An inspection robot

Abstract

The utility model provides a kind of inspection robot, including mobile chassis, and detection component, the detection component includes mounting bracket, drive mechanism and detection part;The detection part includes control box, first detection part for detecting plant information and second detection part for monitoring inspection record, the control box is fixedly installed on the mobile chassis, the mounting bracket is vertically fixedly installed on the control box, the drive mechanism is located on the mounting bracket, and the detection part installs the drive mechanism;The drive mechanism includes first drive mechanism and the second drive mechanism, the first detection part is located on the first drive mechanism, and the second detection part is located on the second drive mechanism.In use the utility model, it can adapt to various topographical environments of fruit forest, and the inspection accuracy and inspection efficiency are high, and the working intensity of worker can also be reduced.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and in particular relates to an inspection robot. Background Technology

[0002] Currently, orchard inspections rely entirely on manual patrols. Inspectors need to inspect each fruit tree individually, observe their growth status, pest and disease conditions, and take corresponding prevention and control measures based on the inspection findings. This approach suffers from problems such as low inspection efficiency, low inspection accuracy, and high workload.

[0003] In recent years, with the rapid development of agricultural technology, fruit tree inspection robots have gradually gained attention. However, due to limitations imposed by factors such as terrain, climate, investment, and operation management, the application of intelligent fruit tree inspection technology and complete sets of equipment has not yielded entirely satisfactory results. Therefore, to address these issues, an inspection robot is needed that can adapt to various terrain environments, perform efficient inspections, and achieve high inspection accuracy. Utility Model Content

[0004] In view of the shortcomings of the prior art described above, the purpose of this utility model is to provide an inspection robot to solve the technical problems of low efficiency, low accuracy and high workload of manual inspection in the prior art.

[0005] To achieve the above and other related objectives, this utility model provides an inspection robot, including a mobile chassis, and further comprising:

[0006] A detection assembly, comprising a mounting frame, a drive mechanism, and a detection unit;

[0007] The detection unit includes a control box, a first detection unit for detecting plant information, and a second detection unit for monitoring inspection records. The control box is fixedly installed on the mobile chassis, the mounting frame is vertically fixedly installed on the control box, the drive mechanism is located on the mounting frame, and the detection unit is installed on the drive mechanism.

[0008] The driving mechanism includes a first driving mechanism and a second driving mechanism, with the first detection unit disposed on the first driving mechanism and the second detection unit disposed on the second driving mechanism.

[0009] In this way, the mobile chassis can be moved via the electrical control box, thereby moving the inspection unit. The first inspection unit is responsible for recording the robot's field of view during inspections and also serves as a first-person perspective for monitoring the robot's operation. The second inspection unit is responsible for recording information about the leaves and fruits of the fruit trees, importing this information into a trained model to assess the tree's growth and pest and disease status in real time. The drive mechanism allows for adaptive adjustments to the positions of both the first and second inspection units, enabling them to better inspect and record data about the fruit trees.

[0010] Optionally, fixing plates are fixedly installed at both ends of the mounting frame, and a linear slide rail module is also vertically installed on the mounting frame;

[0011] The first drive mechanism includes a first motor, a first ball screw pair, and a rotating part;

[0012] The second drive mechanism includes a second motor and a second ball screw pair;

[0013] The first motor and the second motor are fixedly mounted on the control box by a motor mounting bracket. The first ball screw pair and the second ball screw pair are both vertically rotatably mounted between the fixed plates. The first motor drives the first ball screw pair to rotate, and the second motor drives the second ball screw pair to rotate.

[0014] The rotating part is mounted on the linear guide module and connected to the first ball screw pair. The first detection part is located on the rotating part, and the second detection part is mounted on the linear guide module and connected to the second ball screw pair. Using the motor and ball screw pair, the positions of the first and second detection parts can be stably driven, providing detection accuracy.

[0015] Optionally, the rotating part includes a mounting platform, an annular slide rail module, a third motor, an annular rack, and a mounting plate;

[0016] The mounting platform is through the middle and coaxially arranged with the mounting frame, and is located on the outside of the mounting frame by the first drive mechanism;

[0017] The mounting platform is fixedly mounted on the slider of the linear slide rail module. The annular slide rail module and the annular rack are both fixedly mounted on the mounting platform. The mounting plate is fixedly mounted on the slider of the annular slide rail module. The third motor is fixedly mounted on the mounting plate, and its output end meshes with the annular rack via a gear. The third motor drives the mounting plate to rotate on the annular slide rail module. The first detection unit is mounted on the mounting plate. The rotating part allows the first detection unit to rotate 360°, providing a more comprehensive inspection view.

