A ground walking robot for farm inspection

Abstract

The utility model discloses a ground walking robot for the farm inspection, including robot body and main control unit, is equipped with the crawler type walking mechanism in the bottom of robot body, is equipped with the horizontal rotation robot head in the top of robot body, is equipped with the environmental monitoring sensor in robot body and / or robot head, is equipped with the camera in the front side, left side and right side of robot head respectively, environmental monitoring sensor and camera all are connected with main control unit signal. The robot can be used for the ground walking inspection in the farm, not only can be used for real -time monitoring the environmental condition in the farm, still can be used for all -round inspection to the breeding house, and walking stability is good, will not appear the adverse situation such as side -over, car body tremble, can satisfy the automatic inspection demand in the farm of the environment relatively complex very well.

Description

Technical Field

[0001] This utility model relates to a ground-walking robot for inspecting farms, belonging to the field of inspection robot technology. Background Technology

[0002] With the development of technology, traditional individual farming has shifted to large-scale and collective farming. In order to meet the needs of large-scale farming management, technologies such as automation, intelligence, and digitalization have begun to be developed and applied.

[0003] One of the main tasks of large-scale farming management is to monitor the growth status of products and the surrounding environment in real time. However, manual inspection has many drawbacks, such as low inspection efficiency, high labor costs and high workload, high requirements for the professional knowledge and skills of inspectors, significant human factors, uncertainty and the possibility of misjudgment, and harsh working environment with certain health and safety hazards. Therefore, the applicant previously disclosed a track-type robot for farm inspection in patent CN202321018415.2. This track-type robot includes a mechanical cavity and an electrical cavity located at the bottom of the mechanical cavity. The top of the mechanical cavity has a track connection port adapted to the inspection track. The mechanical cavity contains a drive mechanism, and the electrical cavity contains a power supply and a servo controller. The servo controller is electrically connected to the drive motor, and a camera is located at the bottom of the electrical cavity. Both the servo controller and the camera are signal-connected to the main controller. While the track-mounted robot provided by this patent can operate stably on inspection tracks of various specifications and types, constructing an aerial track within a farm presents a high construction cost issue. Furthermore, aerial inspection robots may malfunction and fall, potentially damaging or injuring products within the farm. Therefore, it is necessary to develop ground-based inspection robots suitable for use in farms.

[0004] The environment inside farms is typically complex. For example, farms often include various terrains such as muddy areas, waterlogged areas, slopes, and steps, resulting in uneven ground surfaces. This places high demands on the mobility of ground-based inspection robots. Furthermore, the narrow passageways and densely packed equipment inside pigsties create limited space, requiring ground-based inspection robots to move flexibly within confined areas and actively avoid obstacles. Existing wheeled inspection robots are prone to tipping over and vibrating when navigating uneven and complex terrain, thus failing to adequately meet the automated inspection needs of farms with such complex environments. Utility Model Content

[0005] In view of the above-mentioned problems and needs of the existing technology, the purpose of this utility model is to provide a ground walking robot for inspection of farms.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A ground-walking robot for inspecting farms includes a robot body and a main controller. A tracked walking mechanism is provided at the bottom of the robot body, and a horizontally rotatable robot head is provided at the top of the robot body. Environmental monitoring sensors are provided on the robot body and / or the robot head, and cameras are provided on the front, left and right sides of the robot head. The environmental monitoring sensors and cameras are all connected to the main controller.

[0008] In one embodiment, the tracked walking mechanism includes a chassis, with walking mechanism fixing plates symmetrically arranged on both sides of the chassis. On the outer side of each walking mechanism fixing plate, there is a drive wheel, multiple driven wheels, a tension wheel, and a track. The drive wheel is located at the rear of the walking mechanism fixing plate, the tension wheel is located at the upper front of the walking mechanism fixing plate, and the driven wheels are located at the lower part of the walking mechanism fixing plate between the drive wheel and the tension wheel.

[0009] In one embodiment, the drive wheel is connected to the output shaft of a drive motor, and the drive motor is located in the inner cavity of the chassis.

[0010] In a preferred embodiment, several shock absorbers are fixedly installed on the outer side of the fixed plate of each walking mechanism, and the shock absorbers are connected to the driven wheels at the corresponding positions.

[0011] In one embodiment, a shock absorber fixing column is fixed on the upper outer side of the fixed plate of each side travel mechanism, and a driven wheel fixing column is fixed on the middle outer side of the fixed plate of each side travel mechanism. A driven wheel connecting member is connected to the driven wheel fixing column, the driven wheel connecting member is connected to the driven wheel connecting shaft, and one end of the shock absorber is connected to the shock absorber fixing column, and the other end of the shock absorber is connected to the driven wheel connecting member.

