CN113296501A - Greenhouse inspection robot, and greenhouse environment three-dimensional monitoring system and method - Google Patents
Greenhouse inspection robot, and greenhouse environment three-dimensional monitoring system and method Download PDFInfo
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- CN113296501A CN113296501A CN202110494739.2A CN202110494739A CN113296501A CN 113296501 A CN113296501 A CN 113296501A CN 202110494739 A CN202110494739 A CN 202110494739A CN 113296501 A CN113296501 A CN 113296501A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Abstract
The invention provides a greenhouse inspection robot, a greenhouse environment three-dimensional monitoring system and a greenhouse environment three-dimensional monitoring method, wherein the greenhouse inspection robot comprises a mobile chassis, an environment monitoring device, a navigation device, a height detection device and a control device; the movable chassis is provided with a lifting mechanism; the environment monitoring device is arranged at the lifting end of the lifting mechanism and is used for collecting environmental parameters in the greenhouse; the environment monitoring device, the navigation device and the height detection device are respectively in communication connection with the control device, and the control device is also in communication connection with the mobile chassis and the lifting mechanism; the control device is used for acquiring the space coordinate of the environment monitoring device in real time based on the data acquired by the navigation device and the height detection device. The method can realize accurate monitoring of the environmental distribution of each position in the greenhouse, so that the three-dimensional curved surface diagram of the environmental parameters of different height levels in the greenhouse can be obtained based on the greenhouse environment three-dimensional monitoring system, and a decision basis is provided for distributed fine management and control of the greenhouse.
Description
Technical Field
The invention relates to the technical field of facility agriculture, in particular to a greenhouse inspection robot, a greenhouse environment three-dimensional monitoring system and a greenhouse environment three-dimensional monitoring method.
Background
With the increase of the agricultural informatization level, the facility agricultural production begins to shift to intensification and scale. Because the sensor for monitoring the environment in the greenhouse has a fixed application range, for a large-scale greenhouse, a plurality of sensors are required to be installed for monitoring one environmental index, so that the accuracy of monitoring the environment of the large-scale greenhouse is ensured.
However, in the actual monitoring process, on one hand, because the sensors have monitoring errors and the sensors are different from each other, when a plurality of sets of sensors are adopted for environment monitoring of the greenhouse, monitoring data are unbalanced and errors are accumulated. On the other hand, because there is the difference in the environmental parameter of different regions, co-altitude in the greenhouse, fixed mounting's environmental monitoring system has certain application area, and when the greenhouse area is great, need install a plurality of environmental monitoring devices and monitor. Under the condition that the sensors have monitoring errors and the plurality of sensors have error accumulation, the environment distribution of each position in the greenhouse is difficult to be accurately monitored.
Disclosure of Invention
The invention provides a greenhouse inspection robot, a greenhouse environment three-dimensional monitoring system and a greenhouse environment three-dimensional monitoring method, which are used for solving the problem that the environment distribution of each position in a greenhouse is difficult to accurately monitor by the conventional fixedly arranged environment monitoring device.
The invention provides a greenhouse inspection robot, which comprises: the system comprises a mobile chassis, an environment monitoring device, a navigation device, a height detection device and a control device; the movable chassis is provided with a lifting mechanism; the environment monitoring device is arranged at the lifting end of the lifting mechanism and is used for acquiring environmental parameters in the greenhouse; the environment monitoring device, the navigation device and the height detection device are respectively in communication connection with the control device, and the control device is also in communication connection with the mobile chassis and the lifting mechanism; the control device is used for acquiring the space coordinate of the environment monitoring device in real time based on the data acquired by the navigation device and the height detection device.
