CN114932965B - Plant disease and insect pest monitoring device, remote monitoring system and monitoring method thereof - Google Patents
Plant disease and insect pest monitoring device, remote monitoring system and monitoring method thereof Download PDFInfo
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- CN114932965B CN114932965B CN202210686292.3A CN202210686292A CN114932965B CN 114932965 B CN114932965 B CN 114932965B CN 202210686292 A CN202210686292 A CN 202210686292A CN 114932965 B CN114932965 B CN 114932965B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 110
- 241000607479 Yersinia pestis Species 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 20
- 241000238631 Hexapoda Species 0.000 title claims abstract description 19
- 201000010099 disease Diseases 0.000 title claims abstract description 17
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 title claims abstract description 17
- 238000012806 monitoring device Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000007789 sealing Methods 0.000 claims description 24
- 230000000087 stabilizing effect Effects 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 9
- 230000003139 buffering effect Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims 2
- 238000000429 assembly Methods 0.000 claims 2
- 230000010354 integration Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 10
- 108010066114 cabin-2 Proteins 0.000 description 9
- 238000011835 investigation Methods 0.000 description 3
- 238000004904 shortening Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000002310 reflectometry Methods 0.000 description 2
- 239000002028 Biomass Substances 0.000 description 1
- 230000009418 agronomic effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000029553 photosynthesis Effects 0.000 description 1
- 238000010672 photosynthesis Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0098—Plants or trees
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The invention discloses a plant disease and insect pest monitoring device, a remote monitoring system and a monitoring method thereof, comprising the following steps: the unmanned aerial vehicle charging system comprises a shell, a charging cabin, an unmanned aerial vehicle, a throwing mechanism, a control module, a lifting module, a driving module, an obstacle avoidance module and a photovoltaic cell module; the throwing mechanism is arranged at the bottom end of the unmanned aerial vehicle; the control module is embedded in the front side of the shell; the lifting module is arranged at the bottom end of the shell; the driving module is arranged at the lifting end of the lifting module; the obstacle avoidance module is arranged on the right side of the top end of the shell; the photovoltaic cell module is disposed on the left side of the top end of the housing. The plant disease and insect pest monitoring device, the remote monitoring system and the monitoring method thereof can realize the integration of the unmanned aerial vehicle and the ground monitoring robot to monitor the plant disease and insect pest of crops, improve the monitoring range of the crops, realize the combination of high altitude shooting and ground monitoring, monitor the condition of root and insect pest of crops and data receipts, and monitor the plant disease and insect pest of crops more accurately.
Description
Technical Field
The invention relates to the technical field of agriculture, in particular to a plant disease and insect pest monitoring device, a remote monitoring system and a monitoring method thereof.
Background
The agricultural remote sensing is a comprehensive technology for agricultural resource investigation, land utilization state analysis, agricultural pest monitoring, crop estimation and other agricultural applications by utilizing a remote sensing technology, crop image data can be obtained, the technology comprises the crop growth condition and forecast of crop pest, the technology is combined with various subjects and technologies of the subjects, the technology is a technology with strong comprehensive property for agricultural development service, the technology mainly comprises the investigation of land resources by utilizing the remote sensing technology, the investigation and analysis of the land utilization state, the monitoring and analysis of crop growth vigor, the forecast of pest and disease damage, the crop estimation and the like, the technology is one of the biggest users of the current remote sensing application, the basic principle in the prior art is that the reflectivity of a red wave band and a near infrared wave band of a remote sensing image and the reflectivity and the combination thereof are better related to the leaf area index of crops, the effective radiation of the solar photosynthesis and the biomass, the crop surface information recorded by an unmanned aerial vehicle sensor is used for distinguishing the crop types, a forecast model under different conditions is established, the integrated agronomic knowledge and remote sensing observation data are integrated, the remote sensing forecast of the crop yield is realized, the remote sensing acquisition of the product is realized, the special product acquisition and the crop pest and disease damage is limited by the special product acquisition condition and the service is limited by the condition of the unmanned aerial vehicle, the special machine is limited by the condition of the special monitoring and the condition is only can not be collected due to the fact that the crop pest and the monitoring and pest and disease damage is limited by the condition is only has the limited by the monitoring and has the limit of the monitoring and the quality data is only can be monitored by the limited by the quality data of the monitoring and has the quality on the condition on the ground.
