CN112874768A - Automatic detection robot for farm crop medicines - Google Patents
Automatic detection robot for farm crop medicines Download PDFInfo
- Publication number
- CN112874768A CN112874768A CN202110102674.2A CN202110102674A CN112874768A CN 112874768 A CN112874768 A CN 112874768A CN 202110102674 A CN202110102674 A CN 202110102674A CN 112874768 A CN112874768 A CN 112874768A
- Authority
- CN
- China
- Prior art keywords
- motor
- fixedly arranged
- support
- camera
- cover plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 39
- 239000003814 drug Substances 0.000 title claims abstract description 17
- 229940079593 drug Drugs 0.000 title claims abstract description 16
- 239000002341 toxic gas Substances 0.000 claims abstract description 19
- 239000007921 spray Substances 0.000 claims description 24
- 229910052802 copper Inorganic materials 0.000 claims description 14
- 239000010949 copper Substances 0.000 claims description 14
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000003287 optical effect Effects 0.000 claims description 9
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 7
- 229910052744 lithium Inorganic materials 0.000 claims description 7
- 238000007664 blowing Methods 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 5
- 239000007789 gas Substances 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 239000000575 pesticide Substances 0.000 abstract description 7
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000605 extraction Methods 0.000 abstract description 2
- 239000000447 pesticide residue Substances 0.000 abstract description 2
- 238000005070 sampling Methods 0.000 abstract description 2
- 230000017525 heat dissipation Effects 0.000 description 4
- 241000607479 Yersinia pestis Species 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Combustion & Propulsion (AREA)
- Medicinal Chemistry (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Food Science & Technology (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an automatic farmland crop drug detection robot, which comprises a beam module, a double-rotor unmanned aerial vehicle upper cover plate module, a double-rotor unmanned aerial vehicle lower cover plate module and an engine room module, and can operate in the air based on the double-rotor unmanned aerial vehicle technology, so that walking on a ground complex road condition is avoided, a toxic gas detection device on an unmanned aerial vehicle beam can detect residues of volatile pesticides, the robot is provided with an OpenMV visual camera and an infrared temperature detection camera, the OpenMV visual camera can compare maturity of crops, so that whether the residual pesticides of the crops exceed the standard or not is judged, and the infrared temperature detection camera can detect the temperature of crop blades, so that the growth state of the crops is judged. The invention can realize the integrated operation of pesticide residue odor extraction, crop growth visual identification, crop maturity detection and crop leaf sampling, and greatly improves the working efficiency.
Description
Technical Field
The invention relates to the technical field of mechanical control engineering, in particular to an automatic detection robot for farm crop medicines.
Background
When crops are planted in farmlands, in order to kill pests and protect the normal growth of the crops, a proper amount of pesticide is usually sprayed on the farmlands. Then, too much or too little pesticide is sprayed to be unfavorable for the normal growth of crops: the pesticide is sprayed too much, so that the pest can be effectively inhibited, but the pesticide is not beneficial to human eating; too little pesticide spraying can not kill pests efficiently and can affect the growth of crops. Therefore, the detection of farm crop drugs is an indispensable link. Application No.: CN201510433631.7 discloses a crop drug detection device, which improves the simplicity and efficiency of operation, but can not perform automation operation and has high labor intensity.
Disclosure of Invention
Aiming at the technical problem, the invention provides an automatic farmland crop drug detection robot which comprises a crossbeam module, a double-rotor unmanned aerial vehicle upper cover plate module, a double-rotor unmanned aerial vehicle lower cover plate module and an engine room module.
The beam module includes: a beam support frame; two rotor unmanned aerial vehicle upper cover plate modules include: an upper cover plate support frame; apron module includes under two rotor unmanned aerial vehicle: a lower cover plate support frame; the nacelle module comprises: a cabin supporting frame; the crossbeam support frame is fixedly installed on the cabin support frame, the upper cover plate support frame is fixedly installed on the cabin support frame, and the lower cover plate support frame is fixedly installed on the cabin support frame.
Further, the beam module also comprises a steering engine support, a steering engine, a coupler, a guider rotating shaft, a guider bearing, a guider support, a guider, a brushless motor, a propeller, a brushless motor spindle, a brushless electric regulator, an LED lamp, a beam motor support, a blowing sheet, a toxic gas detection device chassis, a toxic gas detection device, an ultrasonic transmitter, an ultrasonic receiver and an ultrasonic chassis, wherein the steering engine support is fixedly arranged on the beam support, the steering engine is fixedly arranged on the steering engine support, the coupler is fixedly arranged on the steering engine rotating shaft, the guider rotating shaft is slidably arranged on the coupler, the guider support is fixedly arranged on the beam support, an outer ring of the guider bearing is fixedly arranged on the guider support, the guider rotating shaft is fixedly arranged on an inner ring of the guider bearing, the guider is rotatably arranged on the guider support, and the brushless motor is fixedly arranged on the guider, brushless motor main shaft rotates and installs on brushless motor, screw fixed mounting is on brushless motor main shaft, brushless electricity is transferred fixed mounting on the steering wheel, LED lamp fixed mounting is on the crossbeam support frame, crossbeam motor support fixed mounting is on the crossbeam support frame, crossbeam motor fixed mounting is on crossbeam motor support frame, piece fixed mounting bloies is in crossbeam motor shaft, poison gas detection device chassis fixed mounting is on the crossbeam support frame, poison gas detection device fixed mounting is on poison gas detection device chassis, ultrasonic wave chassis fixed mounting is on the crossbeam support frame, ultrasonic transmitter fixed mounting is on the ultrasonic wave chassis, ultrasonic receiver fixed mounting is on the ultrasonic wave chassis.
