CN111903655B - Multifunctional field management robot capable of quickly disassembling and replacing machines - Google Patents
Multifunctional field management robot capable of quickly disassembling and replacing machines Download PDFInfo
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- CN111903655B CN111903655B CN202010607932.8A CN202010607932A CN111903655B CN 111903655 B CN111903655 B CN 111903655B CN 202010607932 A CN202010607932 A CN 202010607932A CN 111903655 B CN111903655 B CN 111903655B
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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
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
- A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
- A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
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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
- A01M7/0025—Mechanical sprayers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
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- Pest Control & Pesticides (AREA)
- Physics & Mathematics (AREA)
- Zoology (AREA)
- Water Supply & Treatment (AREA)
- Wood Science & Technology (AREA)
- Insects & Arthropods (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Health & Medical Sciences (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Soil Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a multifunctional field management robot capable of quickly disassembling and replacing machines, which comprises a mobile platform and a multifunctional module, and is characterized in that: a square groove which is communicated up and down and has an opening at one side is arranged in the middle of the shell of the mobile platform, and a carrying mechanism is arranged on the wall of the square groove; the multifunctional module is composed of a plurality of functional modules, each functional module is provided with the same frame structure, and the frame structures and the carrying mechanisms are embedded in the square grooves. The multifunctional field management robot can rapidly replace various machines and tools, implement different types of operation tasks, achieve diversified machine application, improve the utilization rate of the mobile platform based on the same mobile platform for carrying various machines and tools, reduce the purchase and maintenance cost of operation machines in the whole period growth process of plant management, and is high in integration level of the overall structural design, small in occupied space, convenient to install and operate, easy to maintain, good in universality and suitable for popularization and use.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to a multifunctional field management robot capable of quickly disassembling and replacing machines.
Background
Along with the increasing contradiction between the growing population and the shortage of agricultural production water and soil resources and labor, the improvement of agricultural production efficiency is urgently needed, so that various agricultural machines are produced. As most agricultural machines can only finish specific operation types at specific stages, a plurality of different types of operation machines are required to be configured aiming at complex field tasks, and the single machine has low use frequency, thereby indirectly improving the overall operation cost in the field. Most of the comprehensive machines are large in size, high in energy consumption and prone to being influenced by terrain. Therefore, how to complete specific and complex field tasks more efficiently, safely and reliably and improve the use efficiency of machines and tools is a necessary trend of agricultural mechanization development. The field management robot integrates multiple functions of precise pesticide application, fertilization, weeding, soil detection, crop phenotype information acquisition and the like, realizes multiple purposes of one machine, and is beneficial to achieving the aims of pesticide and fertilizer reduction and green sustainable development of agricultural production in China.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the multifunctional field management robot capable of quickly disassembling and replacing the machine tool, so that the machine tool has more functionality and universality.
The technical scheme provided by the invention is as follows:
the utility model provides a can tear multi-functional field management robot who trades machines fast, includes moving platform and multi-functional module, its characterized in that:
a square groove which is communicated up and down and has an opening at one side is arranged in the middle of the shell of the mobile platform, and a carrying mechanism is arranged on the wall of the square groove;
the multifunctional module is composed of a plurality of functional modules, each functional module is provided with the same frame, the frames are embedded in the square grooves through carrying mechanisms, and the corresponding functional modules are carried on the mobile platform;
the carrying mechanism is composed of a lifting device and a carrying buckle:
the lifting device comprises a front carrying platform and a rear carrying platform which correspond to each other, and the two carrying platforms are respectively fixed on the front groove wall and the rear groove wall of the square groove; the carrying platform comprises two vertical beams and a carrying cross beam, the two vertical beams are fixedly arranged on the wall of the tank, two ends of the carrying cross beam are supported by a left supporting seat and a right supporting seat which are arranged on the vertical beams and are fixedly connected with the supporting seats, and the height positions of the supporting seats on the vertical beams are adjustable;
the carrying buckle comprises a positioning block, the middle part of the positioning block is provided with a vertical slot with an opening at the upper part and a first locking screw hole which is communicated with the front and the back, and the left side and the right side of the positioning block are also provided with screw holes; when the carrying buckle is installed, the positioning block is fixed on one side, facing the center of the square groove, of the carrying cross beam through a bolt;
the frame is provided with a carrying buckle plug-in unit matched with a carrying buckle for use, the carrying buckle plug-in unit comprises an L-shaped inserting sheet, the L-shaped inserting sheet is installed on a cross beam forming bottom frames at the front side and the rear side of the frame, the top of the L-shaped inserting sheet is a horizontal part and is fixed on the top surface of the frame cross beam through a bolt, and a vertical part of the L-shaped inserting sheet extending downwards is provided with a second locking screw hole corresponding to the first locking screw hole;
when the functional module is carried on the mobile platform, the frame of the functional module is stacked and placed on the carrying beam, so that the vertical part of the L-shaped inserting sheet is inserted into the vertical slot of the carrying buckle positioning block below the L-shaped inserting sheet, the first locking screw hole and the second locking screw hole are aligned, and the functional module is locked through the bolt.
On the basis of the above scheme, a further improved or preferred scheme further comprises:
preferably, the carrying buckles and the carrying buckle inserts are provided in two groups, and are arranged in a diagonal manner.