Disclosure of Invention
The invention aims to provide a plant disease and insect pest monitoring device, a remote monitoring system and a monitoring method thereof, which at least solve the problems that the monitoring range of an unmanned aerial vehicle is limited due to the limitation of the power receiving quantity in the cruising range of the unmanned aerial vehicle in the prior art, the unmanned aerial vehicle can only shoot at high altitude, the condition of crop roots and insect pests cannot be monitored close to the ground, and the data collection of the plant disease and insect pests is limited.
In order to achieve the above purpose, the present invention provides the following technical solutions: a pest monitoring device and remote monitoring system thereof, comprising:
a housing;
the charging cabin is embedded in the center of the top end of the shell;
the unmanned aerial vehicle can be accommodated in the inner side of the charging cabin;
the throwing mechanism is arranged at the bottom end of the unmanned aerial vehicle;
the control module is embedded at the front side of the shell and is connected with the unmanned aerial vehicle through a remote network;
the lifting module is arranged at the bottom end of the shell and is electrically connected with the control module;
the driving module is arranged at the lifting end of the lifting module and is electrically connected with the control module;
the obstacle avoidance module is arranged on the right side of the top end of the shell and is electrically connected with the control module;
the photovoltaic cell module is arranged at the left side of the top end of the shell and is electrically connected with the control module.
Preferably, the delivery mechanism comprises; the device comprises a throwing mechanism shell, a rotating module, a direction regulator, a clamp and a split assembly; the throwing mechanism shell is arranged at the bottom end of the unmanned aerial vehicle, and the bottom end of the inner cavity of the throwing mechanism shell is communicated with the outside; the rotating module is arranged at the top end of the inner cavity of the throwing mechanism shell and is electrically connected with the unmanned aerial vehicle; the number of the direction regulators is a plurality, the direction regulators are respectively arranged at the rotating end of the rotating module, and the direction regulators are electrically connected with the unmanned aerial vehicle; the number of the holders is a plurality, the holders are respectively arranged at the rotating ends of the direction regulators, and the holders are electrically connected with the electricity of the machines; the number of the split components is a plurality of, and the split components are detachably arranged on the inner sides of the holders respectively.
Preferably, the split assembly comprises; the device comprises a split component shell, a monitoring unit, a streaming stabilizing plate, a lifting seat, a first electric push rod, a resistance plate and a connecting rod; the split component shell is clamped on the inner side of the clamp along the up-down direction; the monitoring unit is arranged at the bottom end of the split component shell; the number of the flow around stabilizing plates is a plurality, and the plurality of the flow around stabilizing plates are respectively arranged on the outer wall of the split component shell at intervals along the circumferential direction; the lifting seat is inserted into the top opening of the split component shell; the first electric push rod is arranged in the inner cavity of the split assembly shell, the telescopic end of the first electric push rod is fixedly connected with the bottom end of the lifting seat, and the first electric push rod is connected with the unmanned aerial vehicle through a remote network; the number of the resistance plates is four, and the four resistance plates are respectively hinged at the top end of the split component shell at ninety degrees intervals along the circumferential direction; the number of the connecting rods is four, one ends of the four connecting rods are respectively connected to the outer side of the lifting seat in a rotating mode through pins at ninety degrees along the circumferential direction, and the other ends of the four connecting rods are respectively connected with the top ends of the four resistance plates in a rotating mode through pins.
Preferably, the split assembly further comprises; the device comprises an annular shell, an air bag pad, a miniature air pump and a sensor; the annular shell is circumferentially arranged outside the bottom end of the monitoring unit; the air bag cushion is arranged on the outer side of the annular shell along the circumferential direction; the miniature air pump is embedded in the inner side of the annular shell and connected with the air bag pad, and the miniature air pump is connected with the unmanned aerial vehicle through a remote network; the sensor is embedded in the inner side of the annular shell and is positioned on the outer side of the miniature air pump, and the sensor is connected with a remote network of the unmanned aerial vehicle.
