CN212146406U - Multifunctional robot based on aerial rail type - Google Patents
Multifunctional robot based on aerial rail type Download PDFInfo
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- CN212146406U CN212146406U CN202020512009.1U CN202020512009U CN212146406U CN 212146406 U CN212146406 U CN 212146406U CN 202020512009 U CN202020512009 U CN 202020512009U CN 212146406 U CN212146406 U CN 212146406U
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Abstract
The utility model relates to a multifunctional robot based on an aerial rail type, which is positioned on a suspended rail; the system comprises a vehicle body, a walking module, a sensing module, a control module, a communication module, an operation module and a hanging platform; the walking module, the sensing module, the control module, the communication module and the hanging platform are all arranged on the vehicle body; the operation module is connected with the vehicle body through the hanging platform; the walking module, the sensing module, the communication module, the operation module and the hanging platform are all electrically connected with the control module; the operation module is a picking mechanism, a medicine spraying mechanism or an inspection mechanism; the walking module comprises a driving module and wheels, and the wheels move in the track grooves of the suspension tracks. The multifunctional aerial agricultural robot of the utility model walks on the suspended track, so as to obtain better inspection visual angle and more abundant picking and spraying space; the detachable hanging platform can realize the quick conversion of various operation functions and is suitable for various operation tasks in the agricultural production process.
Description
Technical Field
The utility model relates to an agricultural robot technical field especially relates to a based on aerial rail mounted multi-functional robot.
Background
The development of agricultural robots is one of the development trends of automation and intellectualization of agricultural machinery in the 21 st century. Agricultural robots with various characteristics for picking, harvesting, weeding, trimming, farming, grafting, agricultural product grading and the like have been researched, developed and applied in many countries. For example, patent application with publication number CN105746092A discloses a novel crawler-type apple picking robot, which mainly comprises a crawler-type mobile platform, a picking system and a control system, and is characterized in that four apple picking mechanical ARMs are integrated on the crawler-type mobile platform, the control system adopts an ARM processor to fuse and process various sensor information on the picking mechanical ARMs and the end effector to obtain corresponding control signals, so as to correspondingly control servo motors on the picking mechanical ARMs and the end effector and drive the picking mechanical ARMs and the end effector to automatically pick apples. Patent application publication No. CN103380766A discloses an automatic pesticide spraying robot for greenhouses, which comprises a rail walking part, a pesticide spraying part fixed on the rail walking part, and a control part respectively connected with the rail walking part and the pesticide spraying part. However, the current agricultural robot and the traditional ground working machine need to operate in a crop growth area in both a wheel type and a crawler type, so that on one hand, the optimal inspection visual angle is difficult to obtain due to the fact that branches and leaves of crops are shielded during inspection, and on the other hand, the working machine directly walks in a farmland, so that the crops are inevitably damaged, and economic loss is caused. Meanwhile, the existing agricultural robot only has specific functions, is suitable for specific environments, has poor universality and is inconvenient to expand and improve the system.
Disclosure of Invention
For solving the technical defect, the utility model provides a based on aerial rail mounted multi-functional robot can articulate the platform through the detachable and realize the quick switching of multiple operation function to be suitable for agricultural production's multiple job task, improved agricultural robot's utilization ratio and price/performance ratio, reduced the operating cost.
For realizing the above functions, the utility model discloses a technical scheme be:
a multifunctional robot based on an aerial rail type is provided, wherein an agricultural robot is positioned on a suspension rail;
the method comprises the following steps: the system comprises a vehicle body, a walking module, a sensing module, a control module, a communication module, an operation module and a hanging platform; the walking module, the sensing module, the control module, the communication module and the hanging platform are all arranged on the vehicle body, and the operation module is connected with the vehicle body through the hanging platform; the walking module, the sensing module, the communication module, the operation module and the hanging platform are all electrically connected with the control module; the operation module is a picking mechanism, a medicine spraying mechanism or an inspection mechanism; the walking module comprises a driving module and wheels, and the wheels move in the rail grooves of the suspension rails.
