CN107486834A - Chamber crop grows crusing robot - Google Patents
Chamber crop grows crusing robot Download PDFInfo
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- CN107486834A CN107486834A CN201710734719.1A CN201710734719A CN107486834A CN 107486834 A CN107486834 A CN 107486834A CN 201710734719 A CN201710734719 A CN 201710734719A CN 107486834 A CN107486834 A CN 107486834A
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- 230000007246 mechanism Effects 0.000 claims abstract description 126
- 230000012010 growth Effects 0.000 claims abstract description 35
- 238000012360 testing method Methods 0.000 claims abstract description 30
- 238000003754 machining Methods 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 29
- 239000011159 matrix material Substances 0.000 claims description 12
- 230000008635 plant growth Effects 0.000 claims description 10
- 239000002689 soil Substances 0.000 claims description 9
- 238000004088 simulation Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 6
- 210000000323 shoulder joint Anatomy 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 6
- 210000003857 wrist joint Anatomy 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 claims description 3
- 210000002310 elbow joint Anatomy 0.000 claims description 3
- 230000005622 photoelectricity Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 12
- 239000000463 material Substances 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 244000038559 crop plants Species 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004720 fertilization Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of chamber crop to grow crusing robot, and intelligent patrol detection is carried out to crop growth situation in greenhouse.The chamber crop growth crusing robot includes control system module, travel mechanism, intelligent smart terminal mechanism, multi-spindle machining arm mechanism, dedicated test mechanism.The travel mechanism is used for realizing walking of the chamber crop growth crusing robot on greenhouse track, the multi-spindle machining arm mechanism and the dedicated test mechanism are arranged in the travel mechanism, and the intelligent smart terminal mechanism is arranged on the Multi-shaft mechanical arm mechanism end.The chamber crop growth crusing robot can realize the autonomous function on greenhouse track, and self-contained sensor can be passed through, realize plant strain growth micro-loop environment information in fixed point collection in real time and monitoring greenhouse, manpower and materials consumption is greatly reduced, while improves the efficiency of management of crops in greenhouse again.
Description
Technical field
The present invention relates to a kind of intelligent agricultural robot, and inspection is carried out more particularly to a kind of crop growth situation
Robot, a kind of chamber facility agricultural automation equipment is further related to, applied to intelligent greenhouse monitoring system technical field.
Background technology
The available agricultural land resourses in China are in short supply, and warmhouse booth cultivation technique can break away from the beam of natural environment in itself
Tie up, avoid a series of influence of adverse circumstances such as high temperature, low temperature, strong rainstorms, high wind, frost, drying.With warmhouse booth technology
Develop rapidly, intelligent greenhouse is given birth to therewith.Warmhouse booth intellectual technology can be with property performance period, round-the-clock, anti-season
Crop-planting, this technology overcome the constraint and limitation of Traditional agriculture technology, so that plant growth resource reasonable distribution, increases
The strong high efficiency of resources untilization, substantially increase the level of production and productivity of agricultural so that original land area of one unit
On crop yield be doubled and redoubled.
" cental system " of intelligent greenhouse is intelligent greenhouse monitoring system.How robot and Study On Intelligent Monitoring Techniques realized
Combination be the research of current agriculture in greenhouse focus.Under agriculture in greenhouse environment, crop plant growth conditions to large area and
Plant strain growth microenvironment is monitored, only by the flexibility of intelligent patrol robot, adaptivity and flexible motion characteristic
It is possible to realize, meanwhile, the nonuniformity and three-dimensional factor of crop plant growthform, more highlight and used intelligent patrol
The necessity of robot.At present, ploughing and weeding robot, transplant robot, rate fertilization robot, spray are had been developed that in world wide
Medicine robot, grafting robot, vegetable and fruit picking robot, seed plate sowing machine people, seed plate earthing disinfection robot
Deng the robot available for industrialized agriculture production, there is also the system that static monitoring techniques are carried out for greenhouse, but not yet grind
Make the intelligent inspection robot for realizing that greenhouse microenvironment monitors in real time.
The content of the invention
In order to solve prior art problem, it is an object of the present invention to overcome the deficiencies of the prior art, and to provide one kind
Chamber crop grows crusing robot, realizes the long-range monitoring of crop growth information, and it carries Multi-shaft mechanical arm and sensor,
It can realize and plant in greenhouse is maked an inspection tour, and the blade face temperature in plant strain growth micro-loop environment information, blade area, plant are given birth to
Long status, matrix humiture, matrix pH value information are detected, and obtain plant strain growth related data.