Further, the upper cover plate module of the double-rotor unmanned aerial vehicle also comprises a cylindrical copper column, heat dissipation holes, a camera support, a camera fixing screw, a laser radar transmitter, a laser radar receiver, a laser radar upper cover, a belt, a laser radar, a radar driving motor upper cover, a radar driving motor, a solar panel support, a solar panel X-axis motor, a solar panel, a disc gear, a disc, a solar panel X-axis motor support, a laser radar bottom plate, a rotating gear, a solar panel Z-axis motor and a solar panel Z-axis motor support, wherein the cylindrical copper column is fixedly arranged on the upper cover plate support frame, the heat dissipation holes are fixedly arranged on the upper cover plate support frame, the camera support is fixedly arranged on the upper cover plate support frame, the camera is fixedly arranged on the camera support frame, the camera fixing screw is fixedly arranged on the camera, the laser radar is rotatably, the laser radar transmitter is fixedly arranged on a laser radar, the laser radar receiver is fixedly arranged on the laser radar, the laser radar upper cover and a belt form belt transmission, the radar driving motor upper cover and the belt form belt transmission, the radar driving motor is fixedly arranged on a laser radar bottom plate, a disc is rotatably arranged on an upper cover plate supporting frame, a disc gear is fixedly arranged on the disc, a solar panel X-axis motor support is fixedly arranged on the disc, a solar panel X-axis motor is fixedly arranged on the solar panel X-axis motor support, a solar panel support is fixedly arranged on a solar panel X-axis motor rotating shaft, the solar panel is fixedly arranged on the solar panel support, the solar panel Z-axis motor support is fixedly arranged on the upper cover plate supporting frame, and the solar panel Z-axis motor, the rotating gear is fixedly arranged on a rotating shaft of the solar panel Z-axis motor.
Further, the lower cover plate module of the dual-rotor unmanned aerial vehicle further comprises a camera Z-axis motor, a camera X-axis motor, a camera main body, a camera protective cover, a camera Y-axis motor, a small support, a large support, a front wheel support, a lead screw, a mechanical scissor, a rear wheel support, a rear wheel motor support, a lead screw motor support, an optical axis, a lithium battery, a mechanical arm slider, an electric cylinder, a mechanical arm motor and a mechanical hand gripper, wherein the camera Z-axis motor is rotatably arranged on the lower cover plate support frame, the large support is fixedly arranged on the camera Z-axis motor, the camera X-axis motor is rotatably arranged on the large support, the small support is fixedly arranged on the camera X-axis motor, the camera Y-axis motor is rotatably arranged on the small support, the camera main body is fixedly arranged on the camera Y-axis motor, and the camera is fixedly arranged on, the front wheel is rotatably arranged on a front wheel bracket which is fixedly arranged on a lower cover plate supporting frame, a screw rod bracket is fixedly arranged on the lower cover plate supporting frame, a screw rod is rotatably arranged on the screw rod bracket, a screw rod motor bracket is fixedly arranged on the lower cover plate supporting frame, a screw rod motor is fixedly arranged on the screw rod motor bracket, the screw rod is rotatably arranged on a screw rod motor, the rear wheel is rotatably arranged on a rear wheel bracket which is fixedly arranged on a rear wheel motor rotating shaft, the rear wheel motor is fixedly arranged on a rear wheel motor bracket which is fixedly arranged on the lower cover plate supporting frame, a lithium battery is fixedly arranged on the lower cover plate supporting frame, an optical axis is fixedly arranged between the screw rod motor bracket and the screw rod bracket, an mechanical arm sliding block is slidably arranged on the optical axis, an electric cylinder is rotatably arranged on the mechanical arm sliding block, and the mechanical arm motor is fixedly, the mechanical scissors are fixedly arranged on a rotating shaft of a mechanical arm motor, and the mechanical arm is fixedly arranged on a mechanical arm motor at the other side.
