processing module. The drive control module is electrically connected to the drive member, and the drive control module is used to control the drive member to drive the drive wheel to move. The information processing module is electrically connected to the monitoring mechanism, and the information processing module is used to receive, store and transmit the ecological information.

[0014] In the above solution, the information processing module includes an information receiving unit, an information storage unit, and an information transmission unit.

[0015] In the above solution, the information processing module further includes a timing unit, and the timing unit is used for time interval monitoring so that the information transmission unit transmits the ecological information at a preset time interval.

[0016] Compared with the prior art, the utility model can use robots to monitor the ecological information of mangrove plants by setting up a moving mechanism, a monitoring mechanism, and a control mechanism, thereby greatly saving manpower; in addition, a track assembly is set in the moving mechanism, which can be suitable for tidal zones and has unique application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0018] Figure 1 It is a schematic diagram of a mangrove ecosystem intelligent monitoring robot provided by an embodiment of the utility model;

[0019] Figure 2 It is a schematic diagram of a moving mechanism and a control mechanism provided by an embodiment of the utility model;

[0020] Figure 3 is a schematic diagram of a crawler assembly provided by an embodiment of the utility model;

[0021] Figure 4 It is a schematic diagram of a monitoring mechanism provided by an embodiment of the utility model;

[0022] Figure 5 It is a schematic diagram of a control mechanism provided in an embodiment of the utility model.

[0023] The reference numerals in the specific implementation manner are as follows:

[0024] 100 intelligent monitoring robots for mangrove ecosystems;

[0025] Moving mechanism 1, monitoring mechanism 2, control mechanism 3;

[0026] Base 11, crawler assembly 12;

[0027] Support plate 111, shock absorbing plate 112, driving wheel 113, driven wheel 114, driving member 115, elastic member 116, load-bearing wheel 117, crawler track 118;

[0028] A first side 1111, a second side 1112, and a limiting hole 1113;

[0029] Electric telescopic rod 21, cantilever bracket 22, monitoring unit 23;

[0030] Extension rod 221, first universal connector 222, second universal connector 223, third universal connector 224;

[0031] Visible light imager 231, altimeter 232;

[0032] Drive control module 31, information processing module 32;

[0033] Information receiving unit 321 , information storage unit 322 , information transmission unit 323 , and timing unit 324 . DETAILED DESCRIPTION

[0034] In order to facilitate the understanding of the utility model, the utility model is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right", "inside", "outside" and similar expressions used in this specification are for illustrative purposes only.

[0035] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not used to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more related listed items.

[0036] See also Figure 1 The intelligent monitoring robot 100 for the ecosystem under the mangrove forest includes: a mobile mechanism 1, a monitoring mechanism 2, and a control mechanism 3. The monitoring mechanism 2 and the control mechanism 3 are both arranged on the mobile mechanism 1. The control mechanism 3 is electrically connected to the mobile mechanism 1 and the monitoring mechanism 2. The monitoring mechanism 2 is used to obtain the ecological information of the mangrove plants. The control mechanism 3 is used to drive the mobile mechanism 1 to move and to process the ecological information obtained by the monitoring mechanism 2.

[0037] Through the above scheme, the intelligent monitoring robot 100 for the mangrove ecosystem can realize automatic monitoring of crops including mangrove plants, saving labor costs.

[0038] See also Figure 2 The mobile mechanism 1 includes a base 11 and two track assemblies 12 symmetrically arranged on the base 11. The two track assemblies 12 arranged opposite to each other can adopt the same structure. The base 11 is used for installing the monitoring mechanism 2 and the control mechanism 3. The track assembly 12 is used for moving the mangrove ecosystem intelligent monitoring robot 100.

[0039] Please also refer to Figure 2 and Figure 3The track assembly 12 includes a support plate 111, a shock absorbing plate 112, a driving wheel 113, a driven wheel 114, a driving member 115, an elastic member 116, a load-bearing wheel 117 and a track 118. The first side 1111 of the support plate 111 is fixed to the base 11, and the second side 1112 of the support plate 111 is rotatably connected to the middle part of the shock absorbing plate 112, so that the shock absorbing plate 112 can rotate relative to the support plate 111, wherein the second side 1112 and the first side 1111 are arranged opposite to each other. The other two opposite sides of the support plate 111 are rotatably connected to the driving wheel 113 and the driven wheel 114 respectively. The driving member 115 is connected to the driving wheel 113, and the driving member 115 is used to drive the driving wheel 113 to rotate. One end of the elastic member 116 is connected to the support plate 111, and the other end of the elastic member 116 is connected to one end of the shock-absorbing plate 112, and the other end of the shock-absorbing plate 112 is rotatably connected to the load-bearing wheel 117. When the elastic member 116 is stretched, the other end of the shock-absorbing plate 112 drives the load-bearing wheel 117 to approach the support plate 111, so that the crawler 118 is sleeved on the driving wheel 113, the driven wheel 114 and the load-bearing wheel 117; when the elastic member 116 is returned to its original position, the other end of the shock-absorbing plate 112 drives the load-bearing wheel 117 away from the support plate 111, and the driving wheel 113, the driven wheel 114 and the load-bearing wheel 117 tighten the crawler 118, thereby facilitating the movement of the crawler assembly 12.