Preferably, the monitoring unit comprises; the device comprises a monitoring unit cylinder, a miniature electric push rod, an electromagnetic plate, a monitoring robot, a storage groove and an electric sealing door; the monitoring unit cylinder is arranged at the bottom end of the split assembly shell along the up-down direction, and the bottom end of the inner cavity of the monitoring unit cylinder is communicated with the outside; the number of the micro electric pushing rods is two, the two micro electric pushing rods are respectively arranged at the left side and the right side of the inner cavity of the monitoring unit cylinder body along the up-down direction, and the micro electric pushing rods are connected with the unmanned aerial vehicle in a remote network manner; the electromagnetic plate is arranged at the telescopic end of the miniature electric push rod and is connected with the unmanned aerial vehicle in a remote network manner; the monitoring robot is arranged above the electromagnetic plate, can magnetically attract the electromagnetic plate, and is connected with the unmanned aerial vehicle through a remote network; the number of the storage grooves is three, and the three storage grooves are respectively formed at the bottom end of the side wall of the monitoring unit cylinder body at intervals of one hundred twenty degrees along the circumferential direction; the number of the electric sealing doors is three, the three electric sealing doors are respectively arranged at the outer sides of the three storage grooves, and the electric sealing doors are connected with the unmanned aerial vehicle in a remote network manner; wherein, three the inner chamber of accomodating the groove all is provided with the position correction part.
Preferably, the position correcting member includes; the device comprises an azimuth rotator, an angle adjuster, a connecting seat, a first supporting rod, a first miniature electric telescopic rod, a second supporting rod, a supporting plate and a second miniature electric telescopic rod; the azimuth rotator is embedded in the inner cavity of the storage groove and is connected with the unmanned aerial vehicle through a remote network; the angle regulator is arranged at the rotating end of the azimuth rotator and is connected with the unmanned aerial vehicle through a remote network; the connecting seat is arranged at the moving end of the angle adjuster; the first support rod is rotationally connected to the bottom end of the outer side of the connecting seat along the up-down direction through a pin shaft; one end of a first miniature electric telescopic rod is rotationally connected to the top end of the outer side of the connecting seat through a pin shaft, the first miniature electric telescopic rod is rotationally connected with the inner side of a first supporting rod through a pin shaft, and the first miniature electric telescopic rod is connected with a remote network of the unmanned aerial vehicle; the second supporting rod is connected to the other end of the first supporting rod in a rotating manner along the up-down direction through a pin shaft; the supporting plate is arranged at the bottom end of the second supporting rod; the miniature electric telescopic handle of second is rotated through the round pin axle and is connected the inboard of first bracing piece, the other end of monitoring robot and the inboard of second bracing piece are rotated through the round pin axle and are connected, miniature electric telescopic handle of second and unmanned aerial vehicle remote network connection.
The using method of the device comprises the following steps:
step one: when the unmanned aerial vehicle is used, the remote control module for the staff starts the obstacle avoidance module, the lifting module, the driving module, the charging cabin and the unmanned aerial vehicle to start in sequence, the obstacle avoidance module monitors the external environment and the obstacle, the lifting module adjusts the position height of the shell to avoid the seedlings from being over-pressed, the driving module drives the shell to run along a specified route, the electric door in the charging cabin is opened to release the sealing of the cavity in the charging cabin, and the unmanned aerial vehicle drives the throwing mechanism to run along the specified monitoring route, so that the aerial large-scale monitoring of the plant diseases and insect pests is realized;
step two: the remote control module for the staff sequentially starts the rotating module, the direction regulator and the clamp holder through the unmanned aerial vehicle, the rotating module drives the direction regulator to drive the split assembly to rotate to a designated position under the cooperation of the clamp holder, the direction regulator adjusts the delivery angle direction of the split assembly under the cooperation of the clamp holder, and the clamp holder releases the clamping fixation of the split assembly, so that the split assembly is thrown downwards under the action of gravity, and a plurality of monitoring devices can be thrown at different positions, so that the ground monitoring area is increased;