To reach above-mentioned purpose, the present invention adopts the following technical scheme that：
A kind of chamber crop grows crusing robot, mainly includes dedicated test mechanism, control system module, multi-spindle machining
Arm mechanism, intelligent smart terminal mechanism and travel mechanism；Dedicated test mechanism is used for detecting soil pH value and soil temperature and humidity
Information；Multi-spindle machining arm mechanism is used to capture the blade of target plant and positioning action；Intelligent smart terminal mechanism uses
To realize that the growth micro-loop environment information to target plant detects, intelligent smart terminal mechanism is arranged on multi-spindle machining arm mechanism
Free end；Travel mechanism is located at the lower section of crusing robot, as the transport agent of crusing robot, for realizing survey monitor
Device people is walked on ground or space orbit, and multi-spindle machining arm mechanism, control system module and dedicated test mechanism are all arranged on
In travel mechanism；Control system module is made up of built-in industrial PC, and it passes through CAN and travel mechanism, intelligence dexterity
Terminal mechanism, multi-spindle machining arm mechanism, dedicated test mechanism are communicated, and control system module controls dedicated test machine respectively
Structure, multi-spindle machining arm mechanism, intelligent smart terminal mechanism and travel mechanism, intelligent collection to chamber crop growth information and
Monitoring.
As the further preferred technical scheme of such scheme, travel mechanism mainly includes car body, drive device and vehicle-mounted
Battery, car body is used for realizing travel mechanism in greenhouse floor or the walking on greenhouse track, according to control system module
Control instruction information, drive device control the walking of car body, and Vehicular accumulator cell provides electric power for travel mechanism.As further excellent
Selecting technology scheme, travel mechanism also include safety device, and safety device includes stroke apparatus switch and photoelectricity trigger switch, is used for
Detect whether with the presence of barrier, and travel mechanism is automatically stopped walking and is alarmed.
As the further preferred technical scheme of such scheme, intelligent smart terminal mechanism include blade face temperature sensor,
Blade face area transducer, vision sensor, clamper device and drive device, blade face temperature sensor, blade face area transducer
Be used for gathering the blade face temperature and blade face image of target plant with vision sensor, detect in real time target plant growth conditions and
The micro-loop environment information of plant strain growth；Clamper is using intelligent flexible mechanical arm tail end assembling clamper, for carrying out crawl mesh
Mark blade；Drive device is made up of motor, joint motions component, moment inspecting sensor and position-detection sensor, auxiliary
Each sensor is helped to complete the detection to plant growth data or the collecting work of plant sample.As further preferred technical side
Case, vision sensor auxiliary crusing robot are accurately positioned detection target, the motion path for mechanical arm of making rational planning for, clamper fortune
Dynamic direction and sensor are accurately positioned.
As the further preferred technical scheme of such scheme, the free degree of multi-spindle machining arm mechanism is at least six, adopts
With three series connection revolute pair simulation shoulder joint mechanisms, elbow joint mechanism is simulated using a revolute pair, rotated using two series connection
Pair simulation wrist joint mechanism, form the flexible arm of multi-spindle machining arm mechanism, wherein the three of shoulder joint transmission and wrist joint
Two tandem sequence pairs rotating around 3 vertical basic axles rotations, and the axis of two transmissions of arbitrary neighborhood can carry out phase
Hand over.
As the further preferred technical scheme of such scheme, dedicated test mechanism mainly includes substrate pH sensor and base
Matter humiture conductivity sensor, dedicated test mechanism can drive substrate pH sensor and matrix humiture conductivity sensors respectively
Device carries out horizontal or vertical motion, the matrix pH value and humiture electrical conductivity information of collection target plant growth.
The contactless anti-bump sensor of infrared light, the anti-bump sensor of contact and insurance are preferably provided with travel mechanism
Thick stick.
Dedicated test mechanism is preferably realized sensor vertical or is horizontally inserted matrix using the motion of single-degree-of-freedom
Operation.
As the further preferred technical scheme of such scheme, dedicated test mechanism 1 uses the motion platform of single-degree-of-freedom,
Motion platform drives synchronous pulley to drive by a speed-down servo motor, can realize compound motion vertically and horizontally, servo electricity
Machine determines the lifting distance of motion platform, photoelectric encoder and the signal of control system module 2 according to entrained photoelectric encoder
Connection.
