CN110815253A - Crop growth environment monitoring robot and control system thereof - Google Patents
Crop growth environment monitoring robot and control system thereof Download PDFInfo
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- CN110815253A CN110815253A CN201911236253.8A CN201911236253A CN110815253A CN 110815253 A CN110815253 A CN 110815253A CN 201911236253 A CN201911236253 A CN 201911236253A CN 110815253 A CN110815253 A CN 110815253A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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Abstract
The invention discloses a crop growth environment monitoring robot and a control system thereof, wherein the crop growth environment monitoring robot comprises a walking vehicle base, a detection mechanical arm and a growth environment detection mechanism, wherein the detection mechanical arm is formed by connecting a plurality of sections of rod bodies in series, each rod body comprises an installation seat, an upright post and a cross arm, the installation seat is positioned below the upright post, a gap is formed between the installation seat and the bottom of the upright post, and an L-shaped structure is formed between the upright post and the cross arm; the bottom fixedly connected with stand horizontal rotating mechanism of mount pad, the top surface of mount pad is equipped with stand angle of inclination adjustment mechanism, the stand passes through stand angle of inclination adjustment mechanism connects the mount pad, the xarm passes through xarm angle of pitch adjustment mechanism and installs on the stand. The invention has the advantages of accurate detection data, moving aspect and low detection cost.
Description
Technical Field
The invention relates to the technical field of crop growth environment monitoring, in particular to a crop growth environment monitoring robot and a control system thereof.
Background
With the improvement of living standards of people, the requirements of people on environment and food greening and health are continuously improved, the establishment of a traceable agricultural product production mechanism becomes a new trend of agricultural development, and the problem that how to record the growth track of agricultural products through data collection to make the products greener and healthier becomes a hot problem, wherein agricultural microclimate data (namely the growth environment of crops) is a basic guarantee of agricultural development, and how to monitor the growth environment of crops is the most important of the agricultural development.
The existing agricultural product growth environment data collection is generally to set different observation stations in a planting area, and set various sensors and cameras on the observation stations to collect crop growth environment data in different areas. The existing monitoring method has the following defects: (1) because the observation site is used for covering and monitoring a planting area, the collected data has errors when the distance from the observation site is far and near, the growth environment data of crops in each planting point can not be accurately collected, the accuracy of the data is influenced, the data can not be moved, fixed-point monitoring can not be carried out on a certain planting point in the planting area, a plurality of sites are required to be arranged for greatly reducing the use convenience (2), the whole planting area can be monitored, and the cost is high.
Disclosure of Invention
The invention aims to solve the problems of large monitoring data error, inconvenience in movement and high cost of the existing crop growth detection observation station, and provides a crop growth environment monitoring robot capable of advancing in a road of a planting area and monitoring the growth environment of crops in the planting area in real time and a control system thereof.
The technical scheme adopted by the invention is as follows:
a crop growth environment monitoring robot comprises a walking vehicle base, a detection mechanical arm arranged on the top surface of the walking vehicle base and a growth environment detection mechanism arranged on the detection mechanical arm, wherein the detection mechanical arm is formed by connecting a plurality of sections of rod bodies in series, each rod body comprises a mounting seat, an upright post and a cross arm, the mounting seats are positioned below the upright posts, a gap is formed between the mounting seats and the bottoms of the upright posts, and an L-shaped structure is formed between the upright posts and the cross arms;
the bottom of the mounting seat is fixedly connected with an upright post horizontal rotating mechanism, the top surface of the mounting seat is provided with an upright post inclination angle adjusting mechanism, the upright post is connected with the mounting seat through the upright post inclination angle adjusting mechanism, and the cross arm is mounted on the upright post through a cross arm pitch angle adjusting mechanism;
the mounting seat can rotate under the driving of the upright post horizontal rotating mechanism;
the upright post horizontal rotating mechanism is a first stepping motor, and a rotating shaft of the first stepping motor is fixedly connected with the bottom of the mounting seat;
aiming at two adjacent upright columns, a first stepping motor of the upper upright column is fixedly arranged at the top of the lower upright column;
and the first stepping motor positioned at the lowest part is fixedly arranged on the top surface of the walking vehicle base through a flange plate.
Preferably, the upright post inclination angle adjusting mechanism is a pitching stepping motor, wherein the pitching stepping motor is fixedly connected with the mounting seat through an L-shaped fixing plate, and a rotating shaft of the pitching stepping motor is fixedly connected with the upright post on the corresponding side.
