CN108555928A - A kind of woods desinsection robot - Google Patents
A kind of woods desinsection robot Download PDFInfo
- Publication number
- CN108555928A CN108555928A CN201810356621.1A CN201810356621A CN108555928A CN 108555928 A CN108555928 A CN 108555928A CN 201810356621 A CN201810356621 A CN 201810356621A CN 108555928 A CN108555928 A CN 108555928A
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- China
- Prior art keywords
- robot
- trunk
- microcontroller
- mechanical shaft
- pest
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
- A01M1/22—Killing insects by electric means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Environmental Sciences (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Insects & Arthropods (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Catching Or Destruction (AREA)
Abstract
A kind of woods desinsection robot, belongs to intellectualized technology field.The robot uses intelligent automation technology, can desinsection be carried out to trees automatically, the robot appearance is using spider as stencil design, it is made of trunk and four legs, every leg has joint at two, it can be from principal curvature, rubber trundle and hooklet are housed in every leg simultaneously, can independently it switch, to be moved easily, torso interior is equipped with lithium battery, electric drill and GPS positioning chip, electric drill can come out below trunk, trunk upper face is a layer solar cell plate, it is fitted with infrared detector, place where detectable pest, microwave radiometer is housed simultaneously, it is killed off the insect pests by microwave radiation, position immediately ahead of trunk is equipped with pinhole cameras, it can observe the actual ambient conditions of robot.The desinsection robot is operated using full-automatic intelligent operation without personnel, convenient and practical.
Description
Technical field
The present invention relates to a kind of woods desinsection robots, belong to intelligent robot and self-employed tree cultivator's industry technical field of automation.
Background technology
Currently, getting rid of insects this aspect in the woods, existing deinsectization mode is mostly artificial sprinkling, needs manually to arrive in person
Scene is operated, or carries out cover type pesticide spraying using machine, these modes all largely consume man power and material how
Artificial operation is reduced, it is not only careful but also be effectively performed and get rid of insects, it is an aspect for being worth research, and at present nobody this
Concept gos deep into modern development, and robot becomes the assistant of people, and in human social development, robot will play increasing
Effect, such as operation function；Perceptional function；Walking function；Various actions can also be completed, it is basis there are one feature
The programming of people can automatically work, here an outstanding feature, and being exactly it can program, and change its work, action, work
Object and work some requirement.And then propose a kind of spider robot here, can automatically scanning detect and carry out automatically
Desinsection keeps an eye on operation without personnel, without battery is needed to change, greatly reduces manpower and materials, and small, easy to use, meets
Instantly the rule of the development in epoch.
Invention content
To solve the deficiencies in the prior art, the technical problem to be solved by the present invention is to by designing a kind of woods desinsection machine
People belongs to intellectualized technology field.The robot appearance is made of trunk and four legs, every using spider as stencil design
Leg has joint at two, can be from principal curvature, while rubber trundle and hooklet being housed in every leg, can independently switch, with side
Just it moves, torso interior is equipped with lithium battery, electric drill and GPS positioning chip, and electric drill can come out below trunk, trunk upper face
It is a layer solar cell plate, is fitted with infrared detector, place where detectable pest, while microwave radiation being housed
Instrument is killed off the insect pests by microwave radiation, and the position immediately ahead of trunk is equipped with pinhole cameras, can observe robot reality
Ambient conditions.The desinsection robot is operated using full-automatic intelligent operation without personnel, convenient and practical.
The technical solution adopted by the present invention is：A kind of woods desinsection robot, including mechanical trunk, pedipulator, microcontroller,
Rubber trundle, hooklet, infrared detector, microwave radiometer, electric drill, pinhole cameras, GPS positioning chip, lithium battery,
Solar panel, infrared detector, microwave radiometer, electric drill, pinhole cameras, GPS positioning chip are connect with microcontroller,
Microcontroller can carry out data analysis to the collected information of each information collecting device institute, according to being analyzed as a result, to robot
Corresponding portion with it sends out instruction, and robot is made to proceed by corresponding operation.The desinsection robot is using full-automatic intelligence
It can operate, be operated without personnel, it is convenient and practical.
