CN111360782A - Multifunctional robot based on aerial rail type - Google Patents
Multifunctional robot based on aerial rail type Download PDFInfo
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- CN111360782A CN111360782A CN202010275939.4A CN202010275939A CN111360782A CN 111360782 A CN111360782 A CN 111360782A CN 202010275939 A CN202010275939 A CN 202010275939A CN 111360782 A CN111360782 A CN 111360782A
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- 238000004891 communication Methods 0.000 claims abstract description 32
- 238000007689 inspection Methods 0.000 claims abstract description 26
- 239000000725 suspension Substances 0.000 claims abstract description 18
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- 238000000034 method Methods 0.000 claims abstract description 13
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- 239000003814 drug Substances 0.000 claims abstract description 5
- 241000196324 Embryophyta Species 0.000 claims description 18
- 239000007788 liquid Substances 0.000 claims description 18
- 239000000575 pesticide Substances 0.000 claims description 14
- 238000004422 calculation algorithm Methods 0.000 claims description 10
- 239000007921 spray Substances 0.000 claims description 9
- 230000003139 buffering effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention relates to a multifunctional robot based on an aerial rail type, which is positioned on a suspended rail; the system comprises a vehicle body, a walking module, a sensing module, a control module, a communication module, an operation module and a hanging platform; the walking module, the sensing module, the control module, the communication module and the hanging platform are all arranged on the vehicle body; the operation module is connected with the vehicle body through the hanging platform; the walking module, the sensing module, the communication module, the operation module and the hanging platform are all electrically connected with the control module; the operation module is a picking mechanism, a medicine spraying mechanism or an inspection mechanism; the walking module comprises a driving module and wheels, and the wheels move in the track grooves of the suspension tracks. The multifunctional robot based on the aerial rail type can obtain a better inspection visual angle and a more abundant picking and spraying space when walking on the suspended rail; the detachable hanging platform can realize the quick conversion of various operation functions and is suitable for various operation tasks in the agricultural production process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an aerial rail-based multifunctional robot.
Background
The development of robots is one of the development trends of automation and intellectualization of agricultural machinery in the 21 st century. Robots with various characteristics for picking, harvesting, weeding, trimming, farming, grafting, grading agricultural products and the like have been researched, developed and applied in many countries. For example, patent application with publication number CN105746092A discloses a novel crawler-type apple picking robot, which mainly comprises a crawler-type mobile platform, a picking system and a control system, and is characterized in that four apple picking mechanical ARMs are integrated on the crawler-type mobile platform, the control system adopts an ARM processor to fuse and process various sensor information on the picking mechanical ARMs and the end effector to obtain corresponding control signals, so as to correspondingly control servo motors on the picking mechanical ARMs and the end effector and drive the picking mechanical ARMs and the end effector to automatically pick apples. Patent application publication No. CN103380766A discloses an automatic pesticide spraying robot for greenhouses, which comprises a rail walking part, a pesticide spraying part fixed on the rail walking part, and a control part respectively connected with the rail walking part and the pesticide spraying part. However, the current robot and the traditional ground working machine need to work in a crop growth area in both a wheel type and a crawler type, so that on one hand, the best inspection visual angle is difficult to obtain due to the fact that branches and leaves of crops are shielded during inspection, and on the other hand, the working machine directly walks in a farmland, so that the crops are inevitably damaged, and economic loss is caused. Meanwhile, the existing robot only has specific functions, is suitable for specific environments, has poor universality and is inconvenient for expanding and improving the system.
Disclosure of Invention
In order to solve the technical defects, the invention provides the aerial rail-based multifunctional robot, which can realize the rapid conversion of multiple operation functions through a detachable hanging platform, thereby being suitable for multiple operation tasks of agricultural production, improving the utilization rate and cost performance of the robot and reducing the operation cost.
In order to realize the functions, the invention adopts the technical scheme that:
a multifunctional robot based on an aerial rail type is provided, wherein the robot is positioned on a suspended rail;
the method comprises the following steps: the system comprises a vehicle body, a walking module, a sensing module, a control module, a communication module, an operation module and a hanging platform; the walking module, the sensing module, the control module, the communication module and the hanging platform are all arranged on the vehicle body, and the operation module is connected with the vehicle body through the hanging platform; the walking module, the sensing module, the communication module, the operation module and the hanging platform are all electrically connected with the control module; the operation module is a picking mechanism, a medicine spraying mechanism or an inspection mechanism; the walking module comprises a driving module and wheels, and the wheels move in the rail grooves of the suspension rails.