Specifically, L type fixed plate includes diaphragm and riser, wherein, the diaphragm is fixed the top surface of mount pad, the one end of diaphragm stretches out the top surface of mount pad to at the tip fixed connection who stretches out the end the riser, every single move step motor fixes on the riser.
Preferably, the cross arm pitch angle adjusting mechanism is a second stepping motor, wherein the second stepping motor is fixed on the corresponding side of the upright post, and a rotating shaft of the second stepping motor is fixedly connected with the cross arm.
Preferably, a driving motor is arranged in the walking vehicle base, tires are symmetrically arranged on two sides of the walking vehicle base respectively, and the driving motor is connected with each tire through a gear.
Preferably, the growth environment detection mechanism comprises a camera, a carbon dioxide sensor, a photosynthetically active radiation sensor and a sensor for detecting wind speed, wind direction, air temperature, humidity and rainfall;
the top of the column at the top is provided with the camera, the cross arm at the top is provided with the carbon dioxide sensor, the photosynthetically active radiation sensor and the sensor, each column is provided with a horizontal sensor, and the front view surface of the base of the walking vehicle is provided with an infrared radar.
The invention also provides another technical scheme
A control system of a crop growth environment monitoring robot is used for controlling the crop growth environment monitoring robot, and comprises a man-machine conversation module, a first storage module, a transmission module, a power supply module, a driving module, a control module, a second storage module, an execution module and a computer center module;
the control module is respectively in communication connection with the second storage module and the transmission module, and is in communication connection with the execution module through the driving module;
the computer center module is respectively in communication connection with the man-machine conversation module and the first storage module, and is also in communication connection with the controller module and the driving module through the transmission module;
the power supply module is respectively and electrically connected with the power supply ends of the driving module, the execution module, the control module, the second storage module and the transmission module;
the execution module comprises an upright post horizontal rotating mechanism, an upright post inclination angle adjusting mechanism and a cross arm pitch angle adjusting mechanism;
the control module comprises a main control circuit board and a growth environment detection mechanism electrically connected with the main control circuit board.
Specifically, the master control circuit board is provided with an STC89C51 series single chip microcomputer chip, an STC89C52 series single chip microcomputer chip or an AT89 series single chip microcomputer chip.
Specifically, the transmission module is a wireless communication module.
The invention has the beneficial effects that:
(1) the invention relates to a crop growth environment monitoring robot and a control system thereof. Through the design, at first, the walking car base can go in the road in planting the district, can cover whole planting district, growth environment monitoring mechanism can gather the growth environment data of crops in whole planting district along with the walking car base promptly, and can also carry out fixed point to the growth environment data of the crops of a certain planting point and gather, also can make a round trip to monitor around a certain planting point, reduce the influence of measuring distance to data, avoid the big problem of data error that traditional observation website exists, great improvement the accuracy of data. In addition, the whole planting area is detected by adopting the walking vehicle base to carry the growth environment detection mechanism, the movement is very convenient, a plurality of observation stations are not required, the problem of high cost caused by the fact that the traditional observation station needs to be provided with a plurality of observation stations to carry out comprehensive coverage is solved, and the detection cost is greatly reduced.
(2) The invention is also provided with a detection manipulator, wherein the detection manipulator comprises an upright post and a cross arm, the upright post can rotate through an upright post horizontal rotating mechanism, the inclination angle of the upright post can be adjusted through an upright post inclination angle adjusting mechanism, the cross arm can adjust the pitch angle through a transverse disc pitch angle adjusting mechanism, and the growth environment detection mechanism is arranged on the detection manipulator. Through the design, the stand column and the cross arm can be adjusted at different angles and positions, so that the growth environment detection mechanism is located at a better detection position, the influence of different detection positions on the growth environment detection mechanism is reduced, and the reliability of detection data is further improved.
(3) The crop growth environment monitoring robot is also provided with a control module, and the control module is in communication connection with the man-machine conversation module, so that a user can override the crop growth environment monitoring robot remotely, and the use convenience is greatly improved. In addition, the data monitored by the robot can be transmitted to the man-machine conversation module through the transmission module in real time, so that the data can be acquired very quickly, and the data analysis rate is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a perspective view of a crop growth environment monitoring robot provided by the present invention.