[0018] Optionally, the mounting platform has a first mounting hole, and the nut of the first ball screw pair is fixedly installed in the first mounting hole. The first ball screw pair rotates under the drive of the first motor, thereby driving the mounting platform to move up and down.

[0019] Optionally, the mounting plate has an adjustment slot. The first detection mechanism is mounted on the mounting plate via the adjustment slot. The first detection mechanism includes a panoramic camera and a mounting base. The mounting base is mounted on the mounting plate via the adjustment slot, and the panoramic camera is fixedly mounted on the mounting base, facing downwards. Utilizing the panoramic camera, which can rotate 360°, and in conjunction with the rotating part, the inspection field of view is more comprehensive. The adjustment slot allows the position of the panoramic camera to be adjusted on the mounting plate, making the recording efficiency of the panoramic camera more efficient.

[0020] Optionally, the second detection mechanism includes a movable base and a vision camera. The movable base is arranged in a ring and located on the outside of the mounting frame. The movable base is fixedly mounted on the slider of the linear slide rail module. The vision camera is evenly mounted on the four outer surfaces of the movable base. Using the vision camera, information on the leaves and fruits of the fruit trees is recorded and imported into a trained model to determine the growth status and pest and disease conditions of the fruit trees in real time.

[0021] Optionally, the movable seat has a second mounting hole, and the nut of the second ball screw pair is fixedly installed in the second mounting hole. The second ball screw pair rotates under the drive of the second motor, thereby driving the movable seat to move up and down.

[0022] Optionally, positioning modules are provided on the top of the mounting frame and at the end of the mounting plate furthest from the mounting frame. These positioning modules are responsible for the robot's positioning, and a dedicated chassis control system directs the robot to automatically inspect each row.

[0023] Optionally, the mobile chassis is equipped with a lidar to detect obstacles in real time and stop the inspection robot when it encounters an obstacle.

[0024] Optionally, the control box is equipped with an electronic control system that can control the mobile chassis and the detection components. A touch screen is provided on one side of the control box.

[0025] The beneficial effects of this utility model are as follows:

[0026] When using this utility model, it can adapt to various terrain environments in orchards, with high inspection accuracy and efficiency, and can also reduce the workload of workers. Attached Figure Description

[0027] Figure 1 The diagram shown is a schematic representation of the overall structure of this utility model.

[0028] Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective.

[0029] Figure 3 Displayed as Figure 1 A schematic diagram of the structure at point A in the middle.

[0030] Figure 4 Displayed as Figure 2 A schematic diagram of the structure at point B. Detailed Implementation

[0031] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0032] Please see Figures 1 to 4 It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0033] like Figures 1-4 As shown, an inspection robot includes a mobile chassis 1 and a detection component 2. The detection component 2 is mounted on the mobile chassis 1, which is a tracked mobile chassis, making it more adaptable to the complex environment of orchards and increasing the inspection range.

[0034] In this embodiment, the detection component 2 includes a mounting frame 21, a drive mechanism 22, and a detection unit 23. The detection unit 23 includes a control box 231, a first detection unit 232, and a second detection unit 233. The control box 231 is fixedly mounted on the mobile chassis 1, and the mounting frame 21 is vertically fixedly mounted on the control box 231. The first detection unit 232 and the second detection unit 233 are mounted on the mounting frame 21 through the drive mechanism 22.

[0035] In this embodiment, the drive mechanism 22 includes a first drive mechanism and a second drive mechanism. Both the first drive mechanism and the second drive mechanism have a motor and a ball screw pair, namely a first motor 2211, a first ball screw pair 2212, a second motor 2221, and a second ball screw pair 2222. The first motor 2211 and the second motor 2221 are fixedly mounted on the control box 231 by a motor mounting bracket 223. The top and bottom ends of the mounting bracket 21 are both equipped with fixing plates 211, and coaxial rolling shafts are provided on the upper and lower fixing plates 211. Support 212, the first ball screw pair 2212 and the second ball screw pair 2222 are vertically arranged and are both rotatably mounted on the fixed plate 211 through rolling bearings. The lower end of the first ball screw pair 2212 is meshed with the output end of the first motor 2211 through gears. When the first motor 2211 starts, it drives the screw of the first ball screw pair 2212 to rotate. The lower end of the second ball screw pair 2222 is meshed with the output end of the second motor 2221 through gears. When the second motor 2221 starts, it drives the screw of the second ball screw pair 2222 to rotate.

