Intelligent bionic robot for stony desertification control

Abstract

The utility model discloses an intelligent bionic robot for stony desertification prevention and control, which belongs to the field of bionic machines and artificial intelligence, and comprises a flying part and a walking part, the flying part is arranged above the walking part, the flying part comprises a middle main body, wings are arranged at four corners of the middle main body, and a solar panel is arranged on the top surface of the middle main body. An infrared camera is arranged on the side surface of the middle main body; the walking part comprises a shell, the left side and the right side of the shell are each provided with a set of bionic feet, the number of each set of bionic feet is four, and airborne equipment and a power source are arranged in the shell. According to the utility model, ground and air monitoring is considered at the same time, an air-ground sensing system is constructed, real-time monitoring is carried out on stony desertification frequently-occurring areas, according to local soil, weather conditions, plant growth vigor and other external environment factors, possible ecological disasters are predicted, reference prevention and treatment suggestions are provided through data analysis, and the system is suitable for popularization and application. The effect of assisting in improving the ecological environment is achieved, and the stony desertification prevention efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic machine and artificial intelligence field especially, a kind of intelligent bionic robot for rocky desertification prevention. BACKGROUND

[0002] China's rocky desertification phenomenon is more serious, especially in southwest region rocky desertification mostly appears in steep terrain, traditional rocky desertification management is mostly artificial survey, which will make rocky desertification prevention related work be seriously limited, and due to the development of work will cause a lot of financial and material resources consumption, even cause personnel casualties. At the same time due to the defects of traditional "3S" technology leads to the data collected is not accurate enough, error is large and data cannot be shared in real time etc. problem, which will lead to the data collected in related field is far not enough. All the above problems make the progress of rocky desertification prevention work stagnate. INVENTION CONTENTS

[0003] The utility model aims at providing a kind of intelligent bionic robot for rocky desertification prevention, solve the problem that traditional rocky desertification management is mostly artificial survey, make rocky desertification prevention related work be seriously limited, cause a lot of financial and material resources consumption, even cause personnel casualties.

[0004] To solve the above technical problems, the utility model adopts the following technical solutions:

[0005] The utility model relates to a kind of intelligent bionic robot for rocky desertification prevention, including flight department and walking part, the flight department is set in the upper of the walking part, the flight department includes middle part main body, the four corners of the middle part main body are provided with airfoil, the top surface of the middle part main body is provided with solar cell panel, the side of the middle part main body is provided with infrared camera;The walking part includes carapace, the left and right sides of the carapace are each provided with a group of bionic foot, the number of each group of bionic foot is provided with four, the inside of the carapace is provided with airborne equipment and power supply.

[0006] Further, the number of the infrared camera is four, four infrared cameras are located at the four sides of the middle part main body.

[0007] Further, the bionic foot includes thigh, the thigh is set on the carapace, the inside of the carapace is provided with drive assembly for driving the thigh to move, the other end of the thigh is provided with calf, the lower of the thigh is provided with electric push rod, the working rod of the electric push rod is connected with the calf, the inside of the calf is provided with telescopic support.

[0008] Further, the driving assembly comprises a micro servo motor, the micro servo motor is arranged in the inside of the body, a first pulley is arranged on the output shaft of the micro servo motor, a transmission shaft is arranged on the upper thigh, and a second pulley is arranged on the transmission shaft, and the first pulley and the second pulley are connected through a synchronous belt transmission.

[0009] Compared with the prior art, the intelligent bionic robot for rock desertification prevention has the beneficial technical effects that:

[0010] The utility model discloses the monitoring of ground and air is given simultaneously, constructs land and air perception system, carries out real time monitoring to rock desertification multiple area, according to local soil, weather condition and plant growth etc. environmental factors, the ecological disaster that can occur is predicted and the prevention and cure opinion with reference is proposed through data analysis, and the effect of assisting improvement ecological environment is played, and the rock desertification prevention efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0011] The utility model will be further described below in connection with the drawings.

[0012] Fig. 1 It is the front view of the intelligent bionic robot for rock desertification prevention of the utility model;

[0013] Fig. 2 It is the top view of the intelligent bionic robot for rock desertification prevention of the utility model;

[0014] Fig. 3 It is the position relation schematic drawing of driving assembly and upper thigh in the utility model.

