Greenhouse inspection robot based on double rocker arms

Abstract

The utility model discloses a greenhouse inspection robot based on double rocker arms, which comprises a mobile vehicle body, an environment acquisition system arranged on the mobile vehicle body and a navigation system used for navigating the movement of the mobile vehicle body, the mobile vehicle body comprises a vehicle frame and a mobile driving mechanism which is arranged on the vehicle frame and is used for driving the vehicle frame to move; the environment acquisition system comprises a temperature and humidity detection module, a carbon dioxide detection module and an illumination detection module; the navigation system comprises a magnetic stripe arranged in the greenhouse and a magnetic navigation sensor arranged on the frame. The inspection robot for the greenhouse has the advantages of being low in cost, high in flexibility and easy to operate.

Description

Technical Field

[0001] The utility model belongs to the technical field of greenhouse inspection, and in particular relates to a greenhouse inspection robot based on a double rocker arm. Background Art

[0002] At present, track-type inspection robots are mostly used in the field of greenhouse inspection. This inspection method requires the pre-laying of rails on the ground, which will lead to high costs. Due to the laying of rails, the inspection route of the inspection robot is fixed and inflexible. In addition, mobile inspection robots, such as the Autolabor PM1 robot and the Fujian artificial intelligence agricultural robot "Xiao Rui", are used. This solution is expensive, not suitable for agricultural promotion, has complex functions and is cumbersome to maintain in the later stage.

[0003] In summary, the greenhouse inspection robots currently on the market have the disadvantages of being inflexible, expensive, complex in functions, and difficult to operate. Utility Model Content

[0004] In order to overcome the deficiencies in the prior art, the utility model provides a greenhouse inspection robot based on a double rocker arm type, the greenhouse inspection robot has the advantages of low cost, high flexibility and simple operation.

[0005] The technical solution of the utility model to solve the above technical problems is:

[0006] A greenhouse inspection robot based on a double-rocker type includes a mobile body, an environment collection system arranged on the mobile body, and a navigation system for navigating the movement of the mobile body, wherein the mobile body includes a frame and a mobile drive mechanism arranged on the frame for driving the frame to move; the environment collection system includes a temperature and humidity detection module, a carbon dioxide detection module and a light detection module; the navigation system includes a magnetic strip arranged in the greenhouse and a magnetic navigation sensor arranged on the frame.

[0007] Preferably, the temperature and humidity detection module, the carbon dioxide detection module and the light detection module are installed in an environmental parameter collection box, and the environmental parameter collection box is installed on the vehicle frame via a mounting base.

[0008] Preferably, a camera is also mounted on the mounting base.

[0009] Preferably, the vehicle frame includes a chassis and a swing frame arranged on the chassis, wherein the swing frame is rotatably connected to one end of the chassis through a rotating pair, and first universal wheels are respectively arranged on both sides of the other end of the chassis.

[0010] Preferably, driving wheels are respectively provided on both sides of the end of the swing frame close to the first universal wheel; and second universal wheels are respectively provided on both sides of the end away from the first universal wheel; the second universal wheel is mounted on a bracket, and the bracket and the swing frame are connected through a rocker arm hanger, and the rocker arm hanger is used to promote relative rotation between the bracket and the swing frame, and the rotation direction is perpendicular to the rotation direction of the rotating pair in the horizontal plane.

[0011] Preferably, the outer diameter of the first universal wheel is greater than the outer diameter of the second universal wheel.

[0012] Preferably, the mobile driving mechanism is used to drive the driving wheel to rotate, and the mobile driving mechanism includes a driving motor and a transmission mechanism, wherein the driving motor is installed on the swing frame and connected to the axles of the driving wheels on both sides through the transmission mechanism.

[0013] Preferably, the chassis is provided with a battery compartment near the driving wheel.

[0014] Preferably, a mounting plate is provided above the chassis, and the mounting base is mounted on the mounting plate.

[0015] Preferably, it also includes a wireless communication module, and the wireless communication module is a WiFi module.

[0016] Compared with the prior art, the utility model has the following advantages and beneficial effects:

[0017] 1. The greenhouse inspection robot based on the double rocker arm of the utility model can detect the temperature and humidity, carbon dioxide content and light intensity in the greenhouse.

