Intelligent agricultural soil detection robot

Abstract

The utility model relates to the technical field of agricultural soil detection, and discloses an intelligent agricultural soil detection robot which comprises a soil detection robot trolley body and a soil detection robot mechanical arm body, and a mechanical arm base is arranged between the soil detection robot trolley body and the soil detection robot mechanical arm body. And a mechanical arm rotating steering engine is fixedly mounted at the top of the mechanical arm base. A plurality of sensors are installed at the lower end of the second mechanical small arm through the installation frame, and after the soil detection robot trolley body is controlled to move to a designated position, the soil detection robot trolley body is accurately controlled through the first mechanical large arm, the second mechanical large arm, the first mechanical small arm and the second mechanical small arm. The sensor can rapidly and stably reach the preset soil depth, full contact between the sensor probe and the soil is guaranteed, data of all components of the soil are accurately obtained, and meanwhile the collected data are transmitted to terminal equipment through the end effector.

Description

Technical Field

[0001] This utility model relates to the field of agricultural soil testing technology, specifically to a smart agricultural soil testing robot. Background Technology

[0002] Soil testing is a fundamental task in agricultural production, and its results are directly related to the yield and quality of crops. With the acceleration of agricultural modernization in my country, the application of intelligent and mechanized technologies has become an inevitable trend in agricultural development.

[0003] In the process of realizing this invention, the inventors discovered at least the following problems in the prior art:

[0004] Current soil testing methods mainly rely on manual sampling and laboratory analysis, which is not only time-consuming and labor-intensive, but also makes it difficult to achieve accurate soil testing. The low testing efficiency prevents farmers from adjusting their planting plans in a timely manner according to soil conditions, resulting in adverse consequences such as reduced crop yields and quality.

[0005] Therefore, the aforementioned technical problems need to be solved. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides a smart agricultural soil testing robot, which solves the problems of the current manual sampling and testing methods being time-consuming and labor-intensive, making it difficult to achieve accurate soil testing, and the low testing efficiency causing farmers to be unable to adjust planting plans in a timely manner according to soil conditions, resulting in adverse consequences such as reduced crop yield and quality.

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0008] A smart agricultural soil testing robot includes a soil testing robot trolley body and a soil testing robot robotic arm body. A robotic arm base is provided between the soil testing robot trolley body and the soil testing robot robotic arm body. A robotic arm rotation servo is fixedly installed on the top of the robotic arm base. A robotic arm movement servo is fixedly installed at the front end of the robotic arm rotation servo. A robotic arm pitch servo is fixedly connected to the front end of the robotic arm movement servo. A first robotic arm and a second robotic arm are fixedly installed on the top of the robotic arm rotation servo via bearings. A triangular arc plate is rotatably installed on the top of the first robotic arm and the second robotic arm. A first robotic arm and a second robotic arm are fixedly connected to one side of the triangular arc plate via bearings. An end effector is provided at the bottom of the second robotic arm.

[0009] Preferably, the main body of the soil testing robot arm is fixedly installed at the middle position of the top of the soil testing robot trolley body, a connecting motherboard is fixedly installed on one side of the top of the soil testing robot trolley body, and a Bluetooth communication module is fixedly connected to one side of the top of the connecting motherboard.

[0010] Preferably, a motor drive module is fixedly installed on the other side of the top of the soil testing robot body, motor modules are fixedly installed on both sides of the bottom of the soil testing robot body, and travel wheels connected to the motor modules via gears are rotatably installed on both sides of the bottom of the soil testing robot body.

[0011] Preferably, an ultrasonic ranging and obstacle avoidance module is fixedly installed on the top of the other side of the soil testing robot body, and an infrared obstacle avoidance module is fixedly connected to the bottom of the other side of the soil testing robot body.

[0012] Preferably, a claw opening and closing servo motor is fixedly installed at the bottom of the second robotic arm, and the end effector is fixedly installed at the bottom of the claw opening and closing servo motor. A sensor is provided at the bottom of the second robotic arm.

