Variable-trajectory agricultural inspection robot

Abstract

The utility model relates to the technical field of agricultural engineering, in particular to a variable-track agricultural inspection robot which comprises a robot body, a 360-degree inspection camera device, a telescopic suspension structure and a driving device. The machine body serves as a main body part of the robot, and a telescopic soil detection device is arranged on the lower portion of the machine body; the 360-degree inspection camera device is rotatably mounted at the top end of the machine body; the four telescopic suspension structures are symmetrically arranged on the four side faces of the machine body, and the telescopic suspension structures drive the driving devices to be close to or away from the machine body so as to adjust the distance between the driving devices. According to the utility model, four motors are adopted to respectively control the steering of each tire, so that the steering of the tires and the wheel track change are more accurate. The telescopic suspension structure realizes free change of the wheel track, ensures that the robot can move in field crops without obstacles, and can adapt to terrains under different conditions only by changing the width between tires without changing the height of the chassis.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural engineering, and particularly relates to a variable-trajectory agricultural inspection robot. Background Art

[0002] In the process of agricultural production, it is crucial to timely understand the growth status of crops, soil conditions, pest and disease situations, etc. for improving yield and quality. The inspection work can help farmers discover problems in time and take corresponding measures, thus ensuring the smooth progress of agricultural production.

[0003] Traditional agricultural inspections mainly rely on manual labor. Manual inspections require a large amount of labor costs, including the wages of hired workers, training costs, etc. Moreover, with the continuous increase in labor costs, this cost is also gradually increasing.

[0004] Therefore, it is necessary to develop an agricultural inspection robot with good versatility to improve production efficiency and promote the development of agricultural modernization. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a variable-trajectory agricultural inspection robot, which can achieve the effect of efficiently completing the inspection task, thereby solving the technical problems in the background art.

[0006] To achieve the above purpose, the utility model provides the following technical solution: a variable-trajectory agricultural inspection robot, comprising a fuselage, a 360-degree inspection camera device, a telescopic suspension structure, and a driving device;

[0007] The fuselage is the main part of the robot, and a retractable soil detection device is arranged at the lower part of the fuselage;

[0008] The 360-degree inspection camera device includes an industrial vision recognition camera and a far-infrared camera; the 360-degree inspection camera device is rotatably installed at the top of the fuselage;

[0009] The telescopic suspension structure has four symmetrically arranged on the four sides of the fuselage, and a driving device is arranged at one end of each telescopic suspension structure away from the fuselage; the telescopic suspension structure drives the driving device to approach or move away from the fuselage so as to adjust the distance between the driving devices; the driving device drives the fuselage and the whole robot to move.

[0010] Further, the soil detection device includes a detection device bracket, an electric push rod, and a detection head; the outside of the detection device bracket is connected to the fuselage, an electric push rod is fixed in the center of the detection device bracket, the head of the electric push rod is connected to the detection head, and the electric push rod drives the detection head to insert into the soil for monitoring.

[0011] Further, the 360-degree inspection camera device further includes a camera bracket, Gear I, Gear II, and Servo Motor III;

[0012] The bottom of the camera bracket is connected to Gear II, and Servo Motor III is connected to Gear I. Gear I and Gear II mesh with each other. Servo Motor III drives Gear I, and through the meshing and speed reduction of Gear I and Gear II, the rotation of the 360-degree inspection camera device is completed.

[0013] Further, the telescopic suspension structure includes Servo Motor IV, a shock absorber, a lead screw, a lead screw guide rail, a nut, X-shaped Bracket I, X-shaped Bracket II, a slider, and a driven guide rail;

[0014] The shock absorber is vertically fixed on the side of the fuselage, and the lead screw guide rail is connected to the shock absorber; a Servo Motor IV is provided at the upper end of the lead screw guide rail, and the output end of Servo Motor IV is connected to the lead screw fixed on the lead screw guide rail. A nut is threadedly connected to the lead screw, and by driving the lead screw to rotate through Servo Motor IV, the nut is driven to move up and down along the lead screw;

[0015] X-shaped Bracket I and X-shaped Bracket II cross each other and are hinged at the intersection point; the left end of X-shaped Bracket I is hinged to the nut, and the right end of X-shaped Bracket I is hinged to the bottom of the driven guide rail; the left end of X-shaped Bracket II is hinged to the bottom of the lead screw guide rail, and the right end of X-shaped Bracket II is hinged to the slider. The slider is slidably connected to the driven guide rail, and the slider slides up and down along the driven guide rail under the drive of X-shaped Bracket II.

