CN108544505B - Agriculture and forestry ecology monitoring and maintenance robot - Google Patents
Agriculture and forestry ecology monitoring and maintenance robot Download PDFInfo
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- CN108544505B CN108544505B CN201810356127.5A CN201810356127A CN108544505B CN 108544505 B CN108544505 B CN 108544505B CN 201810356127 A CN201810356127 A CN 201810356127A CN 108544505 B CN108544505 B CN 108544505B
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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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- 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
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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
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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
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention relates to an agricultural and forestry ecology monitoring and maintaining robot, which is designed by an intelligent vehicle body system, a camera shooting and collecting system, an infrared detection system, an ultrasonic detection system, a medicine injection system and a control system, the camera shooting acquisition system, the infrared detection system and the ultrasonic detection system designed on the all-terrain vehicle are used for detecting the existence of animals, the control system guides the positioning route of the terrain vehicle to move and guides the medicine injection system of the vehicle body to send out medicine poison needles within the shortest distance to kill the animals, meanwhile, the camera shooting acquisition system is used for acquiring species growth images and dead animal body images of the whole forest land and enabling the injector to complete collection of body sample information through the mechanical arm to provide conditions for species analysis of the forest land.
Description
Technical Field
The invention relates to an agriculture and forestry ecology monitoring and maintaining robot, and belongs to the fields of agriculture and forestry intelligent robot design technology and forest and agriculture ecology monitoring.
Background
With the development of modern agriculture and forestry technology, the development of agriculture and forestry is more than that of economic construction in China, the agriculture and forestry planting is an important link in the development of agriculture and forestry, the influence of animal diseases and insect pests which harm the growth of plants on the agriculture and forestry planting is huge, the animal diseases and insect pests which can harm the growth of agriculture and forestry are one of main agriculture and forestry disasters in China, the plant disease and insect pests have the characteristics of multiple types, large influence and frequent outbreak of disasters, and the occurrence range and the severity of the plant disease and insect pests cause great loss to the national economy of China, particularly to agricultural production. At present, the disease and pest control of agriculture and forestry is not thorough, so that economic loss in agriculture and forestry planting is large, the disease and pest control work of agriculture and forestry is the main content in current agricultural production, along with the continuous development of scientific technology, the disease and pest control technology of agriculture and forestry has been developed sufficiently today, but many control measures still have many problems, the application of the modern novel disease and pest control means is incomplete, the disease and pest control mode is backward, and the control measures do not fundamentally control the disease and pest of crops to a great extent, so that the agriculture and forestry animal control device capable of continuously monitoring the disease and pest of crop animals and killing the disease and pest of crops in a fundamental sense is arranged, and meanwhile, the agriculture and forestry animal control device capable of monitoring the growth of crops and species has great significance for agricultural production and social and economic development.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide an agricultural and forestry ecology monitoring and maintaining robot which is designed by an intelligent vehicle body system, a camera shooting and collecting system, an infrared detection system, an ultrasonic detection system, a medicine injection system and a control system, the existence of animals is detected by designing a camera shooting and collecting system, an infrared detection system and an ultrasonic detection system on the agriculture and forestry ecology monitoring and maintaining robot, the control system guides the positioning route of the agriculture and forestry ecology monitoring and maintaining robot to move and guides a medicine injection system of a vehicle body frame to send out medicine poison needles in the shortest distance to kill the animals, meanwhile, the camera shooting acquisition system is used for acquiring species growth images and dead animal body images of the whole forest land and enabling the injector to complete body sample information collection through the mechanical arm so as to provide conditions for species analysis of the forest land.
The technical scheme adopted by the invention is as follows: the utility model provides an agriculture and forestry ecology monitoring and maintenance robot which characterized in that includes: the intelligent drug injection device comprises a vehicle body frame, an intelligent wheel, a mechanical arm, a camera, an infrared detection device, an ultrasonic detection device, a drug injection device, a solar cell panel and a control system, wherein the mechanical arm, the camera, the infrared detection device, the ultrasonic detection device and the drug injection device are all arranged on the vehicle body frame; the robot for agriculture, forestry and ecological monitoring and maintenance comprises a camera, an infrared detection device and an ultrasonic detection device, wherein the camera, the infrared detection device and the ultrasonic detection device are designed on a vehicle body frame, the existence and the position of an animal in a forest land can be detected in real time, the movement and navigation work of the robot for agriculture, forestry and ecological monitoring and maintenance is completed through a control system, the robot for agriculture, forestry and ecological monitoring and maintenance kills the animal by using a toxic needle sent by a medicine injection device to the animal existing nearby under the instruction of the control system, meanwhile, the camera collects a corpse image of a dead animal and a growth image of species in the forest land and transmits the acquired images to the control system, and the control system guides a mechanical arm to complete the collection of dead corpse blood sample tissues through an injector at the front end of the mechanical arm, so that conditions.