Preferably, the multi-function module comprises one or more of a boom spray module, a target application module, a soil information module, and a plant phenotype analysis module.
Further, the spray rod spraying module comprises a first frame, a spray rod spraying control box, a first water pump, a first water tank, a spray rod fixing rod, a spray rod, a first electromagnetic valve and a first spray head.
The spray rod spraying control box, the first water pump and the first water tank are arranged on the inner side of the first frame and are fixedly connected with the first frame; the bottom of the first frame is fixedly connected with two first cantilevers extending downwards, a spray rod fixing rod is transversely arranged and is connected with the bottom ends of the two first cantilevers through an angle groove connecting piece, a spray rod is fixed on the spray rod fixing rod through a spray rod fixing clamp, a water inlet of the spray rod is connected with a first water tank through a water conveying pipeline provided with a first water pump, a water outlet of the spray rod is connected with a first spray head arranged on the spray rod, and the first spray head is controlled to be opened and closed by a first electromagnetic valve; and control signal input ends of the first water pump and the first electromagnetic valve driving circuit are respectively connected with a signal output end of the spray rod spraying control box, and the spray rod spraying control box controls and implements spraying operation according to a control instruction sent by a remote control terminal or a pre-loaded control program.
Further, the target pesticide application module comprises a second frame, a target pesticide application control box, a second water pump, a second water tank, a camera, a second electromagnetic valve, a second spray head and a parallel manipulator.
The target pesticide application control box, the second water pump and the second water tank are all arranged on the inner side of the second frame and are fixed on the second frame; the left end and the right end of the front side of the bottom of the second frame are respectively provided with two second cantilevers extending downwards, and the two cameras are respectively installed at the bottom ends of the two second cantilevers through camera fixing clamps; the parallel manipulator is arranged below the second frame, is positioned at the rear sides of the two second cantilevers and is fixedly connected with the bottom of the second frame; the end effector of the parallel manipulator is a second spray head controlled by a second electromagnetic valve, the second electromagnetic valve and the second spray head are arranged at the bottom end of the parallel manipulator, and the second spray head is connected with the second water tank through a second water conveying pipeline provided with a second water pump; the control signal input ends of the second water pump, the second electromagnetic valve and the parallel manipulator driving circuit are respectively connected with the control signal input end of the target pesticide application control box, the signal output ends of the two cameras are connected with the signal input end of the target pesticide application control box, images captured by the two cameras are processed in real time through the image processor, weeds are recognized and positioned, the second water pump, the second electromagnetic valve and the parallel manipulator are controlled to act according to the positions of the weeds by the target pesticide application control box, and pesticide spraying is carried out on the positions of the weeds.
Further, the soil information module includes third frame, soil information control box, the vertical motor of pressure measurement, the vertical guide of pressure measurement, the vertical motor of humidity measurement, the vertical guide rail of humidity measurement, horizontal motor, horizontal guide rail, pressure sensor, probe, humidity transducer.
And the soil information control box is arranged on the inner side of the third frame and is fixed on the third frame. A cross beam is arranged in the middle of the bottom surface of the third frame, and the transverse guide rail is fixedly arranged on the cross beam in the middle; the guide rail connecting plate is vertically arranged and extends downwards, the upper part of the guide rail connecting plate is connected with the transverse guide rail through a guide rail sliding block, and the transverse motor controls the transverse motor to move left and right on the transverse guide rail; the pressure measurement vertical guide rail is fixedly arranged on the guide rail connecting plate and is parallel to the guide rail connecting plate; the probe is vertically downwards arranged and is connected with the pressure measurement vertical guide rail through the guide rail sliding block, the pressure measurement vertical motor controls the probe to move up and down on the pressure measurement vertical guide rail, and the top of the probe is provided with a pressure sensor; the humidity measuring vertical guide rail is fixedly arranged on the guide rail connecting plate and is opposite to the pressure measuring vertical guide rail; the humidity sensor is connected with the humidity measuring vertical guide rail through the guide rail sliding block, and the humidity measuring vertical motor controls the humidity measuring vertical guide rail to move up and down. The control signal input ends of the pressure measurement vertical motor, the humidity measurement vertical motor and the transverse motor driving circuit are respectively connected with the control signal output end of the soil information control box, and the soil information control box controls the movement of the corresponding motors according to a control program loaded in advance or an instruction sent by a remote control terminal to complete the measurement of the soil compactness and the humidity; and the signal output ends of the pressure sensor and the humidity sensor are connected with the signal input end of the soil information control box, and the soil information control box sends the collected soil compactness and humidity information to a remote control terminal or a cloud platform.
Further, the plant phenotype analysis module includes fourth frame, plant phenotype analysis control box, cloud platform, RGB camera, spectral imaging appearance, light curtain sensor.
The plant phenotype analysis control box is arranged inside the fourth frame and is fixed on the fourth frame. The left side and the right side of the bottom of the fourth frame are respectively provided with a fourth cantilever extending vertically downwards; the RGB camera and the spectral imager are carried on the cloud deck, a cross beam is arranged at the middle position of the bottom surface of the fourth frame, the cloud deck is fixedly installed on the cross beam at the middle position, and the two light curtain sensors are respectively installed on the two fourth cantilevers and project light curtains forwards; the signal output ends of the RGB camera, the spectral imager and the light curtain sensor are respectively connected with the signal input end of the plant phenotype analysis control box, the plant phenotype analysis control box identifies and detects the plant growth condition and the pest and disease damage condition according to the signals fed back by the RGB camera, the spectral imager and the light curtain sensor, and sends the information data of the plant growth condition and the pest and disease damage condition to the remote control terminal or the cloud platform.