[0016] Further, the shock absorber includes a shock upper support, a shock spring, a shock rod, and a shock lower support;

[0017] The shock upper support and the shock lower support are respectively arranged at the upper and lower ends of the shock absorber; the left sides of the shock upper support and the shock lower support are hinged to the fuselage, and the right sides of the shock upper support and the shock lower support are respectively hinged to the lead screw guide rail;

[0018] The upper end of the shock rod is hinged to the upper part of the fuselage, and a shock spring is sleeved on the shock rod;

[0019] The shock spring abuts between the shock rod and the shock lower support.

[0020] Further, the drive device includes a motor bracket, a steering coupling, Servo Motor I, Servo Motor II, a wheel axle, a tire, Helical Gear I, and Helical Gear II;

[0021] The upper end of Servo Motor I is connected to the lower end of the driven guide rail, and the steering coupling is connected to the output end of Servo Motor I; the deflection of each tire is controlled by Servo Motor I;

[0022] The steering coupling is fixedly connected to the top of the motor bracket. The tire is installed inside the motor bracket through the axle. The servo motor II is installed on the side of the motor bracket. An oblique gear I is provided at the output end of the servo motor II. The oblique gear II is sleeved on the axle and meshes with the oblique gear I. The rotation of the axle and the tire sleeved on the axle is driven through the transmission of the oblique gear I and the oblique gear II.

[0023] Further, a working chamber is arranged inside the fuselage. Two storage batteries are symmetrically placed inside the working chamber. A circuit board is placed on the upper part of the working chamber. A soil detection device is arranged on the lower part of the working chamber.

[0024] Beneficial effects

[0025] The agricultural inspection robot of the present utility model can move in the agricultural production environment, eliminating the need for manual inspection and greatly improving the inspection efficiency. The robot uses four motors to control the steering of each tire respectively, making the tire steering and wheelbase transformation more accurate. Compared with the problems of insufficient turning flexibility and poor passability on complex terrains of traditional agricultural inspection robots during the inspection process, the adaptability of the robot in the working environment is effectively improved.

[0026] The telescopic suspension structure of the present utility model realizes the free transformation of the wheelbase, ensuring that the robot can move conveniently among field crops. By simply changing the width between the tires, it can adapt to terrains under different conditions. Brief description of the drawings

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present utility model. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is the overall structure schematic diagram of the variable - trajectory agricultural inspection robot disclosed by the present utility model;

[0029] Figure 2 It is the front view of the variable - trajectory agricultural inspection robot disclosed by the present utility model;

[0030] Figure 3 It is the cross - sectional view of the fuselage of the variable - trajectory agricultural inspection robot disclosed by the present utility model;

[0031] Figure 4 It is the schematic diagram of the telescopic suspension structure of the variable - trajectory agricultural inspection robot disclosed by the present utility model;

[0032] Figure 5 It is the schematic diagram of the driving device of the variable - trajectory agricultural inspection robot disclosed by the present utility model.