[0015] Mark explanation: 1, middle main part;2, wing;3, solar cell panel;4, infrared camera;5, body;6, bionic foot;6-1, upper thigh;6-2, lower leg;6-3, telescopic support;6-4, micro servo motor;6-5, first pulley;6-6, synchronous belt;6-7, second pulley;6-8, transmission shaft;6-9, pivot;6-10, electric push rod;7, airborne equipment and power supply. DETAILED DESCRIPTION

[0016] As Figs. 1-3 Shown in the figure, an intelligent bionic robot for rock desertification prevention, comprising flight part and walking part, the flight part is arranged on the walking part's top, the flight part includes middle main part 1, the four corners of the middle main part 1 are provided with wing 2, the top surface of the middle main part 1 is provided with solar cell panel 3, the side of the middle main part 1 is provided with infrared camera 4;The walking part includes body 5, the left and right sides of the body 5 are each provided with a group of bionic foot 6, the number of each group of bionic foot 6 is provided with four, the inside of the body 5 is provided with airborne equipment and power supply 7.

[0017] The power is mainly derived from the power carried by the machine itself, and since the upper portion is provided with a solar panel, the product can convert solar energy into electric energy to drive the machine when the sunlight is sufficient.

[0018] Specifically, the wing 2 is a four-blade structure, made of high-strength carbon fiber material, has good fatigue resistance, and the surface is coated with an anti-corrosion coating. Each wing 2 is driven by an independent brushless motor, the motor is installed on the four corner mounting seats of the middle body 1, the output shaft of the motor is connected with the central rotating shaft of the wing 2, the wing 2 is rotated by the motor, and the rotating speed and torque are accurately controllable; the wing 2 is installed at an inclined angle to provide higher air power performance; the wing 2 is obtained by purchase, and the existing T-Motor series, T-Motor U15XL Kv38 Motor for Manned Uav, Drone Propulsion Set is adopted. The purpose of making the product itself airborne is achieved by rapidly rotating four wings to push air downward to generate upward reaction force. By controlling the rotating speed of the four wings, the product can complete forward, backward, ascending, descending, rolling and yawing actions.

[0019] The number of the infrared cameras 4 is four, and the four infrared cameras 4 are located on the four sides of the middle body 1. The infrared camera selects the FLIR Boson series, has high sensitivity and low power consumption characteristics, and can provide clear thermal imaging images; the four cameras 4 are evenly distributed on the four sides of the middle body 1, cover 360° view angle, to ensure real-time monitoring of the environment, the camera is connected with the master control chip through a USB-C interface, and supports high-speed data transmission. The camera technology, image processing technology, image transmission technology and control technology for controlling the robot to walk of the infrared camera all belong to the prior art.

[0020] The middle body 1 and the shell 5 are connected together by bolts, the number and specification of the bolts are determined according to the size, weight and flight requirements of the unmanned aerial vehicle, generally a plurality of bolts are evenly distributed to ensure the stability of the connection.

[0021] The bionic foot 6 comprises a thigh 6-1, the thigh 6-1 is arranged on the shell 5, the inside of the shell 5 is provided with a driving assembly for driving the thigh 6-1 to move, the other end of the thigh 6-1 is connected with a calf 6-2 through a rotating shaft 6-9, forming a rotating joint, the rotating shaft 6-9 is provided with a shaft sleeve to ensure smooth movement, the lower portion of the thigh 6-1 is connected with an electric push rod 6-10 through a first connecting shaft, the working rod of the electric push rod 6-10 is connected with the calf 6-2 through a second connecting shaft, and the inside of the calf 6-2 is connected with a telescopic support 6-3 through a bolt.

[0022] As Fig. 3As shown, each bionic foot 6 is individually provided with a driving assembly, the driving assembly comprising a micro servo motor 6-4, the inside of the shell 5 is bolted with a motor support, the micro servo motor 6-4 is installed on the motor support through screws, a first pulley 6-5 is installed on the output shaft of the micro servo motor 6-4, a transmission shaft 6-8 is connected to the thigh 6-1, a second pulley 6-7 is installed on the transmission shaft 6-8, and the first pulley 6-5 and the second pulley 6-7 are drivingly connected through a synchronous belt 6-6; the micro servo motor 6-4 is provided with a dynamic balance control module to ensure the stability of the robot walking.

