A greenhouse environment inspection robot

Abstract

This utility model discloses a greenhouse environment inspection robot, which includes a mobile chassis and a sensor group for environmental information collection; it also includes a multi-degree-of-freedom adjustment mechanism, which includes a lifting module, a rotating mechanism, and a telescopic robotic arm; the rotating mechanism is mounted on the lifting seat of the lifting module and can drive the telescopic robotic arm to rotate and swing; the number of sensor groups is three, which are respectively installed at the end of the telescopic robotic arm, on the lifting seat, and on the mobile chassis. In this invention, by setting up a multi-degree-of-freedom adjustment mechanism and three sensor groups placed in different installation positions, it can meet diverse environmental data collection needs. It can not only simultaneously collect environmental data at three heights (upper, middle, and lower) at the same location, but also, by adjusting the attitude of the multi-degree-of-freedom adjustment mechanism, allow the sensor group at the end of the telescopic robotic arm to reach specific points for environmental data collection.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and in particular to a greenhouse environment inspection robot. Background Technology

[0002] With the continuous advancement of agricultural modernization, greenhouse cultivation has been widely adopted as an efficient and controllable agricultural production method. During greenhouse cultivation, environmental parameters such as light intensity, carbon dioxide concentration, temperature, and humidity have a significant impact on crop growth. Therefore, real-time monitoring and control of environmental parameters within the greenhouse are crucial for improving crop yield and quality.

[0003] In the prior art, the greenhouse inspection robot disclosed in patents such as CN 113296501 A consists of a mobile chassis, a lifting mechanism, and a sensor module installed on top of the lifting mechanism. During the inspection, the inspection robot can move to a predetermined collection point and drive the sensor module to move up and down through the lifting mechanism to collect environmental data at different heights. In this solution, on the one hand, when it is necessary to collect data at different heights at the same point, it is necessary to frequently drive the sensor module to move up and down, resulting in low data collection efficiency. On the other hand, the sensor module has a limited range of motion relative to the mobile chassis, low flexibility, and is difficult to meet the data collection needs of special points. Utility Model Content

[0004] Purpose of the invention: In order to overcome the shortcomings of the existing technology, this utility model provides a greenhouse environment inspection robot that is highly flexible and can meet the diverse needs of greenhouse data collection.

[0005] Technical solution: To achieve the above objectives, the greenhouse environment inspection robot of this utility model includes a mobile chassis and a sensor group for collecting environmental information.

[0006] It also includes a multi-degree-of-freedom adjustment mechanism, which includes a lifting module, a rotating mechanism, and a telescopic robotic arm; the rotating mechanism is mounted on the lifting seat of the lifting module and can drive the telescopic robotic arm to rotate and swing.

[0007] The sensor group consists of three groups, which are respectively installed at the end of the telescopic robotic arm, on the lifting seat, and on the mobile chassis.

[0008] With the above structure, one method of use is as follows: by driving the lifting module to operate, the sensor group on the lifting seat is brought to a first specific height. By extending and retracting the telescopic robotic arm, the sensor group at the end of the telescopic robotic arm is brought to a second specific height higher than the first specific height. In this way, the three sensor groups can collect position environmental data at three heights: upper, middle and lower.

[0009] Another method of use is to adjust the pose of the multi-degree-of-freedom adjustment mechanism so that the sensor group at the end of the telescopic robotic arm can reach a specific detection point for fixed-point data acquisition.

[0010] Furthermore, the sensor group includes a light sensor, a CO2 sensor, and a temperature and humidity sensor.

[0011] Furthermore, the telescopic robotic arm is also equipped with a servo motor, a mounting base, and a depth camera at its end; the depth camera is fixed on the mounting base, and the servo motor can drive the mounting base to rotate relative to the telescopic robotic arm.

[0012] Furthermore, the mobile chassis includes a chassis base, on which four walking wheel assemblies are symmetrically mounted;

[0013] Each of the aforementioned wheel assembly includes a wheel, a mounting base fixed to the mobile chassis, and a wheel seat connected to the wheel; in this solution, the wheel is a hub motor.