Fig. 2 is a schematic view of the installation structure of the vertical column horizontal rotation mechanism and the vertical column inclination angle adjustment mechanism provided by the invention.
Fig. 3 is a schematic structural diagram of the cross arm pitch angle adjusting mechanism provided by the invention.
Fig. 4 is a system block diagram of a crop growth environment monitoring robot control system provided by the invention.
In the above figures, 1-a carriage base; 2-detecting a manipulator; 3-mounting a base; 4-upright post; 5-a cross arm; 6-a first stepper motor; 7-a flange plate; 8-pitch stepper motor; a 9-L-shaped fixing plate; 10-a transverse plate; 11-a vertical plate; 12-a second stepper motor; 13-a camera; 14-a carbon dioxide sensor; 15-a photosynthetically active radiation sensor; 16-a sensor; 17-a level sensor; 18-infrared radar.
Detailed Description
The invention will be further illustrated with reference to specific examples. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
Example one
As shown in fig. 1 to 3, the crop growth environment monitoring robot provided in this embodiment includes a walking vehicle base 1, a detection manipulator 2 disposed on a top surface of the walking vehicle base 1, and a growth environment detection mechanism disposed on the detection manipulator 2, wherein the detection manipulator 2 is formed by connecting a plurality of rod bodies in series, each rod body includes a mounting base 3, a stand column 4, and a cross arm 5, the mounting base 3 is located below the stand column 4, a gap exists between the mounting base and a bottom of the stand column 4, and an L-shaped structure is formed between the stand column 4 and the cross arm 5.
The bottom fixedly connected with stand horizontal rotating mechanism of mount pad 3, the top surface of mount pad 3 is equipped with stand angle of inclination adjustment mechanism, stand 4 passes through stand angle of inclination adjustment mechanism connects mount pad 3, xarm 5 passes through xarm angle of pitch adjustment mechanism and installs on stand 4.
The mounting seat 3 can rotate under the driving of the upright post horizontal rotating mechanism.
As shown in fig. 1, the following describes a specific structure of the crop growth environment monitoring robot:
the walking vehicle base 1 is as the installation interface of the detection manipulator 2, also as a walking device, carry growth environment detection mechanism and move in whole planting area, guarantee that growth environment detection mechanism can carry out the collection of growth environment data to the crops in whole planting area, also enable growth environment detection mechanism to carry out fixed point data collection to a certain planting point in planting area, can also move back and forth in a certain planting point area, reduce the influence of detection distance to data accuracy, accurate collection is the growth environment data of crops in this planting point, avoid the different influence testing results in the inaccurate problem of data of distance that traditional observation station exists, great improvement data detection's accuracy.
In addition, the robot provided in the embodiment can monitor the growth environment data of crops in the whole planting area by using one robot, and a plurality of robots are not required to be arranged, so that the problem that the cost is high when a traditional observation station needs to be arranged to comprehensively detect the whole planting area is solved, and the detection cost is greatly reduced.
The upright column 4 and the cross arm 5 form a rod body, and a plurality of rod bodies form the detection manipulator 2, namely the detection manipulator 2 is of a multi-section structure. Through the design like this, can make and survey manipulator 2 and can survey the crops of different growth height, also can select suitable body of rod number according to the growth condition of crops in the different planting districts, improve the suitability of using.
And each upright post 4 is provided with an upright post horizontal rotating mechanism, and an upright post inclination angle adjusting structure is fixed through the mounting seat 3. Through the design, the upright angle-of-inclination adjusting mechanism can adjust the angle of inclination of the upright 4, so that the upright 4 is always vertical and cannot be inclined. And a gap exists between the mounting seat 3 and the bottom surface of the upright post 4, so that the upright post 4 cannot touch the mounting seat 3 in the process of adjusting the inclination angle.
The cross arm 5 is installed on the stand column 4 through the cross arm pitch angle adjusting mechanism, and through the design, the cross arm pitch angle adjusting mechanism can adjust the pitch angle of the cross arm 5, so that the cross arm 5 is always kept horizontal, and the situation that the base of the walking vehicle is located on a ramp, the cross arm faces downwards, and the detection of the growth environment detection mechanism is influenced is prevented.
Through the combined action of the vertical column horizontal rotating mechanism, the vertical column inclination angle adjusting mechanism and the cross arm pitch angle adjusting mechanism, the whole detection manipulator 2 can have a better detection posture, so that the growth environment monitoring mechanism has a better detection position, the influence of road conditions on the growth environment detection mechanism is reduced, and the reliability of detected data is further improved.