Preferably, the hitching platform comprises a suspension rod, a support plate, a left arch part, a right arch part, a rotating wheel disc and a sliding device, wherein the upper end of the suspension rod is connected with the bottom of the vehicle body, the lower end of the suspension rod is connected with the support plate, one of the left arch part and the right arch part is fixedly connected with the support plate, the other one of the left arch part and the right arch part is slidably connected with the support plate through the rotating wheel disc and the sliding device, the arch lower parts of the left arch part and the right arch part are provided with saw-toothed areas, the arch upper parts of the left arch part and the; the hanging platform is also provided with a communication and power supply interface; the rotary wheel disc is provided with a locking device.
Preferably, the operation module comprises an operation mechanism and a hanging main body, and the hanging main body is divided into three areas, namely an operation installation part, an upper hanging part and a lower hanging part; the operation mounting part is provided with a mounting groove for mounting the operation mechanism; the lower hanging part comprises a lower hanging main body and two buffering connecting columns which are arranged in the lower hanging main body and respectively protrude out of two sides of the lower hanging main body, and the two buffering connecting columns are connected in the lower hanging main body through a first spring; the left and right sides of the lower part of the lower hanging main body are provided with soft parts; the upper hanging part comprises an upper hanging main body and two concave accommodating pieces which are respectively arranged at two sides of the upper part of the upper hanging main body, and the two concave accommodating pieces are connected in the upper hanging main body through a second spring; the hanging main body is also provided with a communication and power supply cable.
Preferably, picking mechanism is including articulating module, lift platform, scalable arm, picking mechanism, first camera module and ranging module, articulate the module with lift platform fixed connection, scalable arm is installed on the lift platform, picking mechanism, first camera module and ranging module are installed to the end of scalable arm.
Preferably, the pesticide spraying mechanism comprises a first electric telescopic rod, a pesticide liquid box, a pressurizer, a liquid guide pipe and a spray head, the liquid guide pipe is connected with the pesticide liquid box through the pressurizer, the liquid guide pipe is connected with the spray head, and the liquid guide pipe and the spray head are arranged on the first electric telescopic rod.
Preferably, the inspection mechanism comprises an electric telescopic rod II and a second camera module, and the second camera module is arranged at the top of the electric telescopic rod.
Preferably, the sensing module comprises an RFID reader, and the suspension track is provided with an RFID tag in which unique address identification information is stored; the control module stores the address identification information of each RFID label, and obtains the position information based on the address identification information in the RFID label read by the RFID reader, so that the vehicle body is controlled to run according to the planned route.
Preferably, the device further comprises a power module, wherein the power module comprises a storage battery and a charging module.
Preferably, still include a plurality of charging socket on the unsettled track, charging socket also is equipped with the RFID label.
Preferably, the vehicle driving control system further comprises a handheld remote controller, wherein the handheld remote controller is connected with the control module through wireless communication, and is used for receiving and displaying the real-time motion state of the vehicle from the communication module and sending a driving control instruction to the communication module.
The invention has the beneficial effects that:
(1) the multifunctional robot based on the aerial rail type is capable of walking on the suspended rail, obtaining a better inspection visual angle and a more abundant picking and spraying space, and is particularly suitable for planting scenes such as greenhouses and the like; and because the vehicle body does not need to touch the ground, the damage of the vehicle body to crops can be avoided.
(2) The multifunctional robot based on the aerial rail type realizes the rapid conversion of various operation functions through the detachable hanging platform, and can be suitable for various operation tasks in the agricultural production process.
(3) The robot provided by the invention also has an automatic inspection function, can execute an inspection mode before starting picking, pesticide spraying and other operation tasks, particularly identifies whether pesticide spraying of crops and fruit picking are needed or not based on a machine vision technology, has a stronger automation level, and can greatly improve the agricultural production efficiency.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view of the overall structure of the aerial rail-based multifunctional robot of the present invention;
FIG. 2 is a schematic view of the principle of the present invention of a hitch platform and a hitch body cooperating to effect a hitch;
fig. 3 is a functional block diagram of the robot of the present invention.
