Robot for crop field inspection

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a crop field inspection robot which comprises an electric crawler chassis, an installation platform installed on the top of the electric crawler chassis, a storage battery, a lifting camera device and a sample storage bin installed on the top of the installation platform. A first linear driver is installed on the inner side of the sample storage bin, an annular guide rail conveying device is installed on the top of the first linear driver, a sample storage cylinder is installed on the top of a sliding block on the annular guide rail conveying device, a door guide rail is installed on the side face of the sample storage bin, and a lifting door plate is slidably installed on the inner side of the door guide rail; a second linear driver is mounted at the top of the mounting platform, and a rotary mounting table is mounted on the side surface of the second linear driver. When the robot walks in a field with higher crops, the growth conditions of the surrounding crops can be effectively shot.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, concretely relates to a kind of for crop field inspection robot. BACKGROUND

[0002] Field inspection robot as the important component of intelligent agricultural equipment, gradually plays an important role in agricultural production, it is often through the higher passability all-terrain vehicle chassis or track chassis as traveling tool, can be autonomously or remote control and carry out inspection task, the growth of field crops is monitored, but the current inspection robot, cannot automatically sample field soil, for this purpose, we propose a kind of for crop field inspection robot. UTILITY MODEL CONTENT

[0003] For the above problems, the utility model aims at providing a kind of for crop field inspection robot, the heat dissipation efficiency of power module is greatly promoted by the cooperation of air cooling and water cooling, and since the inside of power installation frame is sealed after the sealing door is closed, and the back sealing ring plate of front side access door is also abutted with the front side of power installation frame after closing, therefore, power module is sealed in the inside of power installation frame, can be isolated from the outside world, while not affecting heat dissipation, the influence of dust on power module is avoided.

[0004] To achieve the above object, the utility model provides the following technical scheme: a kind of for crop field inspection robot, including electric track chassis, the top of the electric track chassis is installed with installation platform, the top of the installation platform is installed with battery, lifting camera device, the top of the installation platform is installed with sample storage bin, the inner side of the sample storage bin is installed with first linear drive, the top of the first linear drive is installed with annular guide rail conveying device, the slider on the annular guide rail conveying device top is installed with sample storage cylinder, the side of the sample storage bin is installed with door guide rail, the inner side of the door guide rail is slidably installed with lifting door plate, the top of the installation platform is installed with second linear drive, the side of the second linear drive is installed with rotation mounting table, the bottom of the rotation mounting table is installed with third motor, the top of the third motor is rotatably installed with swing arm, the output of the third motor is connected with swing arm, the top of the swing arm is installed with screw rod motor, the screw rod motor is connected with third screw rod transmission, the bottom of the third screw rod is installed with lifting plate, the bottom of the lifting plate is installed with collection cylinder.

[0005] The utility model has the advantages that: the device has the functions of automatic sample collection and transfer, and can automatically store samples in batches, and the visual detection module of the device can be adjusted in height, and can effectively capture the growth of surrounding crops in fields with high crops.

[0006] In order to shoot crops:

[0007] As a further improvement of the above technical solution: the lifting camera device comprises a lifting sleeve mounted on the mounting platform, a lifting rod is inserted into the inside of the lifting sleeve, a first motor is arranged on the inside of the lifting sleeve, the output end of the first motor is connected with a first screw rod, the first screw rod is threadedly connected with the lifting rod, a holder is mounted on the top of the lifting rod, and an AI camera is mounted on the top of the holder.

[0008] The beneficial effect of the improvement is that the first motor can be controlled to drive the first screw rod to rotate according to the height of the crops, the lifting rod is driven to lift in the inside of the lifting sleeve through the screw transmission between the first screw rod and the lifting rod, the height of the AI camera is adjusted, the AI camera can effectively shoot the growth of the surrounding crops when the device walks in the field of crops such as corn with high height, and the shooting picture is transmitted to the monitoring department through the wireless communication module for analysis.

[0009] In order to lift the door plate:

[0010] As a further improvement of the above technical solution: a second motor is mounted on the top of the door guide rail, the output end of the second motor is connected with a second screw rod, and the second screw rod is threadedly connected with the lifting door plate.

[0011] The beneficial effect of the improvement is that the second motor drives the second screw rod to rotate, and drives the lifting door plate to rise or fall through the transmission between the second screw rod and the lifting door plate.

[0012] In order to lift the lifting plate:

[0013] As a further improvement of the above technical solution: a lifting guide rod is mounted on the top of the lifting plate, and the lifting guide rod penetrates through the rotating arm and is slidably connected with the rotating arm.