[0012] In a preferred embodiment, a horizontal oblong hole for adjusting the front and rear positions of the tension wheel is provided on the upper front part of the traveling mechanism fixing plate, and one end of the tension wheel mounting shaft passes through the horizontal oblong hole and is locked and fixed by a nut.

[0013] In a preferred embodiment, the outer side of the track is provided with a mudguard, which is detachably connected to a plurality of fixed columns vertically fixed on the traveling mechanism fixing plate.

[0014] In one embodiment, a magnetic navigation sensor is provided at the bottom of the chassis, and the magnetic navigation sensor is signal-connected to the main controller.

[0015] In one embodiment, a rotating shaft connected to the robot head is provided on the top of the robot body. A large transmission gear is sleeved on the outer periphery of the rotating shaft, and a small drive gear meshing with the large transmission gear is provided on one side of the large transmission gear. The small drive gear is connected to the output shaft of a servo motor.

[0016] In one embodiment, the robot body has a support frame, and a transmission gear fixing seat is fixed on the top of the support frame. The transmission gear is rotatably mounted on the transmission gear fixing seat through a bearing. The upper end of the rotating shaft is fixedly connected to the robot head, and the lower end of the rotating shaft is screwed into the shaft hole of the transmission gear. The output shaft of the servo motor passes through the transmission gear fixing seat and is screwed into the shaft hole of the drive pinion.

[0017] In a preferred embodiment, limit sensors are respectively provided on the transmission gear fixing seats located on the left and right sides of the drive pinion.

[0018] In one embodiment, the environmental monitoring sensor includes a temperature and humidity sensor, a carbon dioxide sensor, an ammonia gas sensor, and a wind speed sensor. The temperature and humidity sensor and the wind speed sensor are both located on the top of the robot's head, while the carbon dioxide sensor and the ammonia gas sensor are both located on the side of the robot's body.

[0019] One embodiment includes a power switch and an emergency stop button on the top of the robot's head.

[0020] In one embodiment, a router antenna is provided on the top of the robot's head, and a router is provided inside the robot body, wherein the router antenna is connected to the router signal.

[0021] In one embodiment, multiple obstacle avoidance sensors are arranged around the lower part of the robot body, and the obstacle avoidance sensors are signal-connected to the main controller.

[0022] In one embodiment, an RFID sensor is also provided on the side of the robot body, and the RFID sensor is signal-connected to the main controller.

[0023] Compared with the prior art, the beneficial technical effects of this utility model are as follows:

[0024] The robot provided by this utility model can be used for ground inspection in farms. It can not only monitor the environment in the farm in real time, but also conduct all-round inspections of the farm sheds. It has good walking stability and will not cause adverse situations such as tipping over or vehicle shaking. It can well meet the automatic inspection needs of farms with relatively complex environments. Therefore, this utility model has significant practical value and progress. Attached Figure Description

[0025] Figure 1This is a schematic diagram of the left front side view of a ground walking robot for inspecting a farm, provided in an embodiment.

[0026] Figure 2 This is a schematic diagram of the right rear side view of the ground walking robot for farm inspection provided in the embodiment;

[0027] Figure 3 This is a schematic diagram of the tracked walking mechanism described in the embodiment;

[0028] Figure 4 yes Figure 3 The diagram shows a top view of the tracked walking mechanism after the tracks have been removed.

[0029] Figure 5 This is a structural schematic diagram illustrating the assembly relationship between the drive wheel, driven wheel, tension wheel, shock absorber, mudguard and the fixed plate of the walking mechanism described in the embodiment;

[0030] Figure 6 This is a three-dimensional structural schematic diagram of the tracked walking mechanism provided in the embodiment;

[0031] Figure 7 This is a schematic diagram of the assembly structure between the robot head and the mechanism that drives its rotation, as described in the embodiment.

[0032] Figure 8 yes Figure 7 The diagram shows the installation structure of the mechanism that drives the robot's head rotation.

