CN109848955B - Suspension type track agriculture intelligent inspection robot based on multidimensional sensor - Google Patents
Suspension type track agriculture intelligent inspection robot based on multidimensional sensor Download PDFInfo
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- CN109848955B CN109848955B CN201910273900.6A CN201910273900A CN109848955B CN 109848955 B CN109848955 B CN 109848955B CN 201910273900 A CN201910273900 A CN 201910273900A CN 109848955 B CN109848955 B CN 109848955B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
Abstract
The invention discloses a suspension type track agriculture intelligent inspection robot based on a multidimensional sensor, which comprises two sliding grooves formed in the lower surface of the inner wall of a C slideway and close to an axis, wherein a temperature sensor, a humidity sensor, an illumination intensity sensor and a carbon dioxide concentration sensor are respectively arranged on a sensor mounting frame on one side of an infrared obstacle avoidance sensor in a threaded manner, the output ends of the temperature sensor, the humidity sensor, the illumination intensity sensor, the infrared obstacle avoidance sensor and the carbon dioxide concentration sensor are respectively connected with the input end of a processor module arranged in a control box in a wire manner, and the processor module is connected with a data transmission module arranged in the control box in a wire manner; through camera and the surveillance camera head of shooing that sets up on the sensor mounting bracket for strengthen its pest and disease condition to crops when using, and judge its monitoring purpose through image recognition, make its more effectual health condition of monitoring crops when using.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to a suspended track agricultural intelligent inspection robot based on a multidimensional sensor.
Background
The greenhouse, also called greenhouse, is a room with cold-proof, heating and light-transmitting facilities for cultivating warm-loving plants in winter. In the season unsuitable for plant growth, the plant growth regulator can provide growth period and increase yield, and is used for cultivating or raising seedling of vegetables, flowers, trees and other plants in low temperature season. A greenhouse refers to a building that can control or partially control the environment in which plants grow. The method is mainly used for non-seasonal or non-regional plant cultivation, scientific research, generation-added breeding, ornamental plant cultivation and the like. Wherein the monitoring of the interior of the corresponding greenhouse and the monitoring of the indoor environment of the greenhouse are mostly carried out manually or by adopting a terrain robot.
However, the following disadvantages exist when the robot is in use:
1. at present, a plurality of large greenhouses adopt a data acquisition mode based on sensors and cameras, and can acquire multi-point temperature and humidity values simultaneously by erecting a data transmission line, but only local monitoring can be performed by using a small number of sensors, the whole world cannot be covered, a large number of sensors are applied, the one-time input cost is high, the later maintenance workload is large, and the line arrangement is complex; most of the camera mounting modes adopt a fixed type, and the crop growth conditions in local areas are difficult to monitor.
2. At present, a small amount of self-propelled inspection robots are applied to greenhouses, so that the monitoring with multiple sensors can be completed, but the requirements on ground space are met, the space is smooth and free of obstacles, and a space is reserved in advance to set a route and a fixed route is generally needed to be walked; if the line is covered by an obstacle, the path is difficult to cross or identify; and the battery is used for driving, and the standby battery needs to be replaced or the charging is waited for at regular time.
Disclosure of Invention
The invention aims to provide a suspension type track agriculture intelligent inspection robot based on a multidimensional sensor, which solves the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a suspension type track agriculture intelligent inspection robot based on multidimensional sensor, includes that C slide inner wall lower surface is close to axis department and has all offered two spouts, all put the gyro wheel in the spout, it is connected with branch to rotate through the pivot between the roll, the slider has all been welded on the branch top, slider lower surface axle center position welding has the air pump, slider upper surface axle center position is through the bolt mounting control box, air pump power take off end screw thread sealing mounting has pneumatic telescopic link, pneumatic telescopic link bottom welding has the mounting panel, the mounting panel lower surface is through four bolts mounting bracket, sensor mounting bracket periphery is close to top department even screw thread mounting has four infrared obstacle avoidance sensors, temperature sensor, humidity transducer, illumination intensity sensor and carbon dioxide concentration sensor are installed to the last screw thread of sensor mounting bracket of one side of infrared obstacle avoidance sensor, temperature sensor, humidity transducer, illumination intensity sensor, infrared obstacle avoidance sensor and carbon dioxide concentration sensor output respectively with the processor module who installs in the control box, the electric wire module is connected with the air pump input module, the data connection module is at the air pump input module.