Has the advantages that:
the multifunctional field management robot can quickly replace various machines and tools, implement different types of operation tasks such as plane spraying of crops, single-point target spraying, soil detection, plant monitoring and the like, provide more guarantee for plant growth, realize diversification of machine application, and carry various machines and tools based on the same mobile platform, can improve the utilization rate of the mobile platform, reduce the purchase and maintenance cost of operation machinery in the process of managing the full-period growth of plants, and has the advantages of high integration level of overall structural design, small occupied space, convenience in installation and operation, easiness in maintenance, good universality and suitability for popularization and use.
Drawings
FIG. 1 is a diagram of a mobile platform architecture;
FIG. 2 is a schematic diagram of a spray bar spray module;
FIG. 3 is a block diagram of a target application module;
FIG. 4 is a diagram of a soil information module;
FIG. 5 is a block diagram of a plant phenotype analysis module;
FIG. 6 is a structural diagram of a spraying module of a movable platform carrying a spray rod;
FIG. 7 is a structural diagram of a mobile platform carrying a target drug delivery module;
FIG. 8 is a structural diagram of a mobile platform carrying soil information module;
FIG. 9 is a diagram of a mobile platform carrying a plant phenotype analysis module;
FIG. 10 is a structural view of a mounting mechanism;
FIG. 11 is a detail view of a frame portion;
FIG. 12 is a mating view of a carrier clip and a carrier clip insert;
fig. 13 is a schematic view of a detachable structure of the mounting buckle and the mounting buckle plug-in unit.
Wherein: the device comprises a laser radar 1, a Beidou navigation antenna 2, a three-color alarm lamp 3, a heat dissipation system 4, a range extender 5, an emergency brake button 6, a steering motor 7, a driving motor 8, a carrying mechanism 9, a lifting device 9-1, a carrying buckle 9-2, a knob bolt 9-2-1, a first locking screw hole 9-2-2, a nut 9-2-3, a T-shaped bolt 9-2-4, an emergency brake 10, a herringbone agricultural tire 11, a spray rod fixing clamp 12, a first frame 13, a carrying buckle plug-in 13-1, an L-shaped plug-in 13-1, a nut 13-1-2, a T-shaped bolt 13-1-3, a spray rod spraying control box 14, a first water pump 15, a first water tank 16, a first cantilever 17, a spray rod fixing rod 18, a spray rod 19, a first electromagnetic valve 20, a first spray head 21 the device comprises a second frame 22, a target pesticide application control box 23, a second water pump 24, a second water tank 25, a second cantilever 26, a camera fixing clamp 27, a CCD camera 28, a second electromagnetic valve 29, a second spray head 30, a parallel manipulator 31, a third frame 32, a soil information control box 33, a guide rail connecting plate 34, a pressure measurement vertical motor 35, a pressure measurement vertical guide rail 36, a pressure sensor 37, a probe 38, a humidity sensor 39, a humidity measurement vertical guide rail 40, a humidity measurement vertical motor 41, a transverse motor 42, a transverse guide rail 43, a fourth frame 44, a plant phenotype analysis control box 45, a fourth cantilever 46, a cloud deck 47, an RGB camera 48, a spectrum imager 49 and a light curtain sensor 50.
Detailed Description
In order to clarify the technical solution and the working principle of the present invention, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. Hereinafter, "front" refers to the forward direction of the mobile platform, front to back representing the longitudinal direction and left to right representing the lateral direction.
As shown in fig. 1, a quick-detachable multifunctional field robot includes a mobile platform and a multifunctional module.
The moving platform is a wheel type vehicle body provided with four tires, the tires are herringbone agricultural tires 11, each tire is controlled by an independent driving wheel train, and each driving wheel train is provided with a driving motor 8, a steering motor 7 and an emergency brake 10. Moving platform shell front end is equipped with laser radar 1, and big dipper navigation antenna 2, three-colour warning light 3 and emergency braking button 6 are installed at the top, and the rear portion is equipped with cooling system 4 and increases journey ware 5. The middle part of moving platform shell is equipped with and link up from top to bottom and the open square groove in one side, install carrying mechanism 9 in the square groove for carry on each functional module in the multifunctional module.
The multifunctional module comprises a spray rod spraying module, a target pesticide application module, a soil information module and a plant phenotype analysis module, and the structural design of each functional module is as follows:
spray rod spraying module
As shown in fig. 2, the spray bar spraying module mainly comprises a first frame 13, a spray bar spraying control box 14, a first water pump 15, a first water tank 16, a spray bar fixing rod 18, a spray bar 19, a first solenoid valve 20 and a first spray head 21.
The first frame 13 is a rectangular frame, the shape of the first frame is matched with that of the square groove, the first frame can be embedded in the square groove through the carrying mechanism 9, and the spray rod spraying module is carried on the moving platform.