[0033] The labels in the diagram are as follows:

[0034] 1. Robot body; 1-1. Support frame; 2. Tracked walking mechanism; 2-1. Chassis; 2-2. Walking mechanism fixing plate; 2-3. Drive wheel; 2-4. Driven wheel; 2-5. Tensioner wheel; 2-51. Tensioner wheel mounting shaft; 2-6. Track; 2-7. Drive motor; 2-71. Output shaft; 2-8. Vibration damper; 2-9. Vibration damper fixing post; 2-10. Driven wheel fixing post; 2-11. Driven wheel connector; 2-12. Driven wheel connecting shaft; 2-13. Horizontal oblong hole; 2-14. Mud guard; 2-15. Fixing post; 2 -16. Magnetic navigation sensor; 3. Robot head; 4. Environmental monitoring sensor; 4-1. Temperature and humidity sensor; 4-2. Carbon dioxide sensor; 4-3. Ammonia gas sensor; 4-4. Wind speed sensor; 5. Camera; 6. Rotating shaft; 7. Large transmission gear; 8. Small drive gear; 9. Large transmission gear mounting base; 10. Limit sensor; 11. Switch button; 12. Emergency stop button; 13. Router antenna; 14. Obstacle avoidance sensor; 15. RFID sensor; 16. Battery; 17. Wireless charging module; 18. Wired charging interface. Detailed Implementation

[0035] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. Furthermore, it should be noted that the terminology used in this utility model is for the purpose of describing specific embodiments only and is not intended to limit the utility model. Unless otherwise defined, the technical or scientific terms used in this utility model should have the ordinary meaning understood by those skilled in the art. Terms such as "inner," "outer," "upper," "lower," "top," "bottom," "front," "rear," "left," and "right," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms “set up,” “install,” “connect,” “link,” “fix,” etc., should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. It should also be noted that when an element is referred to as “fixed to” or “set on” another element, it can be directly on the other element or there may be an intermediate element.

[0036] Example

[0037] Please see Figure 1 and Figure 2 As shown: This embodiment provides a ground walking robot for farm inspection, including a robot body 1 and a main controller (not shown in the figure). A tracked walking mechanism 2 is provided at the bottom of the robot body 1, and a horizontally rotatable robot head 3 is provided at the top of the robot body 1. An environmental monitoring sensor 4 is provided on the robot body 1 and / or the robot head 3. Cameras 5 are provided on the front, left and right sides of the robot head 3, respectively. The environmental monitoring sensor 4 and the cameras 5 are all connected to the main controller.

[0038] Please see again. Figures 3 to 6As shown, in this embodiment, the tracked walking mechanism 2 includes a chassis 2-1. Walking mechanism fixing plates 2-2 are symmetrically arranged on both sides of the chassis 2-1. On the outer side of each walking mechanism fixing plate 2-2, there is a drive wheel 2-3, multiple driven wheels 2-4, a tension wheel 2-5, and a track 2-6. The drive wheel 2-3 is located at the rear of the walking mechanism fixing plate 2-2, the tension wheel 2-5 is located at the upper front of the walking mechanism fixing plate 2-2, and the driven wheels 2-4 are located at the lower part of the walking mechanism fixing plate 2-2 between the drive wheel 2-3 and the tension wheel 2-5. The drive wheel 2-3 is connected to the output shaft 2-71 of the drive motor 2-7, which is located within the inner cavity of the chassis 2-1. The drive motor 2-7 drives the drive wheel 2-3, which in turn transmits power to the track 2-6. The track 2-6 then drives the driven wheel 2-4, thus enabling the robot to move along tracks. This provides the robot with a certain ability to overcome obstacles and climb slopes, allowing it to walk stably on complex terrain. As a result, the robot can be applied to automatic inspection in farms with complex terrain.

[0039] Please see again. Figures 3 to 5 As shown, in this preferred embodiment, several shock absorbers 2-8 are fixedly installed on the outer side of the fixed plate 2-2 of each walking mechanism (two are used as an example in this embodiment, but it is not limited to this design; the specific number can be determined according to the requirements of vibration reduction performance). The shock absorbers 2-8 are connected to the driven wheels 2-4 at the corresponding positions. The specific implementation method of this embodiment is as follows: a shock absorber fixing column 2-9 is fixed on the upper part of the outer side of the fixed plate 2-2 of each walking mechanism, and a driven wheel fixing column 2-10 is fixed on the middle part of the outer side of the fixed plate 2-2 of each walking mechanism. A driven wheel connecting piece 2-11 is connected to the driven wheel fixing column 2-10. The driven wheel connecting piece 2-11 is connected to the driven wheel connecting shaft 2-12. One end of each shock absorber 2-8 is connected to a shock absorber fixing column 2-9, and the other end of each shock absorber 2-8 is connected to the corresponding driven wheel connecting piece 2-11. As a preferred embodiment, the shock absorber 2-8 is connected to the driven wheel 2-4, which is close to the drive wheel 2-3. By setting the shock absorber 2-8, the tracked walking mechanism 2 can walk more smoothly, and can further avoid adverse situations such as rollover and body vibration when the robot walks on complex terrain.

