CN111665854A - Self-propelled intelligent agricultural monitoring device and agricultural monitoring method - Google Patents
Self-propelled intelligent agricultural monitoring device and agricultural monitoring method Download PDFInfo
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- CN111665854A CN111665854A CN202010667167.9A CN202010667167A CN111665854A CN 111665854 A CN111665854 A CN 111665854A CN 202010667167 A CN202010667167 A CN 202010667167A CN 111665854 A CN111665854 A CN 111665854A
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- G—PHYSICS
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Abstract
The application discloses self-propelled intelligent agricultural monitoring device and agricultural monitoring method, self-propelled intelligent agricultural monitoring device includes: the self-propelled navigation vehicle is provided with an instrument platform, the instrument platform is provided with a controller and a plurality of monitoring sensors for monitoring different information, a telescopic mechanism for driving the instrument platform to vertically move and a soil sensor arranged on the self-propelled navigation vehicle, and the monitoring sensors and the soil sensor are electrically connected with the controller. The controller carries out height adjustment to the instrument platform at the in-process that traveles of self-propelled navigation car, and various monitoring sensor realize gathering various farmland information to control soil sensor and gather soil information. And then the flexibility of agricultural monitoring is realized, and the acquisition efficiency of agricultural monitoring data is improved.
Description
Technical Field
The application relates to the technical field of agricultural monitoring, in particular to a self-propelled intelligent agricultural monitoring device and an agricultural monitoring method.
Background
Agricultural monitoring today, to farmland or big-arch shelter environment real-time supervision through various instruments and sensors with the help of internet technique promptly, wherein more common monitoring project includes: soil temperature, humidity, pH value, illumination sensor, O2/CO2 sensor, wind speed and direction sensor, soil nutrient and the like. The device is used for monitoring, so that the labor can be greatly saved, and more comprehensive environmental parameters can be obtained, thereby providing scientific basis for relevant agricultural research, improving the quality of agricultural products, increasing the economic income and the like.
The current agricultural monitoring equipment is influenced by complex farmland environment, most of the agricultural monitoring equipment is fixed monitoring equipment, although the agricultural monitoring equipment is convenient to erect, the monitoring surface is small, the agricultural monitoring equipment is easily influenced by extreme weather, and the maintenance cost is high.
Disclosure of Invention
In order to solve the technical problems, the following technical scheme is provided:
in a first aspect, an embodiment of the present application provides a self-propelled intelligent agricultural monitoring device, including: the self-propelled navigation vehicle is provided with an instrument platform, the instrument platform is provided with a controller and a plurality of monitoring sensors for monitoring different information, a telescopic mechanism for driving the instrument platform to vertically move and a soil sensor arranged on the self-propelled navigation vehicle, and the monitoring sensors and the soil sensor are electrically connected with the controller.
By adopting the implementation mode, the controller adjusts the height of the instrument platform in the running process of the self-propelled navigation vehicle, and various monitoring sensors realize the acquisition of various farmland information and control the soil sensors to acquire the soil information. And then the flexibility of agricultural monitoring is realized, and the acquisition efficiency of agricultural monitoring data is improved.
Soil sensor is provided with two, and two soil sensor evenly set up at the middle part of walking navigation vehicle bottom plate, and internally mounted has small-size electric telescopic handle, can carry out the inside humiture and the pH value monitoring of soil with probe deep soil through motor drive. The sensor on the instrument platform comprises a temperature and humidity sensor and an O2/CO2Sensors, etc.
With reference to the first aspect, in a first possible implementation manner of the first aspect, a first mechanical arm is disposed on the instrument platform, a binocular camera is disposed at a movable end of the first mechanical arm, and the binocular camera is electrically connected to the controller.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the first mechanical arm comprises a first mechanical joint and a second mechanical joint, the first mechanical joint is connected with the instrument platform through a rotating base, the first end of the first mechanical tube is coupled with the rotating base in a shaft way, the second end of the first mechanical joint is coupled with the first end of the second mechanical joint in a shaft way, the first mechanical arm is provided with a first motor and a second motor, the rotating output shaft of the first motor is fixedly connected with the rotating shaft at the joint of the first mechanical joint and the rotating base, and a rotating output shaft of the second motor is fixedly connected with a rotating shaft at the joint of the first mechanical joint and the second mechanical joint, and the first motor and the second motor are both electrically connected with the controller. Three degrees of freedom of the first mechanical arm can be achieved through the rotary base, the first mechanical joint and the second mechanical joint, and the binocular camera can be adjusted to conduct all-dimensional monitoring.
