CN110076797A - A kind of greenhouse plant disease crusing robot and method for inspecting - Google Patents
A kind of greenhouse plant disease crusing robot and method for inspecting Download PDFInfo
- Publication number
- CN110076797A CN110076797A CN201910395967.7A CN201910395967A CN110076797A CN 110076797 A CN110076797 A CN 110076797A CN 201910395967 A CN201910395967 A CN 201910395967A CN 110076797 A CN110076797 A CN 110076797A
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- wall
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- bolted
- plant disease
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of greenhouse plant disease crusing robot and method for inspecting, including sliding rail, the sliding rail outer wall is arranged with u-bracket, the u-bracket side outer wall apical position has been bolted first motor, the first motor output shaft passes through u-bracket side inner wall, and first motor output shaft side wall has been bolted the first idler wheel, u-bracket two sides outer wall is provided with the strip-shaped hole of vertical direction extension, and two strip-shaped hole inner walls are plugged with same metallic rod, the metallic rod side wall middle position is rotatably connected to the second idler wheel, metallic rod side wall both ends are connected with spring part, and two spring part tops are clamped with u-bracket two sides outer wall respectively.The present invention can reduce detection time, promote testing result reliability, and effectively preventing plant disease is compared by picture twice, promote the reliability of inspection result.
Description
Technical field
The present invention relates to crusing robot technical field more particularly to a kind of greenhouse plant disease crusing robot and inspections
Method.
Background technique
Disease is always to restrict the principal element of agricultural production.The disease species of the plants such as vegetables, flowers are numerous, cause
Symptom present diversity, complexity, the generation of disease does not only result in the decline of yield and quality, and can cause the big of pesticide
The rising of amount investment and expenses for prevention and control, increases production cost, and the nuisanceless green metaplasia for influencing the plants such as vegetables, flowers produces, right
The export trade also results in certain obstacle, exists simultaneously potential environment and health risk.
Traditional greenhouse disease routine inspection mode or efficiency is lower or order of accuarcy is poor or is dfficult to apply to reality in the short time,
So now proposing a kind of greenhouse plant disease crusing robot and method for inspecting.
Summary of the invention
Technical problems based on background technology the invention proposes a kind of greenhouse plant disease crusing robot and are patrolled
Detecting method.
A kind of greenhouse plant disease crusing robot proposed by the present invention, including sliding rail, the sliding rail outer wall are arranged with U-shaped
Bracket, the u-bracket side outer wall apical position have been bolted first motor, and the first motor output shaft passes through
U-bracket side inner wall, and first motor output shaft side wall has been bolted the first idler wheel, outside the u-bracket two sides
Wall is provided with the strip-shaped hole of vertical direction extension, and two strip-shaped hole inner walls are plugged with same metallic rod, the metallic rod side wall
Middle position is rotatably connected to the second idler wheel, and metallic rod side wall both ends are connected with spring part, and two spring part tops
End is clamped with u-bracket two sides outer wall respectively, and the u-bracket bottom end outer wall middle position is bolted be vertically arranged electronic and stretches
Contracting bar, and electric telescopic rod bottom end has been bolted tubular shell, tubular shell bottom end outer wall is bolted
There is spherical camera, tubular shell top outer wall is rotatably connected to becket, and becket top side is welded with hingedly
Seat, the hinged seat inner wall are hingedly provided with high power camera, and the hinged seat side wall has been bolted decelerating motor, and
Decelerating motor and high power camera form transmission cooperation, are equipped at the tubular housing inner wall apical position and drive becket rotation
Driving mechanism.
Preferably, the driving mechanism includes second be mounted by means of bolts at the inner wall position of tubular shell top
Motor, and the second motor output shaft passes through tubular shell top outer wall and has been bolted gear.
Preferably, the becket inner wall interlocking has internal gear, and internal gear is engaged with gear.
Preferably, the first motor, electric telescopic rod, the second motor and decelerating motor are connected with switch, and the company of switch
There is microprocessor.