Further, which is using spider as stencil design, by a mechanical trunk and four pedipulator structures
At in order to cope with complicated landform, every leg has joint at two, can be from principal curvature, to be moved easily.
Further, rubber trundle and hooklet are housed in every pedipulator, can independently be switched according to actual conditions, machine
When device people walks on the ground, by rubber trundle rotate move ahead, if encountering complicated landform, can by the free variation in joint come
Reply；The extended hooklet in pedipulator side helps robot to climb tree；Trundle and hooklet are connected to a mechanical shaft both ends
On, it is rotated by mechanical shaft 180 degree, trundle and hooklet can be switched, rotation is controlled by the motor in mechanical shaft.
Further, all motors on microcontroller connection pedipulator, each motor is by microcontroller independent control, machinery
Each joint on leg is changed to be driven by motor, and issuing instructions to motor by microcontroller realizes；The action variation of every leg
Coordinate to complete jointly by five motors on leg, the mobile of entire robot coordinates to complete jointly by four legs.
Further, robot moving range is controlled by microcontroller, and mechanical torso interior fills GPS positioning chip, has
Microcontroller can make machine by the scanned range of GPS positioning chip analysis robot to control robot scope of activities
People will not repeat to spin within the scope of one.
Further, mechanical trunk is fitted with infrared detector, can make its 360 degree of scannings by motor driving, can
Incude the position of various biologies by infrared detector scanning, while being analyzed by microcontroller, by pest and other
Biological differentiation, the special position for locking pest.
Further, mechanical trunk upper and lower surface is equipped with microwave radiometer, by infrared detector scanning and pin hole
Camera observes data so that it is determined that behind pest position, and microwave radiometer can emit microwave to pest, to cause pest dead；
At the cradle head of microwave radiometer wherein above trunk, control principle is consistent with pedipulator driving principle, below micro-
Wave radiation instrument is fixed on body interior, can directly emit, and analyzes the navigated to pest position of data by microcontroller, microcontroller is again
Order is sent out, articulation is made, to be directed at pest.
Further, electric drill is housed in the lower part of mechanical trunk, when there is pest to be present in trunk, microwave radiation cannot
When being radiated to pest through trunk, which the hooklet on pedipulator can be used to climb up trunk, and trunk is directed at pest
The position at place, electric drill will be stretched and be burrowed to trunk, get through after hole from below, can carry out microwave to pest
Radiation.
Further, the position immediately ahead of mechanical trunk is equipped with pinhole cameras, and pinhole cameras can observe machine
The actual environment residing for route and robot that device people advances, while also can observe pest by camera, pass through monolithic
Machine analyzes the collected data of camera institute, can make the advance of Robot Selection best route and more clearly differentiate pest and its
Allogene.
Further, GPS positioning chip is housed in mechanical trunk, the institute of robot can be specified by the GPS positioning chip
In position, when if desired recycling, can robot directly be found by the position of positioning, so robot is kept an eye on without personnel, it can
Freely moved.
Further, mechanical trunk upper face is a layer solar cell plate, while internal equipped with lithium battery, lithium battery
Capacitance is big, small, can meet the use of robot；Solar panel can be generated electricity and is stored in by solar energy again
In lithium battery, is operated without personnel and replace battery.
Further, microcontroller by image data that pinhole cameras is acquired, infrared detector acquisition it is infrared
Line number is according to this and the orientation range of GPS positioning chip is analyzed, and so that robot is made corresponding behaviour to send out instruction appropriate
Make.