With reference to the first aspect, in a third possible implementation manner of the first aspect, the self-propelled navigation vehicle is further provided with a solar cell panel and a power supply, the solar cell panel is connected with the self-propelled navigation vehicle through an angle adjusting mechanism, the power supply is fixedly arranged on the self-propelled navigation vehicle, and the solar cell panel is electrically connected with the power supply. Solar cell panel is used for the electricity generation to charge for the power on the one hand to make the power supply can supply power for the consumer on the agricultural monitoring devices, the consumer includes: controller, various sensors and motor. On the other hand, the solar cell panel can be adjusted by the angle adjusting mechanism to cover the instrument platform to protect instruments on the instrument platform.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the angle adjusting mechanism includes a second mechanical arm and a third mechanical arm, the second mechanical arm includes a third mechanical joint and a fourth mechanical joint, the third mechanical arm includes a fifth mechanical joint and a sixth mechanical joint, a first end of the third mechanical joint is coupled to the self-propelled navigation vehicle, a second end of the third mechanical joint is coupled to a first end of the fourth mechanical joint, and a second end of the fourth mechanical joint is fixedly connected to the solar panel; the first end of the fifth mechanical joint is coupled with the self-propelled navigation vehicle, the second end of the fifth mechanical joint is coupled with the first end of the sixth mechanical joint, and the second end of the sixth mechanical joint is fixedly connected with the solar cell panel. The second mechanical arm and the third mechanical arm are both two mechanical closedown arms capable of rotating, so that the second mechanical arm and the third mechanical arm are both two-degree-of-freedom mechanical arms. The angle adjustment of the solar cell panel can be realized through the second mechanical arm and the third mechanical arm.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, a third motor and a fourth motor are arranged on the second mechanical arm, and a rotation output shaft of the third motor is fixedly connected to a rotating shaft at a connection position of the third mechanical joint and the self-propelled navigation vehicle; and a rotating output shaft of the fourth motor is fixedly connected with a rotating shaft at the joint of the third mechanical joint and the fourth mechanical joint, and the third motor and the fourth motor are both electrically connected with the controller. The controller controls the third motor and the fourth motor to change the angle of the second mechanical arm.
With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the third mechanical arm is driven to the second mechanical arm through the fifth mechanical joint and the sixth mechanical joint. The third mechanical arm and the second mechanical arm are the same two-degree-of-freedom mechanical arm, and the second mechanical arm can be driven to move due to the fact that the second mechanical arm is provided with the motor, so that the third mechanical arm is provided with the motor everywhere and only can be driven by the second mechanical arm.
With reference to the first aspect, in a seventh possible implementation manner of the first aspect, the telescopic mechanism includes a telescopic rod base and a telescopic rod, the telescopic rod base is fixedly disposed on the self-propelled navigation vehicle, a driving end of the telescopic rod is fixedly connected to the telescopic rod base, a movable end of the telescopic rod is fixedly connected to the bottom of the instrument platform, and the driving end of the telescopic rod is electrically connected to the controller. Telescopic machanism is provided with two sets ofly, sets up respectively in the both sides of instrument platform bottom, and the telescopic link base passes through bolt and nut fastening on self-propelled navigation car, realizes the flexible of telescopic link through the drive end of controller control telescopic link, drives the instrument platform and moves in vertical direction.
With reference to the first aspect, in an eighth possible implementation manner of the first aspect, the self-propelled navigation vehicle is further provided with a driving wheel and a driven wheel, the driving wheel is provided with a driving motor, and the driving motor is electrically connected with the controller. The driving wheels and the driven wheels are respectively provided with two, the two driven wheels are arranged at the advancing end of the bottom plate of the self-propelled navigation vehicle, and the two driving wheels are arranged at the rear end. Two driving motors are arranged corresponding to the two driving wheels, and the two driving motors can adjust the advancing direction and speed of the self-propelled navigation vehicle by changing the rotating speed and steering.