Furthermore, the agriculture and forestry ecology monitoring and maintenance robot adopts an unmanned design, in order to adapt to road surface environments of different terrain road sections, the design of the intelligent wheel of the agriculture and forestry ecology monitoring and maintenance robot adopts an eight-wheel design, the left end and the right end of the intelligent wheel are respectively provided with four wheels, each support part connected with a vehicle body frame is connected with two wheels, the intelligent wheels can automatically lift and shrink the wheels according to the ground road shape to ensure the safe driving and function realization of the agriculture and forestry ecology monitoring and maintenance robot, the driving path of the agriculture and forestry ecology monitoring and maintenance robot and the path planning of the mechanical arm are controlled by a control system through calculating an optimal path according to animal position information detected by a camera, an infrared detection device and an ultrasonic detection device, the steering system, the power system and the brake system are all connected with the single chip microcomputer, and the working system is controlled by the single chip microcomputer.
Furthermore, the camera is arranged at the body frame of the agriculture, forestry and ecological monitoring and maintenance robot, the camera supports and damps through the holder and is connected with the body frame through the support piece, the camera can carry out all-dimensional acquisition on images on different terrain road sections, can realize the acquisition of animal position images harmful to agriculture and forestry growth, comprises the steps of taking pictures of animal position images and animal openings of visible parts and uploading, the position image can be transmitted to the control system to achieve position information capture, the camera can also collect image collection of animal carcasses in the forest land, image information is transmitted to the control end in real time, the control end controls the work of the mechanical arm according to the image information sent by the camera, and in addition, the camera can also collect images and positions of abnormal plant growing areas and upload the images and positions to the control system to better study the pathological control and growing conditions of crops.
Furthermore, the infrared detection device and the ultrasonic detection device are designed on the vehicle body frame, the infrared detection device can detect the animal information in the nearby forest land by emitting infrared rays, the ultrasonic detection device can detect the existence and the position information of the animal by the sound wave positioning function, the arrangement of the infrared detection device and the ultrasonic detection device can effectively make up the unicity of camera information acquisition, the infrared detection device and the ultrasonic detection device can transmit the position information of the animal to the control system to complete the path planning of the agriculture and forestry ecological monitoring and maintenance robot, in addition, the ultrasonic detection device can emit sound waves with different frequencies according to different species, the sound wave information is mainly designed for a part of animals hidden in the ground hole from crisis to crop growth, and the animals can be called out from the ground hole by emitting sound waves with different frequencies to be captured.
Furthermore, the medicine injection device is designed on a vehicle body frame and consists of a supporting rotating part, a high-pressure air pump, an injection pusher, an injection nozzle, a drum-type poison needle inserting disc and a medicine poison needle, wherein a plurality of poison needles at annular positions are arranged in the poison needle inserting disc, the working principle of the medicine injection device is mainly realized by the principles of mechanical thrust and revolver bullet changing, the injection pusher is connected through the rotating part, the rotating part is connected with a single chip microcomputer, the single chip microcomputer controls the work of the rotating part through the prior art, the angle transfer and the height adjustment can be carried out according to the information of different positions, after the medicine injection device obtains the animal position information from a control system, the control system controls the high-pressure air pump to release an impulse force on the injection pusher to send out the corresponding medicine poison needle on the front poison needle inserting disc from the injection nozzle to kill the animal, while the toxic needles at other positions on the inserting disc can not be sent out, then the control system controls the high-pressure air pump to stop working, and the injection pusher rotates to the original position again.
Furthermore, the drum type poison needle inserting disc is provided with medicine poison needles, the drum type poison needle inserting disc is mainly used for launching the poison needles by applying the principle of changing bullets of a revolver, after one poison needle is launched, the drum type poison needle inserting disc can rotate a rotating disc of the drum type poison needle inserting disc to enable the next poison needle to be aimed at an injection pusher, and the next target at a launching position is waited for to launch the poison needle.
The mechanical arm is arranged on a frame of the vehicle body, the mechanical arm is mainly used for collecting blood samples and tissue samples of animal carcasses, the mechanical arm consists of a hand injector, a drum-type injector insertion disc and a movement rotating mechanism, the drum-type injector insertion disc is provided with injectors with different clamping groove positions, each clamping groove is provided with a digital mark, when a camera acquires images of dead carcasses and sends the images to a control system, the control system calculates an optimal position path plan for the mechanical arm according to image information to guide the injector designed at the top of the mechanical arm to collect various tissue samples such as blood samples of the dead carcasses and the like, blood sample suction of the injector is mainly completed through clamping and stretching of the mechanical arm, the clamping part of the mechanical arm is used for completing stable work of the injector, and the lifting part of the movement rotating mechanism provided with the mechanical arm, The 6 degrees of freedom of independent motion modes such as stretching, rotating and the like complete the stretching mechanism to enable the syringe to suck the blood sample.
Furthermore, after one syringe finishes blood sample collection, the card slot mark number can be recorded and sent to a control system, the drum-type syringe insertion disc can enable the operated syringe to be contracted into the insertion disc through the telescopic mechanism of the mechanical arm without influencing the operation of other syringes, meanwhile, the insertion disc can enable the next syringe to rotate to the front end of the telescopic mechanism through the left rotation bullet principle to wait for the collection of the blood sample of the next dead animal, the work control of the mechanical arm is mainly finished through the control system, the single chip microcomputer controls the motor of each degree of freedom of the mechanical arm through the existing scientific technology to finish the specific actions of the mechanical arm, the operations of the mechanical arm are further adjusted through controlling the forward rotation, the reverse rotation, the rotating speed and the like of the motor to achieve better working effect, and meanwhile, the single chip microcomputer receives image information fed back by the camera, stable closed loop control is formed.
