CN114754822B - Multiple information intelligent fusion acquisition, study and judgment decision robot based on intelligent agriculture and use method thereof - Google Patents
Multiple information intelligent fusion acquisition, study and judgment decision robot based on intelligent agriculture and use method thereof Download PDFInfo
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- CN114754822B CN114754822B CN202210475572.XA CN202210475572A CN114754822B CN 114754822 B CN114754822 B CN 114754822B CN 202210475572 A CN202210475572 A CN 202210475572A CN 114754822 B CN114754822 B CN 114754822B
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- 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
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- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
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Abstract
The invention provides a multiple information intelligent fusion acquisition, study and decision-making robot based on intelligent agriculture and a using method thereof. And a notebook computer for information acquisition, storage, analysis, diagnosis, transmission, uploading and decision control is arranged on the intelligent chassis below the hyperspectral multi-position information acquisition system. The intelligent target-aiming robot realizes unmanned navigation, intelligent acquisition, intelligent recognition and analysis, intelligent analysis and diagnosis and intelligent decision control, realizes intelligent unmanned and accurate target-aiming operation, has high operation precision, small error and high efficiency, and promotes the development of intelligent agriculture.
Description
Technical Field
The invention belongs to the field of intelligent agricultural technologies and equipment, and particularly relates to a multiple information intelligent fusion acquisition, study and judgment decision robot based on intelligent agriculture and a use method thereof.
Background
China is a big agricultural country, has a large population, but has a weak agricultural foundation, and the traditional agricultural production mode is no longer suitable for the modern agricultural production requirement. In recent years, china has achieved some effects in modern agriculture, but related research is still in the beginning stage, and under a new situation, agricultural transformation and upgrading must be accelerated.
The intelligent agriculture is an advanced form of modern agriculture, takes data, systems and intelligent equipment as characteristic elements, is deeply fused with production elements such as land, animals and plants, production tools and the like in the traditional agriculture, realizes production operation precision, management decision autonomy and industrial promotion chaining, and promotes the agriculture to enter a new modern agriculture era with convenient production, high management efficiency and industrial coordination.
The intelligent agriculture is a complex systematic engineering, and the realization of the engineering is not independent of information acquisition and study and judgment. At present, related information collection in agricultural production is mostly manual collection, or a large amount of simple equipment is adopted to collect different information for many times, the error is large, and the collection efficiency is low. In addition, most of the existing unmanned aerial vehicle information acquisition equipment acquires canopy information, and the phenotype information of near-field crops cannot be acquired; the existing ground information acquisition equipment also has the problems of large size, single function, low information processing speed, large error and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a multiple information intelligent fusion acquisition, study and judgment decision robot based on intelligent agriculture and a using method thereof, which can realize fusion acquisition and analysis of multiple information such as depth image information, hyperspectral information, distance information, soil information, climate information and the like at one time, study and judge information in real time through a data analysis terminal and make an intelligent decision, directly control corresponding machines and tools to operate, and have the advantages of multiple functions, high information processing speed, small error and high information acquisition and operation efficiency.
The present invention achieves the above-described object by the following technical means.
A multiple information intelligent fusion acquisition, study and judgment decision-making robot based on intelligent agriculture comprises an intelligent chassis providing walking drive and operation drive for the robot, wherein an industrial personal computer is arranged in the intelligent chassis, a horizontal ultrasonic ranging device, a multi-position multi-angle depth image acquisition system, an intelligent identification system and a Beidou navigation system are arranged at the front part of the intelligent chassis, a hyperspectral multi-position information acquisition system is arranged at the middle part of the intelligent chassis, and a soil multi-information acquisition system, a sensor intelligent multi-stage cleaning system and an energy intelligent continuous supply system are arranged at the rear part of the intelligent chassis; a notebook computer for information acquisition, storage, analysis, diagnosis, transmission, uploading and decision control is arranged on the intelligent chassis below the hyperspectral multi-position information acquisition system;
the hyperspectral multi-position information acquisition system, the Beidou navigation system, the intelligent identification system, the multi-position multi-angle depth image acquisition system, the horizontal ultrasonic ranging device, the intelligent multi-stage sensor cleaning system and the soil multi-information acquisition system are all in signal connection with the industrial personal computer, and the industrial personal computer is in signal connection with the notebook computer.
Further, the multistage cleaning system of sensor intelligence is including installing the automatic flexible electric jar at intelligent chassis rear portion intermediate position, install on the anterior telescopic link of automatic flexible electric jar and wash the support, wash and install the washing round brush from bottom to top in the support in proper order, wash the shower nozzle, drying fan, wash the support outside and install and be used for driving the rotatory round brush rotary servo motor that washs the round brush, be used for driving to wash the shower nozzle swing servo motor that the shower nozzle rotated the jettison, install the washing liquid storage and supply device who is connected with the washing shower nozzle in the intelligent chassis.
Furthermore, a depth camera rotating motor is installed at the top of the cleaning support through a depth camera fixing frame, the output end of the depth camera rotating motor is connected with a depth camera B, the depth camera B monitors the cleaning state in real time, a basis is provided for adjustment of the cleaning posture, and the cleaning effect is assisted to be judged.
Furthermore, the soil multiple information acquisition system comprises a supporting and fixing frame arranged at the rear part of the intelligent chassis, two servo motors A are arranged at the upper parts of the supporting and fixing frame, driving arms are arranged at the output ends of the servo motors A, the other ends of the driving arms are connected with corresponding connecting arms through connecting mechanisms, and the other ends of the connecting arms are connected to the sensor fixing seats through connecting pins; the soil multi-information acquisition sensor is installed to sensor fixing base lower part, and servo motor B is installed on sensor fixing base upper portion, and servo motor B output is connected with the soil multi-information acquisition sensor.