In a second aspect, an embodiment of the present application provides an agricultural monitoring method, where the self-propelled intelligent agricultural monitoring apparatus according to the first aspect or any implementation manner of the first aspect is adopted, and the method includes: shooting by using a binocular camera on the instrument platform, sending shot farmland information to a controller, and controlling the self-propelled navigation vehicle to avoid obstacles and run along a farmland road by using the controller; the controller adjusts the height of the instrument platform according to the obtained farmland information so as to meet the monitoring position requirements of the monitoring sensor and the binocular camera, and controls a telescopic device in the soil sensor to enable the probe to penetrate into the soil to collect the soil information; and after the monitoring is finished, the controller sends the acquired data to the server.
Drawings
Fig. 1 is a schematic structural diagram of a self-propelled intelligent agricultural monitoring device provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of an instrument platform provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of an angle adjustment mechanism provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a telescopic mechanism provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a bottom of the self-propelled navigation vehicle according to the embodiment of the present application;
FIG. 6 is a schematic flow chart of an agricultural monitoring method provided in an embodiment of the present application;
the symbols in fig. 1-6 are represented as:
1-self-propelled navigation vehicle, 2-instrument platform, 3-controller, 4-telescopic mechanism, 5-soil sensor, 6-temperature and humidity sensor, 7-O2/CO2The system comprises a sensor, 8-a first mechanical arm, 9-a binocular camera, 10-a first mechanical joint, 11-a second mechanical joint, 12-a rotating base, 13-a first motor, 14-a second motor, 15-a solar panel, 16-a power supply, 17-a second mechanical arm, 18-a third mechanical arm, 19-a third mechanical joint, 20-a fourth mechanical joint, 21-a fifth mechanical joint, 22-a sixth mechanical joint, 23-a third motor, 24-a fourth motor, 25-a telescopic rod base, 26-a telescopic rod, 27-a driving wheel, 28-a driven wheel and 29-a driving motor.
Detailed Description
The present invention will be described with reference to the accompanying drawings and embodiments.
Fig. 1 is a schematic structural diagram of a self-propelled intelligent agricultural monitoring device provided in an embodiment of the present application, and referring to fig. 1, the self-propelled intelligent agricultural monitoring device in the present application includes: the self-propelled navigation vehicle comprises a self-propelled navigation vehicle 1, wherein an instrument platform 2 is arranged on the self-propelled navigation vehicle 1, a controller 3 and a plurality of monitoring sensors used for monitoring different information are arranged on the instrument platform 2, a telescopic mechanism 4 used for driving the instrument platform 2 to vertically move is arranged, a soil sensor 5 is arranged on the self-propelled navigation vehicle 1, and the monitoring sensors and the soil sensor 5 are electrically connected with the controller 3.
In this embodiment, the number of the soil sensors 5 is two, the two soil sensors 5 are uniformly arranged in the middle of the bottom plate of the self-propelled navigation vehicle 1, and the inside of the two soil sensors is provided withSmall-size electric telescopic handle 26 can carry out the inside humiture and the pH value monitoring of soil with probe deep into soil through motor drive. The sensors on the instrument platform 2 comprise a temperature and humidity sensor 6, an O2/CO2 sensor 7 and the like which are respectively used for detecting temperature and humidity information and O2/CO2The concentration information of (1).
The instrument platform 2 is provided with a first mechanical arm 8, the movable end of the first mechanical arm 8 is provided with a binocular camera 9, and the binocular camera 9 is electrically connected with the controller 3.
Referring to fig. 2, the first robot arm 8 includes a first mechanical joint 10 and a second mechanical joint 11, and the first mechanical joint 10 is connected to the instrument platform 2 through a rotating base 12. A first end of the first mechanical tube is coupled to the rotating base 12, and a second end of the first mechanical joint 10 is coupled to a first end of the second mechanical joint 11. The first mechanical arm 8 is provided with a first motor 13 and a second motor 14, a rotation output shaft of the first motor 13 is fixedly connected with a rotating shaft at the joint of the first mechanical joint 10 and the rotating base 12, a rotation output shaft of the second motor 14 is fixedly connected with a rotating shaft at the joint of the first mechanical joint 10 and the second mechanical joint 11, and both the first motor 13 and the second motor 14 are electrically connected with the controller 3.
Three degrees of freedom of the first mechanical arm 8 can be realized through the rotating base 12, the first mechanical joint 10 and the second mechanical joint 11, and the binocular camera 9 can be adjusted to carry out all-dimensional monitoring.