In the figure:
a vehicle body 1; a walking module 2; a sensing module 3; a control module 4; a communication module 5; an operation module 6; a work mounting part 6.1; an upper hanging part 6.2; a lower hanging part 6.3; 6.4 of a buffer connecting column; a concave receiving member 6.5; a soft body portion 6.6; a hitching platform 7; a left arcuate part 7.1; a right arcuate part 7.2; a rotary wheel disc 7.3; connecting column 7.4.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description, wherein the drawings are simplified schematic drawings and only the basic structure of the present invention is illustrated schematically, so that only the structure related to the present invention is shown, and it is to be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the term pertains. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1-2, a first embodiment of the present invention provides an aerial rail-based multifunction robot, which is located on a suspended rail; the method comprises the following steps: the system comprises a vehicle body 1, a walking module 2, a sensing module 3, a control module 4, a communication module 5, an operation module 6 and a hanging platform 7; the walking module 2, the sensing module 3, the control module 4, the communication module 5 and the hanging platform 7 are all arranged on the vehicle body 1, and the operation module 6 is connected with the vehicle body 1 through the hanging platform 7; the walking module 2, the sensing module 3, the communication module 4, the operation module 6 and the hanging platform 7 are all electrically connected with the control module 5; the operation module 6 is a picking mechanism, a medicine spraying mechanism or an inspection mechanism; the walking module 2 comprises a driving module and wheels, and the wheels move in the track grooves of the suspension tracks.
It should be noted that, the existing robots, whether wheel-type or crawler-type, are all operated directly on the farmland ground, and for the inspection-type robot, it is obvious that the inspection visual angle is more difficult to control, and is very easily affected by the branches and leaves of the crops, and it is inevitable that a part of the crops are crushed, which causes the loss of agricultural production. Aiming at the technical defect, the robot is arranged on the suspended track to operate, and is particularly suitable for planting scenes such as greenhouses and the like. In addition, the existing robots are developed for automation and intellectualization in specialized agricultural production, and therefore, the robots only have specific functions, are suitable for specific environments, have poor universality, are inconvenient to expand and improve the system, and have obvious seasonality for agricultural production, namely, great difference exists in agricultural labor required by different crop growth stages. Therefore, the conventional robot has low use efficiency and high cost. In order to solve the technical defect, the invention also realizes the quick switching among different operation modules 6 through the hanging platform, namely, the quick switching among different operation modes of a picking mechanism, a medicine spraying mechanism, a routing inspection mechanism and the like is realized based on the detachable hanging platform.
The hitching platform 7 of fig. 1 is explained in detail based on fig. 2 according to an embodiment of the present invention. The hitching platform 7 comprises a suspension rod, a support plate, a left arch part 7.1, a right arch part 7.2, a rotating wheel disc 7.3 and a sliding device (not shown in the figure), wherein the upper end of the suspension rod is connected with the bottom of the vehicle body 1, the lower end of the suspension rod is connected with the support plate, one of the left arch part 7.1 and the right arch part 7.2 is fixedly connected with the support plate, the other one is connected with the support plate in a sliding way through the rotating wheel disc 7.3 and the sliding device, the arch lower parts of the left arch part 7.1 and the right arch part 7.2 are provided with saw-toothed areas, the arch upper parts are provided with convex connecting columns, and the middle; the hitching platform 7 is also provided with a communication and power supply interface (not shown in the figure); the rotary wheel disc is provided with a locking device.
According to the embodiment of the present invention, the operation module 6 includes an operation mechanism (not shown in the figure) and a hanging main body, wherein the hanging main body includes an operation installation part 6.1, an upper hanging part 6.2 and a lower hanging part 6.3; wherein the work mounting part 6.1 is provided with a mounting groove (not shown in the figure) for mounting the work mechanism 6; the upper hanging part 6.2 comprises an upper hanging main body and two concave accommodating pieces 6.5 which are respectively arranged at two sides of the upper part of the upper hanging main body, and the two concave accommodating pieces 6.5 are connected in the upper hanging main body through a second spring; the lower hanging part 6.3 comprises a lower hanging main body and two buffer connecting columns 6.4 which are arranged in the lower hanging main body and respectively protrude out of two sides of the upper hanging main body, and the two buffer connecting columns 6.4 are connected in the lower hanging main body through a first spring; the left side and the right side of the lower part of the lower hanging part 6.3 are provided with soft parts 6.6; the main body is also provided with communication and power supply cables (not shown in the figure).