[0014] At least two parallel connecting frames are connected between the wheel seat and the fixed seat;

[0015] A shock absorber is connected between the wheel seat and the chassis base; a rotary drive motor that drives the walking wheel to rotate is installed on the wheel seat.

[0016] Furthermore, the lifting module is a linear module driven by a lead screw.

[0017] Furthermore, the rotating mechanism includes a swing drive motor and a right-angle reducer, with the output shaft of the swing drive motor parallel to the lifting direction of the lifting module. This structure allows for a compact layout of the rotating mechanism, reducing its space requirements.

[0018] Furthermore, the telescopic robotic arm is either an electric actuator itself or uses an electric actuator as a power source. In the latter case, the telescopic robotic arm also includes multiple interlocking and relatively sliding tubes, with the relative sliding between the tubes driven by the electric actuator. The control system can precisely control the overall length of the telescopic robotic arm by controlling the extension and retraction of the electric actuator as needed, thereby increasing the arm span of the inspection robot and the working range of the telescopic robotic arm's end effector.

[0019] Furthermore, a navigation sensor, including a lidar sensor, is also installed on the chassis base. In addition, the navigation sensor may also include sensors such as an IMU, odometry, and ultrasonic sensors to assist the robot in positioning and obstacle avoidance.

[0020] Beneficial effects: The greenhouse environment inspection robot of this utility model has the following beneficial effects:

[0021] (1) In this invention, by setting up a multi-degree-of-freedom adjustment mechanism and three sets of sensor groups placed in different installation positions, it is possible to meet diverse environmental data collection needs. It can not only simultaneously collect environmental data at the upper, middle and lower heights of the same position, but also adjust the attitude of the multi-degree-of-freedom adjustment mechanism so that the sensor group at the end of the telescopic robotic arm can reach a specific point to collect environmental data.

[0022] (2) The lifting module, rotating mechanism, telescopic robotic arm and servo motor form a 4-joint robotic arm, which can flexibly adjust the attitude of the depth camera so that the depth camera can acquire images and depth data at a specific position. The control system can adjust the position of the moving chassis and the attitude of the 4-joint robotic arm based on the data collected by the depth camera so that the sensor group at the end of the telescopic robotic arm can reach a specific detection position and improve the position accuracy of the detection.

[0023] (3) A mobile chassis with four independent walking wheel components is adopted. Since the walking wheel components have shock absorption function and can turn independently, the mobile chassis can adapt to the uneven road surface in the greenhouse. The mobile chassis can turn around in place, requiring minimal turning space and greatly improving mobility. Attached Figure Description

[0024] Figure 1 This is a side view of the greenhouse environment inspection robot.

[0025] Figure 2 A 3D structural diagram of a greenhouse environment inspection robot;

[0026] Figure 3 for Figure 2 Enlarged structural diagram of section A;

[0027] Figure 4 for Figure 2 Enlarged structural diagram of section B;

[0028] Figure 5 This is a schematic diagram of the control system.

[0029] In the diagram: 1-Mobile chassis; 11-Chassis base; 12-Walking wheel; 13-Fixed seat; 14-Wheel seat; 15-Connecting frame; 16-Shock absorber; 17-Rotation drive motor; 2-Lifting module; 21-Lifting seat; 3-Rotation mechanism; 31-Oscillating drive motor; 32-Right angle reducer; 4-Telescopic robotic arm; 5-Servo motor; 6-Mounting base; 7-Depth camera; 8-LiDAR; 9-Sensor group. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings.

[0031] like Figure 1 and Figure 2 The greenhouse environment inspection robot shown includes a mobile chassis 1 and a sensor group 9 for collecting environmental information.

[0032] It also includes a multi-degree-of-freedom adjustment mechanism, which includes a lifting module 2, a rotating mechanism 3, and a telescopic robotic arm 4; the rotating mechanism 3 is installed on the lifting seat 21 of the lifting module 2, and the rotating mechanism 3 can drive the telescopic robotic arm 4 to rotate and swing.