[0040] Please see again. Figure 5 As shown, in this preferred embodiment, a horizontal oblong hole 2-13 for adjusting the front and rear positions of the tension wheel 2-5 is provided on the upper front part of the walking mechanism fixing plate 2-2. One end of the tension wheel mounting shaft 2-51 passes through the horizontal oblong hole 2-13 and is locked and fixed by a nut. By adjusting the front and rear positions of the tension wheel mounting shaft 2-51 in the horizontal oblong hole 2-13, the tension of the tension wheel 2-5 on the track 2-6 can be adjusted.

[0041] Please see again. Figure 5 and Figure 6 As shown, in this preferred embodiment, a mudguard 2-14 is provided on the outer side of the track 2-6. The mudguard 2-14 is detachably connected to several fixed posts 2-15 vertically fixed on the traveling mechanism fixing plate 2-2. The mudguard 2-14, together with the traveling mechanism fixing plate 2-2 and the track 2-6, forms a closed space, which not only serves an aesthetic purpose but also protects the components within.

[0042] Please see again. Figure 4 As shown, in this embodiment, a magnetic navigation sensor 2-16 is provided at the bottom of the chassis 2-1. The magnetic navigation sensor 2-16 is connected to the main controller via a signal, and a commercially available finished product can be used for the magnetic navigation sensor 2-16. During inspection, the inspection path is planned first, and a map is generated and stored in the main controller. Magnetic nails are laid on the ground along the inspection route, and then the robot is started. The robot uses the magnetic navigation sensor 2-16 to sense the position of the magnetic nails in real time and executes the inspection path.

[0043] Please see again. Figure 7 and Figure 8 As shown, in this embodiment, a rotating shaft 6 connected to the robot head 3 is provided at the top of the robot body 1. A large transmission gear 7 is sleeved on the outer periphery of the rotating shaft 6. A small driving gear 8 meshing with the large transmission gear 7 is provided on one side of the large transmission gear 7. The small driving gear 8 is connected to the output shaft (not shown in the figure) of the servo motor. A support frame 1-1 is provided inside the robot body 1. A large transmission gear fixing seat 9 is fixedly provided at the top of the support frame 1-1. The large transmission gear 7 is rotatably mounted on the large transmission gear fixing seat 9 through bearings. The upper end of the rotating shaft 6 is fixedly connected to the robot head 3, and the lower end of the rotating shaft 6 is screwed into the shaft hole of the large transmission gear 7. The output shaft (not shown in the figure) of the servo motor passes through the large transmission gear fixing seat 9 and is screwed into the shaft hole of the small driving gear 8. Limit sensors 10 are respectively provided on the large transmission gear fixing seats 9 located on the left and right sides of the small driving gear 8. The servo motor drives the drive pinion 8 to rotate, the rotation of the drive pinion 8 drives the transmission gear 7 to rotate, the rotation of the transmission gear 7 drives the rotating shaft 6 to rotate, the rotation of the rotating shaft 6 drives the robot head 3 to rotate, and the rotation of the robot head 3 drives the environmental monitoring sensor 4 and camera 5 located on the robot head 3 to rotate, thereby enabling comprehensive monitoring of the environment inside the farm.

[0044] Please combine Figure 1 and Figure 2As shown, in this embodiment, the environmental monitoring sensor 4 includes a temperature and humidity sensor 4-1, a carbon dioxide sensor 4-2, an ammonia gas sensor 4-3, and a wind speed sensor 4-4. The temperature and humidity sensor 4-1 and the wind speed sensor 4-4 are both located on the top of the robot head 3, while the carbon dioxide sensor 4-2 and the ammonia gas sensor 4-3 are both located on the side of the robot body 1. The temperature and humidity sensor 4-1, carbon dioxide sensor 4-2, ammonia gas sensor 4-3, and wind speed sensor 4-4 can all be commercially available. By setting these sensors, the temperature and humidity, carbon dioxide PPM concentration, ammonia PPM concentration, and wind speed within the farm can be detected. The detected data can be transmitted to the main controller in real time, thereby enabling real-time monitoring of the farm environment and ensuring that the farm environment is always maintained in optimal condition, which is beneficial to the healthy growth or production of products within the farm.

[0045] Please combine Figure 1 and Figure 2 As shown, in this embodiment, a switch button 11 and an emergency stop button 12 are also provided on the top of the robot head 3 for manual control of the switch and emergency stop of the robot.

[0046] Please combine Figure 1 and Figure 2 As shown in this embodiment, a router antenna 13 is also provided on the top of the robot head 3, and a router (not shown in the figure) is provided inside the robot body 1. The router antenna 13 is connected to the router signal. The router enables communication between the robot and mobile terminals (such as tablets, mobile phones, computers, etc., not shown in the figure).