Furthermore, the multi-angle depth image acquisition system comprises a lower fixing plate arranged at the front part of the intelligent chassis, a lifting support is vertically arranged on the lower fixing plate, and an intelligent identification system and a Beidou navigation system are arranged at the top of the lifting support; two spiral arms A are installed through the mode symmetry of hub connection to the lifting support lateral wall, and spiral arm A is connected with miniature servo motor A, spiral arm A front portion all is connected with spiral arm B through the mode of hub connection, and spiral arm B is connected with miniature servo motor B, spiral arm B front portion all is connected with spiral arm C through the mode of hub connection, and spiral arm C is connected with miniature servo motor C, spiral arm C front portion all installs the depth camera A who is used for realizing multiposition multi-angle degree of depth image information collection.
Furthermore, the hyperspectral multi-position information acquisition system comprises a support arranged in the middle of the intelligent chassis, two guide rails are arranged at the top of the support in parallel, and corresponding sliding blocks and guide rail driving motors are arranged on the guide rails; a hyperspectral camera fixing frame is installed between the sliding blocks, and a hyperspectral camera is installed on the hyperspectral camera fixing frame.
Furthermore, a wind direction sensor and a wind speed sensor are respectively installed on the upper portions of the guide rail driving motor housings on the two guide rails, and a vertical ultrasonic ranging device is installed on the lower portion of the hyperspectral camera fixing frame.
Furthermore, the intelligent energy continuous supply system comprises a support frame arranged on a support fixing frame, and a solar energy collecting plate is connected and arranged on the support frame through an automatic rotating device in a connecting way; automatic rotary device includes external gear, internal gear, fixed sleeve, and fixed mounting has the external gear in the solar energy collection board lower part sleeve, and fixed sleeve installs on the support frame, and the internal gear passes through the connecting axle to be installed at the fixed sleeve top to with external gear engagement, the pulley is installed in the internal gear lower part, still installs the rotation driving motor who is used for driving solar energy collection board free rotation in the fixed sleeve.
Furthermore, the intelligent chassis and the energy intelligent continuous supply system are matched with each other to provide electric energy for the operation of the robot, the intelligent chassis comprises a frame, two planetary speed reducers are installed at the rear part in a box body of the frame, output shafts of the planetary speed reducers are connected with driving wheels, two driven wheels are installed at the front part of the frame, four groups of supporting wheels are uniformly distributed at the left side and the right side of the lower part of the frame, and the crawler belt is sleeved on the driving wheels, the driven wheels and the supporting wheels; the energy storage and supply device is arranged at the front part in the frame box body and is used for storing energy converted from solar energy in the energy intelligent continuous supply system in real time.
The working method of the multiple information intelligent fusion acquisition, study and judgment decision robot based on the intelligent agriculture comprises the following processes:
the intelligent energy continuous supply system converts solar energy into electric energy and stores the electric energy in the energy storage and supply device to provide power for various operations of the robot, the intelligent identification system and the Beidou navigation system work in a matched mode to provide all-dimensional accurate navigation for the movement of the robot, then the driving wheels are controlled to rotate based on the industrial personal computer to drive the crawler belt to move, the robot walks and detects in the field according to a planned path, and in the process, the horizontal ultrasonic distance measuring device measures the distance between the robot and a plant in real time to avoid damage to crops when the robot walks;
in the moving process of the robot, the guide rail driving motor drives the sliding block on the guide rail to move and drives the hyperspectral camera fixing frame arranged on the sliding block to move, so that the hyperspectral camera is driven to move back and forth along the longitudinal direction of the robot body, and crop spectrum information is collected; meanwhile, a wind direction sensor and a wind speed sensor which are arranged on a guide rail driving motor shell acquire wind direction information and wind speed information in real time, and a vertical ultrasonic ranging device which is arranged on the lower portion of a hyperspectral camera fixing frame acquires distance information in real time; relevant information acquired by the hyperspectral multi-position information acquisition system is uniformly transmitted to an industrial personal computer for preliminary fusion processing analysis, and then transmitted to a notebook computer for storage, analysis diagnosis and decision control;
then a miniature servo motor A in the multi-angle depth image acquisition system drives a rotary arm A to rotate left and right, a miniature servo motor B drives a rotary arm B to rotate left and right, a miniature servo motor C drives a rotary arm C to rotate up and down, so that a depth camera A in front of the rotary arm C is driven to acquire multi-position multi-angle depth image information of crops on two sides, the acquired information is transmitted to an industrial personal computer to be subjected to preliminary analysis and processing, and then is transmitted to a notebook computer;
when the soil multi-information acquisition sensor reaches an operation point, the servo motor A controls the driving arm to rotate to drive the connecting arm to move, further drives the soil multi-information acquisition sensor at the lower end of the connecting arm to be inserted into the crop soil, acquires the pH, the salinity and alkalinity, the Ec, the temperature and the humidity information of the soil, transmits the information to the industrial personal computer to perform preliminary analysis and processing, and then transmits the information to the notebook computer; after the collection is finished, the servo motor A rotates reversely, the soil multi-information collection sensor is driven to leave the soil to return to the original position through the driving arm and the connecting arm, and then the soil multi-information collection sensor continues to move forward to a next operation point;
after the information acquisition operation is completed, the industrial personal computer indirectly controls the automatic telescopic electric cylinder to extend outwards based on the information acquired by the depth camera B, the cleaning support is driven to move forwards to be close to the soil multiple information acquisition sensor, meanwhile, the servo motor A indirectly drives the soil multiple information acquisition sensor to move to the lower part of the cleaning support, and the rolling brush rotates the servo motor to drive the cleaning rolling brush to roll and clean the soil multiple information acquisition sensor; then, the servo motor A indirectly drives the soil multiple information acquisition sensor to move to the position of a cleaning spray head, and the spray head swings the servo motor to drive the cleaning spray head on the second-stage cleaning unit to rotationally spray cleaning liquid to the soil multiple information acquisition sensor for cleaning; finally, the servo motor A indirectly drives the soil multiple information acquisition sensor to move to the position of the drying fan, and the drying fan is used for drying the soil multiple information acquisition sensor; after drying, the automatic telescopic electric cylinder drives the cleaning support to contract inwards to the original position.