The temperature sensor, the humidity sensor, the illumination intensity sensor and the carbon dioxide concentration sensor monitor various data in the greenhouse in real time, and the data are transmitted to the processor module for processing through the lead.
Preferably, both ends of the sliding block are sleeved in the grooves of the guide wheels, a first motor and a second motor are mounted on the lower surface of the sliding block, close to both ends, through motor supports and bolts, and the power output ends of the first motor and the second motor are rotationally connected with the idler wheels through rotating shafts.
Preferably, the method further comprises: the system comprises a control box, a coordinate data storage module and a coordinate transmission module, wherein the coordinate data storage module and the coordinate transmission module are arranged in the control box, the input ends of the first motor and the second motor are connected with the output end of the processor module through wires, the input end of the processor module is connected with the output end of the coordinate data storage module through a circuit board through wires, and the input end of the coordinate data storage module is electrically connected with the output end of the coordinate transmission module through wires.
Preferably, the monitoring installation frame is installed at the bottom end axis position of the sensing installation frame through bolts, and the photographing camera and the monitoring camera are respectively installed on the lower surface of the monitoring installation frame through bolts.
Preferably, the method further comprises: the image data input module, the image data storage module, the image recognition module, wherein, image data input module is inlayed to sensor mounting bracket one side, install image data storage module, image recognition module and data processing module in the sensor mounting bracket.
Preferably, the output end of the monitoring camera is connected with the input end of the data processing module through a data wire, the output end of the data processor is connected with the input end of the photographing camera through a wire, the data processing module is connected with the image recognition module in a bidirectional manner, the output end of the image data input module is electrically connected with the input end of the image data storage module through a data wire, and the output end of the image data storage module is connected with the input end of the image recognition module through a data wire.
Preferably, the output ends of the data processing module and the photographing camera are electrically connected with the input end of the data transmission module through data wires, wherein the output end of the data transmission module is in signal connection with the input end of the control center through WiFi.
Preferably, the device further comprises a spring type electric contact; and the sliding contact line is arranged on the upper surface of the inner wall of the C-shaped slide rail, which corresponds to the spring type electric contact.
Preferably, two limiting plates are welded on two sides of the inner wall of the C-shaped slideway, a plurality of guide wheels are connected between the two limiting plates through pin shafts in a rotating mode, and the distance between the guide wheels is 3-5 cm.
Preferably, the inside cavity of slider just inside central point puts the welding has the strengthening rib, slider both ends match leading wheel and are V word symmetrical structure.
Compared with the prior art, the invention has the beneficial effects that:
1. through setting up C type slide, first motor, the effect of second motor and slider more effectually restricts robot motion in the sky when using, the condition that prevents work has been avoided appearing in prior art takes place, adopt infrared obstacle avoidance sensor, when gathering the information that there is staff or barrier in the robot the place ahead, send the signal to control terminal, control terminal sends the command of perpendicular upwards shrink to telescopic machanism, make intelligent inspection robot keep on going and avoid staff or barrier, and through setting up spring type electrical contact and wiping line, make avoided the condition such as need carrying out the independent lithium cell that sets up in prior art when using to take place, avoided the battery to have had no electricity and unable condition of using to take place when its use.
2. Through camera and the surveillance camera head of shooing that sets up on the sensor mounting bracket for strengthen its pest and disease condition to crops when using, and judge its monitoring purpose through image recognition, make its more effectual health condition of monitoring crops when using.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the connection of the moving and monitoring components in embodiment 1 of the present invention;
fig. 3 is a schematic diagram illustrating connection of monitoring components in embodiment 2 of the present invention.
