Agricultural ecological orchard inspection robot

Abstract

The utility model discloses an agricultural ecological orchard inspection robot, and particularly relates to a robot, which comprises a four-foot wheel leg type chassis comprising a rubber coated wheel driven by a motor to keep circumferential rotation; the machine body is fixedly mounted on the four-foot wheel leg type chassis, a head mounting seat is fixedly mounted at the top of the machine body, a laser radar is mounted at the top of the head mounting seat in an embedded manner, and a camera is fixedly mounted on the side wall of the head mounting seat; and the manipulator comprises a mechanical claw fixedly mounted on the machine body. The orchard inspection robot can meet inspection task execution requirements of complex terrains of an orchard, and can replace manual inspection.

Description

Technical Field

[0001] This utility model relates to robots, specifically to an agricultural ecological orchard inspection robot. Background Technology

[0002] With the advancement of agricultural modernization, agricultural production requires more efficient and intelligent technological support to improve production efficiency, reduce costs, and ensure food security and agricultural product quality. The rapid development of intelligent agricultural technologies has led to the widespread application of robots in agricultural environmental inspection. Through sensors, cameras, lidar, and other equipment, robots can acquire and analyze environmental parameters and plant and animal information in real time, providing decision support.

[0003] Replacing humans with robots for inspections can avoid many problems encountered during manual inspections. Furthermore, robots can be deployed to designated locations, thereby improving orchard efficiency, reducing labor costs, and lowering work risks. Currently, ground-based inspection robots are broadly classified into wheeled and tracked inspection robots. Compared to wheeled robots, tracked robots are more adaptable, stable, have a larger load-bearing capacity, are more mobile, and are more durable.

[0004] Currently available agricultural ecological orchard inspection robots all have some shortcomings, such as inflexible inspection path planning, insufficient autonomous positioning and obstacle avoidance capabilities, low durability and reliability, and high cost. Utility Model Content

[0005] The purpose of this invention is to provide an agricultural ecological orchard inspection robot to solve the above-mentioned problems.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an agricultural ecological orchard inspection robot, comprising:

[0007] A four-legged, wheel-type chassis, comprising rubber-coated wheels driven by an electric motor to maintain circumferential rotation;

[0008] The fuselage is fixedly mounted on the four-legged chassis, and a head mount is fixedly mounted on the top. A lidar is embedded in the top of the head mount, while a camera is fixedly mounted on the side wall.

[0009] It includes a mechanical gripper that is fixedly mounted on the machine body.

[0010] Preferably, the number of mechanical claws is at least two, and they are respectively fixedly installed on the mounting platforms that are fixedly provided on opposite side walls of the machine body.

[0011] Preferably, the mechanical claw includes a base, a gimbal rotatably mounted on the base, and a large arm gear and a small arm gear coaxially rotatably mounted on the gimbal.

[0012] A boom rod is welded onto the boom gear, and a joint connector is rotatably provided at the end of the boom rod. A small boom rod is welded onto the joint connector.

[0013] The forearm gear is rotatably provided with an eccentrically distributed forearm adjustment tube, and the forearm adjustment tube is rotatably connected to the end of the forearm rod;

[0014] It also includes a tripod, with a limit arm rotatably mounted on the first corner, one end of which is rotatably connected to the gimbal, the second corner being rotatably connected to the joint connector, and a claw adjustment tube rotatably connected to the third corner.

[0015] An electromagnetic chuck module is rotatably connected to the end of the forearm, and the end of the claw adjustment tube is rotatably connected to the electromagnetic chuck module.

[0016] Preferably, stepper motors are symmetrically fixedly installed on the gimbal, with the first stepper motor driving the upper arm gear to rotate and the second stepper motor driving the lower arm gear to rotate.

[0017] Preferably, the forearm is divided into a labor-saving arm and a labor-intensive arm, with the joint connector as the dividing line. The forearm adjustment tube is rotatably connected to the labor-intensive arm, and the electromagnetic chuck module is rotatably connected to the labor-saving arm.

[0018] Preferably, it also includes a four-jaw gripper, which includes a rectangular block that is inlaid with the magnetic suction surface of the electromagnetic chuck module.

[0019] Preferably, the four-legged chassis includes a load-bearing body, which is structurally divided into a parallel upper deck and a lower deck, and the two are fixedly installed with bolts.

[0020] The upper deck and the lower deck are provided with notches at all four corners;

[0021] Vehicle body connectors are fixedly installed on the side walls of the upper and lower decks on opposite sides.