Further, the cabin module still include temperature sensor, humidity transducer, main control chip, the speaker, connect with the copper post, the deflector, the motor is spouted to the right tail, the right tail is spouted, the motor is spouted to the left tail and the left tail is spouted, temperature sensor fixed mounting is on the cabin support frame, humidity transducer fixed mounting is on the cabin support frame, main control chip fixed mounting is on the cabin support frame, speaker fixed mounting is on the cabin support frame, connect with copper post fixed mounting on the cabin support frame, deflector fixed mounting is on the cabin support frame, motor fixed mounting is spouted to the right tail is spouted on the cabin support frame, the right tail is spouted fixed mounting and is spouted in the right tail in the motor pivot, motor fixed mounting is spouted in the cabin support frame to the left tail, the left tail is spouted.
Furthermore, an interference fit is formed between the guider bearing and the guider support, and a clearance fit is formed between the coupler and the guider rotating shaft.
Furthermore, belt transmission is formed among the belt, the laser radar upper cover and the radar driving motor upper cover, and gear meshing transmission is formed between the disc gear and the rotating gear.
Furthermore, the mechanical arm sliding block and the screw rod form a screw rod nut pair matched and are respectively in a left-right pair.
Furthermore, the right tail spray and the left tail spray can rotate and can spray gas.
Compared with the prior art, the invention has the beneficial effects that: (1) the invention can realize the integrated operation of pesticide residue odor extraction, crop growth visual identification, crop maturity detection and crop leaf sampling, thereby greatly improving the working efficiency; (2) the dual-rotor unmanned aerial vehicle can work in the air based on the dual-rotor unmanned aerial vehicle technology, and avoids walking on the ground under complex road conditions; (3) the invention carries the laser radar sensor, can sense the surrounding environment in all directions and realizes safer operation.
Drawings
Fig. 1 is a schematic view of the overall structure of the invention.
Fig. 2 and 3 are schematic structural views of the beam module of the invention.
Fig. 4 and 5 are schematic structural diagrams of the upper cover plate module of the dual-rotor unmanned aerial vehicle.
Fig. 6 and 7 are schematic structural views of the lower cover plate module of the dual-rotor unmanned aerial vehicle.
Fig. 8 is a schematic view of the modular structure of the nacelle of the invention.
Reference numerals: 1-a beam module; 2-an upper cover plate module of the dual-rotor unmanned aerial vehicle; 3-a lower cover plate module of the dual-rotor unmanned aerial vehicle; 4-a nacelle module; 101-a beam support frame; 102-a steering engine bracket; 103-a steering engine; 104-a coupling; 105-a director rotation axis; 106-guide bearing; 107-a guide support; 108-a guide; 109-a brushless motor; 110-a propeller; 111-brushless motor spindle; 112-brushless electric regulation; 113-LED lamps; 114-beam motor; 115-beam motor support; 116-a blowing sheet; 117-toxic gas detection device chassis; 118-toxic gas detection means; 119-an ultrasonic transmitter; 120-an ultrasonic receiver; 121-ultrasonic chassis; 201-upper cover plate support frame; 202-cylindrical copper cylinder; 203-heat dissipation holes; 204-camera support; 205-a camera; 206-camera fixing screw; 207-lidar transmitter; 208-a lidar receiver; 209-laser radar upper cover; 210-a belt; 211-lidar; 212-radar drive motor upper cover; 213-radar drive motor; 214-a solar panel support; 215-solar panel X-axis motor; 216-solar panel; 217-a disc gear; 218-a disc; 219-solar panel X-axis motor support; 220-lidar baseplate; 221-a rotating gear; 222-solar panel Z-axis motor; 223-solar panel Z-axis motor support; 301-lower cover plate support frame; 302-camera Z-axis motor; 303-camera X-axis motor; 304-a camera body; 305-camera protection cover; 306-camera Y-axis motor; 307-small scaffold; 308-large scaffold; 309-front wheel; 310-front wheel support; 311-screw rod bracket; 312-a screw rod; 313-mechanical scissors; 314-rear wheels; 315-rear wheel support; 316-rear wheel motor; 317-rear wheel motor support; 318-screw motor; 319-lead screw motor support; 320-optical axis; 321-a lithium battery; 322-mechanical arm slide block; 323-electric cylinder; 324-a robot arm motor; 325-mechanical grasping; 401-nacelle stand; 402-a temperature sensor; 403-humidity sensor; 404-a main control chip; 405-a speaker; 406-copper pillars for connection; 407-a guide plate; 408-spraying the motor at the right tail; 409-right tail spray; 410-left tail spray motor; 411-left tail spray.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
Example (b): as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8, the automatic detection robot for agricultural crop drugs comprises a beam module 1, a dual-rotor unmanned aerial vehicle upper cover plate module 2, a dual-rotor unmanned aerial vehicle lower cover plate module 3 and a cabin module 4.
The beam module 1 includes: a beam support frame 101; two rotor unmanned aerial vehicle upper cover plate module 2 includes: an upper cover plate support frame 201; apron module 3 includes under two rotor unmanned aerial vehicle: a lower cover plate support frame 301; the nacelle module 4 comprises: a nacelle supporting frame 401; the crossbeam support frame 101 is fixedly arranged on a cabin support frame 401, the upper cover plate support frame 201 is fixedly arranged on the cabin support frame 401, and the lower cover plate support frame 301 is fixedly arranged on the cabin support frame 401.