According to the greenhouse inspection robot provided by the invention, the environment monitoring device comprises a ventilation chamber, a ventilation device and a first sensing assembly; an air inlet and an air outlet are arranged on the shell wall of the air exchange chamber; the ventilation device is arranged in the ventilation chamber to realize gas exchange between the ventilation chamber and the greenhouse; the first sensing assembly is arranged in the ventilation chamber and comprises at least one of an atmospheric pressure sensor, a temperature and humidity sensor, a carbon dioxide sensor, an ozone sensor and a dust concentration sensor.
According to the greenhouse inspection robot provided by the invention, the environment monitoring device further comprises: a second sensing component; the second sensing assembly is arranged on the wall surface outside the ventilation chamber and comprises at least one of a total radiation sensor and an illumination intensity sensor; the environment monitoring device further comprises: an air intake grill; the air inlet grid is arranged on the air inlet, and the air interchanger is arranged on the air outlet.
According to the greenhouse inspection robot provided by the invention, the movable chassis comprises a chassis frame and a travelling mechanism; the travelling mechanism is arranged at the bottom of the chassis frame; the running mechanism comprises a track wheel assembly and a land wheel assembly, the track wheel assembly is used for running along the track in the greenhouse, and the land wheel assembly is used for running along the road surface in the greenhouse.
According to the greenhouse inspection robot provided by the invention, the navigation device comprises a two-dimensional code reader and a laser radar; the two-dimensional code reader is arranged at the bottom of the chassis frame and used for reading the two-dimensional code mark on the track; the laser radar is arranged on the chassis frame and is positioned at one end, close to the greenhouse, of the chassis frame in the advancing direction of the inspection robot.
According to the greenhouse inspection robot provided by the invention, the mobile chassis further comprises an anti-collision system; the anti-collision system comprises a collision strip and the laser radar; the collision strip is arranged on the side face of the chassis frame and is distributed along the circumferential direction of the chassis frame, and a touch switch is arranged in the collision strip and is used for being in communication connection with an alarm device.
According to the greenhouse inspection robot provided by the invention, the lifting mechanism comprises an electric lifting rod, the fixed end of the electric lifting rod is arranged on the movable chassis, the electric lifting rod is vertical to the plane of the movable chassis, and the lifting end of the electric lifting rod is connected with the environment monitoring device; the height detection device comprises an encoder, and the encoder is coaxially connected with a driving motor on the electric lifting rod.
According to the greenhouse inspection robot provided by the invention, the control device comprises an industrial personal computer, a display and a driver; the environment monitoring device, the navigation device, the height detection device and the display are respectively in communication connection with the industrial personal computer, the industrial personal computer is in communication connection with the driver, and the driver is respectively in communication connection with the mobile chassis and the lifting mechanism.
The invention also provides a greenhouse environment three-dimensional monitoring system, which comprises: the greenhouse inspection robot comprises a cloud server and the greenhouse inspection robot; the greenhouse inspection robot is in communication connection with the cloud server, and the cloud server is used for acquiring the acquisition time of the environment monitoring device, the environment parameters acquired in real time and the space coordinates corresponding to the environment parameters; the cloud server is provided with a database management unit and a data fusion analysis unit; the database management unit is used for storing the data acquired by the cloud server in a classified manner; the data fusion analysis unit is used for fusing the storage information of the database management unit with the scheduling map of the greenhouse inspection robot and generating three-dimensional surface maps of the environmental parameters of different height levels according to the acquisition height of each type of environmental parameters.
The invention also provides a monitoring method of the greenhouse environment three-dimensional monitoring system, which comprises the following steps: controlling a greenhouse inspection robot to inspect the greenhouse according to a path planned by a scheduling map based on the scheduling map, and sending the acquired acquisition time of the environment monitoring device, the acquired environment parameters and the space coordinates corresponding to the environment parameters, which are acquired in real time, to a cloud server; the cloud server classifies and stores data sent by the greenhouse inspection robot according to the database management unit, fuses storage information of the database management unit with the scheduling map according to the data fusion analysis unit, and generates the three-dimensional curved surface maps of the environmental parameters of different height levels according to the acquisition height of each type of the environmental parameters.