Therefore, through the description of the crop growth environment monitoring robot, on one hand, the growth environment detection mechanism can be carried by the walking vehicle base 1 to collect crop growth environment data of the whole planting area, and also can collect cycle data of crops in the same area, so that the influence of detection distance on detected data is reduced, and fixed point data collection can be carried out. Through the design, the accuracy of the collected data can be greatly improved. On the other hand, adopt the robot that this embodiment provided, just one can detect the growing environment of crops in the whole planting district comprehensively, need not set up a plurality ofly, has avoided traditional observation station to need to set up a plurality ofly just can detect the problem with high costs that exists to planting district comprehensively. In addition, the robot is provided with a vertical column horizontal rotating mechanism, a vertical column inclination angle adjusting mechanism and a cross arm pitch angle adjusting mechanism, and through the design, the position and the angle of the detection manipulator 2 can be adjusted, so that the growth environment detection mechanism has a good detection position, the adverse effect of a road in a planting area on detection is reduced, and the accuracy of detected data is further improved.
The column horizontal rotation mechanism is specifically described below:
the upright column horizontal rotating mechanism is a first stepping motor 6, and a rotating shaft of the first stepping motor 6 is fixedly connected with the bottom of the mounting seat 3.
And aiming at two adjacent upright columns 4, a first stepping motor 6 of the upper upright column 4 is fixedly arranged at the top of the lower upright column 4.
The first stepping motor 6 positioned at the lowest part is fixedly arranged on the top surface of the walking vehicle base 1 through a flange 7.
As shown in fig. 1 and 2, by providing a first stepping motor 6 at the bottom of each mounting seat 3, each upright 4 can be rotated independently, that is, each upright 4 can be adjusted in rotation angle. When the growth condition of different crops on both sides of the road needs to be detected, the detection of the growth condition of different crops (such as photographing and shooting of the crops) can be realized by rotating the two different upright posts 4, and the practicability of use is improved.
In this embodiment, the rotation axis of first step motor 6 still can pass through the coupling joint pivot, rotates through pivot drive mount pad 3, through such design, transmission power and moment of torsion that can be better, and can also play the guard action when load is too big, improve equipment pivoted stability.
Preferably, the upright post inclination angle adjusting mechanism is a pitching stepping motor 8, wherein the pitching stepping motor 8 is fixedly connected with the mounting base 3 through an L-shaped fixing plate 9, and a rotating shaft of the pitching stepping motor 8 is fixedly connected with the upright post 4 on the corresponding side.
Specifically, L type fixed plate 9 includes diaphragm 10 and riser 11, wherein, diaphragm 10 is fixed the top surface of mount pad 3, the one end of diaphragm 10 stretches out the top surface of mount pad 3 to at the tip fixed connection who stretches out the end riser 11, every single move step motor 8 is fixed on riser 11.
Preferably, the cross arm pitch angle adjusting mechanism is a second stepping motor 12, wherein the second stepping motor 12 is fixed on the upright post 4 on the corresponding side, and a rotating shaft of the second stepping motor 12 is fixedly connected with the cross arm 5.
As shown in fig. 2, the following specifically describes the mounting structure of the pillar tilt angle adjusting mechanism:
through the design, every single move step motor 8 can rotate along with mount pad 3 to every stand 4 homoenergetic carries out inclination's regulation through every single move step motor 8, makes stand 4 remain throughout vertical, avoids stand 4 slope and influences the accuracy that growing environment monitoring mechanism detected data.
In this embodiment, the pitch stepper motor 8 is a conventional device.
As shown in fig. 3, the cross arm pitch angle adjustment mechanism is described in detail below:
the pitch angle of the cross arm 5 can be adjusted by the second stepping motor 12, and the cross arm 5 can be kept horizontal at all times.
Through the mutual cooperation of the stand column horizontal rotating mechanism, the stand column inclination angle adjusting mechanism and the cross arm pitch angle adjusting mechanism, the stand column 4 and the cross arm 5 can be adjusted at different angles and positions, the growing environment detection mechanism is located at a better detection position, the influence of different detection positions on the growing environment detection mechanism is reduced, and the reliability of detection data is further improved.