step three: the remote control module for the staff sequentially starts a first electric push rod, a sensor, a miniature air pump, a direction regulator and a clamp holder through the unmanned aerial vehicle, the first electric push rod shortens by itself to drive a lifting seat to move downwards, then the lifting seat drives a resistance plate to rotate outwards by taking the hinge joint of the resistance plate and a split assembly shell as a vertex under the cooperation of a connecting rod, the resistance area is increased, the split assembly plays a role in decelerating in the airborne process and plays a role in stabilizing a streaming stabilizing plate, the sensor monitors the height and the horizontal direction of the split assembly, when the split assembly moves to the height of quickly contacting the ground, the miniature air pump inflates the inside of an air bag cushion to play a role in buffering the falling process, the sensor monitors the position of the split assembly to send a signal to the inside of the control module, the control module sequentially starts an electric sealing door, an azimuth rotator, an angle adjuster, a first miniature electric telescopic rod and a second miniature electric telescopic rod on the corresponding position correcting component through the unmanned aerial vehicle, the electric sealing door is opened to release the inner cavity of the accommodating groove, the azimuth rotator adjusts the angle adjuster to adjust the angle of the connecting seat and the inclination direction, the first miniature electric telescopic rod stretches and shortens by itself to drive the first supporting rod to rotate by taking the rotating joint of the pin shaft of the connecting seat as the top point, the second miniature electric telescopic rod stretches and shortens by itself to drive the second supporting rod to rotate by taking the rotating joint of the pin shaft of the first supporting rod as the top point, the second supporting rod drives the supporting plate to contact with the ground to play a supporting role, the staff control module sequentially starts the miniature electric push rod, the electromagnetic plate and the monitoring robot through the unmanned aerial vehicle, the miniature electric push rod pushes the electromagnetic plate to move downwards through self extension so as to drive the monitoring robot to extend out of the inner cavity of the barrel of the monitoring unit, the electromagnetic plate releases the fixation of the monitoring robot, and the monitoring robot moves to the outside to monitor the root of the external crops close to the ground
Compared with the prior art, the invention has the beneficial effects that: the plant diseases and insect pests monitoring device, a remote monitoring system and a monitoring method thereof:
1. the external environment and the obstacles are monitored through the obstacle avoidance module, the lifting module adjusts the height of the position of the shell to avoid the phenomenon that seedlings are overwhelmed, the driving module drives the shell to run along a specified route, the electric door in the charging cabin is opened to relieve the sealing of the inner cavity of the charging cabin, and the unmanned aerial vehicle drives the throwing mechanism to run along the specified monitoring route, so that the aerial large-scale monitoring of the plant diseases and insect pests is realized;
2. the direction regulator drives the split assembly to rotate to a designated position under the cooperation of the clamp holder, the direction regulator adjusts the delivery angle direction of the split assembly under the cooperation of the clamp holder, and the clamp holder releases the clamping fixation of the split assembly, so that the split assembly drops downwards under the action of gravity, and a plurality of monitoring devices can be put in different positions, so that the ground monitoring area is increased;
3. the method comprises the steps that a lifting seat is driven to move downwards through shortening by a first electric push rod, then the lifting seat drives a resistance plate to rotate outwards by taking a joint of the resistance plate and a split assembly shell as an apex, the resistance area is increased, the split assembly is decelerated in the air drop process, the circulating stabilizing plate is enabled to play a role in stabilizing, a sensor monitors the height and the horizontal direction of the split assembly, when the split assembly moves to the height of a fast contact ground, a micro air pump inflates the inside of an air bag cushion, so that the air bag cushion plays a role in buffering in the landing process, the sensor monitors that the position of the split assembly is inclined, a signal is sent to the inside of a control module, an electric sealing door is opened, the inner cavity of a storage groove is closed, an azimuth rotator is adjusted by an angle adjuster, the angle adjuster is adjusted, the first micro electric telescopic rod is shortened and driven by self elongation to rotate by taking the joint of the pin shaft of the connecting seat as an apex, and a second micro electric telescopic rod is shortened and driven by self elongation of the second support rod to rotate by taking the joint of the pin shaft of the first support rod as the apex, and further the second support rod is driven by self elongation to contact the root of the support rod to move to the support plate to the ground, the root of the robot is driven by the micro electromagnetic rod is driven to move to the electromagnetic rod to move close to the inner cavity of a monitoring robot monitoring cylinder body to the outside;
therefore, the unmanned aerial vehicle and the ground monitoring robot can be integrated to monitor crop insect pests, the crop monitoring range is improved, the combination of shooting at high altitude and ground monitoring can be realized, the condition of crop root insect pests is monitored, data receipts are obtained, and the crop insect pest monitoring is more accurate.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an exploded view of the delivery mechanism of FIG. 1;
FIG. 3 is an exploded view of the split assembly of FIG. 2;
fig. 4 is an exploded view of the monitoring unit of fig. 3.