According to the greenhouse inspection robot and the greenhouse environment three-dimensional monitoring system and method, the movable chassis, the environment monitoring device, the navigation device, the height detection device and the control device are arranged on the greenhouse inspection robot, so that the acquisition time of the greenhouse environment, the environment parameters acquired in real time and the space coordinates corresponding to the environment parameters can be acquired based on the movable carrying platform, and the environment distribution of each position in the greenhouse can be accurately monitored.
The greenhouse environment three-dimensional monitoring system is constructed based on the combination of a three-dimensional environment monitoring technology and an all-terrain moving trolley, the distribution of all environment parameters is analyzed, a multi-environment parameter three-dimensional plane distribution diagram can be generated according to the environment parameters of different spatial positions in the greenhouse, and a decision basis is provided for the distributed fine management and control of the greenhouse.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a greenhouse inspection robot provided by the invention;
FIG. 2 is a schematic bottom view of the mobile chassis provided in the present invention;
FIG. 3 is a schematic structural diagram of an environmental monitoring device provided by the present invention;
FIG. 4 is a schematic structural diagram of the greenhouse inspection robot provided by the invention when the electric lifting rod is in a contracted state;
FIG. 5 is a schematic structural diagram of the greenhouse inspection robot provided by the invention when the electric lifting rod is in a stretching state;
FIG. 6 is a block diagram of a three-dimensional monitoring system for greenhouse environment according to the present invention;
FIG. 7 is a three-dimensional surface diagram of environmental parameters at different height levels in a greenhouse generated by the three-dimensional monitoring system for greenhouse environment provided by the present invention;
FIG. 8 is a schematic flow chart of a monitoring method of the greenhouse environment stereo monitoring system provided by the invention;
reference numerals:
1: moving the chassis; 2: an environmental monitoring device; 3: a lifting mechanism;
4: a control device; 5: a laser radar; 6: a two-dimensional code reader;
7: a bump bar; 11: a chassis frame; 12: a first rail wheel;
13: a second rail wheel; 14: a first differential wheel; 15: a second differential wheel;
16: a universal wheel; 21: a ventilation chamber; 22: a ventilation device;
23: a first sensing component; 24: a second sensing component; 25: an air intake grill;
210: an air inlet; 211: an air outlet; 8: a greenhouse;
9: and (3) an environmental parameter three-dimensional surface graph.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The greenhouse inspection robot, the greenhouse environment three-dimensional monitoring system and the greenhouse environment three-dimensional monitoring method are described in the following with reference to fig. 1 to 8.
As shown in fig. 1, the present embodiment provides a greenhouse inspection robot, including: the system comprises a mobile chassis 1, an environment monitoring device 2, a navigation device, a height detection device and a control device 4; the movable chassis 1 is provided with a lifting mechanism 3; the environment monitoring device 2 is arranged at the lifting end of the lifting mechanism 3, and the environment monitoring device 2 is used for collecting environmental parameters in the greenhouse; the environment monitoring device 2, the navigation device and the height detection device are respectively in communication connection with the control device 4, and the control device 4 is also in communication connection with the mobile chassis 1 and the lifting mechanism 3; the control device 4 is configured to obtain the spatial coordinates of the environment monitoring device 2 in real time based on the data collected by the navigation device and the height detection device.
Specifically, this embodiment is through setting up on the robot is patrolled and examined in the greenhouse and remove chassis 1, environmental monitoring device 2, navigation head, height detection device and controlling means 4, can obtain the collection time to the greenhouse environment, the environmental parameter of real-time collection and the space coordinate who corresponds with the environmental parameter based on removing the platform of carrying on to the realization carries out accurate monitoring to the environmental distribution of each position in the greenhouse.
The environment monitoring device 2 shown in this embodiment includes various sensors, and can detect the environmental parameters such as air temperature, air humidity, total radiation intensity, illumination intensity, atmospheric pressure, carbon dioxide concentration, ozone concentration, and PM2.5 content in the greenhouse according to these sensors.