[0018] The greenhouse inspection robot based on the double rocker arm of the utility model adopts a magnetic stripe navigation method, and guides the movement of the greenhouse inspection robot of the utility model through the magnetic stripe pre-laid on the ground. The use of this magnetic stripe navigation method has the advantages of simple structure, convenient layout and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1-Figure 3 The schematic diagrams are structural diagrams of the greenhouse inspection robot based on the double rocker arm type according to the utility model from three different perspectives.

[0020] Figure 4 This is a structural diagram of the environment collection system.

[0021] Figure 5 and Figure 6 Schematic diagram of the structure of the mobile vehicle from two different perspectives.

[0022] Figure 7A schematic diagram of the frame structure.

[0023] Figure 8 and Fig. 9 Schematic diagram of the structure of the swing frame from two different perspectives.

[0024] Fig.10 It is a structural schematic diagram of the rocker arm hanger.

[0025] Fig.11 It is the structural diagram of the rotating pair.

[0026] Fig.12 It is a working schematic diagram of the wireless communication module in the utility model.

[0027] Fig.13 The utility model is a flowchart of the automatic inspection of a greenhouse inspection robot based on a double rocker arm. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below in conjunction with embodiments and drawings, but the implementation manner of the present invention is not limited thereto.

[0029] See also Figure 1-Figure 13 The greenhouse inspection robot based on the double rocker type of the utility model includes a mobile body, an environment collection system arranged on the mobile body, and a navigation system for navigating the movement of the mobile body, wherein the mobile body includes a frame and a mobile driving mechanism arranged on the frame for driving the frame to move; the environment collection system includes a temperature and humidity detection module 202, a carbon dioxide detection module 203 and a light detection module 201; the temperature and humidity detection module 202, the carbon dioxide detection module 203 and the light detection module 201 are installed in an environmental parameter collection box 2, and the environmental parameter collection box 2 (i.e. Fig.12 The sensor integrated box in the vehicle frame is mounted on the vehicle frame through a mounting base 3; a camera 1 is also mounted on the mounting base 3; the navigation system includes a magnetic strip arranged in the greenhouse and a magnetic navigation sensor 9 arranged on the vehicle frame;

[0030] The greenhouse inspection robot of the utility model can perform automatic patrol through the magnetic navigation sensor 9 preset in the greenhouse. During the patrol process, the environmental parameter collection box 2 installed on the top of the frame is used to collect environmental parameters such as temperature and humidity, carbon dioxide concentration, and light intensity in the greenhouse. At the same time, the camera 1 is used to collect the surface characteristics of the plants, and then the environmental parameters and image information are uploaded to the mobile phone APP through the Wi-Fi module (wireless communication technology) to facilitate the greenhouse manager to view and perform environmental control operations. Therefore, the greenhouse inspection robot of the utility model has the ability to automatically patrol the ground of the greenhouse that has been prepared and compacted, and can collect temperature and humidity, light intensity, carbon dioxide concentration and surface images of plants, and send them to the user's mobile phone APP through wireless transmission technology;

[0031] See also Figure 1-Figure 13 The frame includes a chassis 10 and a swing frame 11 arranged on the chassis 10, wherein both sides of the swing frame 11 are rotatably connected to one end of the chassis 10 through a rotating pair 12, and both sides of the other end of the chassis 10 are respectively provided with first universal wheels 8; both sides of the end of the swing frame 11 close to the first universal wheel 8 are respectively provided with driving wheels 6; and both sides of the end away from the first universal wheel 8 are respectively provided with second universal wheels 5; the second universal wheel 5 is installed on a bracket, and the bracket and the swing frame 11 are connected through a rocker arm hanger 13; the outer diameter of the first universal wheel 8 is larger than the outer diameter of the second universal wheel 5.

[0032] The frame of the vehicle frame in this embodiment is mainly composed of standard and widely used 3030XL aluminum profiles and connected by T-bolts; the frame is mainly composed of two sets of driving wheels 6 as the power output source, two sets of second universal wheels 5 as auxiliary wheels, and a rocker arm hanger 13 to form the mobile body of the greenhouse inspection robot of this utility model. Secondly, two sets of second universal wheels 5 are used as auxiliary wheels, and then combined with two sets of rotating pairs 12 to form a "trailer-like" top frame; the aluminum profile of the top frame is installed with an aluminum alloy top plate (i.e., the mounting plate 4), which can greatly expand the use area of ​​the frame, thereby increasing the carrying capacity of the frame.