The invention has the following beneficial effects:
(1) The robot provided by the invention has a compact integral structure, is easy to assemble and improve, has good universality, can realize fusion, acquisition and analysis and real-time uploading of multiple information such as depth image information, hyperspectral information, distance information, soil information, climate information and the like at one time, studies and judges the information in real time through the data analysis terminal and makes an intelligent decision, directly controls corresponding machines and tools to operate, simplifies manual studying and judging steps and reduces studying and judging errors.
(2) The robot provided by the invention integrates a plurality of functional modules such as a Beidou navigation system, an intelligent recognition system, an image acquisition system, a spectrum acquisition system and a soil information acquisition system, realizes unmanned navigation, intelligent detection acquisition, intelligent recognition analysis, intelligent analysis diagnosis and intelligent decision control of the robot, simultaneously realizes intelligent unmanned and accurate target-aiming operation of corresponding machines and tools, corresponding crops and corresponding agricultural conditions, has high operation accuracy, small operation error and high operation efficiency, improves the efficiency and quality of intelligent fusion acquisition and judgment decision-making of multiple information of intelligent agriculture, provides a new idea for the information acquisition of intelligent agriculture, and promotes the development of intelligent agriculture to a certain extent.
(3) The multi-position and multi-angle depth image acquisition system based on the multi-position and multi-angle depth image acquisition system realizes multi-position and multi-angle depth image information of two lines of crops at one time, enriches data volume, and solves the problems of low efficiency and large error of manual and single-camera acquisition.
(4) The hyperspectral multi-position information acquisition system based on the hyperspectral remote sensing optical fiber solves the problems that a common manual tripod is large in frequent movement error of acquired spectral data, and a large-scale hyperspectral acquisition platform is low in acquisition efficiency and large in movement difficulty, integrates crop depth image information, and achieves accurate acquisition of spectral information of different positions of crops.
(5) According to the invention, the soil multi-information acquisition system and the intelligent multi-stage cleaning system of the sensor are matched with each other and are buckled with each other in a ring-to-ring manner, so that accurate and rapid acquisition operation of multi-soil information at different positions and efficient and high-quality cleaning operation of the sensor are realized, and the operation efficiency and the operation quality of the robot are improved.
(6) According to the invention, based on information acquired by weather sensors such as wind speed and wind direction and ultrasonic ranging equidistant sensors, error correction of data acquired by the hyperspectral camera at different positions is realized, and the accuracy of information acquisition is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the robot of the present invention;
FIG. 2 is a front view of the robot of the present invention;
FIG. 3 is a right side view of the robot of the present invention;
FIG. 4 is a top view of the robot of the present invention;
FIG. 5 is a schematic view of the interior of the intelligent chassis of the present invention;
FIG. 6 is a schematic view of the soil multi-information acquisition system and the intelligent multi-stage cleaning system for the sensor according to the present invention;
FIG. 7 is a front view of the soil multi-information collection system and the intelligent multi-stage sensor cleaning system according to the present invention;
FIG. 8 is a top view of the soil multi-information collection system and the intelligent multi-stage sensor cleaning system according to the present invention;
FIG. 9 is a schematic view of an intelligent multi-stage cleaning system for a sensor according to the present invention;
FIG. 10 is a side view of the intelligent multi-stage cleaning system of the sensor of the present invention;
FIG. 11 is a schematic view of an automatic rotation device according to the present invention;
FIG. 12 is a schematic diagram of a multi-angle depth image acquisition system according to the present invention;
FIG. 13 is a front view of a multi-angle depth image acquisition system according to the present invention;
FIG. 14 is a schematic diagram of the hyperspectral multi-location information acquisition system of the invention.
In the figure: 1-an energy intelligent continuous supply system; 2-a wind direction sensor; 3-a hyperspectral multi-position information acquisition system; 4-the beidou navigation system; 5-an intelligent recognition system; 6-a multi-position multi-angle depth image acquisition system; 7-notebook computer; 8-a horizontal ultrasonic ranging device; 9-intelligent chassis; 10-sensor intelligent multilevel cleaning system; 11-a soil multiple information acquisition system; 12-a wind speed sensor; 13-vertical ultrasonic ranging device;
101-a support frame; 102-a solar energy collection panel; 103-automatic rotating device; 1031-outer gear; 1032-internal gear; 1033-a pulley; 1034-fixing the sleeve; 301-rail drive motor; 302-a guide rail; 303-hyperspectral camera mount; 304-a hyperspectral camera; 305-a slide block; 306-a scaffold; 601-depth camera a; 602-micro servo motor B; 603-micro servo motor A; 604-an upper fixing plate; 605-arm B; 606-arm a; 607-lower fixed plate; 608-lifting support; 609-arm C; 6010-micro servo motor C; 901-driving wheels; 902-driven wheel; 903-frame; 904-thrust wheel; 905-a crawler; 906-Planet a speed reducer; 907-cleaning liquid storage and supply device; 908-an industrial personal computer; 909-energy storage; 1001-automatic telescopic electric cylinder; 1002-cleaning the bracket; 1003-cleaning a roller brush; 1004-cleaning the shower nozzle; 1005-drying the fan; 1006-a nozzle swing servo motor; 1007-rolling brush rotating servo motor; 1008-depth camera B; 1009-depth camera mount; 1010-depth camera rotating motor; 1101-supporting the fixing frame; 1102-servo motor a; 1103-driving arm; 1104-a connection mechanism; 1105-a connecting arm; 1106-servo motor B; 1107-sensor mount; 1108-connecting pins; 1109-soil multiple information acquisition sensor.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience in describing the present invention, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may include, for example, fixed connections, removable connections, or integral connections, direct connections, indirect connections through intervening media, and communication between two elements; the use of the English letters "A", "B", "C", etc. is also for the convenience of distinguishing the parts with the same name; the specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 to 4, the multiple information intelligent fusion acquisition, study and judgment decision-making robot based on intelligent agriculture comprises an intelligent chassis 9 providing walking drive and operation drive for the robot, wherein a horizontal ultrasonic ranging device 8, a multi-position multi-angle depth image acquisition system 6, an intelligent identification system 5 and a Beidou navigation system 4 are arranged at the front part of the intelligent chassis 9; the middle part of the intelligent chassis 9 is provided with a hyperspectral multi-position information acquisition system 3 and a vertical ultrasonic ranging device 13; the hyperspectral multi-position information acquisition system 3 is provided with a wind speed sensor 12 and a wind direction sensor 2, and an intelligent chassis 9 below the hyperspectral multi-position information acquisition system 3 is provided with a notebook computer 7 for information acquisition, storage, analysis, diagnosis, transmission, uploading and decision control; the rear part of the intelligent chassis 9 is provided with a soil multiple information acquisition system 11, a sensor intelligent multi-stage cleaning system 10 and an energy intelligent continuous supply system 1.