[0040] It is worth noting that, in some embodiments, the driving member 115 is a motor.

[0041] It is worth noting that, in some embodiments, the elastic member 116 is a spring.

[0042] In some embodiments, a limiting hole 1113 is formed on the support plate 111, one end of the shock absorbing plate 112 corresponds to the limiting hole 1113, a limiting pin (not shown) is extended from one end of the shock absorbing plate 112 toward the limiting hole 1113, and the other end of the elastic member 116 is connected to the limiting pin, so that when the elastic member 116 is stretched or returned, the limiting pin and the limiting hole 1113 limit the movement direction of the shock absorbing plate 112, and the track assembly 12 moves more stably.

[0043] It should be noted that, in some embodiments, the support plate 111 may not be provided with the limiting hole 1113, and the limiting pin may not be extended at one end of the shock-absorbing plate 112. The mangrove ecosystem intelligent monitoring robot 100 in the embodiment of the utility model can also realize the function of automatically monitoring crops including mangrove plants, thereby saving labor costs.

[0044] It is worth noting that, in some embodiments, there are multiple load-bearing wheels 117, multiple shock-absorbing plates 112, multiple elastic members 116, and multiple limiting holes 1113. The load-bearing wheels 117, shock-absorbing plates 112, elastic members 116, and limiting holes 1113 correspond one to one, thereby making the track assembly 12 more stable.

[0045] See also Figure 4 The monitoring mechanism 2 includes an electric telescopic rod 21, a cantilever bracket 22 and a monitoring unit 23. One end of the electric telescopic rod 21 is arranged on the base 11, and the other end of the electric telescopic rod 21 can be extended relative to the base 11; one end of the cantilever bracket 22 is connected to the other end of the electric telescopic rod 21, and the other end of the cantilever bracket 22 is connected to the monitoring unit 23, and the other end of the cantilever bracket 22 is used to drive the monitoring unit 23 away from or close to the electric telescopic rod 21.

[0046] It is worth noting that by providing the electric telescopic rod 21, when the other end of the electric telescopic rod 21 is extended and retracted relative to the base 11, the distance between the monitoring unit 23 and the base 11 in the height direction can be adjusted, thereby facilitating the monitoring of the ecological information of crops at different heights.

[0047] It is worth noting that, by providing a cantilever bracket 22 , the other end of the cantilever bracket 22 drives the monitoring unit 23 to approach or move away from the electric telescopic rod 21 , thereby conveniently monitoring the ecological information of crops at different distances from the base 11 .

[0048] In some embodiments, the electric telescopic rod 21 is an electric push rod.

[0049] In some embodiments, the cantilever bracket 22 includes an expansion rod 221, a first universal connector 222, a second universal connector 223, and a third universal connector 224. The two ends of the first universal connector 222 are respectively connected to the other end of the electric telescopic rod 21 and one end of the expansion rod 221. The two ends of the second universal connector 223 are respectively connected to the other end of the expansion rod 221 and the monitoring unit 23. There are multiple third universal connectors 224, and there are multiple expansion rods 221. Two adjacent expansion rods 221 are connected through one third universal connector 224.

[0050] It is worth noting that the first universal connector 222 , the second universal connector 223 and the third universal connector 224 have the same structure and function.

[0051] In some embodiments, the first universal connector 222 , the second universal connector 223 , and the third universal connector 224 can all achieve a universal connection function through two universal rotating ball heads and a mechanical knob.

[0052] It should be noted that, in some embodiments, the third universal connector 224 may not be provided, and the other end of the cantilever bracket 22 may drive the monitoring unit 23 to move closer to or away from the electric telescopic rod 21, thereby facilitating the function of monitoring the ecological information of crops at different distances from the base 11.