[0033] The number of sensor groups 9 is three, which are respectively installed at the end of the telescopic robotic arm 4, on the lifting seat 21, and on the mobile chassis 1.

[0034] Using the above structure, one method of use is as follows: By driving the lifting module 2 to operate, the sensor group 9 on the lifting seat 21 is raised to a first specific height. By extending and retracting the telescopic robotic arm 4, the sensor group 9 at the end of the telescopic robotic arm 4 is raised to a second specific height higher than the first specific height. In this way, the three sensor groups 9 can collect positional environmental data at three heights: upper, middle, and lower. In addition, the three sensor groups 9 can also be arranged in an L-shaped or other layout patterns for synchronous data collection as needed.

[0035] Another method of use is to adjust the pose of the multi-degree-of-freedom adjustment mechanism so that the sensor group 9 at the end of the telescopic robotic arm 4 can reach a specific detection point for fixed-point data acquisition.

[0036] In this invention, by setting up a multi-degree-of-freedom adjustment mechanism and three sets of sensor groups 9 placed in different installation positions, it is possible to meet diverse environmental data acquisition needs. Not only can it simultaneously collect environmental data at three heights (upper, middle, and lower) at the same location, but it can also adjust the attitude of the multi-degree-of-freedom adjustment mechanism so that the sensor group 9 at the end of the telescopic robotic arm 4 can reach specific points to collect environmental data.

[0037] Preferably, the sensor group 9 includes a light sensor, a CO2 sensor, and a temperature and humidity sensor.

[0038] Preferably, such as Figure 3 As shown, the end of the telescopic robotic arm 4 is also equipped with a servo motor 5, a mounting base 6, and a depth camera 7; the depth camera 7 is fixed on the mounting base 6, and the servo motor 5 can drive the mounting base 6 to rotate relative to the telescopic robotic arm 4.

[0039] The lifting module 2, rotating mechanism 3, telescopic robotic arm 4, and servo motor 5 together form a 4-joint robotic arm, which can flexibly adjust the posture of the depth camera 7, enabling the depth camera 7 to acquire images and depth data at specific locations. The control system can adjust the position of the moving chassis 1 and the posture of the 4-joint robotic arm based on the data collected by the depth camera 7, so that the sensor group 9 at the end of the telescopic robotic arm 4 can reach a specific detection position, thereby improving the positional accuracy of the detection.

[0040] Preferably, the mobile chassis 1 includes a chassis base 11, on which four wheel assemblies are symmetrically mounted; such as Figure 4 As shown, each of the walking wheel assemblies includes a walking wheel 12, a fixed seat 13 fixed on the mobile chassis 1, and a wheel seat 14 connected to the walking wheel 12; in this embodiment, the walking wheel 12 is a hub motor; at least two parallel connecting frames 15 are connected between the wheel seat 14 and the fixed seat 13; a shock absorber 16 is connected between the wheel seat 14 and the chassis base 11; a rotary drive motor 17 for driving the walking wheel 12 to rotate is installed on the wheel seat 14.

[0041] The mobile chassis 1 is equipped with four independent walking wheel assemblies. Because the walking wheel assemblies have shock absorption function and can steer independently, the mobile chassis 1 can adapt to the uneven road surface conditions inside the greenhouse. In addition, the mobile chassis 1 can turn around on the spot, requiring minimal turning space and greatly improving mobility.

[0042] Specifically, the lifting module 2 is a linear module driven by a lead screw. The rotating mechanism 3 includes a swing drive motor 31 and a right-angle reducer 32, with the axis of the output shaft of the swing drive motor 31 parallel to the lifting direction of the lifting module 2. This structure allows for a compact layout of the rotating mechanism 3, reducing its space requirements.

[0043] The telescopic robotic arm 4 is either an electric actuator itself or uses an electric actuator as a power source. In the latter case, the telescopic robotic arm 4 also includes multiple interlocking and relatively sliding tubes, the relative sliding between which is driven by the electric actuator. The control system can precisely control the overall length of the telescopic robotic arm 4 by controlling the extension and retraction of the electric actuator as needed, thereby increasing the arm span of the inspection robot and the working range of the telescopic robotic arm 4's end effector.