Furthermore, the power supply system of the agriculture and forestry ecology monitoring and maintenance robot is provided by a self-contained power supply of the agriculture and forestry ecology monitoring and maintenance robot and a solar cell panel, the solar cell panel is adopted at the light receiving part of the vehicle body frame to design the vehicle body frame, the solar cell panel can convert solar energy into electric energy to provide partial electric energy for the device, and the electric energy is provided for the agriculture and forestry ecology monitoring and maintenance robot together with the power supply in the vehicle.
Furthermore, the control system of the device comprises a wireless communication module, a single chip microcomputer, a handheld end and a PC data end, wherein the wireless communication module is realized by the prior art, the wireless communication module exchanges data information with the single chip microcomputer and transmits the data information to the handheld end and the PC cloud end, the data exchange among the single chip microcomputer, the handheld end and the PC cloud end is further promoted, the data processing capability of the control system is effectively improved by arranging the handheld end and the PC end, the control system mainly collects position information and image information of the device, makes optimal selection for path planning of the device and path movement of a mechanical arm and completes growth analysis of crop species, data information of various animals is arranged in the control system, the control system can realize selection of animals for killing of a robot for agriculture and forestry ecological monitoring and maintenance, and animal catching and killing selection through data analysis, a drug injection device for an agriculture and forestry ecology monitoring and maintenance robot will only work on animals that are harmful to agriculture and forestry growth, but will not do harm to animals and people that are beneficial to agriculture and forestry growth.
A robot for monitoring and maintaining the ecology of agriculture and forestry has the following control steps.
Step 1: the robot comprises a camera, a control system, an infrared detection device, an ultrasonic detection device and a control system, wherein the camera is arranged on the agriculture and forestry ecology monitoring and maintenance robot and used for acquiring image information of animals in agriculture and forestry sections and transmitting the information to the control system, the infrared detection device arranged on the agriculture and forestry ecology monitoring and maintenance robot detects the information of the animals near the sections by emitting infrared heat sensation and transmits the information to the control system, and the ultrasonic detection device arranged on the agriculture and forestry ecology monitoring and maintenance robot detects the information of the animals by emitting ultrasonic waves and transmits the information to the control system.
Step 2: when the ultrasonic detection device detects the animal information of the tunnel, the ultrasonic detection device can send ultrasonic waves of different wave bands through the ultrasonic detection device to enable the animals in the tunnel to escape from the tunnel, so that the animals can be killed and captured better.
And step 3: after the control system receives the image information of the camera of the detection device, the animal information detected by the infrared detection device and the position information detected by the ultrasonic detection device, the control system obtains the animal position information of the comprehensive detection device through calculation, and the optimal path moving mode of the agriculture and forestry ecology monitoring and maintenance robot is used for next-step animal killing.
And 4, step 4: the medicine injection device arranged on the agriculture and forestry ecology monitoring and maintenance robot can automatically adjust the angle and the height according to the position information of plant diseases and insect pests after obtaining the position information of animals, and when the distance of killing the animals is optimal, the medicine injection device can inject medicine poison needles to the animals at the position to kill the animals.
And 5: the camera can collect the growth image of crops in an agriculture and forestry section in real time, the collected image is directly transmitted to the control system for processing and delivery so as to timely prevent and treat the growth of species and physiological symptoms of the crops, in addition, the camera can shoot and collect the images of dead species in the section and transmit the position information of the dead animals to the control system, and the control system can process and transmit the position information of the dead animals to the agriculture and forestry ecological monitoring and maintaining robot.
Step 6: the control system directly controls the path movement of the agriculture and forestry ecology monitoring and maintaining robot, and controls the direction movement and the angle transfer of the mechanical arm, and the mechanical arm collects some animal sample information such as blood samples of dead animals through a top injector so as to provide research conditions for the species growth and the pathological prevention and treatment in the area.
And 7: in the whole working process of the agriculture and forestry ecology monitoring and maintaining robot, the electric energy of the agriculture and forestry ecology monitoring and maintaining robot is provided by the electric energy of the robot and the solar panel.
Compared with the prior art, the invention has the following advantages: 1. an agricultural and forestry ecology monitoring and maintenance robot adopts a camera shooting acquisition technology, an infrared thermal technology and an ultrasonic principle to carry out animal information acquisition and position detection on animal position detection, and has the advantages of strict design structure and good action effect; 2. the animal can be killed by injecting the drug poison needle, so that the use of pesticides for killing animals by spraying traditional drugs is reduced, the animals are killed more thoroughly, and the pesticide is more beneficial to the growth of agriculture and forestry; 3. through image information acquisition of the camera and the use of the mechanical arm and the injector, the agricultural and forestry crops are effectively detected, and good conditions are provided for researching agricultural and forestry species; 4. the device can reduce the use of pesticides to a great extent, and also adds solar energy in the aspect of electric energy supply, thereby being environment-friendly, economic and energy-saving.