Further, a pedipulator has joint at two, three mechanical shafts, three mechanical shafts be respectively front end robot bar,
Middle-end mechanical shaft, end mechanical shaft are connected and fixed to trunk on trunk, distance close to one end of the front end robot bar of trunk
One end of the farthest end mechanical shaft of trunk is trundle and hook, and trundle and hook are pivoted about with fixing axle,
Realize the conversion of trundle and hook, the rotation of fixing axle is driven by motor, intermediate for middle-end mechanical shaft；In pedipulator
Joint, the mechanical shaft at both ends, there are one connectors for a fixation, while one piece of gear is fixed on connector, and another solid
Fixed there are two connector, three connectors are connected by a short axle, and short axle is fixed with the mechanical shaft there are two connector, with
It is to be slidably connected there are one the mechanical shaft of connector, one piece of gear is also fixed in short axle, two pieces of gears are vertically connected, pass through
Motor drives the gear close to motor to rotate to drive another gear to rotate, and to drive short axle to rotate, makes two mechanical shafts
It can be relative to being rotated；The joint that wherein front end robot bar is connect with middle-end mechanical shaft, there are one connect the fixation of front end robot bar
Device is connect, there are two connectors for the fixation of middle-end mechanical shaft；The joint that middle-end mechanical shaft is connect with end mechanical shaft, middle-end mechanical shaft
Fixed there are one connectors, and there are two connectors for the fixation of end mechanical shaft；The motor for controlling gear rotation is mounted in there are one fixations
At the mechanical shaft of connector；Respectively there are one motors for dress inside the middle-end mechanical shaft and end mechanical shaft of every pedipulator, can drive
Dynamic middle-end mechanical shaft and end mechanical shaft itself are rotated.
Further, robot interior is equipped with wireless transport module, and wireless transport module is connect with microcontroller, is wirelessly transferred
Module can carry out data transmission between microcontroller and high in the clouds, data exchange, and high in the clouds also can save data, and high in the clouds is by wirelessly passing
Defeated module can transfer data to microcontroller, then issue instructions to robot by microcontroller to reach the mesh of control robot
's.
A kind of woods desinsection robot, control method include the following steps：
After step 1. starts robot, robot starts to move, and rotates and moves ahead by rubber trundle, if encountering complicated landform,
It can be coped with by the free variation in joint；When moving, microcontroller can be passed through by GPS positioning chip analysis robot
Range makes robot not repeat to spin within the scope of one to control robot scope of activities.
In step 2. moving process, infrared detector is scanned through row, while pinhole cameras is observed, and passes through two sides
The data in face, microcontroller analyze it, and pest and other biological are distinguished, while locking pest position.
After step 3. locks pest position, microcontroller sends out instruction, and microwave radiometer is made to send out microwave spoke to pest
It penetrates, it is intermolecular mutual by microwave so that the hydrone in pest body carries out oscillatory operation with more than one hundred million change frequencies per second
Collision rubs and generates thermal energy, to cause pest dead；When there is pest to be present in trunk, microwave radiation cannot penetrate tree
Dry when being radiated to pest, which the hooklet on pedipulator can be used to climb up trunk, and trunk is aligned where pest
Position, electric drill will be stretched and be burrowed to trunk, get through after hole from below, can carry out microwave radiation to pest.
Solar panel on step 4. machinery trunk is produced electricl energy by solar energy and is stored in lithium battery, for machine
Device people use, when need recycling when, can robot directly be found by the position of GPS positioning chip positioning, thus robot without
It needs personnel to keep an eye on, can freely be moved.
The present invention operation principle be：Robot moves ahead by the rotation of rubber trundle, if encountering complicated landform, can pass through
The free variation in joint is coped with, when moving, range that microcontroller can be passed through by GPS positioning chip analysis robot,
To control robot scope of activities, robot is made not repeat to spin within the scope of one, in moving process, infra-red detection
Instrument is scanned through row, while pinhole cameras is observed, and by both sides data, microcontroller analyzes it, by pest
It is distinguished with other biological, while locking pest position, then microcontroller sends out instruction, and microwave radiometer is made to send out pest
Microwave radiation, to cause pest dead；Solar panel on tool trunk is produced electricl energy by solar energy and is stored in lithium
It in battery, is used for robot, when needing recycling, can robot directly be found by the position of GPS positioning chip positioning, institute
It is kept an eye on, can be freely moved without personnel with robot.