The present invention compared with prior art, has following obvious prominent substantive distinguishing features and remarkable advantage：
1. chamber crop growth crusing robot of the present invention, which realizes chamber crop, grows crusing robot in greenhouse track
Interior autonomous, can realize monitoring and collection to plant microenvironment in greenhouse according to remote control commands, while can be with
Target plant is captured, sampled；
2. the present invention has carried out data acquisition and experimental verification on the spot in greenhouse base, crops in greenhouse can be realized
In high volume point-to-point monitoring, improves the production efficiency of warm indoor crops, and ensure that the quality and homogeneity of chamber crop；
3. the present invention is owned by larger advantage in the range of crops data information acquisition, speed and accuracy.
Brief description of the drawings
Fig. 1 is that the chamber crop of the embodiment of the present invention one grows crusing robot structural representation.
Fig. 2 is the Control system architecture block diagram that the chamber crop of the embodiment of the present invention one grows crusing robot.
Fig. 3 is the Multi-shaft mechanical arm structural scheme of mechanism that the chamber crop of the embodiment of the present invention one grows crusing robot.
Embodiment
Such scheme is described further below in conjunction with specific examples of the implementation, the preferred embodiments of the present invention are described in detail such as
Under：
Embodiment one：
In the present embodiment, referring to Fig. 1~Fig. 3, a kind of chamber crop grows crusing robot, mainly including dedicated test
Mechanism 1, control system module 2, multi-spindle machining arm mechanism 3, intelligent smart terminal mechanism 4 and travel mechanism 5；Dedicated test mechanism
1 is used for detecting soil pH value and soil temperature and humidity information；Multi-spindle machining arm mechanism 3 is used to grab the blade of target plant
Take and positioning action；Intelligent smart terminal mechanism 4 is used for realizing that the growth micro-loop environment information to target plant detects, intelligence
Smart terminal mechanism 4 is arranged on the free end of multi-spindle machining arm mechanism 3；Travel mechanism 5 is located at the lower section of crusing robot, as
The transport agent of crusing robot, for realizing that crusing robot is walked on space orbit, multi-spindle machining arm mechanism 3, control
System module 2 and dedicated test mechanism 1 are all arranged in travel mechanism 5；Control system module 2 is by built-in industrial PC group
Into it is entered by CAN and travel mechanism 5, intelligent smart terminal mechanism 4, multi-spindle machining arm mechanism 3, dedicated test mechanism 1
Row communication, control system module 2 control dedicated test mechanism 1, multi-spindle machining arm mechanism 3, the intelligent and of smart terminal mechanism 4 respectively
Travel mechanism 5, the intelligent of chamber crop growth information is gathered and monitored.In the present embodiment, referring to Fig. 1~Fig. 3, control
System module 2 uses built-in industrial PC, and chamber crop growth crusing robot control system module is intelligent patrol machine
The core of people's system, control system module 2 are built-in industrial PC.It is sent to each subsystem by CAN and instructed.Respectively
Subsystem receives to instruct and report the state of oneself by CAN.Chamber crop growth crusing robot control system is used for
Complete the mission planning design of intelligent patrol robot system, scheduling mobile robot performs conveying task, scheduling multi-spindle machining
Arm 3 performs space orientation task, the intelligent smart terminal 4 of scheduling performs plant strain growth monitoring task, scheduling dedicated test mechanism 1 is held
Row Soil K+adsorption task.
In the present embodiment, car body, drive device and Vehicular accumulator cell are mainly included referring to Fig. 1 and Fig. 2, travel mechanism 5,
Car body is used for realizing walking of the travel mechanism on greenhouse track, according to the control instruction information of control system module 2, driving dress
The walking of control car body is put, Vehicular accumulator cell is that travel mechanism 5 provides electric power.Travel mechanism 5 also includes safety device, safety dress
Put including stroke apparatus switch and photoelectricity trigger switch, for detecting whether with the presence of barrier, and travel mechanism 5 is stopped automatically
Only walk and alarmed.In the present embodiment, referring to Fig. 1 and Fig. 2, car body is by vehicle frame, corresponding mechanical structure and electrically ties
Structure forms, including reduction box, motor, wheel, it is desirable to has enough rigidity, meets greenhouse requirement.Car body using 24V or
48V batteries are power, and car body shares 4 wheels, snapped into respectively on guide rail, can be realized according to control instruction and advance and fall back
Function.Drive device is run using the change control system driving robot of servo-drive and is had speed control and Brake Energy
Power.The speed of service is adjustable, and straight line moving speed is up to 0.1~1m/s, 2~5mm of position error.
