A sensor lifting and protection device and an agricultural robot

Abstract

A sensor lifting and protective device and an agricultural robot, relating to the field of sensor module technology, include a base and a transmission component hinged below the base. A lifting device is mounted on the base, and a mounting plate is provided along the top of the telescopic end of the lifting device. Sensor modules are detachably mounted on the left and right sides of the mounting plate. A protective cover is movably mounted on the left side of the lifting device, which covers the sensor modules when moving clockwise. The transmission component is hinged below the base, with one end connected to the protective component and the other end hinged to the telescopic end of the lifting device. A mechanical linkage structure between the lifting device and the protective cover enables linkage, allowing the protective cover to cover the sensor modules during descent and automatically open during ascent. This allows for automatic switching between detection and protection states, enabling the device to be effectively applied in agricultural harvesting scenarios.

Description

Technical Field

[0001] This utility model relates to the field of sensor module technology, and more specifically, to a sensor lifting and protection device and an agricultural robot. Background Technology

[0002] In recent years, with the continuous improvement of agricultural intelligence and mechanization, agricultural robots based on mobile platforms have been widely used in fruit tree pruning, pest and disease control, fruit harvesting, and growth monitoring. Among these applications, using sensors such as vision, laser, or ultrasound to perceive the fruit tree environment is one of the key technologies for agricultural robots to achieve autonomous navigation and operation. However, vineyards and similar operating environments are typically characterized by dense foliage, abundant fruit clusters, and uneven ground. Sensors are easily affected by scratches from branches and leaves, splashes of mud and water, or collisions with fruit during movement, leading to decreased detection accuracy or equipment damage.

[0003] Currently, some agricultural robots use fixed sensor mounting structures, which provide simple protection for the sensors by adding protective covers or metal frames to reduce external interference. However, this type of structure has the following shortcomings: First, the fixed sensor installation height makes it difficult to adapt to changes in the height of grapevines and leaves, easily creating blind spots in detection. Second, when the robot enters an area with dense foliage, the sensor cannot automatically adjust its height according to the environment, making it prone to collisions with or entanglement with grape bunches or branches. Third, existing protective devices are mostly static structures that fail to move synchronously with the sensor's rise and fall, resulting in limited protective effects. Furthermore, the transparent cover is prone to accumulating dust or being obscured by mud and water, affecting the detection results. Utility Model Content

[0004] This utility model aims to provide a sensor lifting and protection device and an agricultural robot, which solves the problems in the prior art that the sensor cannot automatically adjust its height according to the working environment and that the protective cover cannot lift and lower synchronously with the sensor.

[0005] This utility model provides a sensor lifting and protection device and an agricultural robot, including: The base is provided with a lifting device, and the telescopic end of the lifting device is provided with a mounting plate along the top. Sensor modules are detachably provided on the left and right sides of the mounting plate. A protective cover is movably provided on the left side of the lifting device, wherein when the protective cover moves in a clockwise direction, it can cover the sensor module. The transmission component is hinged to the bottom of the base. One end of the transmission component is connected to the protective cover, and the other end is hinged to the telescopic end of the lifting device. In use, the lifting device can drive the transmission component to move in a clockwise or counterclockwise direction.

[0006] Preferably, the base has a frame-shaped fixing frame along the bottom right side, the transmission component includes a connecting plate, wherein the middle end of the connecting plate is hinged to the inner wall of the fixing frame, the left side of the connecting plate has a curved section, and the right side of the connecting plate has a horizontal section, the curved section of the connecting plate is provided with a connecting block, and one end of the connecting block is also connected to the protective cover.

[0007] Preferably, the transmission assembly further includes a support rod, which is fixedly installed in the horizontal section of the connecting plate along the front-rear direction. A connecting rod is hinged to the top front side and top rear side of the support rod in the vertical direction, and the upper end of the connecting rod is also hinged to the back of the mounting plate.

[0008] Preferably, the mounting plate has grooves connected to its left and right sides and bottom end face. The sensor module includes a mounting frame and a sensor disposed on the mounting frame. The shape of the mounting frame is consistent with the groove, and the mounting frame and the inner wall of the groove are mutually adapted.