In the figure: 1-C type slide ways; 11-fixing the mounting hole; 12-limiting plates; 13-a trolley line; 14-a guide wheel; 15-sliding grooves; 2-a slider; 21-an air pump; 22-spring-type electrical contacts; 23-pneumatic telescopic rod; 24-supporting rod; 25-rolling wheels; 26-a first motor; 27-a second motor; 28-a control box; 29-mounting plate; 3-a sensor mount; 31-monitoring the mounting frame; 32-an infrared obstacle avoidance sensor; 33-a temperature sensor; 34-humidity sensor; 35-an illumination intensity sensor; 36-carbon dioxide concentration sensor; a 37-coordinate transmission module; 38-a coordinate data storage module; 39-a processor; 4-a data processor module; 41-a photographing camera; 42-an image recognition module; 43-an image data storage module; 44-an image data input module; 45-monitoring cameras; 46-a data transmission module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
referring to fig. 1-2, the present invention provides a technical solution: the utility model provides a suspension type track agriculture intelligent inspection robot based on multidimensional sensor, includes that C slide 1 inner wall lower surface is close to the axis department and has all offered two spouts 15, all put gyro wheel 25 in the spout 15, be connected with branch 24 through the pivot rotation between the roll 25, the slider 2 has all been welded on branch 24 top, slider 2 lower surface axle center position welding has air pump 21, slider 2 upper surface axle center position has control box 28 through the bolt installation, air pump 21 power take off end screw thread seal installs pneumatic telescopic link 23, pneumatic telescopic link 23 bottom welding has mounting panel 29, mounting panel 29 lower surface installs sensor mounting bracket 3 through four bolts, sensor mounting bracket 3 periphery is close to top department even screw thread and is installed four infrared obstacle avoidance sensors 32, the sensor mounting frame 3 on one side of the infrared obstacle avoidance sensor 32 is respectively provided with a temperature sensor 33, a humidity sensor 34, an illumination intensity sensor 35 and a carbon dioxide concentration sensor 36 in a threaded manner, the output ends of the temperature sensor 33, the humidity sensor 34, the illumination intensity sensor 35, the infrared obstacle avoidance sensor 32 and the carbon dioxide concentration sensor 36 are respectively connected with the input end of a processor module 39 arranged in the control box 28 through wires, the output end of the processor module 39 is electrically connected with the input end of the air pump 21, the processor module 39 is electrically connected with a data transmission module 46 arranged in the control box 28 through wires, wherein the temperature sensor 33, the humidity sensor 34, the illumination intensity sensor 35 and the carbon dioxide concentration sensor 36 monitor various data in the greenhouse in real time, and the data are transmitted to the processor module 39 through wires for processing, and are transmitted to the processor module 39 through the temperature sensor 33, the humidity sensor 34, the illumination intensity sensor 35 and the carbon dioxide concentration sensor 36 detect, and the structure obtained by monitoring the data in the greenhouse is processed by the processor 39 and then transmitted to the control center for real-time monitoring by the data transmission module 46.
The two ends of the sliding block 2 are sleeved in the grooves of the guide wheels 14, a first motor 26 and a second motor 27 are mounted on the lower surface of the sliding block 2 close to the two ends through motor supports and bolts, and the power output ends of the first motor 26 and the second motor 27 are rotatably connected with the idler wheels 25 through rotating shafts.
The coordinate data storage module 38 and the coordinate transmission module 37 are installed in the control box 28, the input ends of the first motor 26 and the second motor 27 are connected with the output end of the processor module 39 through wires, the input end of the processor module 39 is connected with the output end of the coordinate data storage module 38 through a circuit board through wires, and the input end of the coordinate data storage module 38 is electrically connected with the output end of the coordinate transmission module 37 through wires.