The beam module 1 further comprises a steering engine support 102, a steering engine 103, a coupler 104, a guide rotating shaft 105, a guide bearing 106, a guide support 107, a guide 108, a brushless motor 109, a propeller 110, a brushless motor spindle 111, a brushless electric controller 112, an LED lamp 113, a beam motor 114, a beam motor support 115, a blowing sheet 116, a toxic gas detection device chassis 117, a toxic gas detection device 118, an ultrasonic emitter 119, an ultrasonic receiver 120 and an ultrasonic chassis 121, wherein the steering engine support 102 is fixedly arranged on the beam support frame 101, the steering engine 103 is fixedly arranged on the steering engine support 102, the coupler 104 is fixedly arranged on the steering engine 103 rotating shaft, the guide rotating shaft 105 is slidably arranged on the coupler 104, the guide support 107 is fixedly arranged on the beam support frame 101, an outer ring of the guide bearing 106 is fixedly arranged on the guide support 107, the guide rotating shaft 105 is fixedly arranged on an inner ring of the guide bearing 106, the guider 108 is rotatably installed on the guider support 107, the brushless motor 109 is fixedly installed on the guider 108, the brushless motor main shaft 111 is rotatably installed on the brushless motor 109, the propeller 110 is fixedly installed on the brushless motor main shaft 111, the brushless electric controller 112 is fixedly installed on the steering engine 103, the LED lamp 113 is fixedly installed on the beam support frame 101, the beam motor support frame 115 is fixedly installed on the beam support frame 101, the beam motor 114 is fixedly installed on the beam motor support frame 115, the blowing piece 116 is fixedly installed on the rotating shaft of the beam motor 114, the toxic gas detection device chassis 117 is fixedly installed on the beam support frame 101, the toxic gas detection device 118 is fixedly installed on the toxic gas detection device chassis 117, the ultrasonic chassis 121 is fixedly installed on the beam support frame 101, the ultrasonic transmitter 119 is fixedly installed on the ultrasonic chassis 121, and the ultrasonic receiver 120 is fixedly installed on the ultrasonic chassis, when the unmanned aerial vehicle takes off, steering wheel 103 controls brushless motor 109 to be vertical upwards, realizes taking off of unmanned aerial vehicle, thereby steering wheel 103 adjusts brushless motor 109's inclination and realizes that unmanned aerial vehicle moves ahead fast, and unmanned aerial vehicle's flying height can be monitored with ultrasonic receiver 120's cooperation to ultrasonic transmitter 119, and poison gas detection device 118 can effectively discern crops and remain.
The upper cover plate module 2 of the double-rotor unmanned aerial vehicle further comprises a cylindrical copper column 202, heat dissipation holes 203, a camera bracket 204, a camera 205, camera fixing screws 206, a laser radar transmitter 207, a laser radar receiver 208, a laser radar upper cover 209, a belt 210, a laser radar 211, a radar driving motor upper cover 212, a radar driving motor 213, a solar panel bracket 214, a solar panel X-axis motor 215, a solar panel 216, a disc gear 217, a disc 218, a solar panel X-axis motor bracket 219, a laser radar base plate 220, a rotating gear 221, a solar panel Z-axis motor 222 and a solar panel Z-axis motor bracket 223, wherein the cylindrical copper column 202 is fixedly installed on the upper cover plate supporting frame 201, the heat dissipation holes 203 are fixedly installed on the upper cover plate supporting frame 201, the camera bracket 204 is fixedly installed on the upper cover plate supporting frame 201, and the camera 205 is fixedly installed on, the camera fixing screw 206 is fixedly arranged on the camera 205, the laser radar 211 is rotatably arranged on the laser radar base plate 220, the laser radar transmitter 207 is fixedly arranged on the laser radar 211, the laser radar receiver 208 is fixedly arranged on the laser radar 211, the laser radar upper cover 209 and the belt 210 form belt transmission, the radar driving motor upper cover 212 and the belt 210 form belt transmission, the radar driving motor 213 is fixedly arranged on the laser radar base plate 220, the disc 218 is rotatably arranged on the upper cover plate supporting frame 201, the disc gear 217 is fixedly arranged on the disc 218, the solar panel X-axis motor bracket 219 is fixedly arranged on the disc 218, the solar panel X-axis motor 215 is fixedly arranged on the solar panel X-axis motor bracket 219, and the solar panel bracket 214 is fixedly arranged on the rotating shaft of the solar panel X-axis motor, solar panel 216 fixed mounting is on solar panel support 214, solar panel Z axle motor support 223 fixed mounting is on upper cover plate support frame 201, solar panel Z axle motor 222 fixed mounting is on solar panel Z axle motor support 223, rotary gear 221 fixed mounting is in solar panel Z axle motor 222 pivot, laser radar upper cover 209, belt 210 and radar driving motor upper cover 212 form the belt transmission, solar panel 216 can realize the automatic tracking to the sunlight under the effect of solar panel X axle motor 215 and solar panel Z axle motor.