[0013] Preferably, a left and right joystick is fixedly installed on the other side of the top of the robotic arm base, and a NANO motherboard located on one side of the left and right joystick is fixedly installed on the top of the robotic arm base.

[0014] Preferably, the sensor surface at the bottom of the second robotic arm is nickel-plated, and the left and right rockers are electrically connected to the NANO motherboard.

[0015] Compared with existing technologies, this utility model provides a smart agricultural soil testing robot with the following advantages: This utility model mounts multiple sensors on the lower end of the second robotic arm via a mounting frame. After the main body of the soil testing robot is moved to a designated position, precise control of the first and second robotic arms, as well as the first and second robotic arms, ensures that the sensors quickly and stably reach the preset soil depth, guaranteeing full contact between the sensor probes and the soil. This allows for accurate acquisition of data on various soil components. Simultaneously, the collected data is transmitted to a terminal device via an end effector. This avoids the time-consuming and labor-intensive manual sampling methods that hinder accurate soil testing and reduce efficiency, preventing farmers from adjusting planting plans based on soil conditions, thus leading to adverse consequences such as decreased crop yield and quality. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main structure of the soil testing robot vehicle of this utility model;

[0017] Figure 2This is a schematic diagram of the main structure of the robotic arm of the soil testing robot of this utility model;

[0018] Figure 3 This is a schematic diagram of the sensor detection steps of this utility model.

[0019] In the diagram: 1. Soil testing robot body; 101. Connecting motherboard; 102. Bluetooth communication module; 103. Motor drive module; 104. Ultrasonic ranging and obstacle avoidance module; 105. Infrared obstacle avoidance module; 106. Motor module; 107. Traveling wheels; 2. Soil testing robot robotic arm body; 201. Robotic arm rotation servo motor; 202. Robotic arm movement servo motor; 203. Robotic arm pitch servo motor; 204. Robotic arm base; 205. First robotic arm; 206. Second robotic arm; 207. First robotic forearm; 208. Claw opening and closing servo motor; 209. Triangular arc plate; 210. Second robotic forearm; 211. Left and right joysticks; 212. NANO motherboard; 213. End effector. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] As described in the background section, there are shortcomings in the existing technology. In order to solve the above-mentioned technical problems, this application proposes a smart agricultural soil testing robot.

[0022] Please see Figures 1-3 A smart agricultural soil testing robot includes a soil testing robot trolley body 1 and a soil testing robot robotic arm body 2. A robotic arm base 204 is provided between the soil testing robot trolley body 1 and the soil testing robot robotic arm body 2. A robotic arm rotation servo motor 201 is fixedly installed on the top of the robotic arm base 204. A robotic arm movement servo motor 202 is fixedly installed at the front end of the robotic arm rotation servo motor 201. A robotic arm pitch servo motor 203 is fixedly connected to the front end of the robotic arm movement servo motor 202. A first robotic arm 205 and a second robotic arm 206 are fixedly installed on the top of the robotic arm rotation servo motor 201 via bearings. A triangular arc plate 209 is rotatably installed on the top of the first robotic arm 205 and the second robotic arm 206. A first robotic arm 207 and a second robotic arm 210 are fixedly connected to one side of the triangular arc plate 209 via bearings. An end effector 213 is provided at the bottom of the second robotic arm 210.