[0033] Through the above-mentioned arrangement, when the greenhouse inspection robot of the utility model is traveling on an uneven road surface, due to the principle that three points can determine a plane, when the rigid four-wheel structure of the rocker arm hanger 13 is not introduced, if a wheel encounters an obstacle, the driving wheel 6 may be suspended in the air, and the suspended driving wheel 6 cannot effectively transmit power to the ground, thereby causing the greenhouse inspection robot of the utility model to be unable to move forward or move unstably. Therefore, in order to solve this problem, the suspension system designed in this embodiment is particularly important, which can not only help the wheels better adapt to the changes in the terrain, thereby always keeping the wheels in contact with the ground, but also adjust the position and posture of the wheels to a certain extent, thereby ensuring that the power can be effectively transmitted to the ground. In addition, the suspension system in this embodiment can also provide necessary buffering and vibration reduction functions, thereby protecting the internal structure and electronic components of the greenhouse inspection robot of the utility model from the impact and vibration.

[0034] In this embodiment, the mobile body of the greenhouse inspection robot of the utility model is a six-wheel structure. It can be seen from the principle that a plane can be determined by three points that the frame needs two rocker arm suspensions to release the two degrees of freedom of the body to ensure that the driving wheel 6 of the frame can always touch the ground during movement; in the four-wheel structure of the swing frame 11, the original rigid structure is transformed into a flexible suspension structure by using the swing frame 11 to ensure that the wheels are always in contact with the ground. The connection between the swing frame 11 and the chassis 10 uses a revolving pair 12 composed of a diamond bearing seat 123, an axle 122 and an axle fixing seat 121 as a rocker arm suspension between the two; by adopting the above-mentioned double rocker arm suspension design, the frame of the greenhouse inspection robot of the utility model can also ensure that the driving wheel 6 is always on the ground when passing through an uneven road surface, thereby ensuring the continuity and stability of power output.

[0035] See also Figure 1-Figure 13 The mobile driving mechanism is used to drive the driving wheel 6 to rotate, and the mobile driving mechanism includes a driving motor and a transmission mechanism, wherein the driving motor is installed on the swing frame 11 and is connected to the axles of the driving wheels 6 on both sides through the transmission mechanism; in this embodiment, the transmission mechanism can adopt a gear transmission mechanism or a belt transmission mechanism, and the power of the driving motor is transmitted to the axle of the driving wheel 6 through the transmission mechanism, thereby driving the driving wheel 6 to rotate.

[0036] See also Figure 1-Figure 13 The chassis 10 is provided with a battery compartment 7 near the driving wheel 6 for storing power.

[0037] See also Figure 1-Figure 13 A mounting plate 4 is disposed above the chassis 10 , and the mounting base 3 is mounted on the mounting plate 4 .

[0038] See also Fig.10 The rocker arm hanger 13 in this embodiment is composed of a shaft fixing ring 131, a thrust bearing 132, a flange bearing 133, a shaft fixing seat 134 and a shaft 135; wherein, two flange bearings 133 are fixed in the bearing fixing seat 134 to form a component that can rotate along the shaft 135; then two such components are installed on the shaft 135, and two thrust bearings 132 are added between the two components to support the axial force generated during operation and reduce the friction between the components, and finally, two shaft fixing rings 131 are used at both ends to limit the axial displacement of the main body; there are also four M5 tapping holes on the shaft fixing seat 134, which can be connected to the mounting plate of the rocker arm hanger 13 through these four tapping holes.

[0039] By providing the rocker arm hanger 13 , relative rotation between the bracket and the swing frame 11 can be promoted, and the rotation direction is perpendicular to the rotation direction of the rotating pair 12 on the horizontal plane.

[0040] See also Figure 1-Figure 13 The greenhouse inspection robot of the utility model also includes a wireless communication module, which is a Wi-Fi module, which is responsible for collecting environmental parameters, such as temperature, humidity, light, etc., and transmits these data to ESP32 (machine wireless module) through serial communication. ESP32 uses Wi-Fi connection to upload data to blinker's server. Users can access the data on the blinker server on the mobile phone APP, and receive the data of the environmental parameters of the greenhouse in real time. Similarly, the Internet of Things can also upload the images taken by camera 1 to the cloud via Wi-Fi, and users can view real-time image data on the mobile phone APP.