The lower cover plate module 3 of the dual-rotor unmanned aerial vehicle further comprises a camera Z-axis motor 302, a camera X-axis motor 303, a camera main body 304, a camera protective cover 305, a camera Y-axis motor 306, a small bracket 307, a large bracket 308, a front wheel 309, a front wheel bracket 310, a screw rod bracket 311, a screw rod 312, mechanical scissors 313, a rear wheel 314, a rear wheel bracket 315, a rear wheel motor 316, a rear wheel motor bracket 317, a screw rod motor 318, a screw rod motor bracket 319, an optical axis 320, a lithium battery 321, a mechanical arm slider 322, an electric cylinder 323, a mechanical arm motor 324 and a mechanical hand grip 325, wherein the camera Z-axis motor 302 is rotatably arranged on the lower cover plate supporting frame 301, the large bracket 308 is fixedly arranged on the camera Z-axis motor 302, the camera X-axis motor 303 is rotatably arranged on the large bracket 308, the small bracket 307 is fixedly arranged on the camera X-axis motor 303, the camera Y-axis motor 306 is rotatably arranged on the small bracket, the camera body 304 is fixedly arranged on the camera Y-axis motor 306, the camera protective cover 305 is fixedly arranged on the camera body 304, the front wheel 309 is rotatably arranged on the front wheel bracket 310, the front wheel bracket 310 is fixedly arranged on the lower cover plate supporting frame 301, the screw rod bracket 311 is fixedly arranged on the lower cover plate supporting frame 301, the screw rod 312 is rotatably arranged on the screw rod bracket 311, the screw rod motor bracket 319 is fixedly arranged on the lower cover plate supporting frame 301, the screw rod motor 318 is fixedly arranged on the screw rod motor bracket 319, the screw rod 312 is rotatably arranged on the screw rod motor 318, the rear wheel 314 is rotatably arranged on the rear wheel bracket 315, the rear wheel bracket 315 is fixedly arranged on the rotating shaft of the rear wheel motor 316, the rear wheel motor 316 is fixedly arranged on the rear wheel motor bracket 317, the rear wheel motor bracket 317 is fixedly arranged on the lower cover plate supporting frame 301, the lithium battery 321 is fixedly arranged on the lower cover plate supporting frame 301, the optical axis 320 is fixedly arranged between the, the mechanical arm sliding block 322 is slidably mounted on the optical axis 320, the electric cylinder 323 is rotatably mounted on the mechanical arm sliding block 322, the mechanical arm motor 324 is fixedly mounted on an expansion shaft of the electric cylinder 323, the mechanical scissors 313 are fixedly mounted on a rotating shaft of the mechanical arm motor 324, the mechanical hand grip 325 is fixedly mounted on the mechanical arm motor 324 on the other side, the mechanical arm sliding block 322 and the lead screw 312 form a lead screw nut pair, the rear wheel 314 and the rear wheel bracket 315 can be folded under the action of the rear wheel motor bracket 317, and the expansion shaft of the electric cylinder 323 can drive the mechanical scissors 313 to move up and down, so that the flexibility is improved.
The cabin module 4 further comprises a temperature sensor 402, a humidity sensor 403, a main control chip 404, a loudspeaker 405, a copper column 406 for connection, a guide plate 407, a right tail spray motor 408, a right tail spray 409, a left tail spray motor 410 and a left tail spray 411, temperature sensor 402 fixed mounting is on cabin support frame 401, humidity transducer 403 fixed mounting is on cabin support frame 401, main control chip 404 fixed mounting is on cabin support frame 401, speaker 405 fixed mounting is on cabin support frame 401, connect with copper post 406 fixed mounting on cabin support frame 401, deflector 407 fixed mounting is on cabin support frame 401, motor 408 fixed mounting is spouted on cabin support frame 401 to the right tail, the right tail is spouted 409 fixed mounting and is spouted in the pivot of motor 408 at the right tail, motor 410 fixed mounting is spouted on cabin support frame 401 to the left tail, 411 fixed mounting is spouted in the pivot of motor 410 is spouted at the left tail to the left tail, the left tail is spouted 411 and is spouted the right tail and spout 409 and can play the acceleration effect to unmanned aerial.
The guide bearing 106 and the guide bracket 107 form an interference fit, and the coupler 104 and the guide rotating shaft 105 form a clearance fit. The belt 210, the laser radar upper cover 209 and the radar driving motor upper cover 212 form belt transmission, and the disc gear 217 and the rotating gear 221 form gear meshing transmission. The mechanical arm slide block 322 and the lead screw 312 form a lead screw nut pair matching, and are respectively in a pair at the left and the right. The right tail nozzle 409 and the left tail nozzle 411 can rotate and can spray gas.