It should be noted that the hitching platform 7 is connected with the vehicle body 1 through the suspension rod, the different operation modules 6 comprise hitching main bodies and specific operation mechanisms connected with the hitching main bodies, and the hitching main bodies have the same structure, so that the universality of the modules is enhanced, namely, the vehicle body 1 and the different operation modules 6 can be quickly switched and installed through the same and universal hitching device, a whole set of vehicle and operation structure do not need to be configured for each agricultural operation task, and the use cost is greatly reduced.
Meanwhile, for this specific hitching platform 7, one of the two arcuate members is fixed to the vehicle body, and the other is moved, and as to which one is moved, this is not particularly limited by the present invention since it does not affect the implementation of the technical solution of the present invention (fig. 2 is a fixed example of the right arcuate member 7.2); when the device is used, a user drives the arched part 7.1 to translate in the sliding groove on the vehicle body 1 by rotating the rotating wheel disc 7.3 on the movable arched part 7.1, when the movable arched part 7.1 translates to be tightly combined with the hanging main body, the locking device on the rotating wheel disc is started, clamping and fixing of the clamping hanging main body can be achieved, the specific implementation mode of translation can be based on structures such as a screw rod and a gear, and the translation and locking structure belongs to the prior art, so that a person skilled in the art can independently select based on the prior art, for example, the translation and locking of the movable arched part can be achieved by adaptively deforming based on the principle disclosed by the patent publications CN206200170U and CN107855932A, and the invention is not limited to this. The main structure of the two arch parts is the same except for the difference of movable and fixed, in particular, the lower part of the arch part has a sawtooth-shaped structure, the upper part has a convex connecting column 7.4, and the middle part has a small groove for receiving a buffer connecting column 6.4; correspondingly, the lower part of the hanging main body connected with the operating mechanism is provided with a soft body part 6.6 corresponding to the zigzag structure of the arch part, and the upper part of the hanging main body is provided with a concave accommodating piece 6.5. Thus, when the arcuate member is in contact with the hitch structure: at the lower part, the zigzag structure of the arch part is pressed into the soft body part 6.6 of the hanging main body, thereby realizing firm contact of the lower part and preventing the sliding; on the upper part, the projecting connection post 7.4 of the arch-shaped part is inserted into the concave receiving piece 6.5 on the upper part of the connecting body, so that the upper part is firmly mounted; in the middle, the small recess of the arcuate part receives the bumper 6.4, so that a stable connection of the middle is achieved. Because the middle part of articulating the main part still is equipped with and is located articulating the inside spliced pole 6.4 that articulates the main part and follow and articulate main part both sides limit protrusion part, this spliced pole 6.4 is independent two, and the two links together through spring coupling in the inside that articulates the main part, the spill that the upper portion held also has similar mechanism, then, based on this particular construction, can realize playing the effect of buffering when bow-shaped part and articulate the main part contact, the damage to the part has been avoided the rough operation, and, this structure has still improved the damping degree between the part when specifically carrying out the operation task, further avoided the damage that hard contact leads to between the metal rigid component. In conclusion, the hanging mode of the invention achieves the technical effects of firm hanging and flexible hanging at the same time.
In addition, since the aerial agricultural machine of the present invention is a robot, that is, it has an automatic operation mode, the present invention further provides a communication and power supply interface and a communication and power supply cable on the arcuate member and the connecting body, respectively. Thus, after the mechanical connection of the operation module to the vehicle body is completed, the user can simply insert the communication and power supply cable into the communication and power supply interface to realize the communication connection and power supply of the operation module 6 to the vehicle body 1. For the robot with the automatic working mode, the working module can realize the execution of various working tasks under the control of the control module on the vehicle body. Of course, each operation module can also be provided with a completely independent control module, and at the moment, the operation module is only required to be electrically connected with the vehicle body; in addition, each operation module may also have a semi-independent control module, that is, the control module on the vehicle body and the control module of the operation module itself, or the control module on the vehicle body, the handheld remote controller 8 and the control module of the operation module itself jointly implement control over the operation tasks of the operation module, which is not limited in the present invention.