[0053] In some embodiments, the monitoring unit 23 includes a visible light imager 231 and an altimeter 232 , and the visible light imager 231 and the altimeter 232 are respectively connected to the other end of the cantilever bracket 22 .

[0054] In some embodiments, the visible light imager 231 is used to obtain image information of crops including mangrove plants. In some embodiments, the visible light spectrum of the visible light imager 231 includes red light, green light and blue light, wherein the wavelength of red light is 700nm, the wavelength of green light is 550nm, and the wavelength of blue light is 470nm.

[0055] In some embodiments, the altimeter 232 is used to obtain height information and distance information of crops including mangrove plants. In some embodiments, the altimeter 232 adopts the principle of laser distance measurement, and its accuracy is ±1 cm.

[0056] It is worth noting that the monitoring unit 23 can implement single-wood testing, single-species multi-wood testing, and multi-species testing.

[0057] For the above control mechanism 3, the control mechanism 3 is the control center of the embodiment of the utility model. Figure 5 The control mechanism 3 includes a drive control module 31 and an information processing module 32. The drive control module 31 is electrically connected to the drive member 115, and the drive control module 31 is used to control the drive member 115 to drive the drive wheel 113 to move. The information processing module 32 is electrically connected to the monitoring mechanism 2, and the information processing module 32 is used to receive, store and transmit the ecological information.

[0058] In some embodiments, the information processing module 32 includes an information receiving unit 321, an information storage unit 322, and an information transmission unit 323, which are respectively used to receive, store and transmit the ecological information.

[0059] The information receiving unit 321 is used to receive the image information of crops including mangrove plants acquired by the visible light imager 231. The information receiving unit 321 is used to receive the height information and distance information of crops including mangrove plants acquired by the altimeter 232.

[0060] The information transmission unit 323 is used to transmit the ecological information to an external server.

[0061] In some embodiments, the information processing module 32 also includes a timing unit 324, which is used for time interval monitoring so that the information transmission unit 323 transmits the ecological information at a preset time interval, thereby reducing the frequent information transmission between the control mechanism 3 and the external server, and improving the operating stability of the mangrove ecosystem intelligent monitoring robot 100.

[0062] It is worth noting that the program steps involved in the control mechanism 3 adopt existing program steps, and the control mechanism 3 also adopts existing processors, such as Intel's I3 processor and AMD Ryzen processor.

[0063] In the embodiment of the utility model, a mobile mechanism 1, a monitoring mechanism 2 and a control mechanism 3 are provided. The mobile mechanism 1 includes a base 11 and two crawler assemblies 12 symmetrically arranged on the base 11; the monitoring mechanism 2 is arranged on the base 11 and is used to obtain ecological information of mangrove plants; the control mechanism 3 is arranged on the base 11 and is electrically connected to the mobile mechanism 1 and the monitoring mechanism 2; the crawler assembly 12 includes a support plate 111, a shock absorbing plate 112, a driving wheel 113, a driven wheel 114, a driving member 115, an elastic member 116, a load-bearing wheel 117 and a crawler 118; the first side 1111 of the support plate 111 is fixed to the base 11, the second side 1112 of the support plate 111 is rotatably connected to the middle part of the shock absorbing plate 112, the second side 1112 and the first side 1111 are arranged opposite to each other, and the other two opposite sides of the support plate 111 are respectively connected to the The driving wheel 113 and the driven wheel 114 are rotatably connected; the driving member 115 is connected to the driving wheel 113; one end of the elastic member 116 is connected to the support plate 111, the other end of the elastic member 116 is connected to one end of the shock-absorbing plate 112, and the other end of the shock-absorbing plate 112 is rotatably connected to the load-bearing wheel 117; when the elastic member 116 is stretched, the other end of the shock-absorbing plate 112 drives the load-bearing wheel 117 to approach the support plate 111, so that the track 118 is sleeved on the driving wheel 113, the driven wheel 114 and the load-bearing wheel 117; when the elastic member 116 returns to its original position, the other end of the shock-absorbing plate 112 drives the load-bearing wheel 117 away from the support plate 111, and the driving wheel 113, the driven wheel 114 and the load-bearing wheel 117 tighten the track 118. Through the above-mentioned mangrove ecosystem intelligent monitoring robot 100, the robot can be used to monitor the ecological information of mangrove plants, thereby greatly saving manpower. In addition, the mobile mechanism 1 of the mangrove ecosystem intelligent monitoring robot 100 provided by the embodiment of the utility model includes a track assembly 12, which can be applied to tidal zones and has specific application value.