The first frame 13 has the same structure as the second, third and fourth frames, and is preferably made of aluminum alloy channel strips.
The spray rod spraying control box 14, the first water pump 15 and the first water tank 16 are installed on the inner side of the first frame 1 and fixedly connected with the first frame.
The bottom of the first frame 1 is fixedly connected with two first cantilevers 17 extending downwards, a transversely arranged spray rod fixing rod 18 is connected with the bottom ends of the two first cantilevers 17 through an angle groove connecting piece, a spray rod 19 is fixed on the spray rod fixing rod 18 through a spray rod fixing clamp 12 and keeps parallel to the spray rod fixing rod 18, and a plurality of first spray heads 21 which are uniformly distributed are connected onto the spray rod 19. The water inlet of the spray rod 19 is connected with the first water tank 16 through a water conveying pipeline provided with a first water pump 15, and the water outlets of the spray rod are respectively connected with corresponding first spray heads 21 through branch pipelines provided with first electromagnetic valves 20.
The control signal input ends of the driving circuits of the first water pump 15 and the first electromagnetic valves 20 are respectively connected with the signal output end of the spray rod spraying control box 14, and the spray rod spraying control box 14 controls the spray head to spray according to a control instruction sent by a remote control terminal or a control program loaded in advance.
II) target pesticide applying module
As shown in fig. 3, the target application module mainly includes a second frame 22, a target application control box 23, a second water pump 24, a second water tank 25, a CCD camera 28, a second electromagnetic valve 29, a second spray head 30, and a parallel robot 31.
The target application control box 23, the second water pump 24 and the second water tank 25 are all installed inside the second frame 22 and fixed on the second frame 22.
The left end and the right end of the front side of the bottom of the second frame 2 are respectively provided with two second cantilevers 26 extending downwards, and the two CCD cameras 28 are respectively installed at the bottom ends of the two second cantilevers 26 through camera fixing clamps 27 and used for collecting vegetation images on a driving path. The parallel robot 31 is installed below the second frame 22, is located behind the two second cantilevers 26, and is fixedly connected to the bottom of the second frame 22. The end effector of the parallel manipulator 31 is a second spray head 30 controlled by a second electromagnetic valve 29, the second electromagnetic valve 29 and the second spray head 30 are installed at the bottom end of the parallel manipulator 31, and the second spray head 30 is connected with the second water tank 25 through a second water conveying pipeline provided with a second water pump 24.
The control signal input ends of the driving circuits of the second water pump 24, the second electromagnetic valve 29 and the parallel manipulator 31 are respectively connected with the control signal input end of the target pesticide application control box 23. The signal output ends of the two CCD cameras 28 are connected with the signal input end of the target pesticide application control box 23, images captured by the two CCD cameras are processed in real time through an image processor arranged in the target pesticide application control box 23, weeds are identified according to the images captured by the two CCD cameras, and positioning is carried out. And controlling the second water pump 24, the second electromagnetic valve 29 and the parallel manipulator 31 to operate according to the position of the weeds, and spraying the weeds at the position.
III) soil information module
As shown in fig. 4, the soil information module mainly includes a third frame 32, a soil information control box 33, a pressure measurement vertical motor 35, a pressure measurement vertical guide rail 36, a humidity measurement vertical motor 41, a humidity measurement vertical guide rail 40, a transverse motor 42, a transverse guide rail 43, a pressure sensor 37, a probe 38, and a humidity sensor 39.
The soil information control box 33 is installed inside the third frame 32 and fixed to the third frame 32.
A cross member is provided at a middle position of the bottom surface of the third frame 32, and the cross rail 43 is fixedly installed on the cross member at the middle position. The vertically arranged guide rail connecting plate 34 extends downwards, the upper part thereof is connected with the transverse guide rail 43 through a guide rail sliding block, and the transverse motor 42 controls the transverse motor to move left and right on the transverse guide rail 43. The cross motor 42 is also fixed to the bottom cross member of the third frame 32 on one side of the cross rail 43.
The pressure measuring vertical guide rail 36 is fixedly arranged on the guide rail connecting plate 34 and is parallel to the guide rail connecting plate 34. The probe 38 is vertically arranged downwards, is connected with the pressure measurement vertical guide rail 36 through a guide rail sliding block, and is controlled by the pressure measurement vertical motor 35 to move up and down on the pressure measurement vertical guide rail 36. The pressure measurement vertical motor 35 is fixedly installed at the top end of the pressure measurement vertical guide rail 36.
The humidity measuring vertical rail 40 is also fixedly mounted on the rail attachment plate 34 on a side opposite the pressure measuring vertical rail 36. The humidity sensor 39 is connected with the humidity measurement vertical guide rail 40 through a guide rail sliding block, and is controlled by the humidity measurement vertical motor 41 to move up and down on the humidity measurement vertical guide rail 40. The humidity measurement vertical motor 41 is fixedly arranged at the top end of the humidity measurement vertical guide rail 40.