[0022] Preferably, symmetrically distributed mounting tubes are fixedly inserted into the vehicle body connector, and motor mounting brackets located at the notch are fixedly installed at both ends of the two mounting tubes.

[0023] Preferably, a motor is fixedly installed on the motor mounting base, and spherical bearing plates are symmetrically rotated inside the motor mounting base. The two spherical bearing plates are distributed in a V-shape, and both spherical bearing plates are fixedly connected to the output end of the motor.

[0024] It also includes a wheel seat on which a rubber-coated wheel is rotatably mounted, and a calf plate is rotatably mounted between the joint bearing plate and the wheel seat.

[0025] Preferably, the motor mounting base has a protective housing fixedly installed on its side wall by bolts, which covers the motor.

[0026] In the above technical solution, the agricultural ecological orchard inspection robot provided by this utility model has the following beneficial effects:

[0027] 1. The quadrupedal parallel wheeled chassis adopts a triangular stabilizing structure and is manufactured using CNC precision machining. The wheels utilize vacuum tires to reduce costs while improving chassis stability and maneuverability. Furthermore, the wheel joints are equipped with motor protective shells to effectively prevent motor damage caused by collisions with obstacles during robot movement. This chassis enables high-speed movement on flat ground, while in rugged and complex terrain, it can simulate the gait of a quadruped to overcome obstacles, thereby enhancing the inspection robot's mobility and environmental adaptability.

[0028] 2. The inspection robot mainly consists of a robotic arm, a LiDAR sensor, and a camera. The robotic arm integrates an electromagnetic chuck module, giving it multi-functional expandability. The robotic arm can work in conjunction with a module replacement device to meet various application needs of ecological orchard inspections, improving the system's practicality. The electromagnetic chuck module enables quick replacement of different functional modules via electromagnetic attraction, avoiding the wiring interference problems that may occur during traditional claw-type module replacement. The robotic arm integrates a power supply and has a magnetic interface at its top. Each functional module also has a corresponding magnetic interface at its end; once the two are attracted together, a power connection is established, improving the convenience and reliability of module replacement.

[0029] 3. The radar camera assembly consists of a camera, lidar, and a radar-camera connection module, enabling efficient construction of orchard environmental maps for path planning and agricultural inspection tasks. The sensor compartment adopts a drawer-type structure with a flip-top cover at the rear for easy installation and replacement of hardware. When sensor hardware malfunctions, the compartment can be directly removed for replacement, significantly improving maintenance efficiency. Furthermore, the sensor is equipped with a dust cover to prevent dust accumulation and optimize heat dissipation, ensuring long-term stable operation. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0031] Figure 1 A schematic diagram of the overall structure provided for an embodiment of this utility model;

[0032] Figure 2 A schematic diagram of the fuselage, lidar, and camera provided for an embodiment of this utility model;

[0033] Figure 3 This is a schematic diagram of the structure of the four-legged wheel-type chassis provided in an embodiment of the present utility model;

[0034] Figure 4 Provided for the embodiments of this utility model Figure 3 A schematic diagram of the exploded structure;

[0035] Figure 5 A schematic diagram of the structure of the vehicle body connector, mounting tube, motor mounting base, joint bearing plate, wheel seat, lower leg plate and rubber-coated wheel provided for the embodiments of this utility model;

[0036] Figure 6 A schematic diagram of the mechanical claw provided in an embodiment of this utility model.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1. Four-legged chassis; 11. Motor; 12. Rubber-coated wheels; 13. Upper deck; 14. Lower deck; 15. Body connecting parts; 151. Mounting tube; 152. Motor mounting bracket; 153. Joint bearing plate; 154. Wheel seat; 155. Lower leg plate; 156. Protective shell.

[0039] 2. Fuselage; 21. Head mount.

[0040] 3. LiDAR.

[0041] 4. Camera.

[0042] 5. Mechanical gripper; 51. Gimbal; 52. Arm gear; 521. Arm rod; 522. Joint connector; 523. Arm rod; 53. Arm gear; 531. Arm adjustment tube; 54. Tripod; 541. Limiting arm; 542. Gripper adjustment tube; 55. Electromagnetic chuck module; 56. Stepper motor; 57. Four-jaw gripper; 58. Base. Detailed Implementation

[0043] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0044] like Figure 1-6 As shown, an agricultural ecological orchard inspection robot includes:

[0045] The four-legged wheel-type chassis 1 includes rubber-coated wheels 12 driven by a motor 11 to maintain circumferential rotation;

[0046] The fuselage 2 is fixedly mounted on a four-legged chassis 1, and a head mount 21 is fixedly mounted on the top. A lidar 3 is embedded in the top of the head mount 21, while a camera 4 is fixedly mounted on the side wall.