The navigation device shown in this embodiment may be any one of or a combination of at least two of a visual navigation device, a laser navigation device and an inertial navigation device known in the art, and is not limited herein. The navigation device shown in this embodiment is used for providing positioning and navigation for the walking of the mobile chassis 1, and the control device 4 shown in this embodiment can also obtain the plane coordinates of the greenhouse inspection robot in the greenhouse according to the navigation information of the navigation device.
Meanwhile, the height detection device shown in the embodiment is used for detecting the height information of the environment monitoring device 2 relative to the plane of the moving chassis 1. The height detection device may be a laser ranging sensor, an infrared ranging sensor, etc. known in the art.
Because navigation head and high detection device all locate the greenhouse and patrol and examine the robot on, controlling means 4 can patrol and examine the real-time plane coordinate of environment monitoring device 2 on the robot with the greenhouse and combine together with the altitude information to acquire the space coordinate of environment monitoring device 2. Because the environmental monitoring device 2 still gathers the environmental parameter in the greenhouse in real time to based on the greenhouse and patrol and examine the robot and can acquire the environmental parameter of different space coordinate positions in the greenhouse, with the accurate monitoring of the environmental distribution of realization each position in the greenhouse.
As shown in fig. 3, the environmental monitoring device 2 of the present embodiment includes a ventilation chamber 21, a ventilation device 22, and a first sensing component 23; the shell wall of the air exchange chamber 21 is provided with an air inlet 210 and an air outlet 211; the ventilation device 22 is arranged in the ventilation chamber 21 to realize gas exchange between the ventilation chamber 21 and the greenhouse; the first sensing component 23 is arranged in the ventilation chamber 21, and the first sensing component 23 comprises at least one of an atmospheric pressure sensor, a temperature and humidity sensor, a carbon dioxide sensor, an ozone sensor and a dust concentration sensor.
Further, the environment monitoring apparatus 2 shown in this embodiment further includes: a second sensing assembly 24; the second sensing assembly 24 is arranged on the wall surface outside the ventilation chamber 21, and the second sensing assembly 24 comprises at least one of a total radiation sensor and an illumination intensity sensor; the environment monitoring device 2 further includes: an intake grill 25; the intake grill 25 is provided at the intake port 210, and the ventilator 22 is provided at the exhaust port 211. The ventilator 22 may be a ventilator known in the art.
Here, when the environmental monitoring device 2 shown in the present embodiment detects the environmental parameter, the air enters the ventilation chamber 21 of the greenhouse environmental monitoring device 2 through the air inlet grille 25 under the driving of the ventilation device 22, and is discharged from the air outlet 211 after contacting and interacting with the first sensing component 23. Therefore, the present embodiment can ensure real-time synchronization between the air in the ventilation chamber 21 and the air in the greenhouse environment, and avoid measurement errors caused by air retention, and is particularly suitable for detecting environmental parameters on the mobile chassis 1 shown in the present embodiment, thereby solving the problem of time lag in conventional environmental monitoring.
As shown in fig. 2, the mobile chassis 1 shown in this embodiment includes a chassis frame 11 and a traveling mechanism; the traveling mechanism is arranged at the bottom of the chassis frame 11; the running mechanism comprises a track wheel assembly and a land wheel assembly, the track wheel assembly is used for running along a track in the greenhouse, and the land wheel assembly is used for running along a road surface in the greenhouse.
In order to position and guide the walking of the greenhouse inspection robot in the greenhouse, the navigation device shown in the embodiment comprises a two-dimensional code reader 6 and a laser radar 5; the two-dimensional code reader 6 is arranged at the bottom of the chassis frame 11 and is used for reading the two-dimensional code mark on the track; the laser radar 5 is arranged on the chassis frame 11 and is positioned at one end of the chassis frame 11 close to the advancing direction of the greenhouse inspection robot.