According to the embodiment of the invention, the picking mechanism comprises a hanging module, a lifting platform, a telescopic mechanical arm, a picking mechanism, a first camera module and a distance measuring module, wherein the hanging module is fixedly connected with the lifting platform, the telescopic mechanical arm is installed on the lifting platform, and the picking mechanism, the first camera module and the distance measuring module are installed at the tail end of the telescopic mechanical arm. Based on the structure, the position of the fruit can be identified and positioned based on the first camera module, and the distance between the fruit and the picking mechanism can be measured based on the distance measuring module, so that the fruit can be picked accurately.
According to the embodiment of the invention, the pesticide spraying mechanism comprises a first electric telescopic rod, a pesticide liquid box, a pressurizer, a liquid guide pipe and a spray head, wherein the liquid guide pipe is connected with the pesticide liquid box through the pressurizer, the liquid guide pipe is connected with the spray head, and the liquid guide pipe and the spray head are arranged on the first electric telescopic rod.
According to the embodiment of the invention, the inspection mechanism comprises a second electric telescopic rod and a second camera module, and the second camera module is arranged at the top of the electric telescopic rod.
The invention also provides a second embodiment, which is improved compared with the first embodiment mainly in that: the automatic control function of the vehicle is added on the basis of the first embodiment, so that the vehicle can autonomously run the operation task through the vehicle according to a preset track (for example, the operation track input by a user in advance, the operation track determined by the aerial robot autonomously, a new track planned by the aerial robot autonomously based on the detected agricultural condition information on the basis of the operation track input by the user, and the like), manpower can be released, and the use experience of the user can be further improved.
According to the embodiment of the invention, on the basis of the first embodiment, the sensing module 3 comprises an RFID reader, an RFID tag is arranged on the suspension track, and unique address identification information is stored in the RFID tag; the control module 5 stores the address identification information of each RFID tag, and obtains the position information based on the address identification information in the RFID tag read by the RFID reader, so that the vehicle body is controlled to run according to the planned route.
Before the aerial robot executes a task, a user can input a set task and a set operation track into the aerial robot, and then the aerial robot can be started to travel on a suspended track to execute an operation function after the corresponding operation module 6 is connected. The input mode of the operation instruction may be data card input, program burning, or may be implemented by an external terminal connected by wire or wirelessly, for example, the external terminal may be a handheld remote controller, and specifically, may also be a mobile terminal such as a smart phone, a tablet computer, a PDA, and the like, which is not limited in this respect. Meanwhile, the aerial robot can know the motion state of the aerial robot and the agricultural condition information below the aerial robot in real time through the second camera module, the RFID reader and the like in the driving process, so that whether the motion state needs to be adjusted or not is determined; meanwhile, the hand-held remote controller 8 can also be connected with the control module 5 through wireless communication to receive and display the real-time motion state of the vehicle from the communication module 4, so that when a user needs to temporarily change a work track or the work track of the aerial robot deviates and fails and stagnates, the user sends a driving control instruction to the communication module 4, namely, manual control taking over or short-time intervention is realized, and the work effect of the aerial robot is further improved. The hand-held remote controller 8 is not limited to controlling the moving state of the vehicle, and may also include sending control commands to the control module 5 for each operation module 6, such as raising/lowering of a lift lever, opening/closing of a camera module, starting/stopping of spraying, and the like.
According to the embodiment of the invention, the device also comprises a power module, wherein the power module comprises a storage battery and a charging module; still include a plurality of charging socket on the unsettled track, charging socket also is equipped with the RFID label.
It should be noted that the storage battery can provide sufficient power support for the aerial robot. Meanwhile, in order to enhance the practicability, an automatic charging function can be set, namely, the aerial robot stores the RFID position identification information of each charging socket on the suspension track, monitors the electric power storage condition of the aerial robot in real time, and timely drives to the charging socket to perform automatic charging when the electric power is insufficient to support the subsequent operation.
The invention also provides a third embodiment, which is mainly different from the previous embodiments in that specific limitations on the inspection mechanism are added. In order to further realize the automation of agricultural operation, the aerial robot is added with an inspection function, namely, the robot inspects farmland crops on a suspension track according to a certain track, and identifies and statistically analyzes the agricultural conditions including weeds, the growth vigor of the crops (including the height of the crops, the fruit condition, the disease condition and the like) and the like based on the intelligent processing of local images, and generates an inspection report to guide a grower to water, fertilize, insecticide and the like in time.