[0014] The beneficial effect of the improvement is that the lifting guide rod is used for guiding the lifting of the lifting plate, so that the lifting plate can be lifted through the transmission between the third screw rod and the screw motor when the third screw rod rotates with the operation of the screw motor.

[0015] In order to push the sample in the collection cylinder into the sample storage cylinder:

[0016] As a further improvement of the above technical solution: an electric cylinder is mounted on the top of the lifting plate, the piston rod bottom end of the electric cylinder is connected with a pushing plate, and the pushing plate is located on the inside of the collection cylinder.

[0017] The beneficial effect of the improvement is that the electric cylinder drives the pushing plate to press down, and pushes the sample in the collection cylinder into the sample storage cylinder.

[0018] For the control of the device:

[0019] As a further improvement of the above technical solution: the top of the installation platform is provided with a control device, and the control device is internally provided with a wireless communication module, a GPS positioning module and a control unit.

[0020] The improved device has the beneficial effects that: when the device is used, the wireless communication module in the control device can issue instructions to the control unit, so that the device can be remotely controlled to move through the electric track chassis and perform sampling, shooting and other work, and the GPS positioning module can be used to position the device in real time, so as to help the monitoring department to master the position of the device.

[0021] The parts not involved in the device are the same as or can be realized by the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a right front axis measurement structure schematic view of the utility model;

[0023] Figure 2 It is a structure schematic view of the utility model when sampling;

[0024] Figure 3 It is a front cross-section schematic view of the utility model;

[0025] Figure 4 It is a side structure schematic view of the utility model;

[0026] Figure 5 It is a cut structure schematic view of the sample storage bin in the utility model;

[0027] Figure 6 It is a structure schematic view of the annular guide rail conveying device and the sample storage barrel in the utility model;

[0028] Figure 7 It is a cut schematic view of the lifting sleeve and the lifting rod structure in the utility model;

[0029] In the drawing: 1, electric track chassis; 2, installation platform; 3, storage battery; 4, lifting sleeve; 5, lifting rod; 6, first motor; 7, first screw rod; 8, holder; 9, AI camera; 10, sample storage bin; 11, first linear driver; 12, annular guide rail conveying device; 13, sample storage cylinder; 14, door guide rail; 15, second motor; 16, second screw rod; 17, lifting door plate; 18, second linear driver; 19, rotating installation table; 20, third motor; 21, rotating arm; 22, screw rod motor; 23, third screw rod; 24, lifting guide rod; 25, lifting plate; 26, collection cylinder; 27, electric cylinder; 28, push-out plate; 29, control device. DETAILED DESCRIPTION

[0030] In order for those skilled in the art to better understand the technical solutions of the present application, the following will describe the device with reference to the drawings. The device has the functions of automatically collecting and transferring samples, and can automatically store the samples in batches. Meanwhile, the visual detection module of the device can be adjusted in height, and can effectively take pictures of the surrounding crops growing in the field of crops with high height.

[0031] As shown in Figures 1-7 A crop field inspection robot, comprising an electric crawler chassis 1, a mounting platform 2 is installed on the top of the electric crawler chassis 1, a storage battery 3, a lifting camera device is installed on the top of the mounting platform 2, a sample storage bin 10 is installed on the top of the mounting platform 2, a first linear actuator 11 is installed on the inner side of the sample storage bin 10, a ring rail conveying device 12 is installed on the top of the first linear actuator 11, a sample storage cylinder 13 is installed on the top of the sliding block of the ring rail conveying device 12, a door rail 14 is installed on the side of the sample storage bin 10, a lifting door plate 17 is slidingly installed on the inner side of the door rail 14, a second linear actuator 18 is installed on the top of the mounting platform 2, a rotating mounting table 19 is installed on the side of the second linear actuator 18, a third motor 20 is installed on the bottom of the rotating mounting table 19, a rotating arm 21 is rotatably installed on the top of the third motor 20, the output end of the third motor 20 is connected with the rotating arm 21, a lead screw motor 22 is installed on the top of the rotating arm 21, the lead screw motor 22 is in transmission connection with a third lead screw 23, a lifting plate 25 is installed on the bottom of the third lead screw 23, and a collection cylinder 26 is installed on the bottom of the lifting plate 25.

[0032] The device has the functions of automatically collecting and transferring samples, and can automatically store the samples in batches. Meanwhile, the visual detection module of the device can be adjusted in height, and can effectively take pictures of the surrounding crops growing in the field of crops with high height.