[0047] It includes a mechanical claw 5 that is fixedly mounted on the body 2.

[0048] Specifically, the aforementioned four-legged chassis 1 includes a load-bearing body, with notches at each of the four corners of the load-bearing body. Rubber-coated wheels 12 are distributed within these notches, and the motor 11 is fixedly mounted on the load-bearing body. The motor body 2 is fixedly mounted on the load-bearing body with bolts.

[0049] Among them, the rubber-coated wheel 12 can be an inflatable tire, or a wheeled walking mechanism with two rubber-coated wheels 12 on the same side and a track, which are common knowledge in the field, so as to meet the movement needs of the complex terrain of the orchard.

[0050] Furthermore, a circuit board is installed inside the body 2, which integrates a PLC processor, a storage module, a network connection module, and a network data transmission module. Data collected by the camera 4 and the lidar 3 is transmitted to the circuit board. The four motors 11 and the mechanical gripper 5 are all controlled and operate collaboratively by the PLC processor. Specifically:

[0051] After the robot is activated, LiDAR 3 constructs a 3D point cloud map of the orchard in real time with a 360° scanning radius, accurately identifying the spacing between fruit trees, terrain undulations, and obstacles (such as stones and ditches). Simultaneously, camera 4 uses deep learning algorithms to capture characteristics of fruit tree diseases and pests (such as lesions and insect infestations) and fruit maturity, transmitting the data back to the central processor. Dual-sensor fusion technology (radar SLAM + visual recognition) achieves centimeter-level positioning accuracy and dynamically plans the optimal inspection path.

[0052] The vision system locks onto dead branches on the ground (diameter ≤ 8cm), and the mechanical claw 5 adaptively adjusts the gripping force to grasp and transplant them to the collection area using a three-finger linkage structure.

[0053] Furthermore, when climbing steep slopes, the mechanical claw 5 switches to "support mode," gripping the sturdy tree trunk to provide a reaction force, coordinating with the chassis power output to prevent the tracks from slipping.

[0054] It should be noted that the aforementioned electronic components and electronic control programs are all common technical knowledge known to those skilled in the art, and will not be described in detail here.

[0055] In the aforementioned technology, the quadrupedal parallel wheeled chassis 1 adopts a triangular stabilizing structure and is manufactured through CNC precision machining. The rubber-coated wheels 12 utilize vacuum tires to reduce costs while improving the chassis's stability and maneuverability. Furthermore, the wheel joints are equipped with motor protective shells to effectively prevent motor damage caused by collisions with obstacles during robot movement. This chassis enables high-speed movement on flat ground, while in rugged and complex terrain, it can simulate the gait of quadrupedal animals to overcome obstacles, thereby enhancing the inspection robot's mobility and environmental adaptability. Secondly, the inspection robot body mainly consists of a robotic arm, a lidar 3, and a camera 4. The robotic arm integrates an electromagnetic chuck module 55, giving it multi-functional expansion capabilities. The robotic arm can work in conjunction with a module replacement device to meet various application needs of ecological orchard inspection, improving the system's practicality. The electromagnetic chuck module 55 achieves rapid replacement of different functional modules through electromagnetic attraction, avoiding the wiring interference problems that may occur during traditional claw-type module replacement. The robotic arm integrates a power supply and features a magnetic interface at its top. Each functional module also has a corresponding magnetic interface at its end; simply attaching the modules together establishes a power connection, enhancing the convenience and reliability of module replacement. Furthermore, the radar-camera assembly comprises camera 4, lidar 3, and a radar-camera connection module, enabling efficient orchard environmental mapping for path planning and agricultural inspection tasks. The sensor compartment adopts a drawer-style structure with a flip-top at the rear for easy hardware installation and replacement. In case of sensor hardware failure, the compartment can be directly removed for replacement, significantly improving maintenance efficiency. Additionally, the sensors are equipped with dust covers to prevent dust accumulation and optimize heat dissipation, ensuring long-term stable operation.

[0056] As a further embodiment of this utility model, the number of mechanical claws 5 is at least two, and they are respectively fixedly installed on mounting platforms that are fixedly provided on opposite side walls of the machine body 2. Specifically, the angle between the aforementioned mounting platforms and the load-bearing vehicle body is 45°. The two mechanical claws 5 greatly improve the working efficiency.