The following description of the polling method is given by taking weeds in agricultural conditions as an example:
s1: the robot runs to the routing inspection initial position of the suspension track, controls the second camera module to acquire a farmland image in real time and transmits the farmland image to the control module 4;
s2: the control module 4 processes the farmland image to identify weeds, and specifically comprises:
s21, image preprocessing: removing soil pixels in the image based on a green plant detection algorithm, removing noise influence through a median filtering algorithm to keep the edge of the green plant, and finally converting the image into a binary system. In this step, since the detected object is a plant, it is necessary to first remove the soil pixels of the non-detection target by a green plant detection algorithm, where the detection formula of the green plant is:
I＝2×G-R-B
in the formula, I represents a processed green plant image, R represents a red pixel in an RGB image, G represents a green pixel in the RGB image, and B represents a blue pixel in the RGB image.
And S22, removing the small objects in the preprocessed image based on the connected component area value. In this step, since small objects such as grass seedlings and fallen leaves do not affect the growth of crops, it is necessary to remove them to reduce the processing load of the control module.
S23, extracting a plurality of green plant areas through a threshold segmentation algorithm, and attaching labels to the areas; extracting the area S, the perimeter P, the minimum external moment length L and the minimum external moment width W of the leaves of the green plant region by using a neighborhood tracking algorithm;
and S24, normalizing the parameters S, P, L, W obtained in the step S23 and the parameters S, p, l and w in the pre-stored weed feature database according to a unified standard, then calculating the similarity between each green plant area and the pre-stored weed feature data based on the following formula, and identifying the green plant area with the similarity larger than a threshold value as the weed. The similarity calculation method in this step may be
In the formula, DiIndicates the similarity, omega, of the ith green plant area to the weed characteristics1-ω4The weight is represented by a weight that is,
normalized data representing the area, circumference, minimum circumscribed moment length, and minimum circumscribed moment width of the leaf of each green plant region, respectively,
and respectively representing the normalized data of the area, the circumference, the minimum external moment length and the minimum external moment width of the blade in the pre-stored weed characteristic data, wherein the pre-stored weed characteristic data can be obtained by pre-establishing a training model. Based on the steps, the weed identification method provided by the invention considers the similarity degree of the crop plants and the weeds in the aspects of the area, the circumference, the minimum external moment length and the minimum external moment width of the blades, and obviously improves the identification accuracy of the weeds.
S3, the control module 4 stores the number of the identified weeds and the position information read from the RFID reader in a correlation mode;
s4, driving the robot to a subsequent target point and executing the steps S2-S3 until the robot drives to the end point of the preset inspection track;
and S5, the control module 4 carries out statistical analysis on the stored weed quantity and the corresponding position information to generate an inspection report, and the inspection report is locally stored and sent to the handheld remote controller 8 through the communication module.
It should be noted that, based on the foregoing polling process of this embodiment, the aerial robot can automatically execute the polling task according to the set track in the farmland, quickly recognize the current agricultural condition through the visual recognition algorithm, and can generate the corresponding polling report based on the real-time agricultural condition, and the user can check the polling report in time at the handheld remote controller 8, so as to determine whether to execute the operation tasks such as picking and spraying, thereby greatly improving the efficiency of agricultural production.
It will be apparent to those skilled in the art that the algorithms disclosed above may be delivered to the processing device in a variety of forms, and that the processing device may include any existing electronic control unit or a dedicated electronic control unit. Including, but not limited to, information permanently stored on non-writable storage media (e.g., ROM devices) and information alterably stored on writable storage media (e.g., floppy disks, magnetic tape, CDs, RAM devices) and other magnetic and optical media. The algorithms may also be implemented in software executable objects. Alternatively, the algorithms may be implemented in whole or in part using suitable hardware components (e.g., Application Specific Integrated Circuits (ASICs), state machines, controllers) or other hardware components or devices, or a combination of hardware, software and firmware components.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The utility model provides a based on aerial rail mounted multi-functional robot which characterized in that: the robot is positioned on the suspension track; the method comprises the following steps: the system comprises a vehicle body, a walking module, a sensing module, a control module, a communication module, an operation module and a hanging platform; the walking module, the sensing module, the control module, the communication module and the hanging platform are all arranged on the vehicle body, and the operation module is connected with the vehicle body through the hanging platform; the walking module, the sensing module, the communication module, the operation module and the hanging platform are all electrically connected with the control module; the operation module is a picking mechanism, a medicine spraying mechanism or an inspection mechanism; the walking module comprises a driving module and wheels, and the wheels move in the rail grooves of the suspension rails.