It should be pointed out here that the navigation head that this embodiment shows is when adopting the two-dimensional code navigation, and every two-dimensional code sign contains positional information and direction information, adopts two-dimensional code reader 6 to discern and resolve the subaerial two-dimensional code sign to confirm the greenhouse and patrol and examine the position and the direction of robot, with cooperation laser radar 5, realize the greenhouse and patrol and examine the automatic operation on the robot land.
Meanwhile, the embodiment further improves the traveling mechanism. Wherein, the rail wheel assembly comprises a first rail wheel 12 and a second rail wheel 13; the two first track wheels 12 are arranged coaxially and side by side and distributed at the front end of the chassis frame 11 close to the advancing direction of the greenhouse inspection robot; correspondingly, the number of the second rail wheels 13 is two, and the two second rail wheels 13 are coaxially arranged side by side and distributed at the rear end of the chassis frame 11 close to the advancing direction of the greenhouse inspection robot.
The land wheel assembly shown in this embodiment includes a differential wheel and a universal wheel 16; the two differential wheels are respectively a first differential wheel 14 and a second differential wheel 15, and the first differential wheel 14 and the second differential wheel 15 are coaxially arranged side by side and are arranged in the middle of the chassis frame 11; the universal wheels 16 are provided with two groups, the first group of universal wheels 16 are arranged at the front end of the chassis frame 11 close to the advancing direction of the greenhouse inspection robot, and the second group of universal wheels 16 are arranged at the rear end of the chassis frame 11 close to the advancing direction of the greenhouse inspection robot.
Here, the greenhouse inspection robot that this embodiment is shown adopts the mode that two-dimensional code reader 6 and laser radar 5 combined together, patrols and examines the robot to the greenhouse and fixes a position and navigate to realize automatic track of going up, automatic lower rail and function such as walking on the greenhouse subaerial, realized the unmanned of chassis operation process, specifically as follows:
when the greenhouse inspection robot walks on the road surface, the laser radar 5 is adopted for navigation and positioning, and at the moment, the land wheel assembly is started to operate. Based on the differential control of the first differential wheels 14 and the second differential wheels 15, steering, forward and reverse of the moving chassis 1 can be achieved.
When the greenhouse inspection robot moves to the track from the ground road to run, the greenhouse inspection robot is navigated and positioned based on the reading of the two-dimensional code identifier on the track by the two-dimensional code reader 6. After the two-dimensional code reader 6 recognizes the two-dimensional code identification of the upper rail, the control device 4 controls the first track wheel 12 and the second track wheel 13 to rotate forward synchronously, and the mobile chassis 1 starts to be on the upper rail. When the greenhouse inspection robot moves on the track, the first track wheels 12 and the second track wheels 13 rotate forwards or backwards synchronously under the control of the control device 4, so that the moving chassis 1 moves forwards or backwards on the track. When the moving chassis 1 moves from the track to the edge of the track and the two-dimensional code reader 6 recognizes the two-dimensional code mark of the lower track, the control device 4 controls the first differential wheel 14 and the second differential wheel 15 to rotate reversely at the same time, and the moving chassis 1 starts to lower the track. After the two-dimensional code reader 6 recognizes the two-dimensional code identification of the greenhouse inspection robot, the track wheel assembly stops rotating, the mobile chassis 1 finishes automatic track descending, and road motion on the road surface is started.
Further, the mobile chassis 1 shown in the embodiment is also provided with an anti-collision system; the anti-collision system comprises a collision strip 7 and the laser radar 5 shown in the embodiment; the collision strip 7 is arranged on the side face of the chassis frame 11 and arranged along the circumferential direction of the chassis frame 11, and a touch switch is arranged in the collision strip 7 and used for being in communication connection with the alarm device.