As shown in fig. 2 and 5, the intelligent chassis 9 and the energy intelligent continuous supply system 1 are mutually matched to provide continuous and clean electric energy for the operation of the robot, so as to ensure the operation reliability of the robot. The intelligent chassis 9 comprises a driving wheel 901, a driven wheel 902, a frame 903, a thrust wheel 904, a crawler 905, a planetary reducer 906, a cleaning liquid storage and supply device 907, an industrial personal computer 908 and an energy storage and supply device 909. The frame 903 provides support for each part of the robot, and a plurality of groups of mounting grooves are formed in the upper portion of the frame 903 and used for quickly integrating and mounting corresponding farmland information acquisition systems according to operation requirements. The two planetary speed reducers 906 are symmetrically arranged at the rear part in the box body of the rack 903, the positions of the two planetary speed reducers correspond to the driving wheels 901, and the two driving wheels 901 are respectively arranged on output shafts of the two planetary speed reducers 906 in a key connection mode; two driven wheels 902 are mounted in the front of the frame 903, flush with the driving wheels 901; four groups of thrust wheels 904 are uniformly distributed on the left side and the right side of the lower part of the frame 903; the crawler belt 905 is fitted over the driving wheel 901, the driven wheel 902, and the bogie wheel 903. The cleaning liquid storage and supply device 907 is located at the rear part in the box body of the frame 903, is installed between the two planetary speed reducers 906, stores cleaning liquid, is connected with the sensor intelligent multi-stage cleaning system 10, and supplies the cleaning liquid to the cleaning spray head 1004 in the sensor intelligent multi-stage cleaning system 10 for spraying. The energy storage and supply device 909 is installed at the front part in the box body of the frame 903, stores energy converted from solar energy in real time, and provides power for the operation of each system module on the robot. The industrial personal computer 908 is installed in the middle position in the frame 903 box body and is in signal connection with the notebook computer 7, on one hand, the industrial personal computer is used for controlling the robot to walk and work, on the other hand, the industrial personal computer is used for preliminary information fusion processing and analysis, real-time analysis, diagnosis and processing of crop information are achieved, and preliminary processing results are transmitted to the notebook computer 7 to be stored, uploaded, analyzed, diagnosed and subjected to decision control. Horizontal ultrasonic ranging device 8 installs in frame 903 front portion, and the supplementary interval that monitors robot and plant avoids the robot to damage the crop when the row operation of crop growth intensive, environment complicacy.
As shown in fig. 2, 6, 7 and 8, the soil multi-information collecting system 11 includes a supporting and fixing frame 1101, a servo motor a1102, a driving arm 1103, a connecting mechanism 1104, a connecting arm 1105, a servo motor B1106, a sensor fixing base 1107, a connecting pin 1108, and a soil multi-information collecting sensor 1109. The supporting and fixing frame 1101 is installed at the rear part of the machine frame 903, two servo motors A1102 are installed at the upper part of the supporting and fixing frame 1101, driving arms 1103 are installed at the output ends of the servo motors A1102, the other ends of the driving arms 1103 are connected with corresponding connecting arms 1105 through connecting mechanisms 1104, and the other ends of the connecting arms 1105 are connected to the sensor fixing seat 1107 through connecting pins 1108. The soil multi-information acquisition sensor 1109 is arranged at the lower part of the sensor fixing seat 1107 and can simultaneously acquire information of soil pH, salinity and alkalinity, ec, temperature, humidity and the like; the servo motor B1106 is installed on the upper portion of the sensor fixing seat 1107, the output end of the servo motor B1106 is connected with the soil multi-information acquisition sensor 1109, the rotation of the soil multi-information acquisition sensor 1109 can be controlled, on one hand, the soil multi-information acquisition sensor 1109 can conveniently acquire soil information, and on the other hand, the soil multi-information acquisition sensor 1109 can conveniently be cleaned.