[0064] It should be noted that the preferred embodiments of the utility model are given in the specification and drawings of the utility model, but the utility model can be implemented in many different forms and is not limited to the embodiments described in the specification. These embodiments are not used as additional restrictions on the content of the utility model. The purpose of providing these embodiments is to make the understanding of the disclosure of the utility model more thorough and comprehensive. In addition, the above-mentioned technical features continue to be combined with each other to form various embodiments not listed above, which are all regarded as the scope of the description of the utility model; further, for ordinary technicians in this field, they can be improved or transformed according to the above description, and all these improvements and transformations should belong to the scope of protection of the claims attached to the utility model.

Claims

1. A robot for intelligent monitoring of mangrove ecosystem, characterized in that: include: A moving mechanism, used for driving the monitoring mechanism and the control mechanism to move; A monitoring mechanism, disposed on the mobile mechanism, for obtaining ecological information of mangrove plants; A control mechanism, which is disposed on the moving mechanism and is electrically connected to the moving mechanism and the monitoring mechanism, and is used to control the monitoring mechanism and the moving mechanism; The monitoring mechanism comprises an electric telescopic rod, a cantilever bracket, and a monitoring unit, wherein one end of the electric telescopic rod is arranged on the moving mechanism, and the other end of the electric telescopic rod can be extended relative to the moving mechanism, one end of the cantilever bracket is connected to the other end of the electric telescopic rod, and the other end of the cantilever bracket is connected to the monitoring unit, and the other end of the cantilever bracket is used to drive the monitoring unit away from or close to the electric telescopic rod; The cantilever bracket includes an expansion rod, a first universal connector, and a second universal connector, wherein two ends of the first universal connector are respectively connected to the other end of the electric telescopic rod and one end of the expansion rod, and two ends of the second universal connector are respectively connected to the other end of the expansion rod and the monitoring unit; The cantilever bracket also includes a third universal connector, the number of the third universal connector is multiple, the number of the expansion rods is multiple, and two adjacent expansion rods are connected through the third universal connector.

2. The intelligent monitoring robot for mangrove ecosystem according to claim 1 is characterized in that: The mobile mechanism includes a base and two track assemblies symmetrically arranged on the base, the track assembly includes a support plate, a shock-absorbing plate, a driving wheel, a driven wheel, a driving member, an elastic member, a load-bearing wheel, and a track. The support plate has a first side and a second side arranged opposite to each other. The first side of the support plate is fixed to the base, the second side of the support plate is rotatably connected to the middle part of the shock-absorbing plate, and the other two opposite sides of the support plate are rotatably connected to the driving wheel and the driven wheel respectively. The driving member is connected to the driving wheel, one end of the elastic member is connected to the support plate, the other end of the elastic member is connected to one end of the shock-absorbing plate, and the other end of the shock-absorbing plate is rotatably connected to the load-bearing wheel. When the elastic member is stretched, the other end of the shock-absorbing plate drives the load-bearing wheel to approach the support plate, so that the track is sleeved on the driving wheel, the driven wheel and the load-bearing wheel. When the elastic member returns, the other end of the shock-absorbing plate drives the load-bearing wheel away from the support plate, and the driving wheel, the driven wheel and the load-bearing wheel tighten the track.

3. The intelligent monitoring robot for mangrove ecosystem according to claim 2 is characterized in that: The support plate is provided with a limiting hole, one end of the shock absorbing plate corresponds to the limiting hole, one end of the shock absorbing plate extends a limiting pin toward the limiting hole, and the other end of the elastic member is connected to the limiting pin.

4. The intelligent monitoring robot for mangrove ecosystem according to claim 3 is characterized in that: The monitoring unit comprises a visible light imager and an altimeter, and the visible light imager and the altimeter are respectively connected to the other end of the cantilever bracket.

5. The intelligent monitoring robot for mangrove ecosystem according to claim 4 is characterized in that: The control mechanism includes a drive control module and an information processing module. The drive control module is electrically connected to the drive member, and is used to control the drive member to drive the drive wheel to move. The information processing module is electrically connected to the monitoring mechanism, and is used to receive, store and transmit the ecological information.

6. The intelligent monitoring robot for mangrove ecosystem according to claim 5 is characterized in that: The information processing module includes an information receiving unit, an information storage unit, and an information transmission unit.

7. The intelligent monitoring robot for mangrove ecosystem according to claim 6 is characterized in that: The information processing module further includes a timing unit, which is used for time interval monitoring so that the information transmission unit transmits the ecological information at a preset time interval.

Images