[0009] Preferably, the sensor is at least one of a vision sensor module, a laser sensor module, or an ultrasonic sensor module.

[0010] Preferably, the base has an opening at its top and bottom end faces, and the lower end of the connecting rod passes through the opening.

[0011] Preferably, the protective cover has an arc-shaped plate structure and is made of transparent material.

[0012] Preferably, the outer surface of the protective cover has multiple wave-shaped guide grooves, and the guide grooves are interconnected with the top and bottom edges of the protective cover.

[0013] Preferably, a rectangular lens is embedded in the center of the front part of the protective cover, wherein when the protective cover moves in a clockwise direction, the rectangular lens can be on the same horizontal plane as the sensor module.

[0014] This utility model also provides an agricultural robot, which includes the sensor lifting and protection device as described above.

[0015] Compared with the prior art, this utility model has the following advantages and beneficial effects: 1. This solution achieves linkage through the mechanical linkage structure between the lifting device and the protective cover. During the descent, the protective cover can cover the sensor module, and during the ascent, it can automatically open. This enables automatic switching between detection and protection states, allowing the equipment to be effectively applied to agricultural harvesting scenarios.

[0016] 2. This solution features a protective cover and a rectangular lens. When the lifting device lowers the sensor module, the protective cover rotates synchronously and covers the sensor module. Furthermore, since the protective cover is made of transparent material and has drainage channels on its outer surface, it can guide fallen leaves, fruit vines, rainwater, or muddy water to slide off the surface of the cover during use, thus preventing obstruction or adhesion.

[0017] 3. This solution embeds a rectangular lens in the center of the front of the protective cover. When the protective cover is rotated, the rectangular lens can be on the same horizontal plane as the sensor module lens. This design allows the sensor module lens to be on the same horizontal plane as the rectangular lens even after the protective cover covers the sensor module. Subsequently, the sensor module can monitor the environment in front normally through the rectangular lens. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present invention and form part of this application, do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of a sensor lifting and protection device according to the present invention.

[0019] Figure 2 This is a front structural diagram of a sensor lifting and protection device according to the present invention.

[0020] Figure 3 This is a schematic diagram of the sensor lifting and protection device according to the present invention from a bottom view.

[0021] Figure 4 This is a schematic diagram of the back structure of the mounting plate and connecting rod of this utility model.

[0022] Figure 5 This is an overall structural diagram of a sensor lifting and protection device of this utility model in the activated state.

[0023] Figure 6 This is a comparison diagram of the sensor lifting and protection device of this utility model when it is started.

[0024] The attached diagram shows the markings and corresponding component names: 1-Base; 2-Lifting device; 3-Mounting plate; 31-Sensor module; 32-Slide groove; 4-Linkage; 5-Support rod; 51-Connecting plate; 6-Connecting block; 7-Protective cover; 8-Rectangular lens; 10-Telescopic cylinder; 11-Fixing bracket; 12-Opening. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0026] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention.

[0027] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0028] Furthermore, for clarity and brevity, descriptions of well-known structures, functions, and configurations may have been omitted. Those skilled in the art will recognize that various changes and modifications can be made to the examples described herein without departing from the spirit and scope of this disclosure.

[0029] Techniques, methods, and equipment known to a person skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the license specification.

[0030] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0031] Example 1

[0032] The sensor lifting and protection device provided in Embodiment 1 uses a mechanical linkage 4 structure between the lifting device 2 and the protective cover 7 to achieve linkage. During the descent, the protective cover 7 can automatically cover the sensor module 31, and during the ascent, it can automatically open. This realizes the automatic switching between detection and protection states, so that the device can be used in agricultural harvesting scenarios.

[0033] like Figures 1 to 6As shown, a sensor lifting and protective device includes a base 1, a lifting device 2 mounted on the base 1, and a protective cover 7 movably mounted along the left side of the lifting device 2. The lifting device 2 includes a telescopic cylinder 10 and a telescopic rod that can move up and down within the telescopic cylinder 10. The telescopic cylinder 10 is connected to the top and bottom of the base 1. A T-shaped mounting plate 3 is mounted on the top of the telescopic rod. Sensor modules 31 are detachably mounted on the left and right sides of the mounting plate 3. In use, the telescopic rod can drive the sensor modules 31 to move up and down. A frame-shaped fixing frame 11 is mounted on the right side of the bottom of the base 1.