Preferably, the hitching platform comprises a suspension rod, a support plate, a left arch part, a right arch part, a rotating wheel disc and a sliding device, wherein the upper end of the suspension rod is connected with the bottom of the vehicle body, the lower end of the suspension rod is connected with the support plate, one of the left arch part and the right arch part is fixedly connected with the support plate, the other one of the left arch part and the right arch part is slidably connected with the support plate through the rotating wheel disc and the sliding device, the arch lower parts of the left arch part and the right arch part are provided with saw-toothed areas, the arch upper parts of the left arch part and the; the hanging platform is also provided with a communication and power supply interface; the rotary wheel disc is provided with a locking device.
Preferably, the operation module comprises an operation mechanism and a hanging main body, and the hanging main body is divided into three areas, namely an operation installation part, an upper hanging part and a lower hanging part; the operation mounting part is provided with a mounting groove for mounting the operation mechanism; the lower hanging part comprises a lower hanging main body and two buffering connecting columns which are arranged in the lower hanging main body and respectively protrude out of two sides of the lower hanging main body, and the two buffering connecting columns are connected in the lower hanging main body through a first spring; the left and right sides of the lower part of the lower hanging main body are provided with soft parts; the upper hanging part comprises an upper hanging main body and two concave accommodating pieces which are respectively arranged at two sides of the upper part of the upper hanging main body, and the two concave accommodating pieces are connected in the upper hanging main body through a second spring; the hanging main body is also provided with a communication and power supply cable.
Preferably, picking mechanism is including articulating module, lift platform, scalable arm, picking mechanism, first camera module and ranging module, articulate the module with lift platform fixed connection, scalable arm is installed on the lift platform, picking mechanism, first camera module and ranging module are installed to the end of scalable arm.
Preferably, the pesticide spraying mechanism comprises a first electric telescopic rod, a pesticide liquid box, a pressurizer, a liquid guide pipe and a spray head, the liquid guide pipe is connected with the pesticide liquid box through the pressurizer, the liquid guide pipe is connected with the spray head, and the liquid guide pipe and the spray head are arranged on the first electric telescopic rod.
Preferably, the inspection mechanism comprises an electric telescopic rod II and a second camera module, and the second camera module is arranged at the top of the electric telescopic rod.
Preferably, the sensing module comprises an RFID reader, and the suspension track is provided with an RFID tag in which unique address identification information is stored; the control module stores the address identification information of each RFID label, and obtains the position information based on the address identification information in the RFID label read by the RFID reader, so that the vehicle body is controlled to run according to the planned route.
Preferably, the device further comprises a power module, wherein the power module comprises a storage battery and a charging module.
Preferably, still include a plurality of charging socket on the unsettled track, charging socket also is equipped with the RFID label.
Preferably, the vehicle driving control system further comprises a handheld remote controller, wherein the handheld remote controller is connected with the control module through wireless communication, and is used for receiving and displaying the real-time motion state of the vehicle from the communication module and sending a driving control instruction to the communication module.
The utility model has the advantages that:
(1) the multifunctional aerial agricultural robot of the utility model walks on the suspended track, can obtain better inspection visual angle and more abundant picking and spraying space, and is particularly suitable for planting scenes such as greenhouses and the like; and because the vehicle body does not need to touch the ground, the damage of the vehicle body to crops can be avoided.
(2) The utility model discloses a multi-functional aerial agricultural robot articulates the platform through detachable and realizes the quick conversion of multiple operation function, can be suitable for the multiple job task in the agricultural production process.