The beneficial effects of the invention are as follows：The present invention uses intelligent automation technology, makes robot that can independently get rid of insects,
By the coordination of itself each section, it can voluntarily carry out movement, detect simultaneously desinsection, and be charged by solar energy, be not necessarily to people
Member keeps an eye on operation, without battery is needed to change, manpower and materials is greatly reduced, and due to being equipped with GPS positioning chip, so need not carry on a shoulder pole
Heart robot is lost, and when needing recycling, can be found by positioning；The invention is small, easy to use, meets epoch instantly
The rule of development.
Description of the drawings
Fig. 1 is the overall structure figure of the present invention；
Fig. 2 is the pedipulator structure chart of the present invention；
Fig. 3 is the partial circuit logic chart of the present invention；
Fig. 4 is the solar energy circuit logic diagram of the present invention；
Fig. 5 is the motor circuit logic chart of the present invention；
Fig. 6 is the articular portion sectional view of the present invention；
Fig. 7 is the mechanical shaft perspective view of the present invention；
Fig. 8 is the mechanical shaft side end sectional view of the present invention；
Fig. 9 is the joint concrete structure diagram of the present invention；
Figure 10 is the overall logic figure of the present invention.
Respectively marked as 1- machinery trunks in figure；2- pedipulators；201- gears；202- front end robot bars；203- middle-end machineries
Bar；The ends 204- mechanical shaft；205- connectors；206- short axles；3- infrared detectors；4- microwave radiometers；5- pin holes image
Head；6- solar panels；7- electric drills；8- microcontrollers；9- motors；10- drive modules.
Specific implementation mode：
In the following with reference to the drawings and specific embodiments, the invention will be further described：
As shown, a kind of woods desinsection robot, including mechanical trunk 1, pedipulator 2, microcontroller 8, rubber trundle, small hook
Son, infrared detector 3, microwave radiometer 4, electric drill 7, pinhole cameras 5, GPS positioning chip, lithium battery, solar cell
Plate 6, infrared detector 3, microwave radiometer 4, electric drill 7, pinhole cameras 5, GPS positioning chip are connect with microcontroller 8, monolithic
Machine 8 can carry out data analysis to the collected information of each information collecting device institute, according to being analyzed as a result, with to robot
Corresponding portion send out instruction, so that robot is proceeded by corresponding operation.The desinsection robot is grasped using full-automatic intelligence
Make, is operated without personnel, it is convenient and practical.
The robot appearance is to be made of a mechanical trunk 1 and four pedipulators 2 using spider as stencil design, be
The complicated landform of reply, every leg have joint at two, can from principal curvature, to be moved easily.
Rubber trundle and hooklet are housed in every pedipulator 2, can independently be switched according to actual conditions, robot is on ground
When upper walking, is rotated and moved ahead by rubber trundle, if encountering complicated landform, can coped with by the free variation in joint；Machine
The extended hooklet in 2 side of tool leg helps robot to climb tree；Trundle and hooklet are connected on a mechanical shaft both ends, are led to
The rotation of mechanical shaft 180 degree is crossed, trundle and hooklet can be switched, rotation is controlled by the motor in mechanical shaft.
All motors 9 on pedipulator 2 are connected in microcontroller 8, each motor 9 is by 8 independent control of microcontroller, pedipulator 2
On each joint change driven by motor 9, by microcontroller 8 issue instructions to motor 9 realize；The action variation of every leg
Coordinated to complete jointly by five motors 9 on leg, the mobile of entire robot coordinates to complete jointly by four legs.