Drawings
FIG. 1 is an overall configuration diagram of the apparatus of the present invention.
Fig. 2 is a view showing the construction of a medicine injection device of the present invention.
FIG. 3 is a schematic diagram of a robot arm of the apparatus of the present invention.
Fig. 4 is a system operation block diagram of the apparatus of the present invention.
Fig. 5 is a block diagram of the operation of the control system of the apparatus of the present invention.
FIG. 6 is a system circuit diagram of the apparatus of the present invention.
Fig. 7 is a circuit diagram of a solar panel of the apparatus of the present invention.
Fig. 8 is a circuit diagram of a single chip microcomputer controlled motor of the device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings in combination with the detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Referring to fig. 1-4, an agriculture and forestry ecology monitoring and maintaining robot is characterized by comprising: the intelligent drug injection device comprises a vehicle body frame 1, an intelligent wheel 2, a mechanical arm 3, a camera 4, an infrared detection device 5, an ultrasonic detection device 6, a drug injection device 7, a solar cell panel 8 and a control system, wherein the mechanical arm 3, the camera 4, the infrared detection device 5, the ultrasonic detection device 6 and the drug injection device 7 are all arranged on the vehicle body frame 1, the solar cell panel 8 is arranged at a light receiving position at the top of the vehicle body frame 1, and the mechanical arm 3, the camera 4, the infrared detection device 5, the ultrasonic detection device 6, the drug injection device 7 and the solar cell panel 8 are all connected with the control system; the camera 4, the infrared detection device 5 and the ultrasonic detection device 6 which are designed on the vehicle body frame 1 can detect the existence and the position of an animal in a forest land in real time, and the movement and navigation work of the agriculture and forestry ecology monitoring and maintaining robot is completed through the control system, the agriculture and forestry ecology monitoring and maintaining robot kills the animal by using a toxic needle sent by the medicine injection device 7 to the animal existing nearby under the instruction of the control system, meanwhile, the camera 4 collects the corpse image of the dead animal and the growth image of species in the forest land and transmits the acquired images to the control system, and the control system guides the mechanical arm 3 to complete the collection of dead corpse blood sample tissues through the front end injector of the mechanical arm 3, so that conditions are provided for further researching the species and physiological conditions.
The agriculture and forestry ecology monitoring and maintenance robot adopts an unmanned design, in order to adapt to road surface environments of different terrain road sections, the intelligent wheel 2 of the agriculture and forestry ecology monitoring and maintenance robot adopts an eight-wheel design, the intelligent wheel) is provided with four wheels 2 at the left end and the right end respectively, each supporting piece connected with a vehicle body frame 1 is connected with two wheels 2, the intelligent wheels 2 can automatically lift and shrink the wheels according to the ground road shape to ensure the safe driving and function realization of the agriculture and forestry ecology monitoring and maintenance robot, the driving path of the agriculture and forestry ecology monitoring and maintenance robot and the path planning of the mechanical arm 3 are controlled by calculating an optimal path through animal position information detected by a control system through a camera 4, an infrared detection device 5 and an ultrasonic detection device 6, the steering system, the power system and the brake system are all connected with the single chip microcomputer, and the working system is controlled by the single chip microcomputer.
The camera 4 is arranged at the vehicle body frame 1 of the agriculture, forestry and ecological monitoring and maintaining robot, the camera 4 supports and damps through a cradle head and is connected with the vehicle body frame 1 through a supporting piece, the camera 4 can carry out all-dimensional acquisition on images on different terrain road sections, the camera 4 can realize the acquisition of animal position images harmful to agriculture and forestry growth, the image acquisition comprises the shooting and uploading of the animal position images and animal openings of a visible part, the position image can be transmitted to the control system to achieve position information capture, the camera 4 can also collect image collection of animal carcasses in the forest land, image information is transmitted to the control end in real time, the control end controls the work of the mechanical arm 3 according to the image information sent by the camera 4, and in addition, the camera 4 can also collect images and positions of abnormal plant growing areas and upload the images and positions to the control system to better study the pathological control and growing conditions of crops.
The infrared detection device 5 and the ultrasonic detection device 6 are designed on the vehicle body frame 1, the infrared detection device 5 can detect the animal information in the nearby forest land by emitting infrared rays, the ultrasonic detection device 6 can detect the existence and the position information of the animal by a sound wave positioning function, the arrangement of the infrared detection device 5 and the ultrasonic detection device 6 can effectively make up the unicity of information acquisition of the camera 4, the infrared detection device 5 and the ultrasonic detection device 6 can transmit the position information of the animal to the control system to complete the path planning of the agriculture, forestry and ecological monitoring and maintaining robot, in addition, the ultrasonic detection device 6 can emit sound waves with different frequencies according to different species, the sound wave information is mainly designed for a part of animals hidden in the ground hole from crisis to crop growth, and the animals can be called out from the ground hole by emitting sound waves with different frequencies to be captured.