Claims (9)
1. The utility model provides a farmland crops medicine automated inspection robot, includes crossbeam module (1), two rotor unmanned aerial vehicle upper cover plate module (2), two rotor unmanned aerial vehicle lower cover plate module (3) and cabin module (4), its characterized in that:
the beam module (1) comprises: a cross beam support frame (101);
two rotor unmanned aerial vehicle upper cover plate module (2) include: an upper cover plate support frame (201);
two rotor unmanned aerial vehicle under apron module (3) include: a lower cover plate support frame (301);
the cabin module (4) comprises a cabin supporting frame (401);
the cross beam supporting frame (101) is fixedly installed on a cabin supporting frame (401), an upper cover plate supporting frame (201) is fixedly installed on the cabin supporting frame (401), and a lower cover plate supporting frame (301) is fixedly installed on the cabin supporting frame (401).
2. The automatic detection robot for farm crop medicines according to claim 1, characterized in that: the beam module (1) further comprises a steering engine support (102), a steering engine (103), a coupler (104), a guide rotating shaft (105), a guide bearing (106), a guide support (107), a guide (108), a brushless motor (109), a propeller (110), a brushless motor spindle (111), a brushless electric controller (112), an LED lamp (113), a beam motor (114), a beam motor support (115), a blowing piece (116), a toxic gas detection device chassis (117), a toxic gas detection device (118), an ultrasonic transmitter (11), an ultrasonic receiver (120) and an ultrasonic chassis (121), wherein the steering engine support (102) is fixedly arranged on the beam support (101), the steering engine (103) is fixedly arranged on the steering engine support (102), the coupler (104) is fixedly arranged on the steering engine (103) rotating shaft, the guide rotating shaft (105) is slidably arranged on the coupler (104), the guider support (107) is fixedly arranged on the beam support frame (101), the outer ring of the guider bearing (106) is fixedly arranged on the guider support (107), the guider rotating shaft (105) is fixedly arranged on the inner ring of the guider bearing (106), the guider (108) is rotatably arranged on the guider support (107), the brushless motor (109) is fixedly arranged on the guider (108), the brushless motor spindle (111) is rotatably arranged on the brushless motor (109), the propeller (110) is fixedly arranged on the brushless motor spindle (111), the brushless electric motor (112) is fixedly arranged on the steering engine (103), the LED lamp (113) is fixedly arranged on the beam support frame (101), the beam motor support (115) is fixedly arranged on the beam support frame (101), the beam motor (114) is fixedly arranged on the beam motor support frame (115), and the blowing piece (116) is fixedly arranged on the rotating shaft of the beam motor (114), a toxic gas detection device chassis (117) is fixedly installed on a cross beam support frame (101), a toxic gas detection device (118) is fixedly installed on the toxic gas detection device chassis (117), an ultrasonic wave chassis (121) is fixedly installed on the cross beam support frame (101), an ultrasonic wave transmitter (119) is fixedly installed on the ultrasonic wave chassis (121), and an ultrasonic wave receiver (120) is fixedly installed on the ultrasonic wave chassis (121).
3. The automatic detection robot for farm crop medicines according to claim 1, characterized in that: the upper cover plate module (2) of the double-rotor unmanned aerial vehicle further comprises cylindrical copper columns (202), radiating holes (203), a camera support (204), a camera (205), camera fixing screws (206), a laser radar transmitter (207), a laser radar receiver (208), a laser radar upper cover (209), a belt (210), a laser radar (211), a radar driving motor upper cover (212), a radar driving motor (213), a solar panel support (214), a solar panel X-axis motor (215), a solar panel (216), a disc gear (217), a disc (218), a solar panel X-axis motor support (219), a laser radar base plate (220), a rotating gear (221), a solar panel Z-axis motor (222) and a solar panel Z-axis motor support (223), wherein the cylindrical copper columns (202) are fixedly installed on the upper cover plate support frame (201), the radiating holes (203) are fixedly installed on the upper cover plate supporting frame (201), the camera support (204) is fixedly installed on the upper cover plate supporting frame (201), the camera (205) is fixedly installed on the camera support (204), the camera fixing screw (206) is fixedly installed on the camera (205), the laser radar (211) is rotatably installed on the laser radar base plate (220), the laser radar transmitter (207) is fixedly installed on the laser radar (211), the laser radar receiver (208) is fixedly installed on the laser radar (211), the laser radar upper cover (209) and the belt (210) form belt transmission, the radar driving motor upper cover (212) and the belt (210) form belt transmission, the radar driving motor (213) is fixedly installed on the laser radar base plate (220), the disc (218) is rotatably installed on the upper cover plate supporting frame (201), disc gear (217) fixed mounting is on disc (218), solar panel X axle motor support (219) fixed mounting is on disc (218), solar panel X axle motor (215) fixed mounting is on solar panel X axle motor support (219), solar panel support (214) fixed mounting is in solar panel X axle motor (215) pivot, solar panel (216) fixed mounting is on solar panel support (214), solar panel Z axle motor support (223) fixed mounting is on upper cover plate support frame (201), solar panel Z axle motor (222) fixed mounting is on solar panel Z axle motor support (223), rotating gear (221) fixed mounting is in solar panel Z axle motor (22) pivot.