[0023] With the above-described structural setup, when this smart agriculture soil testing robot needs to perform soil testing, it first installs multiple integrated sensors (including temperature, humidity, and inorganic salt sensors) on the lower end of the second mechanical arm 210 via a mounting bracket. Then, by manipulating the main body 1 of the soil testing robot to move to a designated position, the robot arm rotation servo 201 rotates to a suitable angle. Precise control of the first mechanical arm 205, the second mechanical arm 206, the first mechanical arm 207, and the second mechanical arm 210 drives the sensors to insert into the soil. Fine-tuning of the angle is achieved through the mechanical arm movement servo 202 and the mechanical arm pitch servo 203, allowing the sensors to quickly and stably reach the preset soil depth, ensuring sufficient contact between the sensor probe and the soil. This allows for accurate acquisition of data on various soil components. Simultaneously, the collected data is transmitted to the terminal device via the end effector 213. This solves the problem of current manual sampling methods being time-consuming and labor-intensive, making accurate soil testing difficult and inefficient. The resulting low testing efficiency prevents farmers from adjusting planting plans according to soil conditions, leading to reduced crop yields and quality.

[0024] Furthermore, the main body 2 of the soil testing robot arm is fixedly installed at the middle of the top of the main body 1 of the soil testing robot vehicle. A connecting motherboard 101 is fixedly installed on one side of the top of the main body 1 of the soil testing robot vehicle, and a Bluetooth communication module 102 is fixedly connected to one side of the top of the connecting motherboard 101. The connected motherboard 101 comprehensively processes the detected soil data. The data fusion processing adopts a BP neural network algorithm and Kalman filter correction and filtering. Kalman filtering is an effective recursive filter, mainly used for state estimation of linear dynamic systems. When processing multi-sensor soil data, Kalman filtering can help integrate information from different sensors to provide optimal estimates of soil properties such as moisture, temperature, and conductivity. After connecting with sensors and terminal devices via the Bluetooth communication module 102, the processed data is transmitted, enabling staff to quickly analyze the soil data and improving the efficiency of soil data analysis.

[0025] Furthermore, a motor drive module 103 is fixedly installed on the other side of the top of the soil testing robot body 1, and motor modules 106 are fixedly installed on both sides of the bottom of the soil testing robot body 1. Travel wheels 107, which are rotatably mounted on both sides of the bottom of the soil testing robot body 1 and connected to the motor modules 106 via gears, are also mounted on these sides. Through the operation of the motor drive module 103 and the motor modules 106, the travel wheels 107 drive the soil testing robot body 1 to move on the soil surface to a designated position for soil testing.

[0026] Furthermore, an ultrasonic ranging and obstacle avoidance module 104 is fixedly installed on the top of the other side of the soil testing robot body 1, and an infrared obstacle avoidance module 105 is fixedly connected to the bottom of the other side of the soil testing robot body 1. The ultrasonic ranging and obstacle avoidance module 104 and the infrared obstacle avoidance module 105 detect obstacles, allowing the soil testing robot body 1 to automatically avoid obstacles and reach the designated location for soil testing during its journey. This prevents obstacles from obstructing the movement of the soil testing robot body 1 and affecting the efficiency of soil testing.

[0027] Furthermore, a claw opening / closing servo motor 208 is fixedly installed at the bottom of the second robotic arm 210, and an end effector 213 is fixedly installed at the bottom of the claw opening / closing servo motor 208. A sensor is installed at the bottom of the second robotic arm 210, and the surface of the sensor at the bottom of the second robotic arm 210 is nickel-plated. The claw opening / closing servo motor 208 facilitates the installation of the end effector 213. The sensor is inserted into the soil at the bottom of the second robotic arm 210 to collect data. A multi-sensor integrated approach is used to detect soil components, including soil temperature, humidity, inorganic salt concentration, and metal element concentration, achieving automated rapid soil detection and data analysis, improving soil detection efficiency. The nickel-plated sensor surface has a widened sensing area, which improves conductivity, prevents rusting upon contact with soil, and extends service life.

[0028] Furthermore, a left and right joystick 211 is fixedly installed on the other side of the top of the robotic arm base 204. A NANO mainboard 212 located on one side of the left and right joystick 211 is fixedly installed on the top of the robotic arm base 204. The left and right joystick 211 and the NANO mainboard 212 are electrically connected. The NANO mainboard 212, as the core of the entire control system, is responsible for receiving instructions from the left and right joystick 211 and accurately converting them into corresponding movements of the robotic arm. The left and right joystick 211 allows the operator to intuitively control the movement of the robotic arm, thereby significantly improving the accuracy and operability of the inspection operation.

