Strong-trafficability all-water-area intelligent agricultural detection unmanned workboat

Abstract

The utility model discloses a high-trafficability all-water-area intelligent agricultural detection unmanned working ship which comprises a main ship body (1) and is characterized in that a pan-tilt (2) is arranged at the position of a ship bow of the main ship body (1), an overwater camera (3) is supported on the pan-tilt (2), and meanwhile two symmetrically-distributed front mechanical arms (4) are further arranged at the position of the ship bow. The two sides of the middle of the main ship body (1) are each provided with a middle mechanical arm (14), the center of the tail of the main ship body (1) is provided with a rear mechanical arm (5), and a tail camera (19) is arranged on a tail sealing plate of the main ship body (1).

Description

Technical Field

[0001] The utility model relates to the field of agricultural machinery, in particular to an unmanned operation boat for intelligent agricultural detection in all waters with strong passability. Background Art

[0002] my country is a large agricultural country. The terrain of agricultural planting areas is complex. There are many types of diseases and pests in the growth process of crops (especially crops planted in water areas), which can easily have an adverse effect on surrounding crops. For the prevention and control of crop diseases and pests, chemical prevention is currently basically adopted, that is, the use of pesticides to kill pests or avoid pests. However, the high pesticide residue is not in line with the direction of green agricultural production in my country. At the same time, the judgment of what kind of diseases crops have and how serious the disease is, these information must be judged on the spot to see the specific situation of the plants in order to make an accurate judgment. If farmers cannot judge based on their own experience, they need to collect the diseased plants and send them to agricultural experts for judgment, or invite agricultural experts to the farmland for field inspection; when it is necessary to collect diseased plants, the traditional practice is for farmers to collect them in the fields themselves, which is time-consuming and labor-intensive, and increases the workload of farmers.

[0003] Therefore, a method or device capable of solving the above problems is now needed. Summary of the invention

[0004] The utility model aims to solve the above-mentioned deficiencies in the prior art and proposes an unmanned operation boat for intelligent agricultural inspection in all waters with strong passability and simple structure and ingenious design, which can realize automatic identification and automatic collection of diseased plants.

[0005] The technical solution of the utility model is: a highly passable all-water intelligent agricultural inspection unmanned operation boat, comprising a main hull 1, characterized in that: a pan platform 2 is arranged at the bow of the main hull 1, and an above-water camera 3 is supported on the pan platform 2, and two symmetrically distributed front mechanical arms 4 are arranged at the bow, an intermediate mechanical arm 14 is arranged on each side of the middle of the main hull 1, and a rear mechanical arm 5 is arranged at the center of the tail of the main hull 1.

[0006] The bottom of the hull 1 is provided with two symmetrically distributed outer plates 6, an inner plate 7 is provided between the two outer plates 6, a track 8 is provided inside the outer plates 6, a driving plate 9 is provided on the track shoes constituting the track 8, a drainage port is also provided on the outer plates 6, and a guide grille 10 is provided at the drainage port.

[0007] The front and rear ends of the inner sheet 7 are respectively provided with a front underwater camera 11 and a rear underwater camera 17, and transparent protective covers 12 are respectively provided outside the front underwater camera 11 and the rear underwater camera 17.

[0008] The main hull 1 is provided with a storage box 13, and the rear of the main hull 1 is provided with a rear camera 19.

[0009] A control system, a servo motor and a battery are arranged in the main hull 1. The control system uniformly controls the pan-tilt head 2, the above-water camera 3, the front robotic arm 4, the middle robotic arm 14, the rear robotic arm 5, the servo motor, the front underwater camera 11, the rear underwater camera 17 and the tail camera 19. The servo motor is connected to the track 8 via a transmission mechanism to provide power for the operation of the track 8. The battery provides power for the control system as well as the pan-tilt head 2, the above-water camera 3, the front robotic arm 4, the middle robotic arm 14, the rear robotic arm 5, the servo motor and the front underwater camera 11, the rear underwater camera 17 and the tail camera 19. The control system exchanges data with a remote control end through a wireless data transmission module.

[0010] The front robotic arm 4, the middle robotic arm 14 and the rear robotic arm 5 have the same structure, and are all composed of three short arms 15 connected in sequence, and adjacent short arms 15 can swing relative to each other. At the same time, a shearing robot 16 is provided at the end of the robotic arm.