[0033] In the figure:

[0034] 1. Far-infrared camera, 2. Industrial vision recognition camera, 3. Body, 4. Servo motor IV, 5. Upper shock absorber support, 6. Shock absorber rod, 7. Shock absorber spring, 8. Lower shock absorber support, 9. X-shaped bracket I, 10. X-shaped bracket II, 11. Slide block, 12. Driven guide rail, 13. Motor bracket, 14. Servo motor I, 15. Servo motor II, 16. Helical gear I, 17. Axle, 18. Helical gear II, 19. Steering coupling, 20. Protective cover, 21. Tire, 22. Bearing, 23. Gear I, 24. Gear II, 25. Circuit board, 26. Working bin, 27. Detection device bracket, 28. Servo motor III, 29. Detection head, 30. Electric push rod, 31. Lead screw guide rail, 32. Lead screw, 33. Gear housing, 34. Camera bracket, 35. Nut. Detailed implementation mode

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] To achieve the above purpose, the present invention provides the following technical solutions, as Figures 1-5 shown, a variable-trajectory agricultural inspection robot includes a body, a 360-degree inspection camera device, a telescopic suspension structure and a driving device;

[0037] The body, as the main part of the robot, plays a role in supporting and accommodating other components. A telescopic soil detection device is provided at the lower part of the body;

[0038] The 360-degree inspection camera device includes an industrial vision recognition camera 2 and a far-infrared camera 1; the 360-degree inspection camera device is rotatably installed at the top of the body;

[0039] The telescopic suspension structure is symmetrically arranged on four sides of the body, and a driving device is provided at one end of each telescopic suspension structure away from the body; the telescopic suspension structure drives the driving device to approach or move away from the body so as to adjust the distance between the driving devices; the body and the entire robot are driven by the driving device.

[0040] Further, the soil detection device includes a detection device bracket 27, an electric push rod 30, and a detection head 29. The outside of the detection device bracket 27 is connected to the fuselage. An electric push rod 30 is fixed at the center of the detection device bracket 27. The head of the electric push rod 30 is connected to the detection head 29. The electric push rod 30 drives the detection head 29 to insert into the soil for monitoring, so as to obtain parameters such as soil humidity, fertility, and pH value.

[0041] Further, the 360-degree inspection camera device further includes a camera bracket 34, a gear I 23, a gear II 24, and a servo motor III 28;

[0042] The bottom of the camera bracket 34 is connected to the gear II 24. The servo motor III 28 is connected to the gear I 23. The gear I 23 and the gear II 24 are meshed with each other. The servo motor III 28 drives the gear I 23. After the meshing and deceleration of the gear I 23 and the gear II 24, it achieves the effect of driving the camera to rotate 360 degrees in the horizontal plane. The industrial vision recognition camera 2 is used to identify features such as the shape, color, and texture of crops to judge the growth status and fruit maturity of crops. The far-infrared camera 1 is used to obtain thermal imaging information of the environment at night or under low-light conditions to detect the occurrence of pests and diseases and the activity tracks of animals.

[0043] Further, the telescopic suspension structure includes a servo motor IV 4, a shock absorber, a lead screw 32, a lead screw guide rail 31, a nut 35, an X-shaped bracket I 9, an X-shaped bracket II 10, a slider 11, and a driven guide rail 12;

[0044] The shock absorber is vertically fixed on the side of the fuselage, and the lead screw guide rail 31 is connected to the shock absorber; a servo motor IV 4 is provided at the upper end of the lead screw guide rail 31. The output end of the servo motor IV 4 is connected to the lead screw 32 fixed on the lead screw guide rail 31. A nut 35 is threadedly connected to the lead screw 32. By driving the lead screw 32 to rotate by the servo motor IV 4, the nut 35 is driven to move up and down along the lead screw 32;

[0045] The X-shaped bracket I 9 and the X-shaped bracket II 10 intersect with each other and are hinged at the intersection point; the left end of the X-shaped bracket I 9 is hinged to the nut 35, and the right end of the X-shaped bracket I 9 is hinged to the bottom of the driven guide rail 12; the left end of the X-shaped bracket II 10 is hinged to the bottom of the lead screw guide rail 31, and the right end of the X-shaped bracket II 10 is hinged to the slider 11. The slider 11 is slidably connected to the driven guide rail 12. Driven by the X-shaped bracket II 10, the slider 11 slides up and down along the driven guide rail 12;