The medicine injection device 7 is designed on the vehicle body frame 1, the medicine injection device 7 consists of a supporting rotating part 701, a high-pressure air pump 702, an injection pusher 703, an injection nozzle 704, a drum-type poison needle inserting disc 705 and medicine poison needles 706, a plurality of poison needles 706 in annular positions are arranged on the poison needle inserting disc 705, the working principle of the medicine injection device 7 is mainly realized by the principles of mechanical thrust and revolver bullet changing, the injection pusher 703 is connected through the rotating part 701, the rotating part 701 is connected with a single chip microcomputer, the single chip microcomputer controls the work of the rotating part 701 through the prior art, angle transfer and height adjustment can be carried out according to information of different positions, after the medicine injection device 7 obtains the animal position information from a control system, the control system controls the high-pressure air pump 702 to release an impulse force on the injection pusher 703 to send out the corresponding medicine poison needles 706 on the front poison needle inserting disc 705 from the injection nozzle 704 to kill animals, while the poison needles 706 inserted in other positions on the tray 705 are not fired, then the control system controls the high pressure air pump 702 to stop working and the injection pusher 703 to rotate back to the original position.
The drug needle 706 is arranged on the drum type toxic needle inserting tray 705, the launching of the toxic needle 706 by the drum type toxic needle inserting tray 705 is mainly realized by applying the principle of revolver reloading, after one toxic needle 706 is launched, the drum type toxic needle inserting tray 705 rotates the rotating disc 705 to align the next toxic needle 706 to the injection pusher 703, and the launching of the toxic needle 706 is carried out by waiting for the target of the next launching position.
The mechanical arm 3 is arranged on the vehicle body frame 1, the mechanical arm 3 mainly finishes the collection of blood sample and tissue samples of animal carcasses, the mechanical arm 3 consists of a hand injector 301, a drum injector insertion disc 302 and a motion rotating mechanism 303, the drum injector insertion disc 302 is provided with injectors 301 with different clamping groove positions, each clamping groove is provided with a digital mark, when a dead carcass image is acquired by a camera 4 and is sent to a control system, the control system calculates an optimal position path plan for the mechanical arm 3 according to image information to guide the injector designed at the top of the mechanical arm 3 to finish the collection of various tissue samples such as blood samples of the dead carcass, the blood sample suction of the injector 301 is mainly finished by clamping and telescopic parts of the mechanical arm 3, and the stable work of the injector 301 is finished by the clamping parts of the mechanical arm 3, the syringe 301 sucks a blood sample by completing the telescopic mechanism by 6 degrees of freedom in independent movement modes such as lifting, extending, and rotating of the movement rotation mechanism 303 of the robot arm 3.
After one syringe 301 finishes blood sample collection, the card slot mark number is recorded and sent to a control system, the drum-type syringe insertion disc 302 retracts the syringe 301 into the insertion disc 302 through the telescopic mechanism of the mechanical arm 3 after the work is finished, the work of other syringes 301 is not affected, meanwhile, the insertion disc rotates the next syringe 301 to the front end of the telescopic mechanism through the left rotation bullet principle to wait for the collection of the blood sample of the next dead animal, the work control of the mechanical arm 3 is mainly finished through the control system, the single chip microcomputer controls the motor of each degree of freedom of the mechanical arm 3 through the prior art to finish the specific actions of the mechanical arm 3, the specific actions comprise controlling the forward rotation, the reverse rotation, the rotating speed and the like of the motor to further allocate the work of the mechanical arm 3 to achieve better work effect, and simultaneously the single chip microcomputer receives the image information fed back by the camera 4, stable closed loop control is formed.
A power supply system of an agricultural and forestry ecology monitoring and maintenance robot is provided by a self-contained power supply of the agricultural and forestry ecology monitoring and maintenance robot and a solar cell panel, the solar cell panel 8 is adopted at a light receiving part of a vehicle body frame 1 to design the vehicle body frame 1, the solar cell panel 8 can convert solar energy into electric energy to provide partial electric energy for the device, and the electric energy is provided for the agricultural and forestry ecology monitoring and maintenance robot together with a power supply in a vehicle.
The control system of the device comprises a wireless communication module, a singlechip, a handheld end and a PC data end, wherein the wireless communication module is realized by the prior art, the wireless communication module exchanges data information with the singlechip and transmits the data information to the handheld end and the PC cloud end, so that the data exchange can be further realized among the singlechip, the handheld end and the PC cloud end, the data processing capability of the control system is effectively improved by arranging the handheld end and the PC end, the control system mainly collects position information and image information of the device, makes optimal selection for path planning of the device and path movement of a mechanical arm 3 and completes growth analysis of crop species, data information of various animals is arranged in the control system, the control system can realize selection of killing animals of a agriculture and forestry ecological monitoring and maintenance robot and performs animal catching and killing selection through data analysis, a drug injection device 7 for an agro-forestry ecology monitoring and maintenance robot will only work with animals that are harmful to the growth of agriculture and forestry, but will not harm animals and humans that are beneficial to the growth of agriculture and forestry.