[0057] As a further embodiment of this utility model, the mechanical gripper 5 includes a base 58, a gimbal 51 rotatably mounted on the base 58, and a large arm gear 52 and a small arm gear 53 coaxially rotatably mounted on the gimbal 51. A large arm rod 521 is welded to the large arm gear 52, and a joint connector 522 is rotatably disposed at the end of the large arm rod 521. A small arm rod 523 is welded to the joint connector 522. An eccentrically distributed small arm adjustment tube 531 is rotatably disposed on the small arm gear 53, and the small arm adjustment tube 531 is rotatably connected to the end of the small arm rod 523. A drive motor is fixedly installed inside the base 58, and the output end of the drive motor is fixedly mounted on the gimbal 51, the purpose of which is to drive the gimbal 51 to maintain circumferential rotation.

[0058] It also includes a tripod 54, which is structurally divided into a first corner, a second corner, and a third corner. The first corner is rotatably equipped with a limit arm 541, one end of which is rotatably connected to the gimbal 51. The second corner is rotatably connected to the joint connector 522. The third corner is rotatably connected to a gripper adjustment tube 542. An electromagnetic chuck module 55 is rotatably connected to the end of the forearm 523, and the end of the gripper adjustment tube 542 is rotatably connected to the electromagnetic chuck module 55.

[0059] The gimbal 51 is symmetrically and fixedly equipped with stepper motors 56. The first stepper motor 56 is used to drive the upper arm gear 52 to rotate, and the second stepper motor 56 is used to drive the lower arm gear 53 to rotate.

[0060] It should be noted that the forearm 523, with the joint connector 522 as the dividing line, is divided into a labor-saving arm and a labor-intensive arm. The forearm adjustment tube 531 is rotatably connected to the labor-intensive arm, and the electromagnetic chuck module 55 is rotatably connected to the labor-saving arm.

[0061] Furthermore, the above embodiments also include a four-jaw gripper 57, which includes a rectangular block that is inlaid with the magnetic suction surface of the electromagnetic chuck module 55.

[0062] Specifically, the drive motor inside the base 58 drives the gimbal 51 to rotate 360° horizontally, precisely aligning the working surface of the mechanical claw with the target (such as a dead branch or the trunk of a fruit tree); two stepper motors 56 separately control the boom gear 52 and the forearm gear 53, achieving independent movement of the two axes. The boom gear 52 rotates, causing the welded boom rod 521 to swing in an arc of ±60° around the gimbal 51. The forearm gear 53 rotates, causing the eccentrically mounted forearm adjustment tube 531 to push the forearm rod 523, achieving precise end-effector lever-type posture adjustment.

[0063] The forearm 523 uses the joint connector 522 as a fulcrum to form a lever structure with a ratio of 2:1 between the effort-saving arm L1 and the effort-consuming arm L2; the forearm adjustment tube 531 acts on the effort-consuming arm L2, so that the electromagnetic chuck module 55 obtains twice the output force at the end of the effort-saving arm L1 (the gripping force can reach up to 180N).

[0064] As a further embodiment of the present invention, the four-legged wheel-type chassis 1 includes a load-bearing body, which is structurally divided into an upper deck 13 and a lower deck 14 that are distributed in parallel, and bolts are fixedly installed between the two.

[0065] The upper deck 13 and the lower deck 14 have notches at all four corners;

[0066] Vehicle body connectors 15 are fixedly installed on the side walls of the upper deck 13 and the lower deck 14 on opposite sides.

[0067] Furthermore, symmetrically distributed mounting tubes 151 are fixedly inserted into the body connecting piece 15, and motor mounting brackets 152 located at the notch are fixedly installed at both ends of the two mounting tubes 151.

[0068] Furthermore, a motor 11 is fixedly installed on the motor mounting base 152, and a joint bearing plate 153 is symmetrically rotated inside the motor mounting base 152. The two joint bearing plates 153 are distributed in a V-shape, and both joint bearing plates 153 are fixedly connected to the output end of the motor 11.

[0069] It also includes a wheel seat 154 on which a rubber-coated wheel 12 is rotatably mounted, and a shin plate 155 is rotatably mounted between the spherical bearing plate 153 and the wheel seat 154.

[0070] Furthermore, a protective housing 156 for the motor 11 is fixedly installed on the side wall of the motor mounting bracket 152 by bolts.

[0071] Specifically, a drive motor is fixedly mounted on the wheel seat 154, which drives the rubber-coated wheel 12 to rotate circumferentially. The motor 11 drives the two joint bearing plates 153 of the V-shaped structure to rotate left and right. The four sets of V-shaped structures work together to create a walking-like effect.