[0011] An outer body 6 is arranged outside the main hull 1 , a crawler track is arranged inside the outer body 6 , and a drainage port is also arranged on the outer body 6 , and a guide grid net 10 is arranged at the drainage port.

[0012] Compared with the prior art, the utility model has the following advantages:

[0013] This type of structural form of highly passable all-water intelligent agricultural inspection unmanned operation boat has a simple structure and ingenious design. It can sail in the water and walk in the field. It can be used in the collection process of diseased plants in dry fields, paddy fields and marine crops. It uses a camera to collect video images and the program pre-loaded in the control system performs automatic judgment. When diseased plants are found, the mechanical arm cuts the diseased plants and collects them into the storage box. The whole process of identification, judgment, collection and transportation can be realized automatically, thereby reducing the labor of personnel and improving work efficiency; and the device is relatively small in size, and healthy plants will not be damaged during the collection process. And its manufacturing process is simple and the manufacturing cost is low, so it can be said that it has many advantages, especially suitable for promotion and application in this field, and its market prospects are very broad. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of the utility model.

[0015] Figure 2 It is the front view of the embodiment of the utility model. DETAILED DESCRIPTION

[0016] The specific implementation of the present utility model will be described below in conjunction with the accompanying drawings. Figure 1 , Figure 2 As shown: A highly passable all-water intelligent agricultural inspection unmanned operation boat comprises a main hull 1, characterized in that: a pan-tilt platform 2 is arranged at the bow of the main hull 1, and an underwater camera 3 is supported on the pan-tilt platform 2, and two symmetrically distributed front mechanical arms 4 are arranged at the bow, an intermediate mechanical arm 14 is arranged on both sides of the middle of the main hull 1, and a rear mechanical arm 5 is arranged at the center of the tail of the main hull 1.

[0017] The bottom of the hull 1 is provided with two symmetrically distributed outer plates 6, an inner plate 7 is provided between the two outer plates 6, a track 8 is provided inside the outer plates 6, a driving plate 9 is provided on the track shoes constituting the track 8, a drainage port is also provided on the outer plates 6, and a guide grille 10 is provided at the drainage port.

[0018] The front and rear ends of the inner sheet 7 are respectively provided with a front underwater camera 11 and a rear underwater camera 17, and transparent protective covers 12 are respectively provided outside the front underwater camera 11 and the rear underwater camera 17.

[0019] The main hull 1 is provided with a storage box 13, and the rear of the main hull 1 is provided with a rear camera 19.

[0020] A control system, a servo motor and a battery are arranged in the main hull 1. The control system uniformly controls the pan-tilt head 2, the above-water camera 3, the front robotic arm 4, the middle robotic arm 14, the rear robotic arm 5, the servo motor, the front underwater camera 11, the rear underwater camera 17 and the tail camera 19. The servo motor is connected to the track 8 via a transmission mechanism to provide power for the operation of the track 8. The battery provides power for the control system as well as the pan-tilt head 2, the above-water camera 3, the front robotic arm 4, the middle robotic arm 14, the rear robotic arm 5, the servo motor and the front underwater camera 11, the rear underwater camera 17 and the tail camera 19. The control system exchanges data with a remote control end through a wireless data transmission module.

[0021] The front robotic arm 4, the middle robotic arm 14 and the rear robotic arm 5 have the same structure, and are all composed of three short arms 15 connected in sequence, and adjacent short arms 15 can swing relative to each other. At the same time, a shearing robot 16 is provided at the end of the robotic arm.

[0022] An outer body 6 is arranged outside the main hull 1 , a crawler track is arranged inside the outer body 6 , and a drainage port is also arranged on the outer body 6 , and a guide grid net 10 is arranged at the drainage port.