The spring type electric contact 22, the wiping line 13, wherein, spring type electric contact 22 passes through the slider 2 upper surface of bolt installation in control box 28 one side, the wiping line 13 is installed and is corresponding spring type electric contact 22 department at C type slide 1 inner wall upper surface, prevents to carry out the individual wiring when using, avoids increasing use cost and prevents simultaneously that the circumstances that prevents to appear hindering the use from taking place when using, spring type electric contact 22, the wiping line 13 is used for the power consumption electric energy of all kinds of electrical appliances.
Two limiting plates 12 are welded on two sides of the inner wall of the C-shaped slide way 1, a plurality of guide wheels 14 are connected between the limiting plates 12 through pin shafts in a rotating mode, wherein the guide wheels 14 are spaced 3-5 cm apart, the sliding block 2 is convenient to move in use, reinforcing ribs are welded at the inner hollow center position of the sliding block 2, and the guide wheels 14 matched with two ends of the sliding block 2 are of V-shaped symmetrical structures, so that the flexibility in moving is enhanced.
The data transmission module 46 is a WiFi signal transceiver, the processor module 39 is a microprocessor, the coordinate data storage module 38 is a data memory, and the coordinate transmission module 37 is a USB interface.
Example 2:
referring to fig. 1-2, the present invention provides a technical solution: the utility model provides a suspension type track agriculture intelligent inspection robot based on multidimensional sensor, including C slide 1 inner wall lower surface is close to axis department and has all been seted up two spouts 15, all put gyro wheel 25 in the spout 15, be connected with branch 24 through the pivot rotation between the roll 25, the top of branch 24 has all welded slider 2, slider 2 lower surface axle center position welding has air pump 21, slider 2 upper surface axle center position has control box 28 through the bolt mounting, C slide 1 inner wall both sides have two limiting plates 12 all welded, two limiting plates 12 are all connected with a plurality of leading wheels 14 through the round pin axle rotation between the limiting plates 12, wherein, interval 3-5 cm between the leading wheels 14, during the use makes things convenient for slider 2's removal, slider 2 inside cavity and inside central point position welding have the strengthening rib, slider 2 both ends match leading wheel 14 and are V word symmetrical structure, the basis when strengthening its removal, air pump 21 power take off end screw thread seal installs pneumatic telescopic link 23, pneumatic telescopic link 23 bottom welding has mounting panel 29, electrical motor surface mounting panel 3 is equipped with the sensor 3 through four, and the sensor mounting bracket 3 is equipped with through the round pin axle center position sensor 3, and the sensor module 39 is equipped with a plurality of leading wheels 14 through the pivot sensor 32, and the sensor module 32 is installed to the sensor module and is close to the second and is equipped with the peripheral condition sensor 32 through the sensor 32, and is equipped with the sensor module 32 to the sensor 32 at the sensor end is close to the sensor position of the second, and is equipped with the sensor 32 through the sensor 32, the processor module 39 controls the moving speed of the first motor 26 and the second motor 27, and the forward and backward stop, and controls the whole lifting and lowering through the air pump 21 to avoid the obstacle.
The coordinate transmission module 37, wherein, the coordinate data storage module 38 and the coordinate transmission module 37 are installed in the control box 28, the input ends of the first motor 26 and the second motor 27 are connected with the output end of the processor module 39 through wires, the input end of the processor module 39 is connected with the output end of the coordinate data storage module 38 through a circuit board through wires, the input end of the coordinate data storage module 38 is electrically connected with the output end of the coordinate transmission module 37 through wires, the forward and backward information needing to be moved is input by the coordinate transmission module 37 and stored by the coordinate data storage module 38, and the residual second motor 27 is controlled by the processor module 39 to move according to the forward and backward coordinate information.