[0041] See also Figure 1-Figure 13 The vehicle navigation in the greenhouse inspection robot of the utility model adopts a magnetic stripe navigation solution. A magnetic stripe path is pre-laid in the greenhouse. The magnetic navigation sensor 9 detects the relative deviation between the mobile vehicle body and the magnetic stripe. The center offset is read by the single-chip microcomputer to run the PD controller to output the corresponding rotation speed of the left and right wheels of the mobile vehicle body. This navigation method has low requirements on the lighting environment, and the positioning is relatively accurate. The inspection path can be changed, which is more flexible.

[0042] Finally, the greenhouse inspection robot of the utility model has the following advantages:

[0043] (1) Low cost: It is built with aluminum profiles and standard parts, with strong replaceability and low subsequent maintenance costs. The cost of the whole vehicle is in the thousands of yuan level. Compared with the inspection robots on the market that cost tens of thousands of yuan, it is more easily accepted by farmers and suitable for agricultural promotion.

[0044] (2) Good load-bearing performance: The double rocker arm suspension design enables the mobile vehicle to carry a load of 120 kg and still be able to drive normally and turn around on the spot under the action of two drive motors.

[0045] (3) Strong expandability: The aluminum alloy mounting plate 4 of the upper frame can be used to install different operation modules, such as spraying modules, transport frames, etc. It can be applied to other operation links during non-inspection periods to achieve maximum economic benefits.

[0046] (4) High flexibility: The inspection route can be changed by changing the layout of the magnetic strips in the greenhouse, which can adapt to greenhouses of different specifications.

[0047] The above is a preferred implementation mode of the present invention, but the implementation mode of the present invention is not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A greenhouse inspection robot based on a double rocker arm, characterized in that: It includes a mobile body, an environment collection system arranged on the mobile body, and a navigation system for navigating the movement of the mobile body, wherein the mobile body includes a frame and a mobile driving mechanism arranged on the frame for driving the frame to move; the environment collection system includes a temperature and humidity detection module, a carbon dioxide detection module, and a light detection module; the navigation system includes a magnetic strip arranged in a greenhouse and a magnetic navigation sensor arranged on the frame; The frame includes a chassis and a swing frame arranged on the chassis, wherein the swing frame is rotatably connected to one end of the chassis through a rotating pair, and first universal wheels are respectively arranged on both sides of the other end of the chassis.

2. The greenhouse inspection robot based on a double rocker arm according to claim 1 is characterized in that: The temperature and humidity detection module, the carbon dioxide detection module and the light detection module are installed in an environmental parameter collection box, and the environmental parameter collection box is installed on the vehicle frame through a mounting base.

3. The greenhouse inspection robot based on a double rocker arm according to claim 2 is characterized in that: A camera is also installed on the installation base.

4. The greenhouse inspection robot based on a double rocker arm according to claim 1 is characterized in that: Driving wheels are respectively arranged on both sides of the end of the swing frame close to the first universal wheel; and second universal wheels are respectively arranged on both sides of the end away from the first universal wheel; the second universal wheel is installed on a bracket, and the bracket and the swing frame are connected through a rocker arm hanger, and the rocker arm hanger is used to promote relative rotation between the bracket and the swing frame, and the rotation direction is perpendicular to the rotation direction of the rotating pair in the horizontal plane.

5. The greenhouse inspection robot based on a double rocker arm according to claim 4 is characterized in that: The outer diameter of the first universal wheel is greater than the outer diameter of the second universal wheel.

6. The greenhouse inspection robot based on a double rocker type according to claim 5 is characterized in that: The mobile driving mechanism is used to drive the driving wheel to rotate, and the mobile driving mechanism includes a driving motor and a transmission mechanism, wherein the driving motor is installed on the swing frame and connected to the wheel axles of the driving wheels on both sides through the transmission mechanism.

7. The greenhouse inspection robot based on a double rocker arm according to claim 6 is characterized in that: The chassis is provided with a battery compartment at a position close to the driving wheel.

8. The greenhouse inspection robot based on a double rocker arm according to claim 2 is characterized in that: A mounting plate is arranged above the chassis, and the mounting base is mounted on the mounting plate.

9. The greenhouse inspection robot based on a double rocker type according to claim 1, characterized in that: It also includes a wireless communication module, which is a WiFi module.

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