Robot moving range is controlled by microcontroller 8, and 1 inside of mechanical trunk fills GPS positioning chip, there is microcontroller 8
It can make robot will not to control robot scope of activities by the scanned range of GPS positioning chip analysis robot
Repetition is spinned within the scope of one.
Mechanical trunk 1 is fitted with infrared detector 3, can make its 360 degree of scannings by the driving of motor 9, can be by red
The scanning of outside line survey meter 3 incudes the position of various biologies, while being analyzed by microcontroller 8, by pest and other biological
It distinguishes, the special position for locking pest.
1 upper and lower surface of mechanical trunk is equipped with microwave radiometer 4, by the scanning of infrared detector 3 and pinhole cameras 5
Data are observed so that it is determined that behind pest position, microwave radiometer 4 can emit microwave to pest, to cause pest dead；Wherein
At the cradle head of microwave radiometer 4 above trunk, control principle is consistent with 2 driving principle of pedipulator, microwave below
Radiation gauge 4 is fixed on body interior, can directly emit, and the navigated to pest position of data, microcontroller 8 are analyzed by microcontroller 8
Order is sent out again, so that joint 9 is rotated, to be directed at pest.
Electric drill 7 is housed, when there is pest to be present in trunk, microwave radiation cannot penetrate tree in the lower part of mechanical trunk 1
Dry when being radiated to pest, which the hooklet on pedipulator 2 can be used to climb up trunk, and trunk is aligned where pest
Position, electric drill 7 will be stretched and be burrowed to trunk, get through after hole from below, can carry out microwave radiation to pest.
Position close to 1 front of machinery trunk is equipped with pinhole cameras 5, before pinhole cameras 5 can observe robot
Into route and robot residing for actual environment, while also can observe pest by camera, be divided by microcontroller 8
The collected data of camera institute are analysed, the advance of Robot Selection best route can be made and more clearly differentiate pest and other lifes
Object.
GPS positioning chip is housed in mechanical trunk 1, the position of robot can be specified by the GPS positioning chip, if
When needing recycling, can robot directly be found by the position of positioning, so robot is kept an eye on without personnel, can freely be moved
It is dynamic.
1 upper face of mechanical trunk is a layer solar cell plate 6, while internal equipped with lithium battery, lithium battery capacity
Greatly, small, the use of robot can be met；Solar panel 6 can generate electricity by solar energy again and be stored in lithium electricity
Chi Li is operated without personnel and is replaced battery.
Microcontroller 8 passes through the image data acquired to pinhole cameras 5, the infrared data of the acquisition of infrared detector 3
And the orientation range of GPS positioning chip is analyzed, and so that robot is made corresponding operation to send out instruction appropriate.
It is respectively front end robot bar 202, middle terminal that one pedipulator 2, which has joint at two, three mechanical shafts, three mechanical shafts,
Tool bar 203, end mechanical shaft 204 are connected and fixed to trunk on trunk close to one end of the front end robot bar 202 of trunk,
One end of the end mechanical shaft 204 farthest apart from trunk is trundle and hook, trundle and hook centered on fixing axle into
Row rotation, realizes the conversion of trundle and hook, the rotation of fixing axle is driven by motor 9, intermediate for middle-end mechanical shaft
203；In 2 joint of pedipulator, the mechanical shaft at both ends, there are one connectors 205 for a fixation, while fixed on connector 205
There is one piece of gear 201, there are two connectors 205 for another fixation, and three connectors 205 are connected by a short axle 206, short
Axis 206 is fixed with the mechanical shaft there are two connector 205, with there are one the mechanical shafts of connector 205 to be slidably connected, in short axle
Also one piece of gear 201 is fixed on 206, two pieces of gears 201 are vertically connected, and the gear 201 close to motor 9 is driven by motor 9
Rotation drives another gear 201 to rotate, and to drive short axle 206 to rotate, makes two mechanical shafts can be relative to being rotated；Its
The joint that middle front end robot bar 202 is connect with middle-end mechanical shaft 203, front end robot bar 202 are fixed there are one connector 205,
There are two connectors 205 for the fixation of middle-end mechanical shaft 203；The joint that middle-end mechanical shaft 203 is connect with end mechanical shaft 204, in
Holding mechanical shaft 203 to fix, there are one connectors 205, and there are two connectors 205 for the fixation of end mechanical shaft 204；Control gear rotation
Motor 9 at the fixed mechanical shaft there are one connector 205；In the middle-end mechanical shaft 203 and end machine of every pedipulator 2
There are one motors 9 for each dress in 204 inside of tool bar, and middle-end mechanical shaft 203 and end mechanical shaft 204 can be driven itself to be rotated；It is small
Wheel and hooklet are connected on a mechanical shaft both ends, are rotated by mechanical shaft 180 degree, and trundle and hooklet can be switched,
Rotation is controlled by the motor 9 in mechanical shaft.