Specifically, because laser radar 5 installs at the front end that removes chassis 1 and be close to the advancing direction of greenhouse inspection robot, laser radar 5 has set up two-layer safe distance, and first layer safe distance is based on the speed reduction distance that removes chassis 1, and second floor safe distance is based on the scram distance that the robot was patrolled and examined to the greenhouse.
Meanwhile, as the collision strip 7 is arranged on the side face of the chassis frame 11 along the circumferential direction, when the collision strip 7 contacts other objects, the touch switch in the collision strip 7 is closed, and after the control device 4 receives a closing signal of the touch switch, the mobile chassis 1 can be immediately controlled to stop running, and meanwhile, the alarm device is triggered to alarm. The alarm device may be any one of alarm lamps, buzzers, and audible and visual alarms known in the art.
Further, in order to better control the height detection device to perform lifting movement so as to realize detection of environmental parameters of the internal level position of the greenhouse, the lifting mechanism 3 shown in this embodiment is preferably an electric lifting rod, a fixed end of the electric lifting rod is arranged on an installation platform of the movable chassis 1, wherein the height of the installation platform from the ground is 0.5m, and the electric lifting rod has four telescopic segments. The electric lifting rod is vertical to the plane of the movable chassis 1, and the lifting end of the electric lifting rod is connected with the environment monitoring device 2; the height detection device comprises an encoder which is coaxially connected with a driving motor on the electric lifting rod.
As shown in fig. 4, the electric lift lever of the present embodiment is in a contracted state, and the height of the electric lift lever in the contracted state is 0.9 m. As shown in fig. 5, the electric lift pins are in an extended state, and the height of the electric lift pins in the extended state is 2.0-2.9 m. Meanwhile, the height of the central point of the environment monitoring device 2 with respect to the bottom of the environment monitoring device 2 is 0.1 m.
Here, the measurement height of the environment monitoring device 2 shown in the present embodiment may reach 1.5 to 3.5 m. When the environment monitoring device 2 is used for measuring, a measuring height value can be set, the height setting range is 1.5-3.5m, 10 height levels can be set at most, the measurement is carried out in sequence from low to high, the ventilating fan is turned on during the measurement, and the air stays at each height level for 2s, so that the circulation of air is ensured, and the measurement error caused by air retention is avoided.
Further, the control device 4 shown in this embodiment includes an industrial personal computer, a display, and a driver; the industrial personal computer is a core controller for the operation of the greenhouse inspection robot, and the configuration of the industrial personal computer comprises a CPU, an internal memory, a hard disk and the like. The environment monitoring device 2, the navigation device, the height detection device and the display shown in the embodiment are respectively in communication connection with an industrial personal computer, the industrial personal computer is in communication connection with a driver, and the driver is respectively in communication connection with the mobile chassis 1 and the lifting mechanism 3.
Preferably, as shown in fig. 6, this embodiment further provides a greenhouse environment stereoscopic monitoring system, including: the greenhouse inspection robot comprises a cloud server and the greenhouse inspection robot; the greenhouse inspection robot is in communication connection with a cloud server, and the cloud server is used for acquiring the acquisition time of the environment monitoring device, the environment parameters acquired in real time and the space coordinates corresponding to the environment parameters; the cloud server is provided with a database management unit and a data fusion analysis unit; the database management unit is used for storing the data acquired by the cloud server in a classified manner; the data fusion analysis unit is used for fusing the storage information of the database management unit with the scheduling map of the greenhouse inspection robot, and generating three-dimensional curved surface maps 9 of environmental parameters of different height levels in the greenhouse 8 according to the acquisition height of each type of environmental parameters, as shown in fig. 7.
Specifically, in the embodiment, a greenhouse environment three-dimensional monitoring system is constructed based on the combination of a three-dimensional environment monitoring technology and an all-terrain moving trolley, the distribution of each environmental parameter is analyzed, a multi-environmental parameter three-dimensional plane distribution diagram can be generated according to the environmental parameters of different spatial positions in the greenhouse, and a decision basis is provided for the distributed fine management and control of the greenhouse.