[0044] The chassis base 11 is also equipped with navigation sensors, including a lidar 8. In addition, the navigation sensors may also include IMU, odometer, ultrasonic sensors, and other sensors that assist the robot in positioning and obstacle avoidance.

[0045] like Figure 5This is a schematic diagram of the control system of a greenhouse environment inspection robot, which consists of three parts: a controller, a sensor module, and an actuator. The controller includes an upper-level controller and a lower-level controller. The sensor module includes the aforementioned sensor group 9 and a navigation sensor. The actuator includes the aforementioned mobile chassis 1, lifting module 2, rotating mechanism 3, and telescopic robotic arm 4. The motors of all parts are connected to the lower-level controller through drivers. The lifting module 2 and the telescopic robotic arm 4 together form the lifting mechanism, which determines the final height of the sensor group 9 at the end of the telescopic robotic arm 4. The rotating mechanism 3 determines the lateral position of the sensor group 9 at the end of the telescopic robotic arm 4. Combined with the pose of the mobile chassis 1, the final position of all sensor groups 9 can be calculated.

[0046] The aforementioned lower-level controller can be an STM32, which communicates via I / O. 2 C. Data from the actuators and sensor modules is collected and processed via a single bus and reported to the host computer controller via RS232. The host computer controller combines the position and posture information of the navigation sensors in the greenhouse to record and store the data, thereby realizing the synchronous fusion of greenhouse positioning and environmental information.

[0047] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A greenhouse environment inspection robot, comprising a mobile chassis (1) and a sensor group (9) for collecting environmental information; characterized in that: It also includes a multi-degree-of-freedom adjustment mechanism, which includes a lifting module (2), a rotating mechanism (3) and a telescopic robotic arm (4); the rotating mechanism (3) is installed on the lifting seat (21) of the lifting module (2), and the rotating mechanism (3) can drive the telescopic robotic arm (4) to rotate and swing. The number of sensor groups (9) is three, which are respectively installed at the end of the telescopic robotic arm (4), on the lifting seat (21), and on the mobile chassis (1).

2. The greenhouse environment inspection robot according to claim 1, characterized in that, The sensor group (9) includes a light sensor, a CO2 sensor, and a temperature and humidity sensor.

3. The greenhouse environment inspection robot according to claim 1, characterized in that, The telescopic robotic arm (4) is also equipped with a servo motor (5), a mounting base (6), and a depth camera (7); the depth camera (7) is fixed on the mounting base (6), and the servo motor (5) can drive the mounting base (6) to rotate relative to the telescopic robotic arm (4).

4. The greenhouse environment inspection robot according to claim 1, characterized in that, The mobile chassis (1) includes a chassis base (11), on which four walking wheel assemblies are symmetrically mounted; Each of the aforementioned wheel assembly includes a wheel (12), a mounting base (13) fixed on the mobile chassis (1), and a wheel seat (14) connected to the wheel (12); At least two parallel connecting frames (15) are connected between the wheel seat (14) and the fixed seat (13); A shock absorber (16) is connected between the wheel seat (14) and the chassis base (11); a rotary drive motor (17) for driving the walking wheel (12) to rotate is installed on the wheel seat (14).

5. The greenhouse environment inspection robot according to claim 1, characterized in that, The lifting module (2) is a linear module driven by a lead screw.

6. The greenhouse environment inspection robot according to claim 1, characterized in that, The rotating mechanism (3) includes a swing drive motor (31) and a right-angle reducer (32). The axis of the output shaft of the swing drive motor (31) is parallel to the lifting direction of the lifting module (2).

7. The greenhouse environment inspection robot according to claim 1, characterized in that, The telescopic robotic arm (4) is either an electric push rod itself or uses an electric push rod as a power source.

8. The greenhouse environment inspection robot according to claim 1, characterized in that, A navigation sensor, including a lidar (8), is also installed on the chassis base (11).

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