Referring to fig. 5-7, the circuit diagram of the system of the invention includes a clock circuit, a reset circuit, an ultrasonic detector 6 circuit, an analog camera 4 circuit, a single chip microcomputer, an infrared sensor 5, a manipulator 3 analog circuit, an injector 7 analog circuit, a serial communication circuit, a solar panel 8 circuit, the type of the single chip microcomputer used in the system is AT89C51, the type of the camera 4 is OV6620, a pyroelectric infrared sensor 5 is PIR, the manipulator 3 is composed of two direct current motors, the injector 7 is composed of a direct current motor, the direct current motor is connected with the single chip microcomputer by L298, all motors of an agroforestroom monitoring and maintenance robot and the mode of the single chip microcomputer are as shown in fig. 7, the single chip microcomputer 7 controls the motors by the existing scientific technology, the camera 4 is composed of the OV6620, eight switches are respectively connected with P1.0-P1.7 to simulate the input of the camera 4, the electric infrared sensor 5 is a pyroelectric infrared sensor 5 capable of detecting whether organisms are near a biological substances, transmitting the detected by an amplification signal through an amplification circuit, transmitting the signal to the P1.0-P1.7, the ultrasonic amplification circuit, the ultrasonic signal is respectively connected with the ultrasonic amplification circuit, the ultrasonic signal is connected with the P6 switch, the ultrasonic probe, the ultrasonic signal is used for transmitting the ultrasonic signal, the ultrasonic signal is transmitted to the ultrasonic signal transmitter, the ultrasonic detector is transmitted to the ultrasonic detector, the ultrasonic detector is used for transmitting the ultrasonic detector, the ultrasonic detector for receiving circuit, the ultrasonic detector for receiving the ultrasonic.
The reset circuit, the serial communication circuit and the solar cell panel circuit in the system circuit are explained below.
A reset circuit: in order to ensure the operation of the singlechip, a reset circuit is added to the singlechip. The reset circuit has the following functions: the power-on reset may reset the internal memory; synchronizing internal and external clock signals; when the voltage fluctuates or is unstable, the reset circuit delays the circuit until the circuit is stable; when the program has an error, the single chip microcomputer is restored to a normal operation state through the reset circuit.
A serial port communication circuit: the serial port communication circuit is commonly used for a computer to acquire data acquired remotely, wireless communication is mainly realized through a serial port in the part of data receiving and transmission, the realization of the wireless communication technology adopts the prior art, one end of the wireless communication module is connected with a single chip microcomputer, one end of the wireless communication module is connected with a PC cloud end and a handheld end of the computer, the PC end and the handheld end can both receive data information processed by the single chip microcomputer, the handheld end can be used for collecting the data information, the operation of a user is convenient to use, the PC cloud end is arranged to effectively realize remote data conversion through data receiving, so that the control of the agriculture and forestry ecology monitoring and maintenance robot is better realized, the data can be transmitted and downloaded among the computer, the handheld end and the single chip microcomputer through the arrangement of the wireless communication module, and the informatization exchange of the data module is realized. MAX232 is the level conversion interface, COMPIM is the standard computer RS232 interface. The signal sent by the single chip microcomputer is converted into electric level by the MAX232 and then is transmitted to a computer through an RS232 interface.
The model of the chip in the figure is L T1073, A is the solar panel 8, the solar panel A provides 6V voltage in the figure, L T1073 detects the charging current through a resistor R6, the charging current of 16 milliamperes is maintained in the storage battery, a low-voltage measuring device is arranged in L T1073, when the output voltage of the solar panel 8 reaches 4V, the L T1073 disconnects the charging circuit, and when the voltage rises to 5V, the battery can be continuously charged.