[0046] During use, the servo motor Ⅳ 4 provides power to drive the nut 35 and the X-shaped bracket Ⅰ 9 hinged to the nut 35 to move. Under the linkage of the X-shaped bracket Ⅰ 9 and the X-shaped bracket Ⅱ 10, the driven guide rail 12 is pushed to approach or move away from the fuselage, thereby changing the width between the tires 21, and the chassis height of the tires 21 will not be changed. It can adapt to roads or ridges of different widths, and at the same time maintain the stability of the vehicle body during the movement. The shock absorber is used to absorb the road surface impact, reduce the vibration of the fuselage, and improve the driving stability of the robot.

[0047] Furthermore, the shock absorber includes a shock absorber upper support 5, a shock absorber spring 7, a shock absorber rod 6 and a shock absorber lower support 8;

[0048] The shock absorber upper support 5 and the shock absorber lower support 8 are respectively arranged at the upper and lower ends of the shock absorber; the left sides of the shock absorber upper support 5 and the shock absorber lower support 8 are hinged to the fuselage, and the right sides of the shock absorber upper support 5 and the shock absorber lower support 8 are respectively hinged to the lead screw guide rail 31;

[0049] The upper end of the shock absorber rod 6 is hinged to the upper part of the fuselage, and a shock absorber spring 7 is sleeved on the shock absorber rod 6;

[0050] The shock absorber spring 7 abuts between the shock absorber rod 6 and the shock absorber lower support 8. During use, when encountering a road surface impact, the lead screw guide rail 31 moves up and down with the undulation of the road surface, driving the shock absorber lower support 8 to move up and down. At this time, the shock absorber spring 7 is compressed, which plays a buffering role for the shock absorber lower support 8, and further plays a buffering role for the lead screw guide rail 31.

[0051] Furthermore, the driving device includes a motor bracket 13, a steering coupling 19, a protective cover 20, a servo motor Ⅰ 14, a servo motor Ⅱ 15, a wheel axle 17, a tire 21, a helical gear Ⅰ 16 and a helical gear Ⅱ 18;

[0052] The upper end of the servo motor Ⅰ 14 is connected to the lower end of the driven guide rail 12, and the steering coupling 19 is connected to the output end of the servo motor Ⅰ 14; the deflection of each tire 21 is controlled by the servo motor Ⅰ 14 to realize the steering function of the robot; the protective cover 20 is buckled outside the motor bracket 13, and the helical gear Ⅰ 16 and the helical gear Ⅱ 18 are arranged inside the protective cover 20.

[0053] The steering coupling 19 is fixedly connected to the top of the motor bracket 13. The tire 21 is installed inside the motor bracket 13 through the wheel axle 17. The servo motor Ⅱ 15 is installed on the side of the motor bracket 13. A helical gear Ⅰ 16 is arranged at the output end of the servo motor Ⅱ 15. The helical gear Ⅱ 18 is sleeved on the wheel axle 17 and meshes with the helical gear Ⅰ 16; the rotation of the wheel axle 17 and the tire 21 sleeved on the wheel axle 17 is driven through the transmission of the helical gear Ⅰ 16 and the helical gear Ⅱ 18 to realize the forward or backward movement of the robot.

[0054] Furthermore, the fuselage serves as the main part of the robot, and a retractable soil detection device is arranged at the lower part of the fuselage; a working compartment 26 is arranged inside the fuselage, and two batteries are symmetrically placed inside the working compartment 26 to power the robot as a whole. The arrangement of the batteries ensures that the robot has sufficient power support during the working process, and avoids the interruption of work due to insufficient power. A circuit board 25 is placed on the upper part of the working compartment 26, and the circuit board 25 serves as the control core of the entire robot. Various electronic components and circuits are integrated on the circuit board 25, which is responsible for controlling the operation of various components of the robot, such as the rotation of the camera, the extension and retraction of the suspension, the movement of the drive device, etc. A soil detection device is arranged at the lower part of the working compartment for soil detection. The soil detection device can obtain relevant information about the soil, such as humidity, fertility, etc., and provide an important reference basis for agricultural production.