In this embodiment, the pitch stepping motor 8 may also be connected to the rotating shaft through a coupling, and the rotating shaft extends into the column 4 and forms an interference fit with the column 4, so as to adjust the pitch angle of the column 4.
Preferably, a driving motor is arranged in the walking vehicle base 1, tires are symmetrically arranged on two sides of the walking vehicle base 1 respectively, and the driving motor is connected with each tire through a gear. The driving motor drives the tire to be consistent with the tire driving of the existing robot, and the driving method is the prior art.
In the embodiment, the crawler belt can be used for replacing tires so as to adapt to worse roads and improve the traffic capacity of the robot.
Preferably, the growing environment detection means comprises a camera 13, a carbon dioxide sensor 14, a photosynthetically active radiation sensor 15 and a sensor 16 for detecting wind speed, wind direction, air temperature and humidity and rainfall.
The top of the uppermost upright post 4 is provided with the camera 13, the cross arm 5 of the uppermost is provided with the carbon dioxide sensor 14, the photosynthetically active radiation sensor 15 and the sensor 16, each upright post 4 is provided with a horizontal sensor 17, and the front view plane of the base 1 of the walking vehicle is provided with an infrared radar 18.
Through the design, the camera 13 can rotate along with the upright post 4, and can shoot the growth condition of crops in the planting area at 360 degrees; the carbon dioxide sensor 14 is capable of detecting the carbon dioxide content in the growing area and analyzing the photosynthetic intensity of the crop in combination with the data detected by the photosynthetically active radiation sensor 15.
The sensor 16 is used for detecting wind speed, wind direction, air temperature, humidity and rainfall, and further can detect environmental data in the planting area.
Through growth environment detection mechanism, the agricultural microclimate data in the detection planting district that can be accurate to supplementary completion crops growth orbit's detection, monitoring crops carry out normal growth.
The horizontal sensor 17 can detect whether the upright post 4 is inclined or not, and the inclination angle of the upright post is adjusted through the pitching stepping motor 8; the infrared radar 18 is used for detecting whether an obstacle exists in front of the robot or not and is used together with the driving motor to enable the base 1 of the walking vehicle to avoid the obstacle.
Example two
The difference between the present embodiment and the first embodiment is: the embodiment provides a control system of a crop growth environment monitoring robot.
As shown in fig. 4, the control system of a crop growth environment monitoring robot provided in this embodiment is configured to control any one of the crop growth environment monitoring robots described above, and includes a man-machine conversation module, a first storage module, a transmission module, a power supply module, a driving module, a control module, a second storage module, an execution module, and a computer center module.
The control module is respectively in communication connection with the second storage module and the transmission module, and the control module is in communication connection with the execution module through the driving module.
The computer center module is respectively in communication connection with the man-machine conversation module and the first storage module, and is also in communication connection with the controller module and the driving module through the transmission module.
The power supply module is respectively and electrically connected with the power supply ends of the driving module, the execution module, the control module, the second storage module and the transmission module.
The execution module comprises a vertical column horizontal rotating mechanism, a vertical column inclination angle adjusting mechanism and a cross arm pitch angle adjusting mechanism.
Namely, the first stepping motor 6, the second stepping motor 12, the pitching stepping motor 8 and the driving motor in the first embodiment are included, and the driving motor on the base 1 of the walking vehicle is also included.
The control module comprises a main control circuit board and a growth environment detection mechanism electrically connected with the main control circuit board.
Namely, the control module comprises a main control circuit board and a camera 13, a carbon dioxide sensor 14, a photosynthetically active radiation sensor 15, a sensor 16, a level sensor 17 and an infrared radar 18 in the first embodiment.
Preferably, the master control circuit board is provided with an STC89C51 series single chip microcomputer chip, an STC89C52 series single chip microcomputer chip or an AT89 series single chip microcomputer chip.
Preferably, the transmission module is a wireless communication module.
As shown in fig. 4, the human-machine interaction module is used for remotely controlling the robot, and in this embodiment, the human-machine interaction module may be, but is not limited to: computer with a display
The first storage module is used for storing data uploaded by the robot.
The transmission module is used for the communication connection between the robot and the man-machine conversation module, namely the robot is in communication connection with the computer center module through the transmission module and is further in communication connection with the man-machine conversation module through the computer center module, so that a user can remotely control the robot through the man-machine conversation module; and the data collected by the robot are also uploaded through the transmission module.