In this embodiment, the self-propelled navigation vehicle 1 is further provided with a solar cell panel 15 and a power supply 16, the solar cell panel 15 is connected with the self-propelled navigation vehicle 1 through an angle adjusting mechanism, the power supply 16 is fixedly arranged on the self-propelled navigation vehicle 1, and the solar cell panel 15 is electrically connected with the power supply 16. Solar panel 15 is used for generating electricity on the one hand and charges for power supply 16 to make power supply 16 can supply power for the power consumption equipment on the agricultural monitoring devices, and power consumption equipment includes: controller 3, various sensors and motors. On the other hand, the solar cell panel 15 can be adjusted by the angle adjusting mechanism to cover the instrument platform 2, so that instruments on the instrument platform 2 are protected, and damage to monitoring equipment caused by extreme weather is prevented.
Referring to fig. 3, the angle adjustment mechanism includes a second robot arm 17 and the second robot arm 17, the second robot arm 17 includes a third mechanical joint 19 and a fourth mechanical joint 20, and the third robot arm 18 includes a fifth mechanical joint 21 and a sixth mechanical joint 22. A first end of the third mechanical joint 19 is coupled to the self-propelled navigation vehicle 1, a second end of the third mechanical joint 19 is coupled to a first end of the fourth mechanical joint 20, and a second end of the fourth mechanical joint 20 is fixedly connected to the solar panel 15. A first end of the fifth mechanical joint 21 is coupled to the self-propelled navigation vehicle 1, a second end of the fifth mechanical joint 21 is coupled to a first end of the sixth mechanical joint 22, and a second end of the sixth mechanical joint 22 is fixedly connected to the solar panel 15.
The second mechanical arm 17 and the third mechanical arm 18 both have two rotatable mechanical joints, so that the second mechanical arm 17 and the third mechanical arm 18 are both two-degree-of-freedom mechanical arms. The angle adjustment of the solar cell panel 15 can be achieved by the second mechanical arm 17 and the third mechanical arm 18.
A third motor 23 and a fourth motor 24 are arranged on the second mechanical arm 17, and a rotating output shaft of the third motor 23 is fixedly connected with a rotating shaft at the joint of the third mechanical joint 19 and the self-propelled navigation vehicle 1; a rotation output shaft of the fourth motor 24 is fixedly connected with a rotating shaft at the joint of the third mechanical joint 19 and the fourth mechanical joint 20, and both the third motor 23 and the fourth motor 24 are electrically connected with the controller 3. The second robot arm 17 can be angularly shifted by controlling the third motor 23 and the fourth motor 24 by the controller 3.
The third robot arm 18 is driven by the second robot arm 17 via the fifth robot joint 21 and the sixth robot joint 22. The third mechanical arm 18 and the second mechanical arm 17 are the same two-degree-of-freedom mechanical arm, and the second mechanical arm 17 is provided with a motor to drive the second mechanical arm 17 to move, so that the third mechanical arm 18 is provided with no motor and can be driven by the second mechanical arm 17.
Referring to fig. 4, the telescopic mechanism 4 includes a telescopic rod 26 base 25 and a telescopic rod 26, the telescopic rod 26 base 25 is fixedly disposed on the self-propelled navigation vehicle 1, a driving end of the telescopic rod 26 is fixedly connected with the telescopic rod 26 base 25, a movable end of the telescopic rod 26 is fixedly connected with the bottom of the instrument platform 2, and the driving end of the telescopic rod 26 is electrically connected with the controller 3. Telescopic machanism 4 is provided with two sets ofly, sets up the both sides in instrument platform 2 bottoms respectively, and telescopic link 26 base 25 passes through bolt and nut fastening on self-propelled navigation car 1, realizes telescopic link 26's flexible through the drive end of controller 3 control telescopic link 26, drives instrument platform 2 and moves in vertical direction.
Referring to fig. 5, the self-propelled navigation vehicle 1 is further provided with a driving wheel 27 and a driven wheel 28, the driving wheel 27 is provided with a driving motor 29, and the driving motor 29 is electrically connected with the controller 3. Two driving wheels 27 and two driven wheels 28 are provided, the two driven wheels 28 are provided at the floor traveling end of the self-propelled navigation vehicle 1, and the two driving wheels 27 are provided at the rear end. Two driving motors 29 are provided corresponding to the two driving wheels 27, and the two driving motors 29 can adjust the traveling direction and speed of the self-propelled navigation vehicle 1 by changing the rotation speed and the steering direction.