In the figure: 1. the device comprises a shell, 2, a charging cabin, 3, an unmanned aerial vehicle, 4, a throwing mechanism, 41, a throwing mechanism shell, 42, a rotating module, 43, a direction regulator, 44, a clamp holder, 5, a split component, 51, a split component shell, 52, a bypass stabilizing plate, 53, a lifting seat, 54, a first electric push rod, 55, a resistance plate, 56, a connecting rod, 57, an annular shell, 59, an airbag cushion, 510, a miniature air pump, 511, a sensor, 6, a monitoring unit, 61, a monitoring unit cylinder, 62, a miniature electric push rod, 63, an electromagnetic plate, 64, a monitoring robot, 65, a storage groove, 66, an electric sealing door, 67, an azimuth rotator, 68, an angle regulator, 69, a connecting seat, 610, a first support rod, 611, a first miniature electric telescopic rod, 612, a second support rod, 613, a support plate, 614, a second miniature electric telescopic rod, 7, a control module, 8, a lifting module, 9, a driving module, 10, a barrier avoidance module, 11 and a photovoltaic cell module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-4, the present invention provides a technical solution: a pest monitoring device and remote monitoring system thereof, comprising: the unmanned aerial vehicle comprises a shell 1, a charging cabin 2, an unmanned aerial vehicle 3, a throwing mechanism 4, a control module 7, a lifting module 8, a driving module 9, an obstacle avoidance module 10 and a photovoltaic cell module 11; the charging cabin 2 is embedded in the center of the top end of the shell 1, the charging cabin 2 can be controlled by the control module 7 to charge the unmanned aerial vehicle 3, and the top of the charging cabin 2 is provided with an electric door to play a role in sealing and protecting; the unmanned aerial vehicle 3 can be stored in the inner side of the charging cabin 2, a network module is arranged in the unmanned aerial vehicle 3 and can be remotely controlled by a worker through a network terminal, and the unmanned aerial vehicle 3 can play a role in controlling a signal repeater to use by an internal device of the throwing mechanism 4 and a control module 7 and can supply power to the internal device of the throwing mechanism 4; the throwing mechanism 4 is arranged at the bottom end of the unmanned aerial vehicle 3; the control module 7 is embedded in the front side of the shell 1, the control module 7 is in remote network connection with the unmanned aerial vehicle 3, and a network module is arranged in the control module 7 and can be remotely controlled by a worker through a network terminal; the lifting module 8 is arranged at the bottom end of the shell 1, the lifting module 8 is electrically connected with the control module 7, and the lifting module 8 can be controlled by the control module 7 to lift and adjust the height of the position of the shell 1 so as to avoid the seedlings from being knocked over; the driving module 9 is arranged at the lifting end of the lifting module 8, the driving module 9 is electrically connected with the control module 7, and the driving module 9 can control the driving shell 1 to run along a specified route by the control module 7; the obstacle avoidance module 10 is arranged on the right side of the top end of the shell 1, and the obstacle avoidance module 10 is electrically connected with the control module 7; the photovoltaic cell module 11 sets up in the top left side of shell 1, photovoltaic cell module 11 and control module 7 electric connection, and photovoltaic cell module 11 can be for charging cabin 2, drive module 9, keep away barrier module 10 and control module 7 power supply.
As a preferred solution, the delivery mechanism 4 comprises; a throwing mechanism housing 41, a rotation module 42, a direction regulator 43, a gripper 44 and a split assembly 5; the throwing mechanism shell 41 is arranged at the bottom end of the unmanned aerial vehicle 3, and the bottom end of the inner cavity of the throwing mechanism shell 41 is communicated with the outside; the rotating module 42 is arranged at the top end of the inner cavity of the throwing mechanism shell 41, the rotating module 42 is electrically connected with the unmanned aerial vehicle 3, and the rotating module 42 can drive the split assembly 5 to rotate to a designated position by the control module 7 through the unmanned aerial vehicle 3 control driving direction regulator 43 under the cooperation of the clamp 44; the number of the direction regulators 43 is a plurality, the direction regulators 43 are respectively arranged at the rotating end of the rotating module 42, the direction regulators 43 are electrically connected with the unmanned aerial vehicle 3, and the direction regulators 43 can be controlled by the control module 7 through the unmanned aerial vehicle 3 to adjust the delivery angle direction of the split assembly 5 under the cooperation of the clamp 44; the number of the clamps 44 is a plurality, the clamps 44 are respectively arranged at the rotating ends of the direction adjusters 43, the clamps 44 are electrically connected with the unmanned aerial vehicle 3, and the clamps 44 can be controlled by the control module 7 to clamp and fix the split assembly 5 through the unmanned aerial vehicle 3; the number of the split components 5 is a plurality, and the split components 5 are detachably arranged on the inner sides of the holders 44.