4. The automatic detection robot for farm crop medicines according to claim 1, characterized in that: the lower cover plate module (3) of the double-rotor unmanned aerial vehicle further comprises a camera Z-axis motor (302), a camera X-axis motor (303), a camera main body (304), a camera protective cover (305), a camera Y-axis motor (306), a small bracket (307), a large bracket (308), a front wheel (309), a front wheel bracket (310), a lead screw bracket (311), a lead screw (312), mechanical scissors (313), a rear wheel (314), a rear wheel bracket (315), a rear wheel motor (316), a rear wheel motor bracket (317), a lead screw motor (318), a lead screw motor bracket (319), an optical axis (320), a lithium battery (321), a mechanical arm sliding block (322), an electric cylinder (323), a mechanical arm motor (324) and a mechanical hand grip (325), wherein the camera Z-axis motor (302) is rotatably installed on the lower cover plate supporting frame (301), the large bracket (308) is fixedly installed on the camera Z-axis motor (302), a camera X-axis motor (303) is rotatably arranged on a large bracket (308), a small bracket (307) is fixedly arranged on the camera X-axis motor (303), a camera Y-axis motor (306) is rotatably arranged on the small bracket (307), a camera main body (304) is fixedly arranged on the camera Y-axis motor (306), a camera protective cover (305) is fixedly arranged on the camera main body (304), a front wheel (309) is rotatably arranged on a front wheel bracket (310), the front wheel bracket (310) is fixedly arranged on a lower cover plate supporting frame (301), a screw rod bracket (311) is fixedly arranged on the lower cover plate supporting frame (301), a screw rod (312) is rotatably arranged on the screw rod bracket (311), a screw rod motor bracket (319) is fixedly arranged on the lower cover plate supporting frame (301), a screw rod motor (318) is fixedly arranged on the screw rod motor bracket (319), and a screw rod (31) is rotatably arranged on the screw rod motor (318), the rear wheel (314) is rotatably arranged on a rear wheel support (315), the rear wheel support (315) is fixedly arranged on a rotating shaft of a rear wheel motor (316), the rear wheel motor (316) is fixedly arranged on a rear wheel motor support (317), the rear wheel motor support (317) is fixedly arranged on a lower cover plate support frame (301), a lithium battery (321) is fixedly arranged on the lower cover plate support frame (301), an optical axis (320) is fixedly arranged between a screw rod motor support (319) and a screw rod support (311), a mechanical arm sliding block (322) is slidably arranged on the optical axis (320), an electric cylinder (323) is rotatably arranged on a mechanical arm sliding block (322), a mechanical arm motor (324) is fixedly arranged on an expansion shaft of the electric cylinder (323), mechanical scissors (313) are fixedly arranged on the rotating shaft of the mechanical arm motor (324), and a mechanical hand grip (325) is fixedly arranged on the mechanical arm motor (324) on the other side.
5. The automatic detection robot for farm crop medicines according to claim 1, characterized in that: the cabin module (4) further comprises a temperature sensor (402), a humidity sensor (403), a main control chip (404), a loudspeaker (405), a copper column (406) for connection, a guide plate (407), a right tail spray motor (408), a right tail spray motor (409), a left tail spray motor (410) and a left tail spray motor (411), wherein the temperature sensor (402) is fixedly arranged on the cabin support frame (401), the humidity sensor (403) is fixedly arranged on the cabin support frame (401), the main control chip (404) is fixedly arranged on the cabin support frame (401), the loudspeaker (405) is fixedly arranged on the cabin support frame (401), the copper column (406) for connection is fixedly arranged on the cabin support frame (401), the guide plate (407) is fixedly arranged on the cabin support frame (401), the right tail spray motor (408) is fixedly arranged on the cabin support frame (401), the right tail spray motor (409) is fixedly arranged on a rotating shaft of the right tail spray motor (408), the left tail spray motor (410) is fixedly arranged on the cabin supporting frame (401), and the left tail spray motor (411) is fixedly arranged on a rotating shaft of the left tail spray motor (410).
6. The automatic detection robot for farm crop medicines according to claim 1, characterized in that: the guide bearing (106) and the guide support (107) form interference fit, and the coupler (104) and the guide rotating shaft (105) form clearance fit.
7. The automatic detection robot for farm crop medicines according to claim 1, characterized in that: the belt (210) and the laser radar upper cover (209) and the radar driving motor upper cover (212) form belt transmission, and the disc gear (217) and the rotating gear (221) form gear meshing transmission.