Preferably, the sliding rail side wall interlocking has the Hall sensor equidistantly distributed, and u-bracket side inner wall passes through
Bolt is fixed with magnetic patch compatible with Hall sensor, and the Hall sensor, spherical camera and high power camera are logical
Signal wire is crossed to be electrically connected with microprocessor.
A kind of method for inspecting of greenhouse plant disease crusing robot proposed by the present invention, comprising the following steps:
S1: entering area to be detected, build sliding rail in suitable position, and u-bracket is installed on sliding rail, passes through control the
The work of one motor, driving u-bracket are slided along slide direction, enter area to be tested；
S2: track record position records the position of sliding rail by the signal of corresponding Hall sensor feedback；
S3: spherical camera carries out looking around inspection, by control electric telescopic rod work, adjusts spherical camera to suitable
Highly, control spherical camera carries out looking around inspection；
S4: generating video recording, save to the video recording for looking around inspection, generates video recording；
S5: video recording is resolved into several pictures by image processing software by video recording analysis；
Whether S6: finding doubtful Disease Characters, from data base call Disease Characters picture, carries out picture one by one to score
Analysis；
S7: high power camera fixed point acquisition image, by control the second motor and decelerating motor adjust high power camera to
Suitable position is acquired image；
S8: image authentication, the Disease Characters picture comparison in the image and database that high power camera is acquired；
S9: production report, the high power camera collection image that comparison is determined as Disease Characters is stored, and produces report
It accuses；
S10: entering next detection zone, and control first motor work enters next detection zone and detected
Preferably, in the S6, if not finding doubtful Disease Characters, i.e. progress S10.
Preferably, in the S8, if image authentication is non-Disease Characters, i.e. progress S10.
Having the beneficial effect that in the present invention
Passing through the high power camera and spherical camera of setting, it is possible to reduce detection time promotes testing result reliability,
Effectively preventing plant disease is compared by picture twice, promotes the reliability of inspection result.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of greenhouse plant disease crusing robot proposed by the present invention；
Fig. 2 is that a kind of sectional structure of greenhouse plant disease crusing robot tubular shell proposed by the present invention is intended to；
Fig. 3 is the flow diagram of a kind of greenhouse plant disease crusing robot and method for inspecting proposed by the present invention.
In figure: 1 spherical camera, 2 tubular shells, 3 beckets, 4 electric telescopic rods, 5U type bracket, 6 metallic rods, 7 springs
Part, 8 first idler wheels, 9 second idler wheels, 10 decelerating motors, 11 high power cameras, 12 hinged seats, 13 first motors, 14 internal gears,
15 gears, 16 second motors.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-2, a kind of greenhouse plant disease crusing robot, including sliding rail, sliding rail outer wall are arranged with u-bracket 5,
5 side outer wall apical position of u-bracket has been bolted first motor 13, and 13 output shaft of first motor passes through u-bracket 5
Side inner wall, and 13 output shaft side wall of first motor has been bolted the first idler wheel 8,5 two sides outer wall of u-bracket is provided with
The strip-shaped hole that vertical direction extends, and two strip-shaped hole inner walls are plugged with same metallic rod 6,6 side wall middle position of metallic rod
Be rotatably connected to the second idler wheel 9,6 side wall both ends of metallic rod are connected with spring part 7, and two 7 tops of spring part respectively with it is U-shaped
The clamping of 5 two sides outer wall of bracket, 5 bottom end outer wall middle position of u-bracket are bolted with the electric telescopic rod 4 being vertically arranged, and electronic
4 bottom end of telescopic rod has been bolted tubular shell 2, and 2 bottom end outer wall of tubular shell has been bolted spherical camera
1,2 top outer wall of tubular shell is rotatably connected to becket 3, and 3 top side of becket is welded with hinged seat 12, hinged seat 12
Inner wall is hingedly provided with high power camera 11, and 12 side wall of hinged seat has been bolted decelerating motor 10, and decelerating motor 10
Transmission cooperation is formed with high power camera 11, is equipped with the driving machine for driving becket 3 to rotate at 2 inner wall apical position of tubular shell
Structure, driving mechanism includes the second motor 16 being mounted by means of bolts at 2 top inner wall position of tubular shell, and second is electric
16 output shaft of machine passes through 2 top outer wall of tubular shell and has been bolted gear 15, and the interlocking of 3 inner wall of becket has internal gear
14, and internal gear 14 is engaged with gear 15, first motor 13, electric telescopic rod 4, the second motor 16 and decelerating motor 10 are connected with
Switch, and switch is connected with microprocessor, the interlocking of sliding rail side wall has the Hall sensor equidistantly distributed, and in 5 side of u-bracket
Wall has been bolted magnetic patch compatible with Hall sensor, Hall sensor, spherical camera 1 and high power camera 11
It is electrically connected by signal wire and microprocessor.