[0047] Please combine Figure 1 and Figure 2 As shown, in this embodiment, multiple obstacle avoidance sensors 14 are arranged around the lower part of the robot body 1, and the obstacle avoidance sensors 14 are connected to the main controller. The obstacle avoidance sensors 14 can be commercially available products, such as ultrasonic ranging sensors; in addition, this embodiment has two ultrasonic ranging sensors on each side of the lower part of the robot body 1, for a total of eight ultrasonic ranging sensors, but it is not limited to this design.

[0048] Please see again. Figure 2 As shown, in this embodiment, an RFID sensor 15 is also provided on the side of the robot body 1, and the RFID sensor 15 is connected to the main controller. The RFID sensor 15 can obtain the robot's specific position in the inspection path in real time, so as to achieve accurate positioning of the robot.

[0049] Additionally, please see [link / reference] Figures 3 to 6As shown in this embodiment, a battery 16 capable of providing power to the robot as a whole is also provided in the chassis 2-1.

[0050] Additionally, please see [link / reference] Figure 2 As shown, in this embodiment, a wireless charging module 17 and a wired charging interface 18 are provided on the rear side of the chassis 2-1.

[0051] As can be seen from the above, the robot provided by this utility model can be used for ground walking and inspection in farms. It can not only monitor the environmental conditions in farms in real time, but also conduct all-round inspections of the farm sheds. Moreover, it has good walking stability and will not experience adverse situations such as tipping over or vehicle shaking. It can well meet the automatic inspection needs of farms with relatively complex environments. Therefore, this utility model has significant practical value and progress.

[0052] Finally, it should be pointed out that the above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. A ground-walking robot for inspecting farms, comprising a robot body and a main controller, characterized in that: A tracked walking mechanism is provided at the bottom of the robot body, and a horizontally rotatable robot head is provided at the top of the robot body. Environmental monitoring sensors are provided on the robot body and / or the robot head, and cameras are provided on the front, left, and right sides of the robot head. The environmental monitoring sensors and cameras are all connected to the main controller. The tracked walking mechanism includes a chassis, and walking mechanism fixing plates are symmetrically provided on both sides of the chassis. On the outer side of each walking mechanism fixing plate, there is a drive wheel, multiple driven wheels, a tension wheel, and a track. The drive wheel is located at the rear of the walking mechanism fixing plate, the tension wheel is located at the upper front of the walking mechanism fixing plate, and the driven wheels are located at the lower part of the walking mechanism fixing plate between the drive wheel and the tension wheel. Several shock absorbers are fixedly installed on the outer side of each walking mechanism fixing plate, and the shock absorbers are connected to the driven wheels at the corresponding positions.

2. The ground-walking robot according to claim 1, characterized in that: A shock absorber fixing column is fixed on the upper outer side of the fixed plate of each walking mechanism, and a driven wheel fixing column is fixed on the middle outer side of the fixed plate of each walking mechanism. A driven wheel connecting piece is connected to the driven wheel fixing column. The driven wheel connecting piece is connected to the driven wheel connecting shaft. One end of the shock absorber is connected to the shock absorber fixing column, and the other end of the shock absorber is connected to the driven wheel connecting piece.

3. The ground-walking robot according to claim 1, characterized in that: The outer side of the track is provided with a mud guard, which is detachably connected to several fixed columns vertically fixed on the traveling mechanism fixing plate.

4. The ground-walking robot according to claim 1, characterized in that: A magnetic navigation sensor is installed at the bottom of the chassis, and the magnetic navigation sensor is connected to the main controller via signal.

5. The ground-walking robot according to claim 1, characterized in that: A rotating shaft connected to the robot head is provided on the top of the robot body. A large transmission gear is sleeved on the outer periphery of the rotating shaft. A small drive gear meshes with the large transmission gear on one side. The small drive gear is connected to the output shaft of the servo motor.

6. The ground-walking robot according to claim 1, characterized in that: The environmental monitoring sensors include a temperature and humidity sensor, a carbon dioxide sensor, an ammonia gas sensor, and a wind speed sensor. The temperature and humidity sensor and the wind speed sensor are both located on the top of the robot's head, while the carbon dioxide sensor and the ammonia gas sensor are both located on the side of the robot's body.

7. The ground-walking robot according to claim 1, characterized in that: Multiple obstacle avoidance sensors are arranged around the lower part of the robot body, and these sensors are connected to the main controller.

8. The ground-walking robot according to claim 1, characterized in that: An RFID sensor is also provided on the side of the robot body, and the RFID sensor is connected to the main controller.

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