In the module, each guide rail adopts a linear guide rail provided with a screw rod structure, and each motor adopts a stepping motor. The control signal input ends of the driving circuits of the pressure measurement vertical motor 35, the humidity measurement vertical motor 41 and the transverse motor 42 are respectively connected with the control signal output end of the soil information control box 33, and the soil information control box 33 controls the movement of the corresponding motors according to a control program loaded in advance or an instruction sent by a remote control terminal, so that the measurement of the soil compactness and the humidity is completed. The top of the probe 38 is provided with a pressure sensor 37, and the signal output ends of the pressure sensor 37 and the humidity sensor 39 are connected with the signal input end of the soil information control box 33. Soil information control box 33 is connected with remote control terminal or cloud platform through wireless communication equipment, sends the soil compactness and the humidity information of gathering for remote control terminal or cloud platform.
Four) plant phenotype analysis module
As shown in fig. 5, the plant phenotype analysis module mainly comprises a fourth frame 44, a plant phenotype analysis control box 45, a pan-tilt 47, an RGB camera 48, a spectral imager 49, and a light curtain sensor 50.
The plant phenotype analysis control box 45 is installed inside the fourth frame 44 and fixed to the fourth frame 44. The left and right sides of the bottom of the fourth frame 44 are respectively provided with a fourth cantilever 46 extending vertically downward.
The RGB camera 48 and the spectral imager 49 are mounted on the pan head 47, the bottom surface of the fourth frame 44 is provided with a middle position beam, the pan head 47 is fixedly mounted on the middle position beam, and the two light curtain sensors 50 are respectively mounted on the two fourth cantilevers 46 to project light curtains forwards. The signal output ends of the RGB camera 48, the spectrum imager 49 and the light curtain sensor 50 are respectively connected with the signal input end of the plant phenotype analysis control box 45, the plant phenotype analysis control box 45 analyzes images collected by the RGB camera 48 and the spectrum imager 49 through a built-in image processor, and identifies and detects the plant growth condition and the pest and disease damage condition by combining a signal fed back by the light curtain sensor 50, the plant phenotype analysis control box 45 is connected with a remote control terminal or a cloud platform through wireless communication equipment, and information data of the plant growth condition and the pest and disease damage condition are sent to the remote control terminal or the cloud platform. The signal that light curtain sensor 50 feedbacks can reflect the three-dimensional form of plant, and the vegetation image that RGB camera 48 shoots can reflect the colour and the form on plant surface and the distribution of plant diseases and insect pests on surface, and the spectral imaging technique that spectral imager 49 utilized can directly reflect plant molecule inner structure and motion state, and its theory of application is based on different plant diseases and insect pests and also different wave band light absorption and reflection effect. Therefore, by combining an image processing technology, more information of plants can be collected based on signals fed back by the RGB camera 48, the spectral imager 49 and the light curtain sensor 50, and the biochemical composition, content and changes of different crop leaves can be distinguished, so that the growth information and disease conditions of crops can be quickly and accurately obtained.
The carrying mechanism 9 mainly comprises a lifting device 9-1 and a carrying buckle 9-2.
The lifting device 9-1 comprises a front carrying platform and a rear carrying platform which correspond to each other, the two carrying platforms are respectively fixed on the front groove wall and the rear groove wall of the square groove, and the structure is symmetrical. The carrying platform comprises two vertical beams and a carrying cross beam, the two vertical beams are attached to the groove wall, and two ends of the carrying cross beam are supported by a left supporting seat and a right supporting seat which are arranged on the vertical beams and are fixedly connected with the supporting seats. The supporting seats are detachably fixed on the vertical beams, for example, fixedly connected through bolts, so that the height position of the supporting seats on the vertical beams can be adjusted.
The carrying cross beam is also made of aluminum alloy groove strips, and a T-shaped clamping groove extending along the transverse direction is formed in the side face of the carrying cross beam. The carrying buckle 9-2 consists of a positioning block and a connecting piece. The middle part of the positioning block is provided with a vertical slot with an opening at the upper part and a first locking screw hole 9-2-2 which is communicated with the front and the back, and the left side and the right side are provided with right-angle folded edges, so that the outline of the transverse section of the positioning block is in a T shape. The connecting piece comprises a T-shaped bolt 9-2-4 and a knob bolt 9-2-1, and a waist-shaped screw hole is formed in a right-angle folded edge of a positioning block carrying the buckle 9-2. When the square groove locating block is installed, the left and right folded edges of the carrying buckle 9-2 are attached to the cross beam of the carrying platform and connected with the T-shaped clamping groove of the carrying cross beam through the T-shaped bolt 9-2-4 and the nut 9-2-3, and the locating block is locked on one side, facing the center of the square groove, of the carrying cross beam.
The first frame, the second frame, the third frame and the fourth frame are all provided with carrying buckle plug-in units 13-1 matched with the carrying buckles 9-2 for use. Taking the first frame 13 as an example, the buckle-carrying plug-in 13-1 is installed on a cross beam forming the bottom frames at the front and rear sides of the first frame 13, and a T-shaped slot extending along the transverse direction is arranged on the top surface of the frame cross beam. The carrying buckle plug-in 13-1 consists of an L-shaped plug-in piece 13-1-1 and a T-shaped bolt. The top of the L-shaped inserting sheet 13-1-1 is a horizontal part, and when the L-shaped inserting sheet is installed, the L-shaped inserting sheet is placed on the top surface of the frame beam and is connected with the T-shaped clamping groove of the frame beam through a T-shaped bolt, so that the L-shaped inserting sheet 13-1-1 is fixed on the frame beam.