As shown in fig. 2, 6, 9 and 10, the intelligent multistage cleaning system 10 for sensors includes an automatic telescopic electric cylinder 1001, a cleaning bracket 1002, a cleaning roller brush 1003, a cleaning nozzle 1004, a drying fan 1005, a nozzle swing servo motor 1006, a roller brush rotation servo motor 1007, a depth camera B1008, a depth camera fixing frame 1009 and a depth camera rotation motor 1010. An automatic telescopic electric cylinder 1001 is arranged in the middle of the rear part of the frame 903, and a cleaning bracket 1002 is arranged on a telescopic rod in the front part of the automatic telescopic electric cylinder 1001. The cleaning rolling brush 1003 is arranged at the lowest part of the cleaning bracket 1002 and is used as a first-stage cleaning unit; a rolling brush rotating servo motor 1007 is installed on the outer side of the cleaning support 1002, the output end of the rolling brush rotating servo motor 1007 is connected with a rotating shaft of the cleaning rolling brush 1003, and the cleaning rolling brush 1003 is driven to roll and clean the multiple information acquisition sensor 1109. A nozzle rotating shaft is arranged in the middle of the cleaning bracket 1002, and a plurality of cleaning nozzles 1004 are arranged on the nozzle rotating shaft and used as a second-stage cleaning unit; the outer side of the cleaning bracket 1002 is also provided with a nozzle swinging servo motor 1006, the output end of the nozzle swinging servo motor 1006 is connected with a nozzle rotating shaft to drive the nozzle rotating shaft to rotate, so that the cleaning nozzle 1004 is driven to rotate to spray the multiple information acquisition sensor 1109. Drying fan 1005 installs on rinsing support 1002 upper portion, as third level cleaning unit for the impurity such as the surplus washing liquid, dust, fine hair that adhere to on multiple information acquisition sensor 1109 is blown away in fast drying, helps improving multiple information acquisition sensor 1109's detection precision. The depth camera fixing frame 1009 is installed at washing support 1002 top, installs the depth camera rotating electrical machines 1010 on the depth camera fixing frame 1009, and the depth camera rotating electrical machines 1010 output is connected with depth camera B1008 for real-time supervision cleaning state provides the basis for the adjustment of washing the gesture, is used for distinguishing the cleaning performance, guarantees cleaning quality.
As shown in fig. 2 and 11, the intelligent energy continuous supply system 1 includes a support frame 101, a solar energy collecting plate 102, and an automatic rotating device 103, wherein the support frame 101 is installed on the upper portion of a support fixing frame 1101 of the soil multiple information collecting system 11, and the solar energy collecting plate 102 is connected and sleeved on the support frame 101 through the automatic rotating device 103. The automatic rotation device 103 includes an external gear 1031, an internal gear 1032, a pulley 1033, and a fixing sleeve 1034; the external gear 1031 is fixedly arranged in a sleeve at the lower part of the solar energy collecting plate 102, the fixed sleeve 1034 is arranged on the supporting frame 101, the internal gear 1032 is arranged at the top of the fixed sleeve 1034 through a connecting shaft and is in meshing transmission with the external gear 1031, and the pulley 1033 is arranged at the lower part of the internal gear 1032; a rotary driving motor is further installed in the fixed sleeve 1034 for driving the solar energy collecting plate 102 to rotate freely, so as to ensure maximum energy supply in different working environments.
As shown in fig. 1, 12 and 13, the multi-angle depth image collecting system 6 is used for collecting the depth image information of crops on two sides in real time, and includes a depth camera a601, a micro servo motor B602, a micro servo motor a603, an upper fixing plate 604, a swing arm B605, a swing arm a606, a lower fixing plate 607, a lifting bracket 608, a swing arm C609 and a micro servo motor C6010. The lower fixing plate 607 is mounted on the frame 903, and the lifting bracket 608 is mounted on the lower fixing plate 607 and can move up and down; an upper fixing plate 604 is mounted at the top of the lifting bracket 608, and an intelligent identification system 5 and a Beidou navigation system 4 are mounted on the upper fixing plate 604. A group of connecting plates are symmetrically arranged on the lifting support 608 below the upper fixing plate 604, a micro servo motor A603 is arranged on the upper portion of the connecting plates, two radial arms A606 are symmetrically arranged on the connecting plates in a shaft connecting mode, and the micro servo motor A603 can drive the radial arms A606 to perform left-right rotation adjustment. The front part of the radial arm A606 is also provided with a connecting plate, the upper part of the connecting plate is provided with a micro servo motor B602, the connecting plate is connected with a radial arm B605 in a shaft connection mode, and the micro servo motor B602 can drive the radial arm B605 to rotate left and right. The front part of the radial arm B605 is connected with a radial arm C609 through a shaft connection mode, and a micro servo motor C6010 is installed on the radial arm C609 and used for driving the radial arm C609 to rotate up and down. The front parts of the radial arms C609 are provided with a depth camera A601 for realizing multi-position multi-angle depth image information acquisition.
The intelligent identification system 5 and the Beidou navigation system 4 are mutually matched and are insufficient in complementation, and all-weather and all-dimensional accurate navigation operation is realized. 5 internal design of intelligent recognition system has the laser identification camera, can overcome the obstacle that ordinary camera is difficult to overcome, low power dissipation, long service life, radiation distance is far away, can realize night, the accurate navigation identification of adverse conditions (night vision distance is greater than 500 meters) intelligence, compensate big dipper navigation system 4's under the complex environment not enough, all-weather, the all-round monitoring, 360 no spacing rotation, look up angle 180 no blind spot, can help the operation condition when robot real time monitoring information acquisition condition and other machines work, to being difficult to the self-solution problem when meeting the operation and can in time feed back to data terminal, solve by the manual work. The Beidou navigation system 5 can realize unmanned navigation operation of the robot, can detect the operation condition of the robot in real time, and provides corresponding position navigation information for operation of other machines and tools after the robot analyzes and processes relevant information and sends out an instruction.