[0036] In this embodiment, a linear slide rail module 213 is vertically mounted on the mounting bracket 21. The linear slide rail module 213 has two independently moving sliders, which are respectively connected to the first driving mechanism and the second driving mechanism. In order to make the movement of the first detection unit 232 and the second detection unit 233 more stable, the linear slide rail module 213 is symmetrically arranged on both sides of the mounting bracket 21.

[0037] In this embodiment, the first drive mechanism 221 also has a rotating part, which includes a mounting platform 22131, an annular slide rail module 22132, a third motor 22133, an annular rack 22134, and a mounting plate 22135. The mounting platform 22131 has a through hole in the middle, and the mounting bracket 21 is fitted into the mounting platform 22131 with clearance. A support frame 22136 is fixedly installed below the mounting platform 22131. The support frame 22136 is symmetrically arranged with respect to the linear slide rail module 213, and the lower end of the support frame 22136 is fixedly installed on the slider of the linear slide rail module 213. The mounting platform 22131 is also provided with a first mounting hole. The nut of the first ball screw pair 2212 is fixedly installed in the first mounting hole. When the screw of the first ball screw pair 2212 rotates under the drive of the first motor 2211, it can drive the mounting platform 22131 to move on the linear slide rail module 213, thereby moving up and down on the outside of the mounting bracket 21. The annular slide rail module 22132 and the annular rack 22134 are fixedly mounted on the mounting platform 22131, and the annular slide rail module 22132 and the annular rack 22134 are coaxially arranged. The third motor 22133 is mounted on the slider of the annular slide rail module 22132 through the mounting plate 22135. The output end of the third motor 22133 has a gear that meshes with the annular rack 22134. When the third motor 22133 is started, the meshing gear and the annular rack 22134 enable the slider on the annular slide rail module 22132 to move on the slide rail of the annular slide rail module 22132.

[0038] In this embodiment, the mounting plate 22135 has an adjustment groove 5. The first detection unit 232 is mounted on the mounting plate 22135 through the adjustment groove 5. The first detection unit 232 includes a mounting base 2321 and a panoramic camera 3 fixedly mounted on the mounting base 2321. The mounting base 2321 is detachably mounted in the adjustment groove 5 of the mounting plate 22135 by bolts. The position of the mounting base 2321 on the mounting plate 22135 can be adjusted through the adjustment groove 221351, so that the panoramic camera 3 can better observe and record the surrounding environment.

[0039] Specifically, the mounting plate 22135 is a profile structure, the adjustment groove 5 is a groove on the profile, and the mounting base 2321 is installed on the profile by bolts.

[0040] In this embodiment, the second detection mechanism 233 includes a movable seat 2331 and a vision camera 4. Four vision cameras 4 are evenly installed around the periphery and are located on the four sides of the movable seat 2331. The movable seat 2331 is arranged in a ring and spaced apart on the outer side of the mounting bracket 21. The movable seat 2331 is fixedly connected to the slider of the linear slide rail mechanism module 213. The movable seat 2331 has a second mounting hole. The nut of the second ball screw pair 2222 is fixedly installed in the second mounting hole. When the second motor 2221 drives the screw of the second ball screw pair 2222 to rotate, it can drive the movable seat 2331 to move on the linear slide rail module 213, thereby causing the vision camera 4 to move up and down.

[0041] Specifically, a positioning module 214 is provided on the top of the mounting bracket 21 and at the end of the mounting plate 211 away from the mounting bracket 21.

[0042] Specifically, the mobile chassis 1 is equipped with a lidar 12, which detects obstacles in real time and stops the inspection robot when it encounters an obstacle.

[0043] Specifically, the control box 231 is equipped with an electronic control system, which can control the mobile chassis 1 and the detection component 2. The control box 231 is also equipped with a touch screen 2312, which can operate the inspection robot.