(3) The utility model discloses a multi-functional agricultural robot still possesses the automatic function of patrolling and examining, can start picking, spout earlier the execution before the operation tasks such as medicine and patrol and examine the mode, specifically based on whether the machine vision technique discerns the harvesting that needs spouting medicine and fruit of crop, possesses stronger automation level, can greatly improve agricultural production efficiency.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic overall structure diagram of the multifunctional aerial agricultural robot of the present invention;
FIG. 2 is a schematic view of the principle of the present invention for coupling the coupling platform and the coupling body;
fig. 3 is a functional module schematic diagram of the multifunctional agricultural robot of the utility model.
In the figure:
a vehicle body 1; a walking module 2; a sensing module 3; a control module 4; a communication module 5; an operation module 6; a work mounting part 6.1; an upper hanging part 6.2; a lower hanging part 6.3; 6.4 of a buffer connecting column; a concave receiving member 6.5; a soft body portion 6.6; a hitching platform 7; a left arcuate part 7.1; a right arcuate part 7.2; a rotary wheel disc 7.3; connecting column 7.4.
Detailed Description
In order to make the above objects, features and advantages of the present invention more clearly understandable, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description, wherein the drawings are simplified schematic drawings, and only the basic structure of the present invention is schematically illustrated, so that only the components related to the present invention are shown, and it is to be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, unless otherwise specified, "a plurality" means two or more.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1-2, a first embodiment of the present invention provides an aerial rail-based multifunctional robot, wherein the agricultural robot is located on a suspended rail; the method comprises the following steps: the system comprises a vehicle body 1, a walking module 2, a sensing module 3, a control module 4, a communication module 5, an operation module 6 and a hanging platform 7; the walking module 2, the sensing module 3, the control module 4, the communication module 5 and the hanging platform 7 are all arranged on the vehicle body 1, and the operation module 6 is connected with the vehicle body 1 through the hanging platform 7; the walking module 2, the sensing module 3, the communication module 4, the operation module 6 and the hanging platform 7 are all electrically connected with the control module 5; the operation module 6 is a picking mechanism, a medicine spraying mechanism or an inspection mechanism; the walking module 2 comprises a driving module and wheels, and the wheels move in the track grooves of the suspension tracks.
It should be noted that, the existing agricultural robots, whether wheel-type or crawler-type, are all operated directly on the farmland ground, and for the inspection-type robot, it is obvious that the inspection visual angle is more difficult to control, and is very easily affected by the branches and leaves of crops, and it is inevitable to destroy a part of crops, resulting in the loss of agricultural production. To this technical defect, the utility model discloses set up agricultural robot and carry out the operation on unsettled track, be particularly suitable for planting scenes such as big-arch shelter. In addition, the existing agricultural robots are developed for solving automation and intellectualization in specialized agricultural production, and therefore, the agricultural robots only have specific functions, are suitable for specific environments, have poor universality, are inconvenient to expand and improve the system, and have obvious seasonality for agricultural production, namely, great difference exists in agricultural labor required by different crop growth stages. Therefore, the existing agricultural robot is low in use efficiency and high in cost. In order to solve the technical defect, the utility model discloses a still realize the fast switch over between the different operation module 6 through articulating the platform, promptly, articulate the platform based on detachable and realized picking mechanism, spout the fast switch over of different operation modes such as medicine mechanism, inspection machine structure.
According to the embodiment of the present invention, based on fig. 2, the hanging platform 7 in fig. 1 is explained in detail. The hitching platform 7 comprises a suspension rod, a support plate, a left arch part 7.1, a right arch part 7.2, a rotating wheel disc 7.3 and a sliding device (not shown in the figure), wherein the upper end of the suspension rod is connected with the bottom of the vehicle body 1, the lower end of the suspension rod is connected with the support plate, one of the left arch part 7.1 and the right arch part 7.2 is fixedly connected with the support plate, the other one is connected with the support plate in a sliding way through the rotating wheel disc 7.3 and the sliding device, the arch lower parts of the left arch part 7.1 and the right arch part 7.2 are provided with saw-toothed areas, the arch upper parts are provided with convex connecting columns, and the middle; the hitching platform 7 is also provided with a communication and power supply interface (not shown in the figure); the rotary wheel disc is provided with a locking device.