As shown in fig. 1 and 14, the hyperspectral multiposition information acquisition system 3 can automatically acquire information such as crop spectrum information, wind direction, wind speed, distance and the like; the hyperspectral multi-position information acquisition system 3 comprises a guide rail driving motor 301, a guide rail 302, a hyperspectral camera fixing frame 303, a hyperspectral camera 304, a sliding block 305 and a bracket 306. The bracket 306 is arranged in the middle of the intelligent chassis 9, two guide rails 302 are arranged on the top of the bracket 306 in parallel, and corresponding sliding blocks 305 and guide rail driving motors 301 are arranged on the guide rails 302; a hyperspectral camera mount 303 is installed between the sliding blocks 305, and a hyperspectral camera 304 is installed on the hyperspectral camera mount 303. The wind direction sensor 2 is arranged on the upper part of the shell of one guide rail driving motor 301 and used for collecting wind direction information; the wind speed sensor 12 is installed on the upper part of the housing of the other guide rail driving motor 301 to collect wind speed information. The vertical ultrasonic ranging device 13 is installed at the lower part of the hyper-spectral camera mount 303, for collecting distance information. The relevant information collected by the hyperspectral multi-position information collection system 3 is uniformly transmitted to the industrial personal computer 908 for preliminary fusion processing analysis, and then transmitted to the notebook computer 7 for storage, uploading, analysis, diagnosis and decision control, so that intelligent unmanned and accurate targeting operation of corresponding machines and tools, corresponding crops and corresponding agricultural conditions is realized.
When the multiple information intelligent fusion acquisition research decision-making robot based on the intelligent agriculture carries out field operation, solar energy is converted into electric energy through the energy intelligent continuous supply system 1 and stored in the energy storage and supply device 909 of the intelligent chassis 9 to provide power for various operations of the robot, the intelligent identification system 5 and the Beidou navigation system 4 work in a matched mode to provide all-dimensional accurate navigation for the movement of the robot, then the driving wheel 901 is controlled to rotate based on the industrial personal computer 908 to drive the crawler belt 905 to move, so that the robot walks and detects in the field according to a planned path, and in the process, the horizontal ultrasonic distance measuring device 8 measures the distance between the robot and a plant in real time to avoid damage to crops when the robot walks.
In the moving process of the robot, the guide rail driving motor 301 drives the sliding block 305 on the guide rail 302 to move, and drives the hyperspectral camera fixing frame 303 installed on the sliding block 305 to move, so that the hyperspectral camera 304 is driven to move back and forth along the longitudinal direction of the robot body, and crop spectrum information is collected; meanwhile, the wind direction sensor 2 and the wind speed sensor 12 which are installed on the casing of the guide rail driving motor 301 collect wind direction information and wind speed information in real time, and the vertical ultrasonic ranging device 13 which is installed on the lower portion of the hyperspectral camera fixing frame 303 collects distance information in real time. The relevant information collected by the hyperspectral multi-position information collection system 3 is uniformly transmitted to the industrial personal computer 908 for preliminary fusion processing analysis, and then transmitted to the notebook computer 7 for storage, analysis, diagnosis and decision control, so that intelligent unmanned and accurate target-aiming operation of corresponding machines and tools, corresponding crops and corresponding agricultural conditions is realized.
Then, a miniature servo motor A603 in the multi-angle depth image acquisition system 6 drives a radial arm A606 to carry out left-right rotation adjustment, a miniature servo motor B602 drives a radial arm B605 to carry out left-right rotation adjustment, and a miniature servo motor C6010 drives a radial arm C609 to carry out up-down rotation adjustment, so that a depth camera A601 at the front part of the radial arm C609 is driven to carry out multi-position multi-angle depth image information acquisition on crops on two sides, acquired information is transmitted to an industrial personal computer 908 to carry out primary analysis processing, and then is transmitted to a notebook computer 7 to be stored, analyzed, diagnosed and subjected to decision control.
When a certain operation point is reached, the servo motor A1102 controls the driving arm 1103 to rotate, so as to drive the connecting arm 1105 to move, so as to drive the soil multiple information acquisition sensor 1109 at the lower end of the connecting arm to be inserted into crop soil, acquire information such as soil pH, salinity and alkalinity, ec, temperature, humidity and the like, transmit the information to the industrial personal computer 908 for preliminary analysis and processing, and transmit the information to the notebook computer 7 for storage, analysis and diagnosis and decision control; after the collection is completed, the servo motor a1102 rotates in the reverse direction, and the soil multi-information collection sensor 1109 is driven by the driving arm 1103 and the connecting arm 1105 to leave the soil and return to the original position, and then continues to move forward to the next working point.