The working principle of the circuit of the system is as follows: the animal pest information image of district is gathered through camera 4, the image that will shoot is sent to the singlechip and is handled, pyroelectric infrared sensor 5 is PIR can detect whether there is the living beings to exist, the information that will detect passes through signal amplification circuit and conveys the singlechip to handle, ultrasonic detection device 6 sends ultrasonic signal, the singlechip utilizes the propagation velocity of sound wave and the time interval of transmitting pulse to receiving reflection pulse to calculate the distance of pest, the singlechip will be handled by camera 4, pyroelectric infrared sensor 5, the signal of telecommunication that ultrasonic sensor 6 transmitted, confirm the position of animal pest after, control syringe 7 (can positive and negative rotation direct current motor) transmission poison medicine makes the animal pest lethal. After the death of the animal pests is confirmed, the single chip microcomputer transmits signals to control an injector of the mechanical arm 3 (two direct current motors capable of rotating positively and negatively respectively control the left and right movement and the front and back movement of the mechanical arm) to collect corpse blood samples of the animal pests.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (8)
1. The utility model provides an agriculture and forestry ecology monitoring and maintenance robot which characterized in that includes: the intelligent drug injection device comprises a vehicle body frame (1), intelligent wheels (2), a mechanical arm (3), a camera (4), an infrared detection device (5), an ultrasonic detection device (6), a drug injection device (7), a solar cell panel (8) and a control system, wherein the mechanical arm (3), the camera (4), the infrared detection device (5), the ultrasonic detection device (6) and the drug injection device (7) are all arranged on the vehicle body frame (1), the solar cell panel (8) is arranged at a light receiving position at the top of the vehicle body frame (1), and the mechanical arm (3), the camera (4), the infrared detection device (5), the ultrasonic detection device (6), the drug injection device (7) and the solar cell panel (8) are all connected with the control system; the camera (4), the infrared detection device (5) and the ultrasonic detection device (6) which are designed on the vehicle body frame (1) can detect the existence and the position of an animal in a forest land in real time, and the movement and navigation work of the agriculture and forestry ecology monitoring and maintaining robot is completed through the control system, the agriculture and forestry ecology monitoring and maintaining robot kills the animal by using a toxic needle sent by the medicine injection device (7) to the animal which exists nearby under the instruction of the control system, meanwhile, the camera (4) collects a cadaver image of a dead animal and a growth image of species in the forest land and transmits the cadaver image and the growth image to the control system, and the control system guides the mechanical arm (3) to complete the collection of dead cadaver blood sample tissues through an injector at the front end of the mechanical arm, so that conditions are provided for further researching the species and physiological conditions; the mechanical arm (3) is arranged on the vehicle body frame (1), the mechanical arm (3) finishes the collection of animal carcass blood sample tissue samples, the mechanical arm (3) consists of a hand injector (301), a drum injector insertion disc (302) and a motion rotating mechanism (303), the drum injector insertion disc (302) is provided with injectors (301) with different clamping groove positions, each clamping groove is provided with a digital mark, when a camera (4) collects dead carcass images and sends the dead carcass images to a control system, the control system calculates an optimal position path plan for the mechanical arm (3) according to image information to guide the injector designed at the top of the mechanical arm (3) to finish the collection of dead carcass blood sample tissue samples, the blood sample suction of the injector (301) is finished by clamping and telescopic parts of the mechanical arm (3), the stable work of the injector (301) is completed by the clamping machine element of the mechanical arm (3), and the injector (301) sucks a blood sample by 6 degrees of freedom in the independent movement modes of lifting, stretching and rotating of the movement rotating mechanism (303) of the mechanical arm (3); after one syringe (301) finishes blood sample collection, the card slot mark number is recorded and sent to a control system, the drum type syringe insertion disc (302) can retract the syringe (301) into the insertion disc (302) through the telescopic mechanism of the mechanical arm (3) after work, the work of other syringes (301) is not influenced, meanwhile, the insertion disc can rotate the next syringe (301) to the front end of the telescopic mechanism through the left rotation bullet principle to wait for the collection of the blood sample of the next dead animal, the work control of the mechanical arm (3) is finished through a single chip microcomputer connected with the mechanical arm (3), the single chip microcomputer controls the motor of each degree of freedom of the mechanical arm (3) to finish the specific action of the mechanical arm (3), and the specific action comprises the steps of controlling the forward rotation and the reverse rotation of the motor and further allocating the work of the mechanical arm (3) to achieve a better work effect, meanwhile, the singlechip receives image information fed back by the camera (4) to form stable closed-loop control.
2. The agroforestry ecological monitoring and maintenance robot of claim 1, characterized in that: an agriculture and forestry ecology monitoring and maintenance robot adopt unmanned design, for the road surface environment that adapts to different topography highway sections, an agriculture and forestry ecology monitoring and maintenance robot's intelligent wheel (2) design adopt eight wheeled designs, the end is four wheels (2) respectively about this intelligent wheel (2), two wheels (2) are connected to the support piece that each is connected with automobile body frame (1), intelligent wheel (2) can carry out the lift and shrink of wheel according to ground road shape is automatic to guarantee an agriculture and forestry ecology monitoring and maintenance robot's safe travel and function realize, the route of going of an agriculture and forestry ecology monitoring and maintenance robot and the route planning of robotic arm (3) control system through camera (4), infrared detection device (5) and ultrasonic detection device (6) detected animal position information through calculating and obtain the optimum route and control an agriculture and forestry ecology monitoring and maintenance robot The movement of the maintenance robot and the control of the mechanical arm (3) are realized, and a steering system, a power system and a brake system of the maintenance robot are all connected with the single chip microcomputer.
3. The agroforestry ecological monitoring and maintenance robot of claim 1, characterized in that: camera (4) sets up a vehicle body frame (1) department of agriculture and forestry ecological monitoring and maintenance robot, camera (4) support the shock attenuation through the cloud platform, be connected with vehicle body frame (1) through support piece, this camera (4) can carry out all-round collection to the image on the different topography highway sections, this camera (4) can realize gathering the animal position image that harm agriculture and forestry growth, the animal position image and the animal hole mouth including visual part are taken a picture and are uploaded, and realize position information capture with position image transmission to control system, camera (4) also can gather the image of the animal corpse in the woodland, transmit image information to control end in real time, control end will control the work of robotic arm (3) according to the image information that camera (4) sent, in addition, camera (4) can also gather the image and the position in unusual vegetation place and upload to control system and better for the crop is better The prevention and treatment of pathological diseases and the growth condition are studied.