[0033] The lifting camera device comprises a lifting sleeve 4 installed on the mounting platform 2, a lifting rod 5 is insertedly installed on the inner side of the lifting sleeve 4, a first motor 6 is arranged on the inner side of the lifting sleeve 4, the output end of the first motor 6 is connected with a first lead screw 7, the first lead screw 7 is in threaded connection with the lifting rod 5, a gimbal 8 is installed on the top of the lifting rod 5, and an AI camera 9 is installed on the top of the gimbal 8.

[0034] The first motor 6 can be controlled according to the height of the crops to drive the first lead screw 7 to rotate, and the lifting rod 5 is driven to ascend and descend in the inside of the lifting sleeve 4 through the screw transmission between the first lead screw 7 and the lifting rod 5, so as to adjust the height of the AI camera 9, and ensure that the AI camera 9 can effectively shoot the growth of the surrounding crops when the device walks in the field of corn and other crops with high height, and the shooting picture is transmitted to the monitoring department through the wireless communication module for analysis.

[0035] The top of the door guide rail 14 is provided with a second motor 15, the output end of the second motor 15 is connected with a second lead screw 16, and the second lead screw 16 is threadedly connected with a lifting door plate 17.

[0036] The second motor 15 drives the second lead screw 16 to rotate, and drives the lifting door plate 17 to ascend or descend through the transmission between the second lead screw 16 and the lifting door plate 17.

[0037] The top of the lifting plate 25 is provided with a lifting guide rod 24, the lifting guide rod 24 penetrates through the rotating arm 21 and is slidably connected with the rotating arm 21.

[0038] The lifting guide rod 24 is used for guiding the lifting of the lifting plate 25, so that the lifting plate 25 cannot be lifted through the transmission between the third lead screw 23 and the lead screw motor 22 due to the rotation of the third lead screw 23 with the lead screw motor 22.

[0039] The top of the lifting plate 25 is provided with an electric cylinder 27, the bottom end of the piston rod of the electric cylinder 27 is connected with a push-out plate 28, and the push-out plate 28 is located on the inside of the collecting cylinder 26.

[0040] The electric cylinder 27 drives the push-out plate 28 to press down, and pushes the sample in the collecting cylinder 26 into the sample storage cylinder 13.

[0041] The top of the mounting platform 2 is provided with a control device 29, and the inside of the control device 29 is provided with a wireless communication module, a GPS positioning module and a control unit.

[0042] When the device is used, the control unit can be instructed through the wireless communication module in the control device 29, the device can be remotely controlled to move through the electric crawler chassis 1, and the sampling, shooting and other work can be performed, and the device can be positioned in real time through the GPS positioning module, so as to help the monitoring department to master the position of the device.

[0043] The working principle and use process of the utility model: when the device is used, the wireless communication module in the control device 29 can remotely control the device to move through the electric track chassis 1, so that the device walks in the field, the first motor 6 can be controlled according to the height of crops to drive the first lead screw 7 to rotate, the lifting rod 5 is driven to lift in the inside of the lifting sleeve 4 through the screw transmission between the first lead screw 7 and the lifting rod 5, so that the height of the AI camera 9 is adjusted, the AI camera 9 can effectively shoot the growth of the surrounding crops when the device walks in the field of high crops, and the shooting picture is transmitted to the monitoring department through the wireless communication module for analysis, the device can be positioned in real time through the GPS positioning module, helping the monitoring department to master the position of the device, when soil sampling is needed, the device is controlled to move to the sampling point, the third motor 20 is controlled to drive the rotating arm 21 to rotate, so that the collecting cylinder 26 is away from the top of the mounting platform 2, the collecting cylinder 26 is aligned with the soil to be sampled, then the second linear driver 18 is controlled to drive the rotating arm 21 to descend, and the lead screw motor 22 is controlled to operate, the lifting plate 25 is further lowered through the transmission between the lead screw motor 22 and the third lead screw 23 under the cooperation of the sliding guide between the lifting guide rod 24 and the rotating arm 21, so that the collecting cylinder 26 is inserted into the soil for sampling, after sampling is completed, the lead screw motor 22 is controlled to operate reversely to drive the lifting plate 25 together with the collecting cylinder 26 to ascend, the second linear driver 18 is controlled to drive the rotating mounting table 19 together with the collecting cylinder 26 to lift, and the third motor 20 is controlled to drive the rotating arm 21 to rotate and reset, at the same time, the second motor 15 is controlled to operate to drive the second lead screw 16 to rotate, the lifting door plate 17 is driven to ascend through the transmission between the second lead screw 16 and the lifting door plate 17, then the first linear driver 11 is controlled to drive the annular guide rail conveying device 12 to move to the outside of the sample storage bin 10, so that one sample storage cylinder 13 on the annular guide rail conveying device 12 is aligned with the collecting cylinder 26, then the electric cylinder 27 drives the push plate 28 to press down, the sample in the collecting cylinder 26 is pushed into the sample storage cylinder 13, then the annular guide rail conveying device 12 can be controlled to operate to drive the next sample storage cylinder 13 to move to the position vertically aligned with the collecting cylinder 26, so as to receive the next sample, then the first linear driver 11 is controlled to drive the annular guide rail conveying device 12 to move back to the sample storage bin 10, and the second motor 15 is controlled to drive the lifting door plate 17 to descend, so as to close the sample storage bin 10 and protect the sample, when moving to the next sampling point, the above process can be repeated, and the device has the functions of automatic sample collection and sample transfer, can automatically store the sample in batches, and the visual detection module of the device can be adjusted in height and can effectively shoot the growth of the surrounding crops when walking in the field of high crops.