[0023] In use, the output shaft of the micro servo motor 6-4 rotates to drive the first pulley 6-5 to rotate, the first pulley 6-5 rotates to drive the second pulley 6-7 to rotate through the synchronous belt 6-6, the second pulley 6-7 rotates to drive the transmission shaft 6-8 to rotate, and the transmission shaft 6-8 rotates to drive the thigh 6-1 to rotate, and the forward and reverse rotation of the micro servo motor 6-4 drives the entire leg to swing and walk forward and backward; the extension and retraction of the electric push rod 6-10 drives the left and right movement of the calf 6-2, realizes the left and right movement, and adjusts the support angle through left and right swinging, or completes the tilt adaptation according to the terrain requirement, and the comprehensive action of the micro servo motor 6-4 and the electric push rod 6-10 realizes the multidirectional movement of the foot.

[0024] The calf 6-2 and the thigh 6-1 are hinged through the rotating shaft 6-9, and damping springs are arranged on both sides of the connecting part of the rotating shaft 6-9 to absorb impact, and an angle encoder and a pressure sensor are integrated to realize real-time feedback of the motion posture; the telescopic support 6-3 is driven by a hydraulic cylinder, and the telescopic support 6-3 is coated with a wear-resistant coating to enhance its ability to adapt to complex terrain; specifically, the telescopic support 6-3 is made of aluminum alloy material and is internally provided with a hydraulic cylinder to provide strong telescopic force; the telescopic range of the support is 0-15 cm, and the length can be flexibly adjusted according to the change of the terrain to improve the adaptability of the robot to complex ground; the telescopic support can freely extend and retract according to the different road pit degrees to adapt to various complex terrains, thereby improving the stability of the entire robot; a dustproof sealing ring and a waterproof coating are additionally installed at the joint of the calf 6-2, and PTFE coating is coated on the key transmission components to prolong the service life of the machine; a force sensitive resistor (FSR) is installed on the sole to sense the hardness and slope of the ground, and an AI algorithm is combined to realize self-adaptive terrain adjustment, and an angle encoder is embedded at the joint to realize real-time feedback of the motion posture.

[0025] The inside of the lower leg 6-2 is equipped with a hydraulic drive telescopic support 6-3, and the telescopic action of the support is controlled by a hydraulic cylinder. The support can flexibly adjust the length within a range of 0-15 cm, and is used to raise the bionic foot to adapt to the raised ground, shorten the length to cope with the sunken area, or increase the stability of the support point by partial telescoping. When the terrain is complex, the telescopic support can also be dynamically adjusted according to the road pothole conditions, such as quickly lifting to avoid obstacles, slowly extending to balance the center of gravity, or temporarily retracting to improve flexibility.

[0026] During the whole action process, the thigh 6-1 provides preliminary direction adjustment and angle change, the rotation shaft 6-9 of the lower leg 6-2 is responsible for fine up-down and left-right swing, and the hydraulic drive of the telescopic support 6-3 provides strong support and fine adjustment capability, so that the bionic foot can flexibly adapt to various terrains such as mountainous area, slope, muddy or gravel area, and ensure the stability and motion efficiency of the robot in various environments.

[0027] The on-board equipment and power supply 7 include a data processing module (carrying an AI chip), a GPS positioning module, a communication module (supporting a 5G network), and environmental sensors (temperature and humidity, air pressure, and carbon dioxide concentration detection). A rechargeable lithium battery pack (with a capacity of 50,000 mAh) is used, and a solar panel is provided for auxiliary charging. The specific installation method is that all the equipment is fixed on the partition plate inside the body shell, the partition plate is connected inside the body shell by bolts, and the equipment wiring is routed through the integrated wire slot to avoid interference and damage. The on-board equipment and power supply 7 are existing technologies, which are obtained by outsourcing, and their specific structures are not described here.

[0028] The working process of the utility model is as follows:

[0029] In the face of serious stone desertification and complex ground surface conditions, the robot first collects information through the infrared camera 4. If the surrounding environment changes too much, such as encountering huge stones around, it cannot avoid obstacles by detouring, and then starts the unmanned aerial vehicle flight mode for surveying to achieve the mode of land and air combination. In the geological work with more sand and stone on the ground, the corners are clear, the bionic foot 6 is used to walk, and the telescopic support 6-3 is extended to avoid the bottom of the robot from being hit and worn by the external environment, reduce the loss of the robot, and prolong the service life of the robot. The robot has eight bionic feet 6 distributed on the left and right sides of the body shell 5, and the four feet on the left and the four feet on the right are one group respectively. The left and right sides are designed to be symmetrical, and the support and swing process is realized by drawing back and forth, and the body center of gravity is low, which is easy to keep stable.