[0023] The working process of the highly passable all-water intelligent unmanned operation boat of the embodiment of the utility model is as follows: the unmanned operation boat is placed in an area where diseased plants need to be screened and collected. If the target crop is a terrestrial crop, the crawler 8 in the operation boat is in direct contact with the ground, and the operation boat as a whole is driven by the crawler 8 to move forward. During the movement, the above-water camera 3, the rear camera 19, the front underwater camera 11, and the rear underwater camera 17 collect video image information of the crops, and the recognition software pre-set in the control system recognizes and judges them. If a certain plant is judged to be a diseased plant or a pest plant, the control system controls the device to stop, and then each mechanical arm moves to cut the target plant, and then picks it up into the storage box 13. Moreover, since a pair of front mechanical arms 4, a pair of middle mechanical arms 14 and a rear mechanical arm 5 are set on the main hull 1, these mechanical arms cooperate to achieve relatively complex cutting and transportation work;

[0024] If the target crop is an aquatic crop (such as artificially cultivated laver, kelp, etc.), the work boat is directly placed in the water. When the crawler 8 moves, the driving plate 9 arranged thereon will push the water backward, thereby driving the main hull 1 to sail in the water. During the sailing process, the above-water camera 3 and the rear camera 19 collect video image information of the aquatic crops above the water surface, and the underwater camera 11 and the rear underwater camera 17 collect video image information of the aquatic crops below the water surface. The recognition software pre-set in the control system is also used for recognition and judgment. For example, if a plant is judged to be a diseased plant, the control system controls the movement of each mechanical arm to cut the target plant and then pick it up into the storage box 13. Since a pair of front mechanical arms 4, a pair of middle mechanical arms 14 and a rear mechanical arm 5 are arranged on the main hull 1, these mechanical arms cooperate to achieve relatively complex cutting and transportation work;

[0025] Since the control system is equipped with a wireless data transmission module that can exchange data with the control end, in addition to realizing automated work, the device can also be operated by staff at a remote end. The staff watches the video screen and judges the plants that should be collected by themselves, and controls the movement of the robotic arm to collect diseased plants.

Claims

1. A highly passable all-water intelligent agricultural inspection unmanned operation vessel, comprising a main hull (1), characterized in that: The bow of the main hull (1) is provided with a pan-tilt platform (2), on which an underwater camera (3) is supported. Two symmetrically distributed front mechanical arms (4) are also provided at the bow. An intermediate mechanical arm (14) is provided on each side of the middle of the main hull (1). A rear mechanical arm (5) is provided at the center of the tail of the main hull (1). The bottom of the hull (1) is provided with two symmetrically distributed outer plates (6), an inner plate (7) is provided between the two outer plates (6), a crawler track (8) is provided inside the outer plates (6), a driving plate (9) is provided on the crawler track (8) and the crawler plates constituting the crawler track (8), a drainage port is also provided on the outer plates (6), and a guide grille (10) is provided at the drainage port. A front underwater camera (11) and a rear underwater camera (17) are respectively provided at the front and rear ends of the inner plate body (7), and transparent protective covers (12) are respectively provided outside the front underwater camera (11) and the rear underwater camera (17). A storage box (13) is provided on the main hull (1), and a rear camera (19) is provided at the rear of the main hull (1). A control system, a servo motor and a battery are arranged in the main hull (1). The control system performs unified control on the pan / tilt head (2), the above-water camera (3), the front mechanical arm (4), the middle mechanical arm (14), the rear mechanical arm (5), the servo motor, the front underwater camera (11), the rear underwater camera (17) and the rear camera (19). The servo motor is connected to the crawler (8) via a transmission mechanism to provide power for the operation of the crawler (8). The battery provides power for the control system, the pan / tilt head (2), the above-water camera (3), the front mechanical arm (4), the middle mechanical arm (14), the rear mechanical arm (5), the servo motor and the front underwater camera (11), the rear underwater camera (17) and the rear camera (19). The control system performs data exchange with a remote control terminal via a wireless data transmission module.

2. The highly passable all-water intelligent agricultural inspection unmanned operation boat according to claim 1 is characterized by: The front mechanical arm (4), the middle mechanical arm (14) and the rear mechanical arm (5) have the same structure, and are all composed of three short arms (15) connected in sequence, and adjacent short arms (15) can swing relative to each other. At the same time, a shearing-type mechanical arm (16) is provided at the end of the mechanical arm.

3. The highly passable all-water intelligent agricultural inspection unmanned operation boat according to claim 1 is characterized by: An outer sheet body (6) is arranged outside the main hull (1), a crawler track is arranged inside the outer sheet body (6), and a drainage port is also arranged on the outer sheet body (6), wherein a guide grid net (10) is arranged at the drainage port.

Images