[0044] The vision camera records information about the leaves and fruits of the fruit trees, importing it into a trained model to assess the tree's growth and pest and disease status in real time. A high-precision positioning module handles the robot's localization, while a dedicated chassis control system directs the robot to automatically inspect each row. LiDAR detects obstacles in real time and controls the robot to stop when it encounters an obstacle. A panoramic camera records the robot's field of view during inspections and also provides a first-person perspective for monitoring the robot's operation.

[0045] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. An inspection robot comprising a mobile chassis, characterized in that, Also includes: A detection assembly, comprising a mounting frame, a drive mechanism, and a detection unit; The detection unit includes a control box, a first detection unit for detecting plant information, and a second detection unit for monitoring inspection records. The control box is fixedly installed on the mobile chassis, the mounting frame is vertically fixedly installed on the control box, the drive mechanism is located on the mounting frame, and the detection unit is installed on the drive mechanism. The driving mechanism includes a first driving mechanism and a second driving mechanism, with the first detection unit disposed on the first driving mechanism and the second detection unit disposed on the second driving mechanism.

2. The patrol robot according to claim 1, characterized in that: The mounting bracket is fixedly mounted with a fixing plate at both the top and bottom, and a linear slide rail module is also vertically mounted on the mounting bracket. The first drive mechanism includes a first motor, a first ball screw pair, and a rotating part; The second drive mechanism includes a second motor and a second ball screw pair; The first motor and the second motor are fixedly mounted on the control box by a motor mounting bracket. The first ball screw pair and the second ball screw pair are both vertically rotatably mounted between the fixed plates. The first motor drives the first ball screw pair to rotate, and the second motor drives the second ball screw pair to rotate. The rotating part is mounted on the linear slide rail module and connected to the first ball screw pair. The first detection part is disposed on the rotating part, and the second detection part is mounted on the linear slide rail module and connected to the second ball screw pair.

3. The patrol robot according to claim 2, characterized in that: The rotating part includes a mounting platform, an annular slide rail module, a third motor, an annular rack, and a mounting plate; The mounting platform is through the middle and coaxially arranged with the mounting frame, and is located on the outside of the mounting frame by the first drive mechanism; The mounting platform is fixedly mounted on the slider of the linear slide rail module. The annular slide rail module and the annular rack are both fixedly mounted on the mounting platform. The mounting plate is fixedly mounted on the slider of the annular slide rail module. The third motor is fixedly mounted on the mounting plate and meshes with the annular rack through a gear at the output end of the third motor. The third motor drives the mounting plate to rotate on the annular slide rail module. The first detection unit is mounted on the mounting plate.

4. The patrol robot according to claim 3, characterized in that: The mounting platform has a first mounting hole, and the nut of the first ball screw pair is fixedly installed in the first mounting hole. The first ball screw pair rotates under the drive of the first motor, thereby driving the mounting platform to move up and down.

5. The patrol robot according to claim 4, characterized in that: The mounting plate has an adjustment groove, and the first detection unit is mounted on the mounting plate through the adjustment groove. The first detection unit includes a panoramic camera and a mounting base. The mounting base is mounted on the mounting plate through the adjustment groove, and the panoramic camera is fixedly mounted on the mounting base and is arranged facing downwards.

6. The patrol robot according to claim 2, wherein: The second detection unit includes a movable base and a vision camera. The movable base is arranged in a ring and located on the outside of the mounting bracket. The movable base is fixedly mounted on the slider of the linear slide rail module. The vision camera is circumferentially and evenly mounted on the four outer surfaces of the movable base.

7. The patrol robot according to claim 6, characterized in that: The movable seat has a second mounting hole, and the nut of the second ball screw pair is fixedly installed in the second mounting hole. The second ball screw pair rotates under the drive of the second motor, thereby driving the movable seat to move up and down.

8. The patrol robot according to claim 3, characterized in that: Positioning modules are provided on the top of the mounting bracket and at the end of the mounting plate away from the mounting bracket.

9. The patrol robot of claim 1, wherein: The mobile chassis is equipped with a lidar system, which detects obstacles in real time and stops the inspection robot when it encounters an obstacle.

10. The patrol robot of claim 1, wherein: The control box is equipped with an electronic control system that can control the mobile chassis and the detection components. A touch screen is provided on one side of the control box.

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