And a second locking screw hole corresponding to the first locking screw hole 9-2-2 is formed in the vertical part of the L-shaped inserting sheet 13-1-1 extending downwards. When the spray rod spraying module is assembled on a moving platform, the first frame 13 is placed on a carrying cross beam of the carrying platform, the vertical part of the L-shaped inserting piece 13-1-1 is inserted into a vertical slot of a lower carrying buckle 9-2 positioning block, the first locking screw hole and the second locking screw hole are aligned, the knob bolt 9-2-1 is rotated to enable the positioning block and the L-shaped inserting piece 13-1-1 to be locked through the first locking screw hole and the second locking screw hole, and the L-shaped inserting piece 13-1 cannot be easily separated from the vertical slot of the carrying buckle 9-2 positioning block when a robot jolts and vibrates.
According to the invention, aiming at crops planted in rows, a proper functional module is selected to be carried on a mobile platform according to operation requirements, the functional module is adjusted to the optimal height position through a lifting device 9-1, two L-shaped inserting pieces 13-1 arranged on the diagonal line of a frame are inserted into vertical slots of corresponding carrying buckle 9-2 positioning blocks, and are fixed through knob bolts 9-2-1, so that the connection between a carrying mechanism and different module frames is completed, and modules with different functions can be quickly replaced. When the module is disassembled, the knob bolt 9-2-1 is loosened, the frame and other module components attached to the frame are lifted together, and the L-shaped inserting piece 13-1 is separated from the vertical slot carrying the buckle 9-2 positioning block.
The management robot of the embodiment performs obstacle detection, crop row detection, global positioning and scene construction through the information sensed by the laser radar 1, plans an optimal path by combining a satellite navigation system, realizes autonomous navigation of a mobile platform, and uploads an actual running track to a cloud platform for recording and storing.
As shown in fig. 6, when the spray rod spraying module is carried on the mobile platform, the working process is as follows: firstly, adjusting a spray rod and a spray head to be in proper states according to actual operation crop conditions; secondly, adding a proper proportion of medicament and water into the first water tank 16; thirdly, giving an instruction to the spray rod spraying control box 14 through a remote control terminal, setting parameters and adjusting the spraying flow in the operation process; and fourthly, spraying operation is carried out by driving the moving platform to move forward.
As shown in fig. 7, when the target drug delivery module is mounted on the mobile platform, the working process is as follows: firstly, the moving platform is driven to advance to reach an operation area, images captured by the CCD camera 28 are processed in real time, and weeds are identified; secondly, controlling the parallel manipulator 31 to move to drive the spray head 30 to the position of the weeds to realize target spraying; and thirdly, after the target is sprayed, the mobile platform continues to run in the operation area according to a pre-planned path.
As shown in fig. 8, when the soil information module is carried on the mobile platform, the working process is as follows: firstly, adjusting the longitudinal and transverse positions of the points to be detected through the movement of the moving platform and the transverse guide rail 43; secondly, controlling the vertical guide rail to move to enable the probe 38 and the humidity sensor 39 to contact with soil, so as to measure the compactness and humidity of the soil; and thirdly, sending cloud platform records for storage after data acquisition.
As shown in fig. 9, when the plant phenotype analysis module is mounted on the mobile platform, the working process is as follows: firstly, driving the plant to be detected to a position by a mobile platform; and secondly, identifying and detecting the plant growth condition and the plant diseases and insect pests by using an RGB (red, green and blue) camera 48, a spectral imager 49 and a light curtain sensor 50, and thirdly, sending a cloud platform after data acquisition and making a prescription chart.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but various changes and modifications may be made without departing from the spirit and scope of the invention, the scope of which is defined by the appended claims, the description and the equivalents thereof.