The transmission module is a wireless transmission module, and in this embodiment, the wireless transmission module may not be limited to a 4G module or a WIFI module.
The control module is used as a control center of the robot and is used for receiving data transmitted by various sensors and controlling the walking of the walking vehicle base 1 and the work of the first stepping motor 6, the second stepping motor 12 and the pitching stepping motor 9, in the embodiment, the control module is a main control circuit board in the control module, namely, the main control circuit board is provided with an STC89C51 series single chip microcomputer chip, an STC89C52 series single chip microcomputer chip or an AT89 series single chip microcomputer chip and is used for realizing the automatic control of the work of the robot.
The driving module is used as a switch, and after receiving the signal of the control module, the driving module switches on the corresponding motor to work.
The execution modules are a first stepping motor 6, a second stepping motor 12, a pitching stepping motor 8 and a driving motor, and are used for realizing walking of the base of the walking vehicle, rotation of the upright post 4, adjustment of an inclination angle and adjustment of a pitching angle of the cross arm 5.
Through the design, the intelligent operation of improvement crops growth environment monitoring robot that can be great, the work of the quick control robot of accessible remote terminal also can be through writing into the procedure to control module, let the robot carry out set work according to predetermined procedure, great improvement the convenience and the intellectuality of use.
In summary, the crop growth environment monitoring robot and the control system thereof provided by the invention have the following technical effects:
(1) the invention arranges the detection manipulator 2 on the walking vehicle base, and arranges the growth environment detection mechanism on the detection manipulator 2. Through the design, at first, walking car base 1 can go in the road in planting the district, can cover whole planting district, growth environment monitoring mechanism can gather the growth environment data of crops in whole planting district along with walking car base 1 promptly, and can also carry out fixed point to the growth environment data of the crops of a certain planting point and gather, also can make a round trip to monitor around a certain planting point, reduce the influence of measuring distance to data, avoid the big problem of data error that traditional observation website exists, great improvement the accuracy of data. In addition, the whole planting area is detected by adopting the walking vehicle base 1 to carry the growth environment detection mechanism, the movement is very convenient, a plurality of observation stations are not required, the problem of high cost caused by the fact that the traditional observation station needs to be provided with a plurality of observation stations to carry out comprehensive coverage is solved, and the detection cost is greatly reduced.
(2) The invention is also provided with a detection manipulator 2, wherein the detection manipulator comprises an upright post 4 and a cross arm 5, the upright post 4 can rotate through an upright post horizontal rotating mechanism, and can also adjust the inclination angle through an upright post inclination angle adjusting mechanism, the cross arm 5 can adjust the pitch angle through a transverse disc pitch angle adjusting mechanism, and the growth environment detection mechanism is arranged on the detection manipulator 2. Through the design, the stand column 4 and the cross arm 5 can be adjusted at different angles and positions, so that the growth environment detection mechanism is located at a better detection position, the influence of different detection positions on the growth environment detection mechanism is reduced, and the reliability of detection data is further improved.
(3) The crop growth environment monitoring robot is also provided with a control module, and the control module is in communication connection with the man-machine conversation module, so that a user can override the crop growth environment monitoring robot remotely, and the use convenience is greatly improved. In addition, the data monitored by the robot can be transmitted to the man-machine conversation module through the transmission module in real time, so that the data can be acquired very quickly, and the rate of data analysis is great
The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.
Claims (9)
1. The utility model provides a crops growth environment monitoring robot which characterized in that: the device comprises a walking vehicle base (1), a detection mechanical arm (2) arranged on the top surface of the walking vehicle base (1) and a growth environment detection mechanism arranged on the detection mechanical arm (2), wherein the detection mechanical arm (2) is formed by connecting a plurality of sections of rod bodies in series, each rod body comprises an installation seat (3), an upright post (4) and a cross arm (5), the installation seats (3) are positioned below the upright posts (4) and form a gap with the bottoms of the upright posts (4), and an L-shaped structure is formed between each upright post (4) and the cross arm (5);
the bottom of the mounting seat (3) is fixedly connected with an upright column horizontal rotating mechanism, the top surface of the mounting seat (3) is provided with an upright column inclination angle adjusting mechanism, the upright column (4) is connected with the mounting seat (3) through the upright column inclination angle adjusting mechanism, and the cross arm (5) is mounted on the upright column (4) through a cross arm pitch angle adjusting mechanism;
the mounting seat (3) can rotate under the driving of the upright post horizontal rotating mechanism;
the vertical column horizontal rotating mechanism is a first stepping motor (6), and a rotating shaft of the first stepping motor (6) is fixedly connected with the bottom of the mounting seat (3);
aiming at two adjacent upright columns (4), a first stepping motor (6) of the upper upright column (4) is fixedly arranged at the top of the lower upright column (4);
and a first stepping motor (6) positioned at the lowest part is fixedly arranged on the top surface of the walking vehicle base (1) through a flange plate (7).