[0034] The protective cover 7 is an arc-shaped plate. A connecting plate 51 is movably installed below the base 1. The middle part of the connecting plate 51 is hinged to the inner wall of the fixing frame 11. A curved section is formed on the left side of the connecting plate 51, and a horizontal section is formed on the right side of the connecting plate 51. A connecting block 6 is provided on the curved section of the connecting plate 51, and one end of the connecting block 6 is connected to the protective cover 7. A support rod 5 is fixedly installed on the horizontal section of the connecting plate 51 in the front-back direction. A connecting rod 4 is hinged on the top front side and top rear side of the support rod 5 in the vertical direction. The upper end of the connecting rod 4 is also hinged to the back of the mounting plate 3.

[0035] In the above structure, the lifting device 2, the support rod 5, the connecting plate 51 and the protective cover 7 together form a lever structure. Driven by the lifting device 2, and combined with the synergistic effect of the support rod 5, the connecting plate 51 and the protective cover 7, the automatic lifting and protection functions of the sensor module 31 are integrated. In this way, no additional power is needed to drive the device, making the overall structural design simpler and more efficient.

[0036] Specifically, such as Figure 2 and Figure 4 As shown, the mounting plate 3 has an inverted convex groove 32 on the left and right sides and the bottom end face. The sensor module 31 includes a mounting frame and a sensor set on the mounting frame. The shape of the mounting frame is consistent with the groove 32, and the mounting frame and the inner wall of the groove 32 are adapted to each other. During installation, the mounting frame can drive the sensor module 31 body to be detachably connected to the groove 32.

[0037] Furthermore, the sensor is specifically at least one of a vision sensor module, a laser sensor module, or an ultrasonic sensor module. During use, these sensor modules 31, including the vision, laser, or ultrasonic sensor modules 31, can accurately perceive the fruit tree environment. Based on this perceived information, the agricultural harvesting equipment can achieve autonomous navigation and efficient operation.

[0038] Specifically, such as Figures 1 to 3As shown, openings 12 are provided at the top and bottom ends of the base 1, and the lower end of the connecting rod 4 passes through the openings 12. This design allows the connecting rod 4 to have a through space when connected to the support rod 5, thus ensuring the installation stability of the connecting rod 4 and the support rod 5.

[0039] Specifically, such as Figure 1 and Figure 6 As shown, the protective cover 7 is made of transparent material, and multiple wave-shaped guide channels are formed on the outer surface of the protective cover 7. The inside of the guide channels is also connected to the top edge and bottom edge of the protective cover 7. This design allows fallen leaves, fruit vines, rainwater or mud to slide down the outer surface of the protective cover 7 with the help of the guide channels, thus avoiding the problems of obstruction or adhesion.

[0040] Furthermore, a rectangular lens 8 is embedded in the center of the front of the protective cover 7. When the protective cover 7 is rotated clockwise (when it is lowered), the rectangular lens 8 can be on the same horizontal plane as the lens of the sensor module 31. This design allows the protective cover 7 to cover the sensor module 31 when it is rotated clockwise, so that the lens of the sensor module 31 and the rectangular lens 8 are on the same horizontal plane. Then the sensor module 31 can normally monitor the environment in front through the rectangular lens 8.

[0041] Furthermore, both the sensor module 31 and the lifting device 2 are electrically connected to the control module on the agricultural harvesting equipment (e.g., an agricultural robot). Specifically, this control module (e.g., the equipment's main microcontroller or dedicated chip) sends control commands to the lifting device 2 to drive its lifting; simultaneously, the control module receives sensing data from the sensor module 31 and can control the sensor module 31 to turn on and off. The operation of the entire device is uniformly coordinated and managed by this control module. Furthermore, it should be noted that the sensor module 31, the driving and control of the lifting device 2, and the control module (such as the main microcontroller or dedicated chip) connected to them in this utility model all employ known technologies in the relevant field. The logic and implementation of their control programs are conventional techniques used by those skilled in the art to achieve the functions of the aforementioned devices, and are not innovative aspects of this utility model. The innovation of this utility model lies in the integrated mechanical structure design of the device.