Known from the above-mentioned embodiment, this embodiment provides a self-propelled intelligent agriculture monitoring devices, is provided with multiple monitoring sensor on the instrument platform 2, is provided with soil sensor 5 on the self-propelled navigation car 1. The controller 3 is used for adjusting the height of the instrument platform 2 in the driving process of the self-propelled vehicle, various monitoring sensors are used for collecting various farmland information, and the soil sensor 5 is controlled to collect the soil information. And then the flexibility of agricultural monitoring is realized, and the acquisition efficiency of agricultural monitoring data is improved.
Corresponding to the self-propelled intelligent agricultural monitoring device provided by the above embodiment, the application also provides an embodiment of an agricultural monitoring method, and referring to fig. 6, the agricultural monitoring method includes:
and S101, shooting by using the binocular camera 9 on the instrument platform 2, sending shot farmland information to the controller 3, and controlling the self-propelled navigation vehicle 1 to avoid obstacles and run along a farmland road by using the controller 3.
The binocular camera 9 shoots and sends the shot farmland information to the controller 3, and the controller 3 adjusts the rotating speed and the steering direction of the driving motor 29 according to a boundary recognition algorithm stored in the controller, so that the self-propelled navigation vehicle 1 avoids obstacles and runs along the farmland road.
S102, the controller 3 adjusts the height of the instrument platform 2 according to the obtained farmland information so as to meet the monitoring position requirements of the monitoring sensor and the binocular camera 9, and controls the telescopic device in the soil sensor 5 to enable the probe to penetrate into the soil to collect the soil information.
The image processor of the controller 3 processes the images taken by the binocular camera 9 to determine the position of the crop to be monitored. The telescopic mechanism 4 is further adjusted to enable the temperature and humidity sensor 6 and the O2/CO2 sensor 7 to be in proper positions for monitoring. And controlling the first motor 13 and the second motor 14 to work, and adjusting the first mechanical arm 8 to enable the binocular camera 9 to be in a proper position for monitoring.
The driving motor 29 stops, the controller 3 adjusts the telescopic device in the soil sensor 5 to enable the probe to go deep into soil, the controller 3 simultaneously drives the third motor 23 and the fourth motor 24 to control the second mechanical arm 17 to move, the third mechanical arm 18 is driven, the solar cell panel 15 covers the upper side of the instrument platform 2, the instrument is protected, and the power supply 16 is charged by converting electric energy.
And S103, after the monitoring is finished, the controller 3 sends the acquired data to a server.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Of course, the above description is not limited to the above examples, and technical features that are not described in this application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present application and not for limiting the present application, and the present application is only described in detail with reference to the preferred embodiments instead, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present application may be made by those skilled in the art without departing from the spirit of the present application, and the scope of the claims of the present application should also be covered.
Claims (10)
1. A self-propelled intelligent agricultural monitoring device, characterized in that includes: the self-propelled navigation vehicle is provided with an instrument platform, the instrument platform is provided with a controller and a plurality of monitoring sensors for monitoring different information, a telescopic mechanism for driving the instrument platform to vertically move and a soil sensor arranged on the self-propelled navigation vehicle, and the monitoring sensors and the soil sensor are electrically connected with the controller.
2. The self-propelled intelligent agricultural monitoring device of claim 1, wherein a first mechanical arm is disposed on the instrument platform, a binocular camera is disposed at a movable end of the first mechanical arm, and the binocular camera is electrically connected to the controller.
3. The self-propelled intelligent agricultural monitoring device of claim 2, wherein the first robotic arm comprises a first mechanical joint and a second mechanical joint, the first mechanical joint is connected with the instrument platform through a rotating base, a first end of the first mechanical tube is coupled with the rotating base, a second end of the first mechanical joint is coupled with a first end of the second mechanical joint, the first robotic arm is provided with a first motor and a second motor, a rotating output shaft of the first motor is fixedly connected with a rotating shaft at a connection of the first mechanical joint and the rotating base, a rotating output shaft of the second motor is fixedly connected with a rotating shaft at a connection of the first mechanical joint and the second mechanical joint, and the first motor and the second motor are both electrically connected with the controller.