The database management unit in this embodiment adopts a MySQL relational database management system to store data in different tables, which increases the speed and improves the flexibility. Each piece of data stored by the system shown in this embodiment includes information such as a parameter name, a variable ID, a collection time, a collection coordinate X, a collection coordinate Y, a collection height, a variable state, a variable type, a real-time value, a grouping, a storage mode, a security type, readability, and a tag. The environmental parameters collected by the system shown in this embodiment include air temperature, air humidity, total radiation intensity, carbon dioxide concentration, illumination intensity, air pressure in the greenhouse, PM2.5/10, ozone concentration, etc.
Meanwhile, the data fusion analysis unit shown in the embodiment adopts a knowledge graph technology to construct a greenhouse environment acquisition knowledge structure, the direct mutual influence relationship of each parameter and the influence relationship between each parameter and greenhouse management and control are structured, a standardized environment acquisition data structure oriented to greenhouse intelligent management and control is established, environment data and production process management are combined, a relationship graph of a greenhouse environment and water and fertilizer integration and environment control system is constructed, knowledge graphs of different crops and different analysis functions can be constructed according to application environment requirements, and a standardized framework is provided for data analysis and data fusion
It should be noted that, in the embodiment, the wireless communication connection between the greenhouse inspection robot and the cloud server may be established specifically by using a wireless communication method. The greenhouse inspection robot comprises a greenhouse inspection robot body, an industrial personal computer, an environment monitoring device, a wireless communication module, a cloud server and a wireless communication module, wherein the greenhouse inspection robot body can be specifically provided with the wireless communication module, the wireless communication module is in communication connection with the industrial personal computer shown in the embodiment, the acquisition time of the environment monitoring device, the environment parameters acquired in real time and the space coordinates corresponding to the environment parameters are transmitted to the cloud server in a wireless communication mode, the wireless communication module can be a WIFI module, a GPRS module, a 3G module, a 4G module and the like which are well known in the field, and specific limitation is not made here.
Preferably, as shown in fig. 8, this embodiment further provides a monitoring method of the greenhouse environment stereoscopic monitoring system, which includes the following steps:
and step S1, controlling the greenhouse inspection robot to inspect the greenhouse according to the path planned by the scheduling map based on the scheduling map, and sending the acquired acquisition time of the environment monitoring device, the acquired environment parameters and the space coordinates corresponding to the environment parameters, which are acquired in real time, to the cloud server.
And step S2, the cloud server classifies and stores the data sent by the greenhouse inspection robot according to the database management unit, fuses the storage information of the database management unit with the scheduling map according to the data fusion analysis unit, and generates the three-dimensional curved surface maps of the environmental parameters of different height levels according to the acquisition height of each type of environmental parameters.
Specifically, since the monitoring method shown in this embodiment includes all structural schemes of the three-dimensional monitoring system for greenhouse environment shown in the above embodiment, at least all beneficial effects brought by the technical schemes of the above embodiment are achieved, and no further description is given here.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined in greenhouse which characterized in that includes:
the mobile chassis is provided with a lifting mechanism;
the environment monitoring device is arranged at the lifting end of the lifting mechanism and is used for acquiring environmental parameters in the greenhouse;
the environment monitoring device, the navigation device and the height detection device are respectively in communication connection with the control device, and the control device is also in communication connection with the mobile chassis and the lifting mechanism;
the control device is used for acquiring the space coordinate of the environment monitoring device in real time based on the data acquired by the navigation device and the height detection device.
2. The greenhouse inspection robot according to claim 1,
the environment monitoring device comprises a ventilation chamber, a ventilation device and a first sensing assembly;
an air inlet and an air outlet are arranged on the shell wall of the air exchange chamber; the ventilation device is arranged in the ventilation chamber to realize gas exchange between the ventilation chamber and the greenhouse; the first sensing assembly is arranged in the ventilation chamber and comprises at least one of an atmospheric pressure sensor, a temperature and humidity sensor, a carbon dioxide sensor, an ozone sensor and a dust concentration sensor.