According to the embodiment of the present invention, the operation module 6 comprises an operation mechanism (not shown in the figure) and a hanging main body, wherein the hanging main body comprises an operation installation part 6.1, an upper hanging part 6.2 and a lower hanging part 6.3; wherein the work mounting part 6.1 is provided with a mounting groove (not shown in the figure) for mounting the work mechanism 6; the upper hanging part 6.2 comprises an upper hanging main body and two concave accommodating pieces 6.5 which are respectively arranged at two sides of the upper part of the upper hanging main body, and the two concave accommodating pieces 6.5 are connected in the upper hanging main body through a second spring; the lower hanging part 6.3 comprises a lower hanging main body and two buffer connecting columns 6.4 which are arranged in the lower hanging main body and respectively protrude out of two sides of the upper hanging main body, and the two buffer connecting columns 6.4 are connected in the lower hanging main body through a first spring; the left side and the right side of the lower part of the lower hanging part 6.3 are provided with soft parts 6.6; the main body is also provided with communication and power supply cables (not shown in the figure).
It should be noted that the hitching platform 7 is connected with the vehicle body 1 through the suspension rod, the different operation modules 6 comprise hitching main bodies and specific operation mechanisms connected with the hitching main bodies, and the hitching main bodies have the same structure, so that the universality of the modules is enhanced, namely, the vehicle body 1 and the different operation modules 6 can be quickly switched and installed through the same and universal hitching device, a whole set of vehicle and operation structure do not need to be configured for each agricultural operation task, and the use cost is greatly reduced.
Meanwhile, for the specific hanging platform 7, one of the two arch parts is fixed on the vehicle body, and the other one moves, as to which one moves, the utility model is not particularly limited in this regard because the implementation of the technical scheme of the utility model is not affected (fig. 2 is fixed by the right arch part 7.2 as an example); during the use, the user is located the spout translation of this bow-shaped part 7.1 on automobile body 1 in the spout that is located through rotating the rotation rim plate 7.3 that is located portable bow-shaped part 7.1, when portable bow-shaped part 7.1 translation to with articulate the main part and closely combine to start locking means on the rotation rim plate, at this moment, can realize that the centre gripping that articulates the main part is fixed to the centre gripping, and can be based on the lead screw to the concrete implementation mode of translation, structure such as gear, because translation and locking structure belong to prior art, technical staff in the art can carry out the autonomous selection based on prior art, for example, can carry out adaptability based on the principle that patent publication is CN206200170U, CN107855932A discloses and warp and realize the utility model discloses a translation and locking of portable bow-shaped part, the utility model discloses do not limit to this. The main structure of the two arch parts is the same except for the difference of movable and fixed, in particular, the lower part of the arch part has a sawtooth-shaped structure, the upper part has a convex connecting column 7.4, and the middle part has a small groove for receiving a buffer connecting column 6.4; correspondingly, the lower part of the hanging main body connected with the operating mechanism is provided with a soft body part 6.6 corresponding to the zigzag structure of the arch part, and the upper part of the hanging main body is provided with a concave accommodating piece 6.5. Thus, when the arcuate member is in contact with the hitch structure: at the lower part, the zigzag structure of the arch part is pressed into the soft body part 6.6 of the hanging main body, thereby realizing firm contact of the lower part and preventing the sliding; on the upper part, the projecting connection post 7.4 of the arch-shaped part is inserted into the concave receiving piece 6.5 on the upper part of the connecting body, so that the upper part is firmly mounted; in the middle, the small recess of the arcuate part receives the bumper 6.4, so that a stable connection of the middle is achieved. Because the middle part of articulating the main part still is equipped with and is located articulating the inside spliced pole 6.4 that articulates the main part and follow and articulate main part both sides limit protrusion part, this spliced pole 6.4 is independent two, and the two links together through spring coupling in the inside that articulates the main part, the spill that the upper portion held also has similar mechanism, then, based on this particular construction, can realize playing the effect of buffering when bow-shaped part and articulate the main part contact, the damage to the part has been avoided the rough operation, and, this structure has still improved the damping degree between the part when specifically carrying out the operation task, further avoided the damage that hard contact leads to between the metal rigid component. To sum up, the utility model discloses a mode of articulating has reached simultaneously firmly articulates and articulates the technological effect of two aspects with toughness.