[0042] Example 2

[0043] Example 2 provides an agricultural robot, including the sensor lifting and protection device as in Example 1.

[0044] The sensor lifting and protective device is fixedly installed on the top or front of the agricultural robot via its base 1. The sensor lifting and protective device is electrically connected to the main control system of the agricultural robot, which enables unified and coordinated management of the operation of the entire device. Specifically, the main control system is configured to perform the following controls: when the robot enters the working state, it controls the lifting device 2 to raise the sensor module 31, and at the same time automatically opens the protective cover 7 through the linkage structure; when the robot finishes the work or moves to a complex non-working area, it controls the lifting device 2 to lower the sensor module 31, and at the same time closes the protective cover 7 to provide comprehensive protection.

[0045] By integrating this device, agricultural robots can achieve automated linkage between the lifting and protection of sensor module 31, significantly improving their perception adaptability, equipment protection capabilities, and overall operational intelligence in complex environments such as orchards.

[0046] The above specific embodiments further illustrate the purpose, technical solution and beneficial effects of this utility model. It should be understood that the above are only specific embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A sensor lift guard characterized by, include: A base (1) is provided with a lifting device (2), and a mounting plate (3) is provided along the top of the telescopic end of the lifting device (2). Sensor modules (31) are detachably provided on the left and right sides of the mounting plate (3). A protective cover (7) is movably provided on the left side of the lifting device (2). When the protective cover (7) moves in a clockwise direction, it can cover the sensor module (31). The transmission component is hinged below the base (1). One end of the transmission component is connected to the protective cover (7), and the other end is hinged to the telescopic end of the lifting device (2). When in use, the lifting device (2) can drive the transmission component to move in a clockwise or counterclockwise direction.

2. A sensor lift guard according to claim 1, wherein: The base (1) has a frame-shaped fixing frame (11) along the bottom right side. The transmission assembly includes a connecting plate (51), wherein the middle end of the connecting plate (51) is hinged to the inner wall of the fixing frame (11). A curved section is formed on the left side of the connecting plate (51), and a horizontal section is formed on the right side of the connecting plate (51). A connecting block (6) is provided on the curved section of the connecting plate (51), and one end of the connecting block (6) is also connected to the protective cover (7).

3. A sensor lift guard according to claim 2, wherein: The transmission assembly also includes a support rod (5), which is fixedly installed in the horizontal section of the connecting plate (51) in the front-back direction. A connecting rod (4) is hinged at the top front side and the top rear side of the support rod (5) in the vertical direction, and the upper end of the connecting rod (4) is also hinged to the back of the mounting plate (3).

4. A sensor lift guard as defined in claim 1, wherein: The mounting plate (3) has a sliding groove (32) connected to the left and right sides and the bottom end face. The sensor module (31) includes a mounting frame and a sensor set at the mounting frame. The shape of the mounting frame is consistent with the sliding groove (32), and the mounting frame and the inner wall surface of the sliding groove (32) are mutually adapted.

5. A sensor lifting protection device according to claim 4, characterized in that: The sensor is specifically at least one of a vision sensor module, a laser sensor module, or an ultrasonic sensor module.

6. A sensor lifting protection device according to claim 3, characterized in that: The base (1) has an opening (12) at the top and bottom end faces, and the lower end of the connecting rod (4) passes through the opening (12).

7. A sensor lifting protection device according to claim 1, characterized in that: The The protective cover (7) has an arc-shaped plate structure and is made of transparent material.

8. A sensor lifting protection device according to claim 7, characterized in that: The outer surface of the protective cover (7) has a plurality of wave-shaped guide grooves, and the guide grooves are interconnected with the top and bottom edges of the protective cover (7).

9. A sensor lifting protection device according to claim 7, characterized in that: A rectangular lens (8) is embedded in the center of the front part of the protective cover (7). When the protective cover (7) moves in a clockwise direction, the rectangular lens (8) can be on the same horizontal plane as the sensor module (31).

10. An agricultural robot, characterized in that: The agricultural robot includes the sensor lifting and protection device as described in any one of claims 1-9.

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