[0044] It should be noted that the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0045] The principles and implementation manners of the present application are described by using specific examples in the present application. The above example is only used to help understand the method and core idea of the present application. The above description is only the preferred implementation manner of the present application. It should be noted that due to the limited expression of the text, there are objectively infinite specific structures. For ordinary skilled persons in the technical field, some improvements, decorations or changes can be made without departing from the principles of the present application. The above technical features can also be combined in an appropriate manner. These improvements, decorations, changes or combinations, or the direct application of the concept and technical solution of the present application to other occasions without improvement, should be regarded as the protection scope of the present application.

Claims

1. A crop field inspection robot, characterized in that: The utility model provides an automatic sample collection device, including electric caterpillar chassis (1), the top of electric caterpillar chassis (1) is installed with installation platform (2), the top of installation platform (2) is installed with battery (3), elevating camera device, the top of installation platform (2) is installed with sample storage bin (10), the inside of sample storage bin (10) is installed with first linear drive (11), the top of first linear drive (11) is installed with annular guide rail conveying device (12), the slider on annular guide rail conveying device (12) top is installed with sample storage cylinder (13), the side of sample storage bin (10) is installed with door guide rail (14), the inside of door guide rail (14) is installed with elevating door plate (17) slidingly, the top of installation platform (2) is installed with second linear drive (18), the side of second linear drive (18) is installed with rotary mounting platform (19), the bottom of rotary mounting platform (19) is installed with third motor (20), the top of third motor (20) is installed with swing arm (21), and the output end of third motor (20) is connected with swing arm (21), the top of swing arm (21) is installed with lead screw motor (22), lead screw motor (22) is transmission connection with third lead screw (23), and the bottom of third lead screw (23) is installed with lifting plate (25), and the bottom of lifting plate (25) is installed with collection cylinder (26).

2. The crop field inspection robot according to claim 1, wherein: The elevating camera device includes an elevating sleeve (4) mounted on the installation platform (2), an elevating rod (5) inserted into the inside of the elevating sleeve (4), a first motor (6) provided on the inside of the elevating sleeve (4), an output end of the first motor (6) connected with a first lead screw (7), the first lead screw (7) threadedly connected with the elevating rod (5), a gimbal (8) mounted on the top of the elevating rod (5), and an AI camera (9) mounted on the top of the gimbal (8).

3. The crop field inspection robot of claim 1, wherein: A second motor (15) is mounted on the top of the door guide rail (14), an output end of the second motor (15) connected with a second lead screw (16), and the second lead screw (16) threadedly connected with the elevating door plate (17).

4. The crop field inspection robot of claim 1, wherein: An elevating guide rod (24) is mounted on the top of the lifting plate (25), the elevating guide rod (24) penetrating through the swing arm (21) and slidably connected therewith.

5. The crop field inspection robot of claim 1, wherein: An electric cylinder (27) is mounted on the top of the lifting plate (25), a piston rod bottom end of the electric cylinder (27) connected with a push-out plate (28), and the push-out plate (28) located inside the collection cylinder (26).

6. The crop field inspection robot of claim 1, wherein: A control device (29) is mounted on the top of the installation platform (2), and the control device (29) internally provided with a wireless communication module, a GPS positioning module, and a control unit.

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