4. The agroforestry ecological monitoring and maintenance robot of claim 1, characterized in that: the infrared detection device (5) and the ultrasonic detection device (6) are designed on the vehicle body frame (1), the infrared detection device (5) can detect the information of animals in nearby woodlands by emitting infrared rays, the ultrasonic detection device (6) can detect the existence and the position information of the animals by a sound wave positioning function, the arrangement of the infrared detection device and the ultrasonic detection device can effectively make up the unicity of information acquisition of the camera (4), the infrared detection device (5) and the ultrasonic detection device (6) can transmit the position information of the animals to the control system to complete the path planning of the agriculture and forestry ecology monitoring and maintenance robot, in addition, the ultrasonic detection device (6) can emit sound waves with different frequencies according to different species, the sound wave information is designed for a part of animals hidden in the ground hole from crisis to crop growth, and the animals can be called out from the ground hole by emitting sound waves with different frequencies to be captured.
5. The agroforestry ecological monitoring and maintenance robot of claim 1, characterized in that: the drug injection device (7) is designed on a vehicle body frame (1), the drug injection device (7) consists of a support rotating part (701), a high-pressure air pump (702), an injection pusher (703), an injection nozzle (704), a drum-type drug needle inserting disc (705) and a drug needle (706), the drug needle inserting disc (705) is internally and annularly provided with the drug needle (706), the working principle of the drug injection device (7) is realized by mechanical thrust and the principle of pistol ejection change, the injection pusher (703) is connected through the rotating part (701), the rotating part (701) is connected with a single chip microcomputer, the single chip microcomputer is used for controlling the work of the rotating part (701), angle transfer and height adjustment can be carried out according to information of different positions, and after the drug injection device (7) obtains animal position information from a control system, the control system controls the high-pressure air pump (702) to release an impulse on the injection pusher (703) to align the drug needle inserting disc (705) in front on the injection pusher (703) The corresponding drug poison needle (706) is sent out from the injection nozzle (704) to kill the animal paralysis, while the poison needle (706) inserted at other positions on the tray (705) is not sent out, then the control system controls the high-pressure air pump (702) to stop working, and the injection pusher (703) is rotated to the original position again.
6. The agroforestry ecological monitoring and maintenance robot of claim 1, characterized in that: the drug poison needle (706) is arranged on the drum type poison needle inserting plate (705), the drum type poison needle inserting plate (705) is used for shooting the poison needle (706) by applying the principle of changing the bullet of a revolver, after one poison needle (706) is shot, the drum type poison needle inserting plate (705) rotates the drum type poison needle inserting plate (705) to align the next poison needle (706) to the injection pusher (703), and the next target at the shooting position is waited for to shoot the poison needle (706).
7. The agroforestry ecological monitoring and maintenance robot of claim 1, characterized in that: the utility model provides a power supply system of agriculture and forestry ecology monitoring and maintenance robot by an agriculture and forestry ecology monitoring and maintenance robot from taking power and solar cell panel provide, adopt solar cell panel (8) to design automobile body frame in the light receiving part of automobile body frame (1), solar cell panel (8) can be through converting solar energy into the electric energy and come for an agriculture and forestry ecology monitoring and maintenance robot provide partial electric energy, provide the electric energy for this agriculture and forestry ecology monitoring and maintenance robot together with the car internal power.
8. The agroforestry ecological monitoring and maintenance robot of claim 1, characterized in that: the control system of the agriculture and forestry ecology monitoring and maintenance robot comprises a wireless communication module, a single chip microcomputer, a handheld end and a PC data end, wherein the wireless communication module exchanges data information with the single chip microcomputer and transmits the data information to the handheld end and the PC cloud end, so that the data exchange can be further promoted among the single chip microcomputer, the handheld end and the PC cloud end, the data processing capability of the control system is effectively improved due to the arrangement of the handheld end and the PC end, the control system is used for collecting position information and image information of the device, making optimal selection for path planning of the device and path movement of a mechanical arm (3) and simultaneously completing growth analysis of crop species, and the control system is internally provided with data information of various animals and can realize selection of killing animals of the agriculture and forestry ecology monitoring and maintenance robot and select animal killing through data analysis, a drug injection device (7) of an agriculture and forestry ecology monitoring and maintenance robot will only act on animals that are harmful to the growth of agriculture and forestry, but will not do harm to animals and people that are beneficial to the growth of agriculture and forestry.
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| CN109807906B (en) * | 2019-02-18 | 2021-08-24 | 西京学院 | Rat killing robot based on pattern recognition and big data technology |
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| CN112085923B (en) * | 2020-09-18 | 2021-03-19 | 广州新标农业科技有限公司 | Forestry biological disaster early warning equipment |
| CN113091800A (en) * | 2021-02-23 | 2021-07-09 | 武汉轻工大学 | Wild biological fecal sample collecting method, device, equipment and storage medium |
| CN114590337B (en) * | 2022-04-18 | 2023-02-17 | 南京理工大学 | Wheel-foot combined type robot wheel type motion system and robot |
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