Robot interior is equipped with wireless transport module, and wireless transport module connect with microcontroller 8, and wireless transport module can be
Carry out data transmission between microcontroller 8 and high in the clouds, data exchange, high in the clouds also can save data, and high in the clouds passes through wireless transport module
Microcontroller 8 can be transferred data to, then robot is issued instructions to achieve the purpose that control robot by microcontroller 8.
As shown in Fig. 3, Fig. 4 and Fig. 5, the model LT1073 of figure chips, solar panel 6 provides 6V electricity in figure
Pressure.LT1073 detects charging current via resistance R6, and 16 milliamperes of charging current is maintained in accumulator；There is low electricity in LT1073
Analyzer is pressed, in the near 4V of the output voltage of solar panels, LT1073 will be switched off charging circuit；Solar panel 6 and lithium
Solar panel connects, and electric energy is provided for entire circuit；XTAL1, XTAL2, the circuit to connect are to play shake necessary to microcontroller 8 works
Circuit；What RST connected is that microcontroller 8 switchs, and can pass through the switch by the entire circuit of key control；That connect with TXD, RXD is GPS
Information is transmitted to microcontroller 8 by positioning system, the location information for obtaining robot by serial communication again；What is connected with P0.0 is red
Outer survey meter 3, respectively infrared emission end and infrared receiver end, by analyzing the information at infrared receiver end, detection detection pest
The place at place；What is connected with P1.4 is pinhole cameras 5, is mounted on the front of trunk, machine is observed by image procossing
The actual ambient conditions of people；What is connected with P1.6 is microwave radiometer 4, and sending out microwave radiation when finding pest kills off the insect pests；
With P2.0, P2.1, P2.2, what P2.3, P2.4 connected is NRF24L01 radio receiving transmitting modules；What is connected with P0.0 is
74HTC573 latch expands I/O mouthfuls more, 20 motors 9 needed for connection robot motion.U3 drives for motor
Module L278 plays the role of amplifying electric current, and 8 electric current of microcontroller is too small to be unable to driving motor 9 so needing 9 drive module of motor
Amplify electric current, driving motor 9.The motor 9 to connect with drive module, microcontroller 8 control motor 9 by exporting PWM wave.Circuit
Explanation：The woods desinsection robot will be stored electronically in lithium battery by solar energy power accumulating, be powered for entire robot.In machine
Pinhole cameras 5 is housed in front of the trunk of device people, passes through the actual ambient conditions of robot known to image.Infrared detecting set 3
Infrared emission end sends out infrared ray, then the analysis by analyzing infrared receiver, it is known that specific pest position, microcontroller 8 will
Signal, which is transmitted to microwave radiometer 4 and sends out microwave radiation, accurately to kill off the insect pests.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and protection domain is defined, without departing from the inventive concept of the premise, ordinary engineering and technical personnel is to this in this field
The various modifications and improvement that the technical solution of invention is made, should all be within protection scope of the present invention.