As a preferred aspect, the split assembly 5 includes; the split component housing 51, the monitoring unit 6, the bypass stabilizing plate 52, the lifting seat 53, the first electric push rod 54, the resistance plate 55, the connecting rod 56, the annular housing 57, the air bag cushion 59, the micro air pump 510 and the sensor 511; the split assembly housing 51 is held inside the holder 44 in the up-down direction; the monitoring unit 6 is arranged at the bottom end of the split assembly housing 51; the number of the bypass stabilizing plates 52 is a plurality, and the plurality of the bypass stabilizing plates 52 are respectively arranged on the outer wall of the split assembly shell 51 at intervals along the circumferential direction; the lifting seat 53 is inserted into the top opening of the split component shell 51; the first electric push rod 54 is arranged in the inner cavity of the split assembly shell 51, the telescopic end of the first electric push rod 54 is fixedly connected with the bottom end of the lifting seat 53, the first electric push rod 54 is in remote network connection with the unmanned aerial vehicle 3, and the first electric push rod 54 can be controlled to be lengthened and shortened by the control module 7 through the unmanned aerial vehicle 3; the number of the resistance plates 55 is four, the four resistance plates 55 are respectively hinged at the top end of the split assembly shell 51 at ninety degrees intervals along the circumferential direction, and the inner diameter of each resistance plate 55 is arc-shaped and is matched with the outer wall of the split assembly shell 51; the number of the connecting rods 56 is four, one ends of the four connecting rods 56 are respectively connected to the outer side of the lifting seat 53 in a rotating way through pin shafts at ninety degrees intervals along the circumferential direction, and the other ends of the four connecting rods 56 are respectively connected with the top ends of the four resistance plates 55 in a rotating way through pin shafts; the annular housing 57 is circumferentially provided outside the bottom end of the monitoring unit 6; the airbag cushion 59 is disposed circumferentially outside the annular housing 57; the miniature air pump 510 is embedded in the inner side of the annular shell 57, the miniature air pump 510 is connected with the air bag cushion 59, the miniature air pump 510 is connected with the unmanned aerial vehicle 3 in a remote network manner, and the miniature air pump 510 can be controlled by the control module 7 through the unmanned aerial vehicle 3 to inflate the air bag cushion 59, so that the air bag cushion 59 plays a role in buffering in the landing process; the sensor 511 is embedded in the inner side of the annular shell 57 and is located on the outer side of the miniature air pump 510, the sensor 511 is connected with the unmanned aerial vehicle 3 through a remote network, the sensor 511 is electrically connected with the unmanned aerial vehicle 3, and the direction regulator 43 monitors the height and the horizontal direction of the split assembly 5 and sends signals to the inside of the control module 7.
As a preferred solution, the monitoring unit 6 comprises; a monitoring unit cylinder 61, a miniature electric push rod 62, an electromagnetic plate 63, a monitoring robot 64, a storage groove 65 and an electric sealing door 66; the monitoring unit cylinder 61 is arranged at the bottom end of the split assembly shell 51 along the up-down direction, and the bottom end of the inner cavity of the monitoring unit cylinder 61 is communicated with the outside; the number of the micro electric pushing rods 62 is two, the two micro electric pushing rods 62 are respectively arranged at the left side and the right side of the inner cavity of the monitoring unit cylinder 61 along the up-down direction, the micro electric pushing rods 62 are connected with the unmanned aerial vehicle 3 in a remote network manner, and the micro electric pushing rods 62 can be controlled to be lengthened and shortened by the control module 7 through the unmanned aerial vehicle 3; the electromagnetic plate 63 is arranged at the telescopic end of the miniature electric push rod 62, the electromagnetic plate 63 is connected with the unmanned aerial vehicle 3 in a remote network manner, and the electromagnetic plate 63 can be magnetically attracted and fixed by the control module 7 through the unmanned aerial vehicle 3 and the monitoring robot 64; the monitoring robot 64 is arranged above the electromagnetic plate 63, the monitoring robot 64 can magnetically attract the electromagnetic plate 63, the monitoring robot 64 is connected with the