Claims (2)
1. The utility model provides a can tear multi-functional field management robot that trades machines open fast, includes moving platform and multi-functional module, its characterized in that:
a square groove which is communicated up and down and has an opening at one side is arranged in the middle of the shell of the mobile platform, and a carrying mechanism (9) is arranged on the wall of the square groove;
the multifunctional module is composed of a plurality of functional modules, each functional module is provided with the same frame, the frames are embedded in the square grooves through carrying mechanisms (9), and the corresponding functional modules are carried on the mobile platform;
the carrying mechanism (9) is composed of a lifting device (9-1) and a carrying buckle (9-2):
the lifting device (9-1) comprises a front carrying platform and a rear carrying platform which correspond to each other, and the two carrying platforms are respectively fixed on the front groove wall and the rear groove wall of the square groove; the carrying platform comprises two vertical beams and a carrying cross beam, the two vertical beams are fixedly arranged on the wall of the groove, two ends of the carrying cross beam are supported by a left supporting seat and a right supporting seat which are arranged on the vertical beams and are fixedly connected with the supporting seats, and the height positions of the supporting seats on the vertical beams are adjustable;
the carrying buckle (9-2) comprises a positioning block, the middle part of the positioning block is provided with a vertical slot with an opening at the upper part and a first locking screw hole (9-2-2) which is communicated with the front and the back, and the left side and the right side of the positioning block are also provided with screw holes; when the carrying buckle (9-2) is installed, the positioning block is fixed on one side, facing the center of the square groove, of the carrying cross beam through a bolt;
the frame is provided with a carrying buckle plug-in unit (13-1) matched with the carrying buckle (9-2) for use, the carrying buckle plug-in unit (13-1) comprises an L-shaped inserting sheet (13-1-1), the L-shaped inserting sheet (13-1-1) is installed on a cross beam forming bottom frames on the front side and the rear side of the frame, the top of the L-shaped inserting sheet is a horizontal part and is fixed on the top surface of the frame cross beam through bolts, and a second locking screw hole corresponding to the first locking screw hole (9-2-2) is formed in a vertical part extending downwards of the L-shaped inserting sheet (13-1-1);
when the functional module is carried on the mobile platform, the frame of the functional module is stacked and placed on the carrying cross beam, so that the vertical part of the L-shaped inserting sheet (13-1-1) is inserted into the vertical slot of the positioning block of the carrying buckle (9-2) below, and the first locking screw hole and the second locking screw hole are aligned and locked through bolts;
the multifunctional module comprises one or more of a spray rod spraying module, a target pesticide applying module, a soil information module and a plant phenotype analysis module;
the spray rod spraying module comprises a first framework (13), a spray rod spraying control box (14), a first water pump (15), a first water tank (16), a spray rod fixing rod (18), a spray rod (19), a first electromagnetic valve (20) and a first spray head (21):
the spray rod spraying control box (14), the first water pump (15) and the first water tank (16) are arranged on the inner side of the first frame (13) and fixedly connected with the first frame (13);
the bottom of a first framework (13) is fixedly connected with two first cantilevers (17) extending downwards, a spray rod fixing rod (18) is transversely arranged and is connected with the bottom ends of the two first cantilevers (17) through an angular groove connecting piece, a spray rod (19) is fixed on the spray rod fixing rod (18) through a spray rod fixing clamp (12), a water inlet of the spray rod (19) is connected with a first water tank (16) through a water conveying pipeline provided with a first water pump (15), a water outlet of the spray rod is connected with a first spray head (21) arranged on the spray rod (19), and the first spray head (21) is controlled to be opened and closed by a first electromagnetic valve (20);
control signal input ends of driving circuits of the first water pump (15) and the first electromagnetic valve (20) are respectively connected with a signal output end of the spray rod spraying control box (14), and the spray rod spraying control box (14) controls and implements spraying operation according to a control instruction sent by a remote control terminal or a control program loaded in advance;
the target pesticide applying module comprises a second frame (22), a target pesticide applying control box (23), a second water pump (24), a second water tank (25), a camera, a second electromagnetic valve (29), a second spray head (30) and a parallel manipulator (31):
the target pesticide application control box (23), the second water pump (24) and the second water tank (25) are all arranged on the inner side of the second frame (22) and fixed on the second frame (22);
the left end and the right end of the front side of the bottom of the second frame (22) are respectively provided with two second cantilevers (26) extending downwards, and the two cameras are respectively arranged at the bottom ends of the two second cantilevers (26) through camera fixing clamps (27); the parallel manipulator (31) is arranged below the second frame (22), is positioned at the rear sides of the two second cantilevers (26), and is fixedly connected with the bottom of the second frame (22); the end effector of the parallel manipulator (31) is a second spray head (30) controlled by a second electromagnetic valve (29), the second electromagnetic valve (29) and the second spray head (30) are installed at the bottom end of the parallel manipulator (31), and the second spray head (30) is connected with the second water tank (25) through a second water conveying pipeline provided with a second water pump (24);
the control signal input ends of the driving circuits of the second water pump (24), the second electromagnetic valve (29) and the parallel mechanical arm (31) are respectively connected with the control signal input end of the target pesticide application control box (23), the signal output ends of the two cameras are connected with the signal input end of the target pesticide application control box (23), images captured by the two cameras are processed in real time through an image processor, weeds are identified and positioned, and the target pesticide application control box (23) controls the second water pump (24), the second electromagnetic valve (29) and the parallel mechanical arm (31) to act according to the positions of the weeds so as to spray pesticide on the positions of the weeds;