8. The automatic detection robot for farm crop medicines according to claim 1, characterized in that: the mechanical arm sliding block (322) and the screw rod (312) form screw rod nut pair matching, and the left side and the right side are respectively in a pair.
9. The automatic detection robot for farm crop medicines according to claim 1, characterized in that: the right tail spray nozzle (409) and the left tail spray nozzle 411) can rotate and can spray gas.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110102674.2A CN112874768A (en) | 2021-01-26 | 2021-01-26 | Automatic detection robot for farm crop medicines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110102674.2A CN112874768A (en) | 2021-01-26 | 2021-01-26 | Automatic detection robot for farm crop medicines |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112874768A true CN112874768A (en) | 2021-06-01 |
Family
ID=76053207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110102674.2A Withdrawn CN112874768A (en) | 2021-01-26 | 2021-01-26 | Automatic detection robot for farm crop medicines |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112874768A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114252642A (en) * | 2022-02-24 | 2022-03-29 | 江西省自然资源事业发展中心 | Dynamic monitoring device and monitoring method for natural resources |
| CN117419885A (en) * | 2023-12-19 | 2024-01-19 | 中国空气动力研究与发展中心低速空气动力研究所 | Scissor type tail rotor wind tunnel test bed |
| CN117944876A (en) * | 2024-03-25 | 2024-04-30 | 东北大学 | Active and passive self-adaptive landing gear of carrier-based helicopter and application method thereof |
-
2021
- 2021-01-26 CN CN202110102674.2A patent/CN112874768A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114252642A (en) * | 2022-02-24 | 2022-03-29 | 江西省自然资源事业发展中心 | Dynamic monitoring device and monitoring method for natural resources |
| CN114252642B (en) * | 2022-02-24 | 2023-03-14 | 江西省自然资源事业发展中心 | Dynamic monitoring device and monitoring method for natural resources |
| CN117419885A (en) * | 2023-12-19 | 2024-01-19 | 中国空气动力研究与发展中心低速空气动力研究所 | Scissor type tail rotor wind tunnel test bed |
| CN117419885B (en) * | 2023-12-19 | 2024-03-19 | 中国空气动力研究与发展中心低速空气动力研究所 | Scissor type tail rotor wind tunnel test bed |
| CN117944876A (en) * | 2024-03-25 | 2024-04-30 | 东北大学 | Active and passive self-adaptive landing gear of carrier-based helicopter and application method thereof |
| CN117944876B (en) * | 2024-03-25 | 2024-06-07 | 东北大学 | Active and passive self-adaptive landing gear of carrier-based helicopter and application method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112874768A (en) | Automatic detection robot for farm crop medicines | |
| CN113631480A (en) | Multi-rotor unmanned aerial vehicle frame, agricultural plant protection unmanned aerial vehicle and control method | |
| CN204399482U (en) | The electronic unmanned fog machine of a kind of DCB Specimen close coupled type anticollision | |
| WO2023221430A1 (en) | Adaptive terrain unmanned weeding robot for orchard in mountainous region | |
| CN113632779A (en) | Laser intelligent weeding robot and weeding method | |
| CN112003190A (en) | Aerial work robot for maintaining power transmission line | |
| CN110122319A (en) | A kind of greenhouse independent navigation pollination unmanned plane and its control method | |
| WO2023108843A1 (en) | Intelligent weeding robot for orchards | |
| CN112983086A (en) | Crops major disaster early warning equipment based on internet agriculture | |
| Gravalos et al. | A mechatronic system for automated topping and suckering of tobacco plants | |
| US20110215169A1 (en) | Oscillating Fan Sprayer | |
| CN210526843U (en) | Unmanned aerial vehicle for measuring tree height | |
| CN112056031A (en) | Farmland management robot suitable for different ridge widths | |
| CN116508740A (en) | Laser intelligent weeding robot and weeding method | |
| CN106472481A (en) | A kind of acousto-optic generating multifunctional self bird-scaring unit | |
| CN114431004B (en) | Banana picking device and method based on 3-PRS parallel mechanism | |
| CN218302108U (en) | Agricultural intertillage robot | |
| CN205721382U (en) | A kind of ultrasound wave deinsectization plant protection unmanned plane | |
| CN210017335U (en) | Autonomous navigation pollination unmanned aerial vehicle for greenhouse | |
| CN218588066U (en) | Agricultural robot | |
| CN114932965B (en) | Plant disease and insect pest monitoring device, remote monitoring system and monitoring method thereof | |
| CN113359814B (en) | Plant protection unmanned aerial vehicle for breaking membrane of garlic seedling, and operation method and application thereof | |
| CN108782530A (en) | A kind of energy-saving agricultural machinery sprinkling system | |
| KR20200097405A (en) | Agricultural Vehicle | |
| CN110140705A (en) | Sprinkling agricultural robot device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210601 |