[0030] The bionic foot is strong in ground grabbing force, large in contact area, and gentle to a contact surface, can realize rapid driving survey on relatively flat ground and relatively complex ground, increases friction on an inclined ground, and increases stability of the robot; the utility model can be applied to complex mountainous areas, complex sites such as deep caves for surveying.

[0031] The utility model will be divided into land operation type and air operation type two modes, establishes land and air perception system, through ground bionic robot and air unmanned aerial vehicle collocation operation, overall covers stone desertification area monitoring range and space. The land part selects inspiration from the mode that spider climbs in the movement mode. At the same time, a cloud database will be opened, and in the process of data surveying, data will be uploaded to the cloud database simultaneously, and all people and all departments operating the equipment can consult, realizing data sharing. Based on artificial intelligence field, through the real-time transmission of environmental information of the high-definition camera of the product, recording ecological environment appearance, extracting geographical space features, using it to construct data set, forming the basis of neural network training, after that, the model can be used to predict future geographical space phenomenon and ecological environment change. Under the work of artificial intelligence, the product can generate a management scheme suitable for the stone desertification environment for people to refer to according to the data collected by itself through calculation comparison.

[0032] The utility model has the following advantages:

[0033] 1. The land and air perception system composed of unmanned aerial vehicle and bionic robot provides integrated, multi-directional and high-precision data for stone desertification area monitoring;

[0034] 2. Spider bionics solves the problem of inconvenient surveying caused by terrain, and all mechanical operation reduces the loss of human resources and minimizes the possibility of personnel casualties;

[0035] 3. The real-time uploading of the cloud database changes the current situation of low data sharing degree of stone desertification, and compared with manual surveying and recording data, it is more efficient, and eliminates the situation that the change of data cannot be changed in time in the traditional manual measurement mode, finally leading to unsatisfactory management effect;

[0036] 4. Based on the deep learning ability of artificial intelligence, the product will continuously record various types of stone desertification, compare them, form a model, realize continuous accumulation and update of special data, solve the problem of too many management schemes caused by different environments, and truly realize "adjust measures to local conditions".

[0037] The above-described embodiments are merely preferred modes of the present application, and are not intended to limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those of ordinary skill in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application as defined by the claims.

Claims

1. An intelligent biomimetic robot for combating rocky desertification, characterized in that: The system includes a flight section and a walking section. The flight section is located above the walking section. The flight section includes a central body (1), with wings (2) at the four corners of the central body (1). A solar panel (3) is provided on the top surface of the central body (1), and an infrared camera (4) is provided on the side of the central body (1). The walking section includes a shell (5), with a set of bionic feet (6) on each of the left and right sides of the shell (5). Each set of bionic feet (6) has four feet. Airborne equipment and a power supply (7) are provided inside the shell (5).

2. The intelligent bionic robot for combating rocky desertification according to claim 1, characterized in that: The number of infrared cameras (4) is set to four, and the four infrared cameras (4) are located on the four sides of the central body (1).

3. The intelligent bionic robot for combating rocky desertification according to claim 1, characterized in that: The bionic foot (6) includes a thigh (6-1), which is mounted on the body shell (5). The body shell (5) is equipped with a drive assembly for moving the thigh (6-1). The other end of the thigh (6-1) is equipped with a lower leg (6-2). An electric actuator (6-10) is mounted below the thigh (6-1). The working rod of the electric actuator (6-10) is connected to the lower leg (6-2). A telescopic bracket (6-3) is mounted inside the lower leg (6-2).

4. The intelligent bionic robot for combating rocky desertification according to claim 3, characterized in that: The drive assembly includes a micro servo motor (6-4), which is disposed inside the body shell (5). A first pulley (6-5) is disposed on the output shaft of the micro servo motor (6-4). A transmission shaft (6-8) is disposed on the thigh (6-1), and a second pulley (6-7) is disposed on the transmission shaft (6-8). The first pulley (6-5) and the second pulley (6-7) are connected by a synchronous belt (6-6).

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