Claims (8)
1. a kind of woods desinsection robot, it is characterised in that：Including mechanical trunk（1）, pedipulator（2）, microcontroller（8）, rubber
Trundle, hooklet, infrared detector（3）, microwave radiometer（4）, electric drill（7）, pinhole cameras（5）, GPS positioning core
Piece, lithium battery, solar panel（6）, infrared detector（3）, microwave radiometer（4）, electric drill（7）, pinhole cameras
（5）, GPS positioning chip and microcontroller（8）Connection；The robot appearance is using spider as stencil design, by a mechanical trunk
（1）With four pedipulators（2）It constitutes, in order to cope with complicated landform, every leg has joint at two, can be from principal curvature, with side
Just it moves；Rubber trundle and hooklet are housed in every pedipulator, can independently be switched according to actual conditions, robot is on the ground
When walking, is rotated and moved ahead by rubber trundle, if encountering complicated landform, can coped with by the free variation in joint；Machinery
Leg（2）On hooklet robot can be helped to climb tree；There are five motors for every pedipulator dress（9）, microcontroller（8）Connect pedipulator
（2）On all motors（9）, each motor（9）By microcontroller（8）Independent control, pedipulator（2）On each joint change by
Motor（9）It drives, passes through microcontroller（8）Issue instructions to motor（9）It realizes；The action of every leg changes by five on leg
Motor（9）Common to coordinate to complete, the mobile of entire robot coordinates to complete jointly by four legs；Mechanical trunk（1）It fills above
There is infrared detector（3）, can 360 degree of scannings, pass through infrared detector（3）Scanning induction and pinhole cameras（5）Observation
The position of various biologies, while passing through microcontroller（8）Pest and other biological are distinguished, specially lock pest by analysis
Position；Mechanical trunk（1）Upper and lower surface is equipped with microwave radiometer（4）, by infrared detector（3）Scanning and pin hole are taken the photograph
As head（5）Data are observed so that it is determined that behind pest position, microwave radiometer（4）Microwave can be emitted to pest, to cause pest
It is dead；Microwave radiometer wherein above trunk（4）Cradle head at, control principle and pedipulator（2）Driving principle one
It causes, microwave radiometer below（4）It is fixed on body interior, can directly emit, pass through microcontroller（8）Analysis data are navigated to
Pest position, microcontroller（8）Order is sent out again, makes articulation, to be directed at pest.
2. a kind of woods desinsection robot stated according to claim 1, it is characterised in that：Close to machinery body（1）Dry front
Position is equipped with pinhole cameras（5）, pinhole cameras（5）Residing for the route and robot that can observe robot advance
Actual environment, while can also pass through camera（5）It observes pest, passes through microcontroller（8）Analyze camera（5）Institute is collected
Data can make the advance of Robot Selection best route and more clearly differentiate pest and other biological.
3. a kind of woods desinsection robot according to claim 1, it is characterised in that：Mechanical trunk（1）Lower part in
Equipped with electric drill（7）, when there is pest to be present in trunk, microwave radiometer（4）It, should when cannot be radiated to pest through trunk
Pedipulator can be used in robot（2）On hooklet climb up trunk, trunk is directed at the position where pest, electric drill（7）It will be from
Lower section, which is stretched, burrows to trunk, has got through after hole, can carry out microwave radiation to pest.
4. a kind of woods desinsection robot according to claim 1, it is characterised in that：Mechanical trunk（1）It is interior fixed equipped with GPS
Position chip, the position of robot can be specified by the GPS positioning chip, when if desired recycling, can directly pass through positioning
Robot is found in position, so robot is kept an eye on without personnel, can freely be moved.
5. a kind of woods desinsection robot according to claim 1, it is characterised in that：Mechanical trunk（1）Upper face is
One layer solar cell plate（6）, while it is internal equipped with lithium battery, lithium battery capacity is big, small, can meet making for robot
With；Solar panel（6）Electricity can be generated by solar energy again and is stored in lithium battery, is operated without personnel and replaces electricity
Pond.