The spring type electric contact 22, the wiping line 13, wherein, spring type electric contact 22 passes through the slider 2 upper surface of bolt installation in control box 28 one side, the wiping line 13 is installed and is corresponding spring type electric contact 22 department at C type slide 1 inner wall upper surface, prevents to carry out the individual wiring when using, avoids increasing use cost and prevents simultaneously that the circumstances that prevents to appear hindering the use from taking place when using, spring type electric contact 22, the wiping line 13 is used for the power consumption electric energy of all kinds of electrical appliances.
The monitoring mounting bracket 31 is installed through the bolt to sensing mounting bracket 3 bottom axle center position, camera 41 and surveillance camera 45 are installed respectively through the bolt to monitoring mounting bracket 31 lower surface, still include: the image data input module 44, the image data storage module 43 and the image recognition module 42, wherein the image data input module 44 is embedded on one side of the sensor mounting frame 3, and the image data storage module 43, the image recognition module 42 and the data processing module 4 are installed in the sensor mounting frame 3. The output end of the monitoring camera 45 is connected with the input end of the data processing module 4 through a data wire, the output end of the data processor 4 is connected with the input end of the photographing camera 41 through a wire, the data processing module 4 is connected with the image recognition module 42 in a bidirectional manner, the output end of the image data input module 44 is connected with the input end of the image data storage module 43 through a data wire, and the output end of the image data storage module 43 is connected with the input end of the image recognition module 42 through a data wire. The output ends of the data processing module 4 and the photographing camera 41 are electrically connected with the input end of the data transmission module 46 through data wires, wherein the output end of the data transmission module 46 is in signal connection with the input end of the control center through WiFi. Firstly, the image data input module 44 is used for inputting the picture information of various plant diseases and insect pests, the picture information is stored through the image data storage module 43, the video pattern of any time period is monitored in real time through the monitoring camera 45, then the image is intercepted through the processor, whether the plant has the diseases and insect pests or not is compared through the image recognition module 42, if the plant has the diseases and insect pests, the plant is processed through the data processing module 4, the plant diseases and insect pests are transmitted to the control center through the data transmission module 46, and when the image is recognized and the plant diseases and insect pests occur, the high-definition shooting is carried out on the area through the photographing camera 41, and the plant diseases and insect pests are transmitted to the control center through the data transmission module 46.
The image data input module 44 is a USB interface, the image data storage module 43 is a memory, the data processing module 4 is a microprocessor, the data transmission module 46 is a WiFi signal transceiver, and the processor module 39 is a microprocessor.
In the several embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate components may or may not be physically separate, and components displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description is only of embodiments of the present invention, and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (7)
1. The utility model provides a robot is patrolled and examined to suspension type track agriculture intelligence based on multidimensional sensor, includes that C type slide (1) inner wall lower surface is close to axis department and has all offered two spouts (15), gyro wheel (25) have all been put in spout (15), be connected with branch (24) through the pivot rotation between gyro wheel (25), slider (2) have all been welded on branch (24) top, slider (2) lower surface axle center position welding has air pump (21), slider (2) upper surface axle center position is installed control box (28) through the bolt, its characterized in that: the air pump is characterized in that a pneumatic telescopic rod (23) is mounted at the power output end of the air pump (21) in a threaded sealing manner, a mounting plate (29) is welded at the bottom end of the pneumatic telescopic rod (23), a sensor mounting frame (3) is mounted on the lower surface of the mounting plate (29) through four bolts, four infrared obstacle avoidance sensors (32) are uniformly mounted at the positions, close to the top end, of the periphery of the sensor mounting frame (3), temperature sensors (33), humidity sensors (34), illumination intensity sensors (35) and carbon dioxide concentration sensors (36) are respectively mounted on the sensor mounting frame (3) at one side of the infrared obstacle avoidance sensors (32) in a threaded manner, the output ends of the temperature sensors (33), the humidity sensors (34), the illumination intensity sensors (35), the infrared obstacle avoidance sensors (32) and the carbon dioxide concentration sensors (36) are respectively connected with the input ends of processor modules (39) mounted in the control box (28), and the output ends of the processor modules (39) are electrically connected with the input ends of the air pump (21) respectively, and the processor modules (39) are connected with the data transmission modules (46) mounted in the control box (28);