After the information acquisition operation is completed, the soil multi-information acquisition sensor 1109 is cleaned by the intelligent multi-stage cleaning system 10 of the sensor. Specifically, the industrial personal computer 908 indirectly controls the automatic telescopic electric cylinder 1001 to extend outwards based on information collected by the depth camera B1008, the cleaning bracket 1002 is driven to advance and approach the soil multiple information collection sensor 1109, meanwhile, the servo motor A1102 indirectly drives the soil multiple information collection sensor 1109 to move to a first-stage cleaning unit of the cleaning bracket 1002, and the rolling brush rotating servo motor 1007 drives a cleaning rolling brush 1003 of the first-stage cleaning unit to roll and clean the soil multiple information collection sensor 1109, so that impurities such as soil on the soil multiple information collection sensor are removed; then, the servo motor a1102 indirectly drives the soil multiple information acquisition sensor 1109 to move to a second-stage cleaning unit of the cleaning bracket 1002, and the nozzle swing servo motor 1006 drives a plurality of cleaning nozzles 1004 on the second-stage cleaning unit to spray cleaning liquid to the soil multiple information acquisition sensor 1109 for cleaning; after the cleaning solution is cleaned, the servo motor a1102 indirectly drives the soil multiple information acquisition sensor 1109 to move to a third-stage cleaning unit of the cleaning bracket 1002, and the drying fan 1005 is used for drying the soil multiple information acquisition sensor 1109; after drying, the automatic telescopic electric cylinder 1001 drives the cleaning support 1002 to retract inwards to the original position, and the whole cleaning process is completed.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (6)
1. A multi-information intelligent fusion acquisition, study and decision-making robot based on intelligent agriculture is characterized by comprising an intelligent chassis (9) for providing walking drive and operation drive for the robot, wherein an industrial personal computer (908) is installed inside the intelligent chassis (9), a horizontal ultrasonic ranging device (8), a multi-position multi-angle depth image acquisition system (6), an intelligent identification system (5) and a Beidou navigation system (4) are installed at the front part of the intelligent chassis (9), a hyperspectral multi-position information acquisition system (3) is installed at the middle part of the intelligent chassis, and a soil multi-information acquisition system (11), a sensor intelligent multi-stage cleaning system (10) and an energy intelligent continuous supply system (1) are installed at the rear part of the intelligent chassis; a notebook computer (7) for information acquisition, storage, analysis, diagnosis, transmission, uploading and decision control is arranged on an intelligent chassis (9) below the hyperspectral multi-position information acquisition system (3);
the hyperspectral multi-position information acquisition system (3), the Beidou navigation system (4), the intelligent identification system (5), the multi-position multi-angle depth image acquisition system (6), the horizontal ultrasonic ranging device (8), the intelligent multi-stage sensor cleaning system (10) and the soil multi-information acquisition system (11) are in signal connection with an industrial personal computer (908), and the industrial personal computer (908) is in signal connection with a notebook computer (7);
the intelligent multistage cleaning system (10) for the sensor comprises an automatic telescopic electric cylinder (1001) arranged in the middle of the rear part of an intelligent chassis (9), a cleaning support (1002) is arranged on a telescopic rod in the front part of the automatic telescopic electric cylinder (1001), a cleaning rolling brush (1003), a cleaning spray head (1004) and a drying fan (1005) are sequentially arranged in the cleaning support (1002) from bottom to top, a rolling brush rotating servo motor (1007) used for driving the cleaning rolling brush (1003) to rotate and a spray head swinging servo motor (1006) used for driving the cleaning spray head (1004) to rotate and spray are arranged on the outer side of the cleaning support (1002), and a cleaning liquid storage and supply device (907) connected with the cleaning spray head (1004) is arranged in the intelligent chassis (9);
the soil multi-information acquisition system (11) comprises a supporting fixing frame (1101) installed at the rear part of an intelligent chassis (9), two servo motors A (1102) are installed at the upper part of the supporting fixing frame (1101), driving arms (1103) are installed at the output ends of the servo motors A (1102), the other ends of the driving arms (1103) are connected with corresponding connecting arms (1105) through connecting mechanisms (1104), and the other ends of the connecting arms (1105) are connected to a sensor fixing seat (1107) through connecting pins (1108); a soil multi-information acquisition sensor (1109) is installed at the lower part of the sensor fixing seat (1107), a servo motor B (1106) is installed at the upper part of the sensor fixing seat (1107), and the output end of the servo motor B (1106) is connected with the soil multi-information acquisition sensor (1109);
a depth camera rotating motor (1010) is mounted at the top of the cleaning support (1002) through a depth camera fixing frame (1009), the output end of the depth camera rotating motor (1010) is connected with a depth camera B (1008), and the depth camera B (1008) monitors the cleaning state in real time, provides a basis for adjusting the cleaning posture and assists in judging the cleaning effect;
the multi-angle depth image acquisition system (6) comprises a lower fixing plate (607) arranged at the front part of the intelligent chassis (9), a lifting support (608) is vertically arranged on the lower fixing plate (607), and an intelligent identification system (5) and a Beidou navigation system (4) are arranged at the top of the lifting support (608); two spiral arms A (606) are symmetrically installed on the side wall of the lifting support (608) through a shaft connection mode, the spiral arms A (606) are connected with the miniature servo motor A (603), the front portion of the spiral arms A (606) is connected with the spiral arms B (605) through a shaft connection mode, the spiral arms B (605) are connected with the miniature servo motor B (602), the front portion of the spiral arms B (605) is connected with a spiral arm C (609) through a shaft connection mode, the spiral arm C (609) is connected with the miniature servo motor C (6010), and the front portion of the spiral arm C (609) is provided with a depth camera A (601) used for achieving multi-position multi-angle depth image information collection.
2. The multiple information intelligent fusion collection, study and decision making robot based on intelligent agriculture according to claim 1, wherein the hyperspectral multi-position information collection system (3) comprises a bracket (306) installed in the middle of the intelligent chassis (9), two guide rails (302) are installed on the top of the bracket (306) in parallel, and corresponding sliding blocks (305) and guide rail driving motors (301) are installed on the guide rails (302); a hyperspectral camera fixing frame (303) is arranged between the sliding blocks (305), and a hyperspectral camera (304) is arranged on the hyperspectral camera fixing frame (303).
3. The multiple information intelligent fusion collection, study and decision making robot based on intelligent agriculture of claim 2, wherein the upper part of the shell of the guide rail driving motor (301) on the two guide rails (302) is respectively provided with the wind direction sensor (2) and the wind speed sensor (12), and the lower part of the hyperspectral camera fixing frame (303) is provided with the vertical ultrasonic ranging device (13).
4. The multiple information intelligent fusion collection, study and judgment decision-making robot based on intelligent agriculture of claim 3, wherein the energy intelligent supply system (1) comprises a support frame (101) installed on a support fixing frame (1101), and a solar energy collection plate (102) is connected to the support frame (101) in a connecting manner through an automatic rotating device (103); the automatic rotating device (103) comprises an external gear (1031), an internal gear (1032), a fixing sleeve (1034), an external gear (1031) is fixedly mounted in a lower sleeve of the solar energy collecting plate (102), the fixing sleeve (1034) is mounted on the supporting frame (101), the internal gear (1032) is mounted at the top of the fixing sleeve (1034) through a connecting shaft and meshed with the external gear (1031), a pulley (1033) is mounted at the lower part of the internal gear (1032), and a rotary driving motor for driving the solar energy collecting plate (102) to rotate freely is further mounted in the fixing sleeve (1034).