[0055] The working principle and process are as follows:

[0056] Step 1: Enter the working area and set the parameters of the robot. The servo motor III 28 drives the gear I 23 and the gear II 24 to rotate, so that the camera bracket 34 connected thereto can rotate 360 degrees, thereby driving the far-infrared camera 1 to rotate, and the road spacing is estimated according to the shooting conditions. Then, the computer sends out instructions and controls the next action of the robot through the circuit board 25;

[0057] Step 2: If the clearance is enough to pass, the computer sends a "walk" command, the servo motor I14 is powered on, the steering coupling controls the turning angle of the tire 21, the servo motor II15 drives the tire 21 to move, and the deceleration system composed of the bevel gear I16 and the bevel gear II18 is started to adjust the speed of the tire 21, so that the robot enters the "forward" working state;

[0058] Step 3: If the spacing is narrow, the computer controls and issues a command, the servo motor IV4 rotates, driving the nut 35 on the lead screw 32 to make an upward linear motion, the nut 35 drives the X-shaped bracket I9 to link with the X-shaped bracket II10, and the X-shaped bracket II10 drives the slider 11 to make an upward linear motion on the driven guide rail 12, so that the spacing of the tire 21 becomes narrower and passes through the narrow road smoothly;

[0059] Step 4: When encountering road impact, the shock absorbing spring 7 absorbs the vibration of the road and generates multiple reciprocating resonant motions. The shock absorbing rod 6 can suppress the resonance of the shock absorbing spring 7, thereby ensuring the stability of the fuselage and achieving a buffering effect;

[0060] Step 5: After reaching the working point, the circuit board 25 controls the detection head 29 to maintain a vertical direction under the fixation of the detection device bracket 27, and the electric push rod 30 moves linearly downward to drive the detection head 29 to be vertically inserted into the soil. The detection head 29 can detect the soil condition, and the detector can send the detection data to the computer through the Internet of Things;

[0061] Step 6: The servo motor III 28 drives the gear I 23 and the gear II 24 to rotate, driving the industrial vision recognition camera 2 to rotate to recognize the crops, so as to obtain the surface information of the fruits to judge the maturity, etc.;

[0062] Step 7: The computer terminal receives the data information transmitted by the detector and the industrial vision recognition camera 2, thereby completing the detection of the soil temperature and humidity and the judgment of the fruit maturity.

[0063] The embodiments of the present invention are given for purposes of illustration and description, and are not exhaustive or limit the present invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to better explain the principles of the present invention and its practical application, and to enable those of ordinary skill in the art to understand the present invention so as to design various embodiments with various modifications suitable for specific purposes.

Claims

1. A variable-trajectory agricultural inspection robot, characterized in that, It includes a fuselage (3), a 360-degree inspection camera device, a telescopic suspension structure, and a driving device; The fuselage (3) serves as the main body of the robot, and a retractable soil detection device is provided at the lower part of the fuselage (3); The 360-degree inspection camera device includes an industrial vision recognition camera (2) and an infrared camera (1); the 360-degree inspection camera device is rotatably installed at the top of the fuselage (3); The four telescopic suspension structures are symmetrically arranged on the four sides of the fuselage (3), and a driving device is provided at one end of each telescopic suspension structure away from the fuselage (3); the telescopic suspension structure drives the driving device to approach or move away from the fuselage (3) so as to adjust the distance between the driving devices; the driving device drives the fuselage (3) and the entire robot to move.

2. The variable-trajectory agricultural inspection robot according to claim 1, wherein The soil detection device includes a detection device bracket (27), an electric push rod (30), and a detection head (29); the outer side of the detection device bracket (27) is connected to the fuselage (3), an electric push rod (30) is fixed at the center of the detection device bracket (27), the head of the electric push rod (30) is connected to the detection head (29), and the electric push rod (30) drives the detection head (29) to insert into the soil for monitoring.