Additionally, because the utility model discloses an aerial agricultural machine is the robot, and it possesses automatic mode promptly, so, the utility model discloses still set up communication and power supply interface, communication and power supply cable respectively on bow-shaped part and connecting body. Thus, after the mechanical connection of the operation module to the vehicle body is completed, the user can simply insert the communication and power supply cable into the communication and power supply interface to realize the communication connection and power supply of the operation module 6 to the vehicle body 1. For the multifunctional agricultural robot with the automatic working mode, the operation module can realize the execution of various operation tasks under the control of the control module on the vehicle body. Of course, each operation module can also be provided with a completely independent control module, and at the moment, the operation module is only required to be electrically connected with the vehicle body; in addition, each operation module also can possess semi-independent control module, promptly, control module on the automobile body and the control module of operation module self, or control module on the automobile body, handheld remote controller 8 and the control module of operation module self realize the control to the operation task of operation module in many ways jointly, the utility model discloses do not limit to this.
According to the utility model discloses, picking mechanism is including articulating module, lift platform, scalable arm, picking mechanism, first camera module and ranging module, articulate the module with lift platform fixed connection, scalable arm is installed on the lift platform, picking mechanism, first camera module and ranging module are installed to the end of scalable arm. Based on the structure, the position of the fruit can be identified and positioned based on the first camera module, and the distance between the fruit and the picking mechanism can be measured based on the distance measuring module, so that the fruit can be picked accurately.
According to the utility model discloses, spout medicine mechanism and include electric telescopic handle one, spray tank, presser, catheter and shower nozzle, the catheter warp the presser is connected with the spray tank, the catheter is connected with the shower nozzle, catheter and shower nozzle set up on electric telescopic handle one.
According to the utility model discloses, it includes electric telescopic handle two and second camera module to patrol and examine the mechanism, second camera module sets up in electric telescopic handle's top.
The utility model also provides a second embodiment, this embodiment compares with first embodiment, and the main improvement lies in: the automatic control function of the vehicle is added on the basis of the first embodiment, so that the vehicle can autonomously run a job task through the vehicle according to a preset track (for example, a job track input by a user in advance, a job track determined by the aerial agricultural robot autonomously, a new track planned by the aerial agricultural robot autonomously on the basis of the detected agricultural condition information on the basis of the job track input by the user, and the like), manpower can be liberated, and the use experience of the user is further improved.
According to the embodiment of the present invention, on the basis of the first embodiment, the sensing module 3 of the present invention comprises an RFID reader, an RFID tag is disposed on the suspension track, and unique address identification information is stored in the RFID tag; the control module 5 stores the address identification information of each RFID tag, and obtains the position information based on the address identification information in the RFID tag read by the RFID reader, so that the vehicle body is controlled to run according to the planned route.