Referring to Fig. 3, a kind of method for inspecting of greenhouse plant disease crusing robot, comprising the following steps:
S1: enter area to be detected, build sliding rail in suitable position, and u-bracket 5 is installed on sliding rail, pass through control
First motor 13 works, and driving u-bracket 5 is slided along slide direction, enters area to be tested；
S2: track record position records the position of sliding rail by the signal of corresponding Hall sensor feedback；
S3: spherical camera 1 carries out looking around inspection, by control electric telescopic rod 4 work, adjust spherical camera 1 to
Proper height, control spherical camera 1 carry out looking around inspection；
S4: generating video recording, save to the video recording for looking around inspection, generates video recording；
S5: video recording is resolved into several pictures by image processing software by video recording analysis；
Whether S6: finding doubtful Disease Characters, from data base call Disease Characters picture, carries out picture one by one to score
Analysis；
S7: high power camera fixed point acquisition image adjusts high power camera shooting by the second motor 16 of control and decelerating motor 10
First 11, to suitable position, are acquired image；
S8: image authentication, the Disease Characters picture comparison in the image and database that high power camera 11 is acquired；
S9: production report, the high power camera 11 that comparison is determined as Disease Characters acquires image and is stored, and produces report
It accuses；
S10: entering next detection zone, and control first motor 13 works, enters next detection zone and detected.
In S6, if not finding doubtful Disease Characters, i.e. in progress S10, S8, if image authentication is that non-disease is special
Sign, i.e. progress S10.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of greenhouse plant disease crusing robot, including sliding rail, which is characterized in that the sliding rail outer wall is arranged with U-shaped branch
Frame (5), u-bracket (5) side outer wall apical position have been bolted first motor (13), the first motor
(13) output shaft passes through u-bracket (5) side inner wall, and first motor (13) output shaft side wall has been bolted the first rolling
It takes turns (8), u-bracket (5) two sides outer wall is provided with the strip-shaped hole of vertical direction extension, and two strip-shaped hole inner walls are plugged with
Same metallic rod (6), metallic rod (6) the side wall middle position are rotatably connected to the second idler wheel (9), the metallic rod (6)
Side wall both ends are connected with spring part (7), and two spring part (7) tops are clamped with u-bracket (5) two sides outer wall respectively, institute
It states u-bracket (5) bottom end outer wall middle position and is bolted with the electric telescopic rod (4) being vertically arranged, and electric telescopic rod (4) bottom end
It being bolted tubular shell (2), tubular shell (2) bottom end outer wall has been bolted spherical camera (1),
Tubular shell (2) top outer wall is rotatably connected to becket (3), and becket (3) top side is welded with hinged seat
(12), hinged seat (12) inner wall is hingedly provided with high power camera (11), and hinged seat (12) side wall is solid by bolt
Surely have decelerating motor (10), and decelerating motor (10) and high power camera (11) form transmission cooperation, the tubular shell (2) is interior
The driving mechanism for driving becket (3) rotation is equipped at wall apical position.
2. a kind of greenhouse plant disease crusing robot according to claim 1, which is characterized in that the driving mechanism packet
The second motor (16) being mounted by means of bolts at the inner wall position of tubular shell (2) top is included, and the second motor (16) is defeated
Shaft passes through tubular shell (2) top outer wall and has been bolted gear (15).