[0029] Soil Composition Detection Operating System: First, a static class `Program` is defined, where `Main` is the main entry point for the entire application, responsible for initialization settings, obtaining a singleton instance of the main window, and then running the main window to start the entire application. Next, a namespace named `SoilMonitoringSystem` is defined to organize and manage related classes and types, avoiding naming conflicts. Under this namespace, the general framework of the entire system is established, defining four main panels for the page: the vehicle control panel, the soil data display panel, the work instruction panel, and the chart suggestion panel. The specific functions of each panel are then detailed. Finally, the detection system comprehensively processes various soil composition data detected by the sensors and transmits the data for analysis via Bluetooth connection to the terminal processor.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart agricultural soil testing robot, comprising a soil testing robot trolley body (1) and a soil testing robot robotic arm body (2), characterized in that: A robotic arm base (204) is provided between the main body (1) of the soil testing robot vehicle and the main body (2) of the soil testing robot arm. A robotic arm rotation servo (201) is fixedly installed on the top of the robotic arm base (204). A robotic arm movement servo (202) is fixedly installed at the front end of the robotic arm rotation servo (201). A robotic arm pitch servo (203) is fixedly connected to the front end of the robotic arm movement servo (202). A first robotic arm (205) and a second robotic arm (206) are fixedly installed on the top of the robotic arm rotation servo (201) through bearings. A triangular arc plate (209) is rotatably installed on the top of the first robotic arm (205) and the second robotic arm (206). A first robotic arm (207) and a second robotic arm (210) are fixedly connected to one side of the triangular arc plate (209) through bearings. An end effector (213) is provided at the bottom of the second robotic arm (210).

2. The intelligent agricultural soil testing robot according to claim 1, characterized in that: The main body (2) of the soil testing robot arm is fixedly installed at the middle position of the top of the soil testing robot trolley body (1). A connecting motherboard (101) is fixedly installed on one side of the top of the soil testing robot trolley body (1), and a Bluetooth communication module (102) is fixedly connected to one side of the top of the connecting motherboard (101).

3. The intelligent agricultural soil testing robot according to claim 1, characterized in that: A motor drive module (103) is fixedly installed on the other side of the top of the soil testing robot body (1), and motor modules (106) are fixedly installed on both sides of the bottom of the soil testing robot body (1). Traveling wheels (107) connected to the motor modules (106) via gears are rotatably installed on both sides of the bottom of the soil testing robot body (1).

4. The intelligent agricultural soil testing robot according to claim 1, characterized in that: An ultrasonic ranging obstacle avoidance module (104) is fixedly installed on the top of the other side of the soil testing robot body (1), and an infrared obstacle avoidance module (105) is fixedly connected to the bottom of the other side of the soil testing robot body (1).

5. The intelligent agricultural soil testing robot according to claim 1, characterized in that: The bottom of the second mechanical arm (210) is fixedly mounted with a claw opening and closing servo motor (208), and the end effector (213) is fixedly mounted on the bottom of the claw opening and closing servo motor (208). A sensor is provided on the bottom of the second mechanical arm (210).

6. The intelligent agricultural soil testing robot according to claim 4, characterized in that: A left and right rocker arm (211) is fixedly installed on the other side of the top of the robotic arm base (204), and a NANO motherboard (212) located on one side of the left and right rocker arm (211) is fixedly installed on the top of the robotic arm base (204).

7. The intelligent agricultural soil testing robot according to claim 6, characterized in that: The sensor surface at the bottom of the second robotic arm (210) is nickel-plated, and the left and right rockers (211) are electrically connected to the NANO motherboard (212).

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