It should be noted that, before the aerial agricultural robot executes the job task, the user may input the set job task and job track into the aerial agricultural robot, and then connect the corresponding job module 6, and then start the aerial agricultural robot to travel on the suspended track to execute the job function. To the input mode of job instruction, both can be data card input, procedure burn record, also can be realized through wired or wireless connection's external terminal, for example, this external terminal can be handheld remote controller, specifically, can also be mobile terminal such as smart mobile phone, panel computer, PDA, the utility model discloses do not restrict to this. Meanwhile, the aerial agricultural robot can know the motion state of the aerial agricultural robot and the agricultural condition information below the aerial agricultural robot in real time through the second camera module, the RFID reader and the like in the running process, so that whether the motion state needs to be adjusted or not is determined; meanwhile, the hand-held remote controller 8 can also be connected with the control module 5 through wireless communication to receive and display the real-time motion state of the vehicle from the communication module 4, so that when a user needs to temporarily change a working track or the working track of the aerial agricultural robot deviates, fails and stagnates, and the like, the user sends a running control instruction to the communication module 4, namely, manual control taking over or short-time intervention is realized, and the working effect of the aerial agricultural robot is further improved. The hand-held remote controller 8 is not limited to controlling the moving state of the vehicle, and may also include sending control commands to the control module 5 for each operation module 6, such as raising/lowering of a lift lever, opening/closing of a camera module, starting/stopping of spraying, and the like.
According to the embodiment of the utility model, still include the power module, the power module includes battery and charging module; still include a plurality of charging socket on the unsettled track, charging socket also is equipped with the RFID label.
It should be noted that the storage battery can provide sufficient electric power support for the aerial agricultural robot. Simultaneously, for the reinforcing practicality, also can set up the automatic function of charging, promptly, the aerial agricultural robot storage has each charging socket's on the unsettled track RFID position identification information to its electric power storage condition of real-time supervision, and in time go to the socket department of charging when electric power is not enough to support follow-up operation and carry out the automatic charging, because the orbit planning etc. of automatic charging belongs to prior art, the utility model discloses no longer describe to this.
The utility model also provides a third embodiment, this embodiment lies in with the main difference of aforementioned embodiment, has increased the concrete injecing to patrolling and examining the mechanism. In order to further realize the automation of agricultural operation, the utility model discloses aerial agricultural robot's the function of patrolling and examining has been increased, promptly, patrols and examines according to certain orbit by agricultural robot on unsettled track to including weeds, crops growth (including the crop height, the fruit condition, the disease condition etc.) the agricultural condition discernment and statistical analysis are handled based on local image is intelligent, and the generation is patrolled and examined the report and is guided the planter in time to water, fertilize, laxative etc..
The following description of the polling method is given by taking weeds in agricultural conditions as an example:
s1: the multifunctional agricultural robot runs to the routing inspection initial position of the suspension track, controls the second camera module to acquire a farmland image in real time and transmits the farmland image to the control module 4;
s2: the control module 4 processes the farmland image to identify weeds, and specifically comprises:
s21, image preprocessing: removing soil pixels in the image based on a green plant detection algorithm, removing noise influence through a median filtering algorithm to keep the edge of the green plant, and finally converting the image into a binary system. In this step, since the detected object is a plant, it is necessary to first remove the soil pixels of the non-detection target by a green plant detection algorithm, where the detection formula of the green plant is:
I＝2×G-R-B
in the formula, I represents a processed green plant image, R represents a red pixel in an RGB image, G represents a green pixel in the RGB image, and B represents a blue pixel in the RGB image.
And S22, removing the small objects in the preprocessed image based on the connected component area value. In this step, since small objects such as grass seedlings and fallen leaves do not affect the growth of crops, it is necessary to remove them to reduce the processing load of the control module.
S23, extracting a plurality of green plant areas through a threshold segmentation algorithm, and attaching labels to the areas; extracting the area S, the perimeter P, the minimum external moment length L and the minimum external moment width W of the leaves of the green plant region by using a neighborhood tracking algorithm;
and S24, normalizing the parameters S, P, L, W obtained in the step S23 and the parameters S, p, l and w in the pre-stored weed feature database according to a unified standard, then calculating the similarity between each green plant area and the pre-stored weed feature data based on the following formula, and identifying the green plant area with the similarity larger than a threshold value as the weed. The similarity calculation method in this step may be
In the formula, DiIndicates the similarity, omega, of the ith green plant area to the weed characteristics1-ω4The weight is represented by a weight that is,
normalized data representing the area, circumference, minimum circumscribed moment length, and minimum circumscribed moment width of the leaf of each green plant region, respectively,
respectively representing the area, the circumference, the minimum external torque length and the minimum external torque length of the blade in the pre-stored weed characteristic dataThe method is characterized in that the normalized data of the external moment width and the pre-stored weed characteristic data can be obtained by pre-establishing a training model, which belongs to the prior art in the field and is not limited by the application. Based on this step, the utility model discloses discerning weeds and having considered simultaneously crop plant and weeds at the area of blade, girth, minimum external moment length and the wide similar degree of aspect of minimum external moment, showing and improving ruderal discernment degree of accuracy.