3. The greenhouse inspection robot according to claim 2,
the environment monitoring device further comprises: a second sensing component; the second sensing assembly is arranged on the wall surface outside the ventilation chamber and comprises at least one of a total radiation sensor and an illumination intensity sensor;
the environment monitoring device further comprises: an air intake grill; the air inlet grid is arranged on the air inlet, and the air interchanger is arranged on the air outlet.
4. The greenhouse inspection robot according to any one of claims 1 to 3, wherein the mobile chassis includes a chassis frame and a traveling mechanism;
the travelling mechanism is arranged at the bottom of the chassis frame; the running mechanism comprises a track wheel assembly and a land wheel assembly, the track wheel assembly is used for running along the track in the greenhouse, and the land wheel assembly is used for running along the road surface in the greenhouse.
5. The greenhouse inspection robot according to claim 4,
the navigation device comprises a two-dimensional code reader and a laser radar;
the two-dimensional code reader is arranged at the bottom of the chassis frame and used for reading the two-dimensional code mark on the track; the laser radar is arranged on the chassis frame and is positioned at one end, close to the greenhouse, of the chassis frame in the advancing direction of the inspection robot.
6. The greenhouse inspection robot according to claim 5,
the mobile chassis further comprises a collision avoidance system;
the anti-collision system comprises a collision strip and the laser radar; the collision strip is arranged on the side face of the chassis frame and is distributed along the circumferential direction of the chassis frame, and a touch switch is arranged in the collision strip and is used for being in communication connection with an alarm device.
7. The greenhouse inspection robot according to any one of claims 1 to 3, wherein the lifting mechanism comprises an electric lifting rod, the fixed end of the electric lifting rod is arranged on the movable chassis, the electric lifting rod is perpendicular to the plane of the movable chassis, and the lifting end of the electric lifting rod is connected with the environment monitoring device;
the height detection device comprises an encoder, and the encoder is coaxially connected with a driving motor on the electric lifting rod.
8. The greenhouse inspection robot according to any one of claims 1 to 3, wherein the control device comprises an industrial personal computer, a display and a driver;
the environment monitoring device, the navigation device, the height detection device and the display are respectively in communication connection with the industrial personal computer, the industrial personal computer is in communication connection with the driver, and the driver is respectively in communication connection with the mobile chassis and the lifting mechanism.
9. A greenhouse environment stereoscopic monitoring system, comprising: a cloud server and a greenhouse inspection robot according to any one of claims 1 to 8;
the greenhouse inspection robot is in communication connection with the cloud server, and the cloud server is used for acquiring the acquisition time of the environment monitoring device, the environment parameters acquired in real time and the space coordinates corresponding to the environment parameters;
the cloud server is provided with a database management unit and a data fusion analysis unit; the database management unit is used for storing the data acquired by the cloud server in a classified manner; the data fusion analysis unit is used for fusing the storage information of the database management unit with the scheduling map of the greenhouse inspection robot and generating three-dimensional surface maps of the environmental parameters of different height levels according to the acquisition height of each type of environmental parameters.
10. A monitoring method of the greenhouse environment stereoscopic monitoring system according to claim 9, comprising:
controlling a greenhouse inspection robot to inspect the greenhouse according to a path planned by a scheduling map based on the scheduling map, and sending the acquired acquisition time of the environment monitoring device, the acquired environment parameters and the space coordinates corresponding to the environment parameters, which are acquired in real time, to a cloud server;
the cloud server classifies and stores data sent by the greenhouse inspection robot according to the database management unit, fuses storage information of the database management unit with the scheduling map according to the data fusion analysis unit, and generates the three-dimensional curved surface maps of the environmental parameters of different height levels according to the acquisition height of each type of the environmental parameters.
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