wherein, the temperature sensor (33), the humidity sensor (34), the illumination intensity sensor (35) and the carbon dioxide concentration sensor (36) monitor each item of data in the greenhouse in real time, and the data are transmitted to the processor module (39) for processing through the lead;
the two ends of the sliding block (2) are sleeved in grooves of the guide wheels (14), a first motor (26) and a second motor (27) are mounted on the lower surface of the sliding block (2) close to the two ends through motor supports and bolts, and the power output ends of the first motor (26) and the second motor (27) are rotationally connected with the idler wheels (25) through rotating shafts;
the device is characterized in that a monitoring installation frame (31) is installed at the bottom axial center position of the sensor installation frame (3) through bolts, and a photographing camera (41) and a monitoring camera (45) are respectively installed on the lower surface of the monitoring installation frame (31) through bolts;
further comprises:
spring-type electrical contacts (22);
and the sliding contact line (13), wherein the spring type electric contact (22) is arranged on the upper surface of the sliding block (2) at one side of the control box (28) through a bolt, and the sliding contact line (13) is arranged on the upper surface of the inner wall of the C-shaped sliding way (1) corresponding to the spring type electric contact (22).
2. The intelligent inspection robot for suspended track agriculture based on a multidimensional sensor as claimed in claim 1, wherein: further comprises:
a coordinate data storage module (38);
the coordinate transmission module (37), wherein, install coordinate data storage module (38) and coordinate transmission module (37) in control box (28), first motor (26) and second motor (27) input pass through wire and processor module (39) output wire connection, processor module (39) input passes through circuit board and coordinate data storage module (38) output wire connection, coordinate data storage module (38) input passes through wire and coordinate transmission module (37) output electric connection.
3. The intelligent inspection robot for suspended track agriculture based on a multidimensional sensor as claimed in claim 1, wherein: further comprises:
an image data input module (44);
an image data storage module (43);
the image recognition module (42), wherein, image data input module (44) is inlayed to sensor mounting bracket (3) one side, install image data storage module (43), image recognition module (42) and data processing module (4) in sensor mounting bracket (3).
4. A multi-dimensional sensor-based suspension track agriculture intelligent inspection robot as claimed in claim 3, wherein: the output end of the monitoring camera (45) is connected with the input end of the data processing module (4) through a data wire, the output end of the data processing module (4) is connected with the input end of the photographing camera (41) through a wire, the data processing module (4) is connected with the image recognition module (42) in a bidirectional manner, the output end of the image data input module (44) is electrically connected with the input end of the image data storage module (43) through a data wire, and the output end of the image data storage module (43) is connected with the input end of the image recognition module (42) through a data wire.
5. The intelligent inspection robot for suspended track agriculture based on a multidimensional sensor as claimed in claim 4, wherein: the output ends of the data processing module (4) and the photographing camera (41) are electrically connected with the input end of the data transmission module (46) through data wires;
the output end of the data transmission module (46) is in signal connection with the input end of the control center through WiFi.
6. The intelligent inspection robot for suspended track agriculture based on a multidimensional sensor as claimed in claim 1, wherein: two limiting plates (12) are welded on two sides of the inner wall of the C-shaped slide way (1), a plurality of guide wheels (14) are connected between the two limiting plates (12) through pin shafts in a rotating mode, and the distance between the guide wheels (14) is 3-5 cm.
7. The intelligent inspection robot for suspended track agriculture based on a multidimensional sensor as claimed in claim 1, wherein: the inside cavity and inside central point of slider (2) are welded there is the strengthening rib, slider (2) both ends match leading wheel (14) and are V word symmetrical structure.
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| US7042184B2 (en) * | 2003-07-08 | 2006-05-09 | Board Of Regents Of The University Of Nebraska | Microrobot for surgical applications |
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