2. The aerial rail-based multifunctional robot of claim 1, wherein: the hanging platform comprises a hanging rod, a supporting plate, a left arched part, a right arched part, a rotating wheel disc and a sliding device, wherein the upper end of the hanging rod is connected with the bottom of the vehicle body, the lower end of the hanging rod is connected with the supporting plate, one of the left arched part and the right arched part is fixedly connected with the supporting plate, the other one of the left arched part and the right arched part is in sliding connection with the supporting plate through the rotating wheel disc and the sliding device, the arched lower parts of the left arched part and the right arched part are provided with saw-toothed areas, the arched upper parts of the left arched part and; the hanging platform is also provided with a communication and power supply interface; the rotary wheel disc is provided with a locking device.
3. The aerial rail-based multifunctional robot of claim 2, wherein: the operation module comprises an operation mechanism and a hanging main body, wherein the hanging main body is divided into three areas, namely an operation installation part, an upper hanging part and a lower hanging part; the operation mounting part is provided with a mounting groove for mounting the operation mechanism; the lower hanging part comprises a lower hanging main body and two buffering connecting columns which are arranged in the lower hanging main body and respectively protrude out of two sides of the lower hanging main body, and the two buffering connecting columns are connected in the lower hanging main body through a first spring; the left and right sides of the lower part of the lower hanging main body are provided with soft parts; the upper hanging part comprises an upper hanging main body and two concave accommodating pieces which are respectively arranged at two sides of the upper part of the upper hanging main body, and the two concave accommodating pieces are connected in the upper hanging main body through a second spring; the hanging main body is also provided with a communication and power supply cable.
4. An aerial rail-based multi-function robot as claimed in any one of claims 1 to 3, wherein: picking mechanism is including articulating module, lift platform, scalable arm, picking mechanism, first camera module and ranging module, articulate the module with lift platform fixed connection, scalable arm is installed on the lift platform, picking mechanism, first camera module and ranging module are installed to the end of scalable arm.
5. An aerial rail-based multi-function robot as claimed in any one of claims 1 to 3, wherein: the pesticide spraying mechanism comprises a first electric telescopic rod, a pesticide liquid box, a pressurizer, a liquid guide pipe and a spray head, wherein the liquid guide pipe is connected with the pesticide liquid box through the pressurizer, the liquid guide pipe is connected with the spray head, and the liquid guide pipe and the spray head are arranged on the first electric telescopic rod.
6. An aerial rail-based multi-function robot as claimed in any one of claims 1 to 3, wherein: the inspection mechanism comprises an electric telescopic rod II and a second camera module, and the second camera module is arranged at the top of the electric telescopic rod.
7. The aerial rail-based multifunctional robot of claim 1, wherein: the sensing module comprises an RFID reader, an RFID tag is arranged on the suspension track, and unique address identification information is stored in the RFID tag; the control module stores the address identification information of each RFID label, and obtains the position information based on the address identification information in the RFID label read by the RFID reader, so that the vehicle body is controlled to run according to the planned route.
8. The aerial rail-based multifunctional robot of claim 1, wherein: still include the power module, the power module includes battery and charging module.
9. The aerial rail-based multifunctional robot of claim 8, wherein: still include a plurality of charging socket on the unsettled track, charging socket also is equipped with the RFID label.
10. A patrol method based on an aerial rail type multifunctional robot is characterized in that:
s1: the robot runs to the routing inspection initial position of the suspended track, controls the second camera module to acquire a farmland image in real time and transmits the farmland image to the control module;
s2: the control module processes the farmland image through a preset detection algorithm to identify weeds;
s3, the control module stores the number of the identified weeds and the position information read from the RFID reader in a correlation mode;
s4, driving the robot to a subsequent target point and executing the steps S2-S3 until the robot drives to the end point of the preset inspection track;
and S5, the control module performs statistical analysis on the weed quantity and the corresponding position information stored in the steps S2-S4 to generate an inspection report, and the inspection report is locally stored and sent to the handheld remote controller through the communication module.
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