the soil information module comprises a third frame (32), a soil information control box (33), a pressure measurement vertical motor (35), a pressure measurement vertical guide rail (36), a humidity measurement vertical motor (41), a humidity measurement vertical guide rail (40), a transverse motor (42), a transverse guide rail (43), a pressure sensor (37), a probe (38) and a humidity sensor (39);
the soil information control box (33) is arranged on the inner side of the third frame (32) and fixed on the third frame (32); a cross beam is arranged in the middle of the bottom surface of the third frame (32), and the transverse guide rail (43) is fixedly arranged on the cross beam in the middle;
the guide rail connecting plate (34) is vertically arranged and extends downwards, the upper part of the guide rail connecting plate is connected with the transverse guide rail (43) through a guide rail sliding block, and the transverse motor (42) controls the transverse motor to move left and right on the transverse guide rail (43); the pressure measurement vertical guide rail (36) is fixedly arranged on the guide rail connecting plate (34) and is parallel to the guide rail connecting plate (34); the probe (38) is vertically arranged downwards, is connected with the pressure measurement vertical guide rail (36) through the guide rail sliding block, is controlled by the pressure measurement vertical motor (35) to move up and down on the pressure measurement vertical guide rail (36), and the top of the probe (38) is provided with the pressure sensor (37); the humidity measurement vertical guide rail (40) is fixedly arranged on the guide rail connecting plate (34) and is opposite to the pressure measurement vertical guide rail (36); the humidity sensor (39) is connected with the humidity measurement vertical guide rail (40) through a guide rail sliding block, and is controlled by a humidity measurement vertical motor (41) to move up and down on the humidity measurement vertical guide rail (40);
the control signal input ends of the driving circuits of the pressure measurement vertical motor (35), the humidity measurement vertical motor (41) and the transverse motor (42) are respectively connected with the control signal output end of the soil information control box (33), and the soil information control box (33) controls the motion of the corresponding motors according to a control program loaded in advance or an instruction sent by a remote control terminal to complete the measurement of the soil compactness and the humidity; the signal output ends of the pressure sensor (37) and the humidity sensor (39) are connected with the signal input end of the soil information control box (33), and the soil information control box (33) sends the collected soil compactness and humidity information to a remote control terminal or a cloud platform;
the plant phenotype analysis module comprises a fourth framework (44), a plant phenotype analysis control box (45), a cradle head (47), an RGB camera (48), a spectral imager (49) and a light curtain sensor (50);
the plant phenotype analysis control box (45) is arranged inside the fourth framework (44) and fixed on the fourth framework (44);
the left side and the right side of the bottom of the fourth frame (44) are respectively provided with a fourth cantilever (46) which extends vertically downwards;
the RGB camera (48) and the spectral imager (49) are carried on the cloud deck (47), a beam is arranged in the middle of the bottom surface of the fourth frame (44), the cloud deck (47) is fixedly installed on the beam in the middle, the two light curtain sensors (50) are respectively installed on the two fourth cantilevers (46) to project a light curtain forwards; the signal output ends of the RGB camera (48), the spectrum imager (49) and the light curtain sensor (50) are respectively connected with the signal input end of the plant phenotype analysis control box (45), the plant phenotype analysis control box (45) identifies and detects the plant growth condition and the pest and disease damage condition of the plant according to the signals fed back by the RGB camera (48), the spectrum imager (49) and the light curtain sensor (50), and sends the information data of the plant growth condition and the pest and disease damage condition of the plant to the remote control terminal or the cloud platform.
2. A multi-functional field management robot with quick change of implement according to claim 1, characterized in that said carrying snap (9-2) and carrying snap insert (13-1) are provided in two groups, arranged in diagonal form.
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| CN202010607932.8A CN111903655B (en) | 2020-06-30 | 2020-06-30 | Multifunctional field management robot capable of quickly disassembling and replacing machines |
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| CN202010607932.8A CN111903655B (en) | 2020-06-30 | 2020-06-30 | Multifunctional field management robot capable of quickly disassembling and replacing machines |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113359765A (en) * | 2021-07-05 | 2021-09-07 | 北京理工大学 | Reconfigurable unmanned vehicle function module reconfiguration device |
| CN113925036A (en) * | 2021-09-19 | 2022-01-14 | 南京农业大学 | Accurate automatic pesticide applying device based on machine vision |
| CN113892333A (en) * | 2021-09-29 | 2022-01-07 | 农业农村部南京农业机械化研究所 | Weeding robot |
| GB202215348D0 (en) * | 2022-10-18 | 2022-11-30 | Micropply Ltd | Systems and methods for depositing material on an uneven gound surface |
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|---|---|---|---|---|
| DE2918414A1 (en) * | 1979-05-08 | 1980-11-20 | Werner Scholz | Multiple purpose tractor drawn agricultural implement - has tined roller and interchangeable tools mounted on frame, secured in alternating positions |
| CN2740566Y (en) * | 2004-11-23 | 2005-11-16 | 东侑包装企业有限公司 | Connecting Structure of opening metal case |
| CN201226652Y (en) * | 2007-11-15 | 2009-04-29 | 丁永凯 | Combined type multifunctional field operation device |
| CN202799609U (en) * | 2012-07-31 | 2013-03-20 | 郭进 | Multifunctional frame used with agricultural implement |
| CN103918636B (en) * | 2014-04-29 | 2015-12-16 | 青岛农业大学 | Based on intelligent spray method and the spraying machine device people of image procossing |
| CN104115809B (en) * | 2014-07-24 | 2016-05-18 | 中国农业大学 | A kind of field crops sprays machine and spraying method to target |
| CN106225850A (en) * | 2016-08-30 | 2016-12-14 | 中国科学院寒区旱区环境与工程研究所 | A kind of temp.-humidity measuring apparatus |
| CN110214491A (en) * | 2019-06-13 | 2019-09-10 | 中国农业机械化科学研究院 | Multi-functional high position quick hitch and the high-clearance sprayer with the device |
| CN110959367B (en) * | 2019-11-25 | 2020-10-23 | 农业农村部南京农业机械化研究所 | Universal header hanging device for combine harvester |
| CN111323077B (en) * | 2020-02-26 | 2023-01-13 | 南京林业大学 | Outdoor high-throughput plant phenotype information acquisition method |
| CN111247891A (en) * | 2020-03-13 | 2020-06-09 | 广西合浦县惠来宝机械制造有限公司 | Quick replacement device and replacement method for bearing agricultural implement |
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