5. The multiple information intelligent fusion acquisition, study and decision-making robot based on intelligent agriculture according to claim 4, wherein the intelligent chassis (9) and the intelligent energy continuous supply system (1) are mutually matched to provide electric energy for the operation of the robot, the intelligent chassis (9) comprises a frame (903), two planetary speed reducers (906) are installed at the rear part in a box body of the frame (903), output shafts of the planetary speed reducers (906) are connected with driving wheels (901), two driven wheels (902) are installed at the front part of the frame (903), four groups of supporting wheels (904) are uniformly distributed at the left side and the right side of the lower part of the frame (903), and a crawler (905) is sleeved on the driving wheels (901), the driven wheels (902) and the supporting wheels (904); the energy storage and supply device (909) is arranged at the front part in the box body of the frame (903) and is used for storing energy converted from solar energy in the energy intelligent continuous supply system (1) in real time.
6. The working method of the intelligent agriculture-based multiple information intelligent fusion acquisition, study and judgment decision robot as claimed in claim 5, is characterized by comprising the following processes:
the solar energy is converted into electric energy through an energy intelligent continuous supply system (1) and stored in an energy storage and supply device (909) to provide power for various operations of the robot, an intelligent recognition system (5) and a Beidou navigation system (4) are matched to work with each other to provide navigation for the movement of the robot, then a driving wheel (901) is controlled to rotate based on an industrial personal computer (908) to drive a crawler belt (905) to move, the robot walks and detects in the field according to a planned path, and in the process, a horizontal ultrasonic ranging device (8) measures the distance between the robot and plants in real time to avoid damaging crops when the robot walks;
in the moving process of the robot, a guide rail driving motor (301) drives a sliding block (305) on a guide rail (302) to move to drive a hyperspectral camera fixing frame (303) arranged on the sliding block (305) to move, so that a hyperspectral camera (304) is driven to move back and forth along the longitudinal direction of the robot body to collect crop spectrum information; meanwhile, a wind direction sensor (2) and a wind speed sensor (12) which are arranged on a shell of a guide rail driving motor (301) collect wind direction information and wind speed information in real time, and a vertical ultrasonic ranging device (13) which is arranged at the lower part of a hyperspectral camera fixing frame (303) collects distance information in real time; relevant information acquired by the hyperspectral multi-position information acquisition system (3) is uniformly transmitted to an industrial personal computer (908) for preliminary fusion processing and analysis, and then transmitted to a notebook computer (7) for storage, analysis and diagnosis and decision control;
then a miniature servo motor A (603) in the multi-angle depth image acquisition system (6) drives a radial arm A (606) to carry out left-right rotation adjustment, a miniature servo motor B (602) drives a radial arm B (605) to carry out left-right rotation adjustment, a miniature servo motor C (6010) drives a radial arm C (609) to carry out up-down rotation adjustment, so that a depth camera A (601) at the front part of the radial arm C (609) is driven to carry out multi-position multi-angle depth image information acquisition on crops at two sides, and the acquired information is transmitted to an industrial personal computer (908) to carry out primary analysis processing and then is transmitted to a notebook computer (7);
when the soil multi-information collection sensor reaches an operation point, the servo motor A (1102) controls the driving arm (1103) to rotate, the connecting arm (1105) is driven to move, the soil multi-information collection sensor (1109) at the lower end of the connecting arm (1105) is driven to be inserted into the crop soil, the soil pH, the soil salinity and alkalinity, the soil Ec, the soil temperature and the soil humidity information are collected and transmitted to the industrial personal computer (908) to be subjected to preliminary analysis and processing, and then the soil multi-information collection sensor is transmitted to the notebook computer (7); after the collection is finished, the servo motor A (1102) rotates reversely, the soil multi-information collection sensor (1109) is driven to return to the initial position through the driving arm (1103) and the connecting arm (1105), and then the soil multi-information collection sensor continues to advance to the next operation point;
after the information acquisition operation is completed, the industrial personal computer (908) indirectly controls the automatic telescopic electric cylinder (1001) to extend outwards based on information acquired by the depth camera B (1008), the cleaning bracket (1002) is driven to move forwards to be close to the soil multiple information acquisition sensor (1109), meanwhile, the servo motor A (1102) indirectly drives the soil multiple information acquisition sensor (1109) to move to the lower part of the cleaning bracket (1002), and the rolling brush rotating servo motor (1007) drives the cleaning rolling brush (1003) to roll and clean the soil multiple information acquisition sensor (1109); then, the servo motor A (1102) indirectly drives the soil multiple information acquisition sensor (1109) to move to the position of the cleaning spray head (1004), and the spray head swinging servo motor (1006) drives the cleaning spray head (1004) on the second-stage cleaning unit to rotationally spray cleaning liquid to the soil multiple information acquisition sensor (1109) for cleaning;
finally, the servo motor A (1102) indirectly drives the soil multiple information acquisition sensor (1109) to move to the position of the drying fan (1005), and the drying fan (1005) is used for drying the soil multiple information acquisition sensor (1109); after drying, the automatic telescopic electric cylinder (1001) drives the cleaning bracket (1002) to retract inwards to the original position.
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| CN117214170B (en) * | 2023-11-07 | 2024-01-05 | 北京建工环境修复股份有限公司 | Geological information collection device for soil remediation |
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| CN210376356U (en) * | 2019-08-20 | 2020-04-21 | 南京源博环境科技有限公司 | Soil environment parameter acquisition instrument with cleaning function |
| CN110692352B (en) * | 2019-09-19 | 2021-12-07 | 北京农业智能装备技术研究中心 | Intelligent agricultural robot and control method thereof |
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