In the present embodiment, blade face temperature sensor, blade face face are included referring to Fig. 1 and Fig. 2, intelligent smart terminal mechanism 4
Product sensor, vision sensor, clamper device and drive device, blade face temperature sensor, blade face area transducer and vision
Sensor is used for gathering the blade face temperature and blade face image of target plant, detects growth conditions and the plant life of target plant in real time
Long micro-loop environment information；Clamper is using intelligent flexible mechanical arm tail end assembling clamper, for carrying out capturing target blade；
Drive device is made up of motor, joint motions component, moment inspecting sensor and position-detection sensor, aids in each sensing
Device completes the detection to plant growth data or the collecting work of plant sample.Vision sensor auxiliary crusing robot is accurately fixed
Position detection target, the motion path of mechanical arm of making rational planning for, the clamper direction of motion and sensor are accurately positioned.In this implementation
In example, referring to Fig. 1 and Fig. 2, blade face temperature sensor uses non-contact infrared temperature sensor, for obtaining blade face temperature；
Blade face area transducer uses ccd image sensor, and for gathering blade face image, blade face area is obtained after image procossing；
Clamper is intelligent flexible clamper, for realizing crawl target blade function；Drive device meets rigid requirements, has met
The requirement of the work such as the detection of paired plant growth data, the collection of plant sample；Non-contact infrared temperature sensor and CCD
Imaging sensor is all positioned in multi-degree-of-freemechanical mechanical arm, and positioning mobile multiple spot of completing by mechanical arm carry sensors precisely examines
Survey, complete the collection to Reducing sugar, growing environment parameter, realize dynamic access Reducing sugar and plant strain growth
Micro-loop environment information.
In the present embodiment, referring to Fig. 1~Fig. 3, the free degree of multi-spindle machining arm mechanism 3 is at least six, using three
Revolute pair of connecting simulation shoulder joint mechanism, elbow joint mechanism is simulated using a revolute pair, using two series connection revolute pair simulations
Wrist joint mechanism, forms the flexible arm of multi-spindle machining arm mechanism 3, wherein the three of shoulder joint transmission and carpal two
Tandem sequence pair is rotating around 3 vertical basic axle rotations, and the axis of two transmissions of arbitrary neighborhood can be intersected.At this
In embodiment, referring to Fig. 1~Fig. 3, the control system of multi-spindle machining arm mechanism 3 uses to be built based on modular layered mode,
Each joint employs the servo-control system based on double photoelectric encoder positions feedback, and its drive system has with mechanical arm
Combine together machine.Joint possesses joint moment sensor simultaneously, it is possible to achieve the joint control based on force snesor.Wherein two
Two feed cables and two communication cables are only needed between individual joint, so cabling can be completed in robot interior, this is not
It is only capable of making robot have a clean and tidy outward appearance, while bigger space can be obtained.In view of the space of robot
And movement velocity, all cables use flexible cable to ensure system reliably working.
In the present embodiment, referring to Fig. 1 and Fig. 2, dedicated test mechanism 1 mainly includes substrate pH sensor and matrix is warm and humid
Conductivity sensor is spent, dedicated test mechanism 1 can drive substrate pH sensor and matrix humiture conductivity sensor to enter respectively
The horizontal or vertical motion of row, the matrix pH value and humiture electrical conductivity information of collection target plant growth.Dedicated test mechanism 1 is adopted
Sensor vertical is realized with the motion of single-degree-of-freedom or is horizontally inserted the operation of soil.Dedicated test mechanism 1 uses list certainly
By the motion platform spent, motion platform drives synchronous pulley to drive, can realized vertically and horizontally by a speed-down servo motor
Compound motion, servomotor determine the lifting distance of motion platform, photoelectric encoder and control according to entrained photoelectric encoder
The signal of system module 2 connection processed.Dedicated test mechanism 1 can realize the monitoring to soil conditions, because forms of motion is relatively fixed.
The present embodiment realizes autonomous of the chamber crop growth crusing robot in greenhouse track, utilizes robot
Vision system, dedicated test mechanism 1, intelligent smart terminal mechanism 4 and multi-spindle machining arm mechanism 3, can pass through self-contained biography
Sensor, plant strain growth micro-loop environment information is maked an inspection tour and detected, obtain plant strain growth related data, to build plant growth intelligence
Can expert system offer support.The present embodiment chamber crop growth crusing robot can realize fixed point collection in real time and monitoring greenhouse
Interior plant strain growth micro-loop environment information, manpower and materials consumption is greatly reduced, while improve the efficiency of management of crops in greenhouse again.