[0072] It should be noted that the aforementioned fixed installations and settings can be installed using known connection methods such as welding, bolting, and snap-fitting; while rotating connections and hinged connections are installed using rotary bearings, and sliding connections are installed using sliding bearings. These installation methods are all common knowledge to those skilled in the art, and can be directly determined by those skilled in the art based on the structural characteristics; therefore, they will not be described in detail.

[0073] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An agricultural ecological orchard inspection robot, characterized in that, include: The four-legged wheel-type chassis (1) includes rubber-coated wheels (12) driven by a motor (11) to maintain circumferential rotation. The fuselage (2) is fixedly mounted on the four-legged chassis (1), and a head mounting base (21) is fixedly mounted on the top. A laser radar (3) is embedded in the top of the head mounting base (21), while a camera (4) is fixedly mounted on the side wall. It includes a mechanical claw (5) fixedly mounted on the body (2).

2. The agricultural ecological orchard inspection robot according to claim 1, characterized in that, The number of mechanical claws (5) is at least two, and they are respectively fixedly installed on the mounting platforms that are fixedly installed on opposite side walls of the body (2).

3. The agricultural ecological orchard inspection robot according to claim 1, characterized in that, The mechanical claw (5) includes a base (58), a gimbal (51) rotatably mounted on the base (58), and a large arm gear (52) and a small arm gear (53) rotatably mounted on the gimbal (51). A boom rod (521) is welded onto the boom gear (52), and a joint connector (522) is rotatably provided at the end of the boom rod (521). A small boom rod (523) is welded onto the joint connector (522). The forearm gear (53) is rotatably provided with an eccentrically distributed forearm adjustment tube (531), and the forearm adjustment tube (531) is rotatably connected to the end of the forearm rod (523). It also includes a tripod (54), with a limit arm (541) rotatably mounted on the first corner. One end of the limit arm (541) is rotatably connected to the gimbal (51). The second corner is rotatably connected to the joint connector (522). A claw adjustment tube (542) is rotatably connected to the third corner. The end of the forearm (523) is rotatably connected to an electromagnetic chuck module (55), and the end of the claw adjustment tube (542) is rotatably connected to the electromagnetic chuck module (55).

4. The agricultural ecological orchard inspection robot according to claim 3, characterized in that, A stepper motor (56) is symmetrically fixed on the gimbal (51). The first stepper motor (56) is used to drive the upper arm gear (52) to rotate, and the second stepper motor (56) is used to drive the lower arm gear (53) to rotate.

5. The agricultural ecological orchard inspection robot according to claim 3, characterized in that, The forearm (523) is divided into a labor-saving arm and a labor-intensive arm, with the joint connector (522) as the dividing line. The forearm adjustment tube (531) is rotatably connected to the labor-intensive arm, and the electromagnetic chuck module (55) is rotatably connected to the labor-saving arm.

6. The agricultural ecological orchard inspection robot according to claim 3, characterized in that, It also includes a four-jaw gripper (57), which includes a rectangular block that is inlaid with the magnetic suction surface of the electromagnetic chuck module (55).

7. The agricultural ecological orchard inspection robot according to claim 1, characterized in that, The four-legged chassis (1) includes a load-bearing body, which is divided into an upper deck (13) and a lower deck (14) that are distributed in parallel according to the structure, and bolts are fixedly installed between the two. The upper deck (13) and the lower deck (14) are provided with notches at their four corners; The upper deck (13) and lower deck (14) are fixedly mounted with vehicle body connectors (15) on their opposite side walls.

8. The agricultural ecological orchard inspection robot according to claim 7, characterized in that, The vehicle body connector (15) is fixedly inserted with symmetrically distributed mounting tubes (151), and motor mounting brackets (152) located at the notch are fixedly installed at both ends of the two mounting tubes (151).

9. An agricultural ecological orchard inspection robot according to claim 8, characterized in that, A motor (11) is fixedly installed on the motor mounting base (152). A joint bearing plate (153) is symmetrically rotated inside the motor mounting base (152), and the two joint bearing plates (153) are distributed in a V-shape. Both joint bearing plates (153) are fixedly connected to the output end of the motor (11). It also includes a wheel seat (154) on which a rubber-coated wheel (12) is rotatably mounted, and a calf plate (155) is rotatably mounted between the joint bearing plate (153) and the wheel seat (154).

10. An agricultural ecological orchard inspection robot according to claim 9, characterized in that, The motor mounting base (152) has a protective housing (156) fixed to the side wall by bolts and covering the motor (11).

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