S3, the control module 4 stores the number of the identified weeds and the position information read from the RFID reader in a correlation mode;
s4, driving the agricultural robot to a subsequent target point and executing the steps S2-S3 until the agricultural robot drives to the end point of the preset inspection track;
and S5, the control module 4 carries out statistical analysis on the stored weed quantity and the corresponding position information to generate an inspection report, and the inspection report is locally stored and sent to the handheld remote controller 8 through the communication module.
It should be noted that, based on the above-mentioned process of patrolling and examining of this embodiment, aerial agricultural robot can be in the farmland according to the automatic task of patrolling and examining of setting for the orbit, discern current agricultural condition fast through the visual identification algorithm, and can be based on the report of patrolling and examining that real-time agricultural condition generation corresponds, the user then can in time look over the report of patrolling and examining at handheld remote controller 8, thereby can confirm whether need carry out operation tasks such as picking, spout medicine, the very big efficiency that has improved agricultural production, simultaneously, because this multi-functional agricultural robot's automobile body can connect the operation module of picking fast, spout medicine, patrol and examine a variety of differences such as, the cost of agricultural production has also very big reduction.
It will be apparent to those skilled in the art that the algorithms disclosed above may be delivered to the processing device in a variety of forms, and the processing device may include any existing electronic control unit or a dedicated electronic control unit, such as a Sunsyu technology Raynaud's Ravigator card, a Baidu EROS Smart chip, a Zhongxing microelectronics NPU, a ZhongkewurK, a Microsoft FPGA Artificial Intelligence chip, a Huanshan Artificial Intelligence chip, and so forth. Including, but not limited to, information permanently stored on non-writable storage media (e.g., ROM devices) and information alterably stored on writable storage media (e.g., floppy disks, magnetic tape, CDs, RAM devices) and other magnetic and optical media. The algorithms may also be implemented in software executable objects. Alternatively, the algorithms may be implemented in whole or in part using suitable hardware components (e.g., Application Specific Integrated Circuits (ASICs), state machines, controllers) or other hardware components or devices, or a combination of hardware, software and firmware components.
In light of the foregoing, it is to be understood that various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. The utility model provides a based on aerial rail mounted multi-functional robot which characterized in that: the agricultural robot is positioned on the suspension track; the method comprises the following steps: the system comprises a vehicle body, a walking module, a sensing module, a control module, a communication module, an operation module and a hanging platform; the walking module, the sensing module, the control module, the communication module and the hanging platform are all arranged on the vehicle body, and the operation module is connected with the vehicle body through the hanging platform; the walking module, the sensing module, the communication module, the operation module and the hanging platform are all electrically connected with the control module; the operation module is a picking mechanism, a medicine spraying mechanism or an inspection mechanism; the walking module comprises a driving module and wheels, and the wheels move in the rail grooves of the suspension rails.
2. The aerial rail-based multifunctional robot of claim 1, wherein: the hanging platform comprises a hanging rod, a supporting plate, a left arched part, a right arched part, a rotating wheel disc and a sliding device, wherein the upper end of the hanging rod is connected with the bottom of the vehicle body, the lower end of the hanging rod is connected with the supporting plate, one of the left arched part and the right arched part is fixedly connected with the supporting plate, the other one of the left arched part and the right arched part is in sliding connection with the supporting plate through the rotating wheel disc and the sliding device, the arched lower parts of the left arched part and the right arched part are provided with saw-toothed areas, the arched upper parts of the left arched part and; the hanging platform is also provided with a communication and power supply interface; the rotary wheel disc is provided with a locking device.