3. The variable-trajectory agricultural inspection robot according to claim 1, wherein The 360-degree inspection camera device further includes a camera bracket (34), a gear I (23), a gear II (24), and a servo motor III (28); The bottom of the camera bracket (34) is connected to the gear II (24), the servo motor III (28) is connected to the gear I (23), the gear I (23) and the gear II (24) are meshed with each other, and the servo motor III (28) drives the gear I (23). After the meshing and deceleration of the gear I (23) and the gear II (24), the rotation of the 360-degree inspection camera device is completed.

4. The variable trajectory agricultural inspection robot according to claim 1, characterized in that The telescopic suspension structure includes a servo motor IV (4), a shock absorber, a lead screw (32), a lead screw guide rail (31), a nut (35), an X-shaped bracket I (9), an X-shaped bracket II (10), a slider (11), and a driven guide rail (12); The shock absorber is vertically fixed on the side of the fuselage (3), and the lead screw guide rail (31) is connected to the shock absorber; a servo motor IV (4) is provided at the upper end of the lead screw guide rail (31), the output end of the servo motor IV (4) is connected to the lead screw (32) fixed on the lead screw guide rail (31), a nut (35) is threadedly connected to the lead screw (32), and the servo motor IV (4) drives the lead screw (32) to rotate so as to drive the nut (35) to move up and down along the lead screw (32); The X-shaped bracket I (9) and the X-shaped bracket II (10) intersect with each other and are hinged at the intersection point; the left end of the X-shaped bracket I (9) is hinged to the nut (35), and the right end of the X-shaped bracket I (9) is hinged to the bottom of the driven guide rail (12); the left end of the X-shaped bracket II (10) is hinged to the bottom of the lead screw guide rail (31), the right end of the X-shaped bracket II (10) is hinged to the slider (11), the slider (11) is slidably connected to the driven guide rail (12), and the slider (11) slides up and down along the driven guide rail (12) driven by the X-shaped bracket II (10).

5. The variable-trajectory agricultural inspection robot according to claim 4, characterized in that, The shock absorber includes an upper shock support (5), a shock spring (7), a shock rod (6) and a lower shock support (8); The upper shock support (5) and the lower shock support (8) are respectively arranged at the upper and lower ends of the shock absorber; the left sides of the upper shock support (5) and the lower shock support (8) are hinged to the fuselage (3), and the right sides of the upper shock support (5) and the lower shock support (8) are respectively hinged to the lead screw guide (31); The upper end of the shock rod (6) is hinged to the upper part of the fuselage (3), and a shock spring (7) is sleeved on the shock rod (6); The shock spring (7) abuts between the shock rod (6) and the lower shock support (8).

6. The variable trajectory agricultural inspection robot according to claim 1, wherein, The driving device includes a motor bracket (13), a steering coupling (19), a servo motor I (14), a servo motor II (15), a wheel axle (17), a tire (21), a helical gear I (16) and a helical gear II (18); The upper end of the servo motor I (14) is connected to the lower end of the driven guide (12), and the steering coupling (19) is connected to the output end of the servo motor I (14); the deflection of each tire (21) is controlled by the servo motor I (14); The steering coupling (19) is fixedly connected to the top of the motor bracket (13), the tire (21) is installed inside the motor bracket (13) through the wheel axle (17), the servo motor II (15) is installed on the side of the motor bracket (13), a helical gear I (16) is arranged at the output end of the servo motor II (15), and the helical gear II (18) is sleeved on the wheel axle (17) and meshes with the helical gear I (16); the rotation of the wheel axle (17) and the tire (21) sleeved on the wheel axle (17) is driven through the transmission of the helical gear I (16) and the helical gear II (18).

7. The variable-trajectory agricultural inspection robot according to claim 1, characterized in that, A working chamber (26) is arranged inside the fuselage (3). Two storage batteries are symmetrically placed inside the working chamber (26), a circuit board (25) is placed on the upper part of the working chamber (26), and a soil detection device is arranged at the lower part of the working chamber.

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