4. The self-propelled intelligent agricultural monitoring device of claim 1, wherein the self-propelled navigational vehicle is further provided with a solar panel and a power supply, the solar panel is connected with the self-propelled navigational vehicle through an angle adjustment mechanism, the power supply is fixedly arranged on the self-propelled navigational vehicle, and the solar panel is electrically connected with the power supply.
5. The self-propelled intelligent agricultural monitoring device of claim 4, wherein the angle adjustment mechanism comprises a second mechanical arm and a third mechanical arm, the second mechanical arm comprises a third mechanical joint and a fourth mechanical joint, the third mechanical arm comprises a fifth mechanical joint and a sixth mechanical joint, a first end of the third mechanical joint is coupled to the self-propelled navigation cart, a second end of the third mechanical joint is coupled to a first end of the fourth mechanical joint, and a second end of the fourth mechanical joint is fixedly connected to the solar panel; the first end of the fifth mechanical joint is coupled with the self-propelled navigation vehicle, the second end of the fifth mechanical joint is coupled with the first end of the sixth mechanical joint, and the second end of the sixth mechanical joint is fixedly connected with the solar cell panel.
6. The self-propelled intelligent agricultural monitoring device of claim 5, wherein the second mechanical arm is provided with a third motor and a fourth motor, and a rotation output shaft of the third motor is fixedly connected with a rotating shaft at the connection of the third mechanical joint and the self-propelled navigation vehicle; and a rotating output shaft of the fourth motor is fixedly connected with a rotating shaft at the joint of the third mechanical joint and the fourth mechanical joint, and the third motor and the fourth motor are both electrically connected with the controller.
7. The self-propelled intelligent agricultural monitoring device of claim 6, wherein the third robotic arm is slaved to the second robotic arm through the fifth mechanical joint and the sixth mechanical joint.
8. The self-propelled intelligent agricultural monitoring device of claim 1, wherein the telescoping mechanism comprises a telescoping rod base and a telescoping rod, the telescoping rod base is fixedly disposed on the self-propelled navigation vehicle, the drive end of the telescoping rod is fixedly connected with the telescoping rod base, the movable end of the telescoping rod is fixedly connected with the bottom of the instrument platform, and the drive end of the telescoping rod is electrically connected with the controller.
9. The self-propelled intelligent agricultural monitoring device of claim 1, wherein the self-propelled navigational vehicle is further provided with a drive wheel and a driven wheel, the drive wheel is provided with a drive motor, and the drive motor is electrically connected with the controller.
10. An agricultural monitoring method, wherein the self-propelled intelligent agricultural monitoring device of any one of claims 1 to 9 is adopted, and the method comprises the following steps:
shooting by using a binocular camera on the instrument platform, sending shot farmland information to a controller, and controlling the self-propelled navigation vehicle to avoid obstacles and run along a farmland road by using the controller;
the controller adjusts the height of the instrument platform according to the obtained farmland information so as to meet the monitoring position requirements of the monitoring sensor and the binocular camera, and controls a telescopic device in the soil sensor to enable the probe to penetrate into the soil to collect the soil information;
and after the monitoring is finished, the controller sends the acquired data to the server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010667167.9A CN111665854A (en) | 2020-07-13 | 2020-07-13 | Self-propelled intelligent agricultural monitoring device and agricultural monitoring method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010667167.9A CN111665854A (en) | 2020-07-13 | 2020-07-13 | Self-propelled intelligent agricultural monitoring device and agricultural monitoring method |
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| Publication Number | Publication Date |
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| CN111665854A true CN111665854A (en) | 2020-09-15 |
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| CN202010667167.9A Pending CN111665854A (en) | 2020-07-13 | 2020-07-13 | Self-propelled intelligent agricultural monitoring device and agricultural monitoring method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023221548A1 (en) * | 2022-05-20 | 2023-11-23 | 丰疆智能科技研究院(常州)有限公司 | Electric control walking system and control method for electric control walking system |
-
2020
- 2020-07-13 CN CN202010667167.9A patent/CN111665854A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023221548A1 (en) * | 2022-05-20 | 2023-11-23 | 丰疆智能科技研究院(常州)有限公司 | Electric control walking system and control method for electric control walking system |
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