6. a kind of woods desinsection robot according to claim 1, it is characterised in that：Robot moving range passes through monolithic
Machine（8）It controls, mechanical trunk（1）Inside dress GPS positioning chip, microcontroller（8）GPS positioning chip analysis robot can be passed through
Scanned range make robot not repeat to spin within the scope of one to control robot scope of activities；Microcontroller
（8）By to pinhole cameras（5）The image data of acquisition, infrared detector（3）The infrared data and GPS of acquisition are fixed
The orientation range of position chip is analyzed, and so that robot is made corresponding operation to send out instruction appropriate.
7. a kind of woods desinsection robot according to claim 1, it is characterised in that：One pedipulator（2）There is Liang Chuguan
Section, three mechanical shafts, three mechanical shafts are respectively front end robot bar（202）, middle-end mechanical shaft（203）, end mechanical shaft
（204）, close to the front end robot bar of trunk（202）One end and trunk be connected and fixed on trunk, it is farthest apart from trunk
End mechanical shaft（204）One end be trundle and hook, trundle and hook pivot about with fixing axle, realizes small
The rotation of the conversion of wheel and hook, fixing axle passes through motor（9）It drives, it is intermediate for middle-end mechanical shaft（203）；In machinery
Leg（2）Joint, the mechanical shaft at both ends, there are one connectors for a fixation（205）, while connector（205）On be fixed with one
Block gear（201）, there are two connectors for another fixation（205）, three connectors（205）Pass through a short axle（206）It is connected
It connects, short axle（206）With there are two connectors（205）Mechanical shaft fix, and there are one connectors（205）Mechanical shaft be sliding
Connection, in short axle（206）On be also fixed with one piece of gear（201）, two pieces of gears（201）It is vertically connected, passes through motor（9）It drives
Close to motor（9）Gear（201）It rotates to drive another gear（201）Rotation, to drive short axle（206）Rotation, makes
Two mechanical shafts can be relative to being rotated；Wherein front end robot bar（202）With middle-end mechanical shaft（203）The joint of connection, it is preceding
Hold mechanical shaft（202）It is fixed that there are one connectors（205）, middle-end mechanical shaft（203）It is fixed that there are two connectors（205）；Middle-end
Mechanical shaft（203）With end mechanical shaft（204）The joint of connection, middle-end mechanical shaft（203）It is fixed that there are one connectors
（205）, end mechanical shaft（204）It is fixed that there are two connectors（205）；Control the motor of gear rotation（9）Mounted in being fixed with one
A connector（205）Mechanical shaft at；In every pedipulator（2）Middle-end mechanical shaft（203）With end mechanical shaft（204）It is internal
There are one motors for each dress（9）, middle-end mechanical shaft can be driven（203）With end mechanical shaft（204）Itself is rotated；Trundle and
Hooklet is connected on a mechanical shaft both ends, is rotated by mechanical shaft 180 degree, can be switched trundle and hooklet, rotation by
Motor in mechanical shaft（9）Control.
8. a kind of woods desinsection robot according to claim 1, it is characterised in that：Robot interior is equipped with wireless transmission
Module, wireless transport module and microcontroller（8）Connection, wireless transport module can be in microcontroller（8）Data are carried out between high in the clouds
Transmission, data exchange, high in the clouds also can save data, and high in the clouds can transfer data to microcontroller by wireless transport module（8）, then
Pass through microcontroller（8）Robot is issued instructions to achieve the purpose that control robot.
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| CN201810356621.1A CN108555928B (en) | 2018-04-19 | 2018-04-19 | Forest insecticidal robot |
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|---|---|---|---|
| CN201810356621.1A CN108555928B (en) | 2018-04-19 | 2018-04-19 | Forest insecticidal robot |
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| CN108555928B CN108555928B (en) | 2021-10-01 |
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| CN201810356621.1A Active CN108555928B (en) | 2018-04-19 | 2018-04-19 | Forest insecticidal robot |
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