Embodiment two：
The present embodiment and embodiment one are essentially identical, are particular in that：
In the present embodiment, the contactless anti-bump sensor of infrared light, the anti-bump sensor of contact are provided with travel mechanism 5
And bumper.The present embodiment is to ensure mobile robot inherently safe and Field Force and various kinds of equipment in the process of running
Safety, the present embodiment mobile robot take the safety measure of Multiple stage hardware, software, and it is non-that infrared light is provided with mobile robot
The anti-bump sensor of contact and the anti-bump sensor of contact and bumper.Mobile robot installs eye-catching signal lamp and sound report
Alarm device, and with the function of uploading mobile robot malfunction.
The embodiment of the present invention is illustrated above in conjunction with accompanying drawing, but the invention is not restricted to above-described embodiment, can be with
A variety of changes are made according to the purpose of the innovation and creation of the present invention, under all Spirit Essence and principle according to technical solution of the present invention
Change, modification, replacement, combination or the simplification made, should be equivalent substitute mode, as long as meeting the goal of the invention of the present invention,
Technical principle and inventive concept without departing from chamber crop of the present invention growth crusing robot, belong to the protection of the present invention
Scope.
Claims (10)
1. a kind of chamber crop grows crusing robot, it is characterised in that：Mainly include dedicated test mechanism (1), control system
Module (2), multi-spindle machining arm mechanism (3), intelligent smart terminal mechanism (4) and travel mechanism (5)；
The dedicated test mechanism (1) is used for detecting soil pH value and soil temperature and humidity information；
The multi-spindle machining arm mechanism (3) is used to capture the blade of target plant and positioning action；
The intelligent smart terminal mechanism (4) is used for realizing that the growth micro-loop environment information to target plant detects, the intelligence
Energy smart terminal mechanism (4) is arranged on the free end of the multi-spindle machining arm mechanism (3)；
The travel mechanism (5) is located at the lower section of the crusing robot, as the transport agent of the crusing robot, is used for
Realize that crusing robot is walked on ground or space orbit, the multi-spindle machining arm mechanism (3), the control system module
(2) all it is arranged on the dedicated test mechanism (1) in the travel mechanism (5)；
The control system module (2) is made up of built-in industrial PC, and it passes through CAN and the travel mechanism (5), institute
State intelligent smart terminal mechanism (4), the multi-spindle machining arm mechanism (3), the dedicated test mechanism (1) are communicated, described
Control system module (2) controls dedicated test mechanism (1), multi-spindle machining arm mechanism (3), intelligent smart terminal mechanism (4) respectively
With travel mechanism (5), the intelligent of chamber crop growth information is gathered and monitored.
2. chamber crop growth crusing robot according to claim 1, it is characterised in that：The travel mechanism (5) is main
Including car body, drive device and Vehicular accumulator cell, the car body is used for realizing the travel mechanism in greenhouse floor or in greenhouse
Walking on track, according to the control instruction information of the control system module (2), the drive device controls the car body
Walking, the Vehicular accumulator cell are that the travel mechanism (5) provides electric power.
3. chamber crop growth crusing robot according to claim 2, it is characterised in that：The travel mechanism (5) is also wrapped
Safety device is included, the safety device includes stroke apparatus switch and photoelectricity trigger switch, for having detected whether that barrier is deposited
, and the travel mechanism (5) is automatically stopped walking and is alarmed.
4. chamber crop grows crusing robot according to any one in claims 1 to 3, it is characterised in that：The intelligence
Energy smart terminal mechanism (4) includes blade face temperature sensor, blade face area transducer, vision sensor, clamper device and drive
Dynamic device, the blade face temperature sensor, blade face area transducer and vision sensor are used for gathering the blade face temperature of target plant
Degree and blade face image, the growth conditions of target plant and the micro-loop environment information of plant strain growth are detected in real time；Clamper is using intelligence
Change flexible mechanical arm end assembling clamper, for carrying out capturing target blade；Drive device is by motor, joint motions group
Part, moment inspecting sensor and position-detection sensor composition, aid in each sensor complete detection to plant growth data or
The collecting work of plant sample.