3. a kind of greenhouse plant disease crusing robot according to claim 2, which is characterized in that the becket (3)
Inner wall interlocking has internal gear (14), and internal gear (14) is engaged with gear (15).
4. a kind of greenhouse plant disease crusing robot according to claim 1, which is characterized in that the first motor
(13), electric telescopic rod (4), the second motor (16) and decelerating motor (10) are connected with switch, and switch is connected with microprocessor.
5. a kind of greenhouse plant disease crusing robot according to claim 1, which is characterized in that the sliding rail side wall is embedding
It is connected to the Hall sensor equidistantly distributed, and u-bracket (5) side inner wall has been bolted and has mutually fitted with Hall sensor
The magnetic patch matched, the Hall sensor, spherical camera (1) and high power camera (11) pass through signal wire and microprocessor shape
At electric connection.
6. a kind of method for inspecting of greenhouse plant disease crusing robot according to claim 1, which is characterized in that including
Following steps:
S1: entering area to be detected, build sliding rail in suitable position, and u-bracket (5) is installed on sliding rail, passes through control the
One motor (13) work, driving u-bracket (5) are slided along slide direction, enter area to be tested；
S2: track record position records the position of sliding rail by the signal of corresponding Hall sensor feedback；
S3: spherical camera (1) carries out looking around inspection, by control electric telescopic rod (4) work, adjusts spherical camera (1)
To proper height, controls spherical camera (1) and carry out looking around inspection；
S4: generating video recording, save to the video recording for looking around inspection, generates video recording；
S5: video recording is resolved into several pictures by image processing software by video recording analysis；
Whether S6: finding doubtful Disease Characters, from data base call Disease Characters picture, carries out comparative analysis one by one to picture；
S7: high power camera fixed point acquisition image adjusts high power camera shooting by control the second motor (16) and decelerating motor (10)
Head (11) is acquired image to suitable position；
S8: image authentication compares the Disease Characters picture in the image and database of high power camera (11) acquisition；
S9: production report, high power camera (11) the acquisition image that comparison is determined as Disease Characters is stored, and produces report
It accuses；
S10: entering next detection zone, and control first motor (13) work enters next detection zone and detected.
7. a kind of method for inspecting of greenhouse plant disease crusing robot according to claim 1, which is characterized in that described
In S6, if not finding doubtful Disease Characters, i.e. progress S10.
8. a kind of method for inspecting of greenhouse plant disease crusing robot according to claim 1, which is characterized in that described
In S8, if image authentication is non-Disease Characters, i.e. progress S10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395967.7A CN110076797A (en) | 2019-05-14 | 2019-05-14 | A kind of greenhouse plant disease crusing robot and method for inspecting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395967.7A CN110076797A (en) | 2019-05-14 | 2019-05-14 | A kind of greenhouse plant disease crusing robot and method for inspecting |
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| CN110076797A true CN110076797A (en) | 2019-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910395967.7A Pending CN110076797A (en) | 2019-05-14 | 2019-05-14 | A kind of greenhouse plant disease crusing robot and method for inspecting |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077823A (en) * | 2020-08-05 | 2020-12-15 | 嘉兴学院 | Mobile platform of pipe gallery inspection robot |
| CN112099555A (en) * | 2020-08-26 | 2020-12-18 | 胡锦犇 | Wisdom green house and monitored control system based on 5G |
| CN115789472A (en) * | 2022-11-11 | 2023-03-14 | 贵州电网有限责任公司 | Portable combined type electric power automation inspection combined device |
| CN115789414A (en) * | 2022-10-26 | 2023-03-14 | 贵州电网有限责任公司 | A composite set for electric power automation computer lab is tourd |
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| CN115789414A (en) * | 2022-10-26 | 2023-03-14 | 贵州电网有限责任公司 | A composite set for electric power automation computer lab is tourd |
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Application publication date: 20190802 |