3. The aerial rail-based multifunctional robot of claim 2, wherein: the operation module comprises an operation mechanism and a hanging main body, wherein the hanging main body is divided into three areas, namely an operation installation part, an upper hanging part and a lower hanging part; the operation mounting part is provided with a mounting groove for mounting the operation mechanism; the lower hanging part comprises a lower hanging main body and two buffering connecting columns which are arranged in the lower hanging main body and respectively protrude out of two sides of the lower hanging main body, and the two buffering connecting columns are connected in the lower hanging main body through a first spring; the left and right sides of the lower part of the lower hanging main body are provided with soft parts; the upper hanging part comprises an upper hanging main body and two concave accommodating pieces which are respectively arranged at two sides of the upper part of the upper hanging main body, and the two concave accommodating pieces are connected in the upper hanging main body through a second spring; the hanging main body is also provided with a communication and power supply cable.
4. An aerial rail-based multi-function robot as claimed in any one of claims 1 to 3, wherein: picking mechanism is including articulating module, lift platform, scalable arm, picking mechanism, first camera module and ranging module, articulate the module with lift platform fixed connection, scalable arm is installed on the lift platform, picking mechanism, first camera module and ranging module are installed to the end of scalable arm.
5. An aerial rail-based multi-function robot as claimed in any one of claims 1 to 3, wherein: the pesticide spraying mechanism comprises a first electric telescopic rod, a pesticide liquid box, a pressurizer, a liquid guide pipe and a spray head, wherein the liquid guide pipe is connected with the pesticide liquid box through the pressurizer, the liquid guide pipe is connected with the spray head, and the liquid guide pipe and the spray head are arranged on the first electric telescopic rod.
6. An aerial rail-based multi-function robot as claimed in any one of claims 1 to 3, wherein: the inspection mechanism comprises an electric telescopic rod II and a second camera module, and the second camera module is arranged at the top of the electric telescopic rod.
7. The aerial rail-based multifunctional robot of claim 1, wherein: the sensing module comprises an RFID reader, an RFID tag is arranged on the suspension track, and unique address identification information is stored in the RFID tag; the control module stores the address identification information of each RFID label, and obtains the position information based on the address identification information in the RFID label read by the RFID reader, so that the vehicle body is controlled to run according to the planned route.
8. The aerial rail-based multifunctional robot of claim 1, wherein: still include the power module, the power module includes battery and charging module.
9. The aerial rail-based multifunctional robot of claim 8, wherein: still include a plurality of charging socket on the unsettled track, charging socket also is equipped with the RFID label.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020512009.1U CN212146406U (en) | 2020-04-09 | 2020-04-09 | Multifunctional robot based on aerial rail type |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360782A (en) * | 2020-04-09 | 2020-07-03 | 内蒙古自治区生物技术研究院 | Multifunctional robot based on aerial rail type |
| ES2952722A1 (en) * | 2023-05-23 | 2023-11-03 | Grodi Agrotech S L | GREENHOUSE CROPS MONITORING SYSTEM (Machine-translation by Google Translate, not legally binding) |
-
2020
- 2020-04-09 CN CN202020512009.1U patent/CN212146406U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360782A (en) * | 2020-04-09 | 2020-07-03 | 内蒙古自治区生物技术研究院 | Multifunctional robot based on aerial rail type |
| ES2952722A1 (en) * | 2023-05-23 | 2023-11-03 | Grodi Agrotech S L | GREENHOUSE CROPS MONITORING SYSTEM (Machine-translation by Google Translate, not legally binding) |
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