5. chamber crop growth crusing robot according to claim 4, it is characterised in that：Vision sensor aids in survey monitor
Device people is accurately positioned detection target, and motion path, the clamper direction of motion and the accurate of sensor of mechanical arm of making rational planning for are determined
Position.
6. chamber crop grows crusing robot according to any one in claims 1 to 3, it is characterised in that：It is described more
The free degree of shaft mechanical arm mechanism (3) is at least six, using three series connection revolute pair simulation shoulder joint mechanisms, is turned using one
Dynamic secondary simulation elbow joint mechanism, using two series connection revolute pair simulation wrist joint mechanisms, form the soft of multi-spindle machining arm mechanism (3)
Property arm, wherein three transmissions of the shoulder joint and carpal two tandem sequence pairs are rotating around 3 vertical bases
This axle is rotated, and the axis of two transmissions of arbitrary neighborhood can be intersected.
7. chamber crop grows crusing robot according to any one in claims 1 to 3, it is characterised in that：It is described special
Mainly include substrate pH sensor and matrix humiture conductivity sensor, the dedicated test mechanism (1) with testing agency (1)
The substrate pH sensor and matrix humiture conductivity sensor can be driven to carry out horizontal or vertical motion respectively, gather target
The matrix pH value and humiture electrical conductivity information of plant strain growth.
8. chamber crop grows crusing robot according to any one in claims 1 to 3, it is characterised in that：Described
Travel mechanism (5) is provided with the contactless anti-bump sensor of infrared light, the anti-bump sensor of contact and bumper.
9. chamber crop grows crusing robot according to any one in claims 1 to 3, it is characterised in that：Special inspection
Mechanism (1) is surveyed to realize sensor vertical using the motion of single-degree-of-freedom or be horizontally inserted the operation of matrix.
10. chamber crop grows crusing robot according to any one in claims 1 to 3, it is characterised in that：Special inspection
The motion platform that mechanism (1) uses single-degree-of-freedom is surveyed, motion platform drives synchronous pulley to drive by a speed-down servo motor, energy
Realize compound motion vertically and horizontally, servomotor according to entrained photoelectric encoder determine the lifting of motion platform away from
From photoelectric encoder is connected with control system module (2) signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710734719.1A CN107486834B (en) | 2017-08-24 | 2017-08-24 | Greenhouse crop growth inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710734719.1A CN107486834B (en) | 2017-08-24 | 2017-08-24 | Greenhouse crop growth inspection robot |
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| CN107486834A true CN107486834A (en) | 2017-12-19 |
| CN107486834B CN107486834B (en) | 2021-05-07 |
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| CN201710734719.1A Expired - Fee Related CN107486834B (en) | 2017-08-24 | 2017-08-24 | Greenhouse crop growth inspection robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108693806A (en) * | 2018-05-16 | 2018-10-23 | 合肥亿福自动化科技有限公司 | A kind of automatic transplanting mechanism |
| CN108858122A (en) * | 2018-08-13 | 2018-11-23 | 中国农业大学 | A kind of greenhouse plant disease crusing robot and method for inspecting |
| CN109588305A (en) * | 2018-12-20 | 2019-04-09 | 江苏大学 | A kind of strength is micro- to face upward Strawberry in Greenhouse pollination robot and its implementation |
| WO2019134454A1 (en) * | 2018-01-03 | 2019-07-11 | 江苏大学 | Suspension rail type greenhouse comprehensive information automatic cruise monitoring device |
| CN111061322A (en) * | 2019-12-04 | 2020-04-24 | 山东沐雨天禾智慧农业有限公司 | Water and fertilizer integrated system based on artificial intelligence |
| CN112306006A (en) * | 2019-07-29 | 2021-02-02 | 天津中津科苑智能科技有限公司 | Macrophyte monitoring devices |
| CN113138595A (en) * | 2021-03-22 | 2021-07-20 | 广东省现代农业装备研究所 | Rail-mounted mobile monitoring platform for greenhouse overhead cultivated crops and control method thereof |
| CN113134838A (en) * | 2021-04-23 | 2021-07-20 | 浙江数斯智能机器人科技有限公司 | Remove manipulator precision positioning system in coordination |
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| CN117826737A (en) * | 2024-03-04 | 2024-04-05 | 成都思越智能装备股份有限公司 | Operation scheduling method of detection device crossing multiple conveying systems |
| CN117826737B (en) * | 2024-03-04 | 2024-05-14 | 成都思越智能装备股份有限公司 | Operation scheduling method of detection device crossing multiple conveying systems |
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