2. The crop growth environment monitoring robot of claim 1, wherein: the upright post inclination angle adjusting mechanism is a pitching stepping motor (8), wherein the pitching stepping motor (8) is fixedly connected with the mounting seat (3) through an L-shaped fixing plate (9), and a rotating shaft of the pitching stepping motor (8) is fixedly connected with the upright post (4) on the corresponding side.
3. The crop growth environment monitoring robot of claim 2, wherein: l type fixed plate (9) are including diaphragm (10) and riser (11), wherein, diaphragm (10) are fixed the top surface of mount pad (3), the one end of diaphragm (10) is stretched out the top surface of mount pad (3) to at the tip fixed connection who stretches out end riser (11), every single move step motor (8) are fixed on riser (11).
4. The crop growth environment monitoring robot of claim 1, wherein: the cross arm pitch angle adjusting mechanism is a second stepping motor (12), wherein the second stepping motor (12) is fixed on the upright post (4) on the corresponding side, and a rotating shaft of the second stepping motor (12) is fixedly connected with the cross arm (5).
5. The crop growth environment monitoring robot of claim 1, wherein: the novel bicycle is characterized in that a driving motor is arranged in the walking vehicle base (1), tires are symmetrically arranged on two sides of the walking vehicle base (1) respectively, and the driving motor is connected with each tire through gear transmission.
6. The crop growth environment monitoring robot of claim 1, wherein: the growth environment detection mechanism comprises a camera (13), a carbon dioxide sensor (14), a photosynthetically active radiation sensor (15) and a sensor (16) for detecting wind speed, wind direction, air temperature, humidity and rainfall;
be equipped with at the top of the top stand (4) camera (13) are equipped with on xarm (5) of the top carbon dioxide sensor (14) photosynthetic active radiation sensor (15) with sensor (16), all be equipped with level sensor (17) on every stand (4), be equipped with infrared radar (18) on the front view of walking car base (1).
7. The utility model provides a control system of crops growth environment monitoring robot which characterized in that: the crop growth environment monitoring robot for controlling the crop growth environment monitoring robot comprises a man-machine conversation module, a first storage module, a transmission module, a power supply module, a driving module, a control module, a second storage module, an execution module and a computer center module;
the control module is respectively in communication connection with the second storage module and the transmission module, and is in communication connection with the execution module through the driving module;
the computer center module is respectively in communication connection with the man-machine conversation module and the first storage module, and is also in communication connection with the controller module and the driving module through the transmission module;
the power supply module is respectively and electrically connected with the power supply ends of the driving module, the execution module, the control module, the second storage module and the transmission module;
the execution module comprises an upright post horizontal rotating mechanism, an upright post inclination angle adjusting mechanism and a cross arm pitch angle adjusting mechanism;
the control template comprises a main control circuit board and a growth environment detection mechanism electrically connected with the main control circuit board.
8. The control system of the crop growth environment monitoring robot according to claim 7, wherein: the master control circuit board is provided with an STC89C51 series single chip microcomputer chip, an STC89C52 series single chip microcomputer chip or an AT89 series single chip microcomputer chip.
9. The control system of the crop growth environment monitoring robot according to claim 7, wherein: the transmission module is a wireless communication module.
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| CN201911236253.8A CN110815253A (en) | 2019-12-05 | 2019-12-05 | Crop growth environment monitoring robot and control system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111899475A (en) * | 2020-07-17 | 2020-11-06 | 中国科学院、水利部成都山地灾害与环境研究所 | Mountain region calamity early warning device of community |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111899475A (en) * | 2020-07-17 | 2020-11-06 | 中国科学院、水利部成都山地灾害与环境研究所 | Mountain region calamity early warning device of community |
| CN111899475B (en) * | 2020-07-17 | 2022-08-02 | 中国科学院、水利部成都山地灾害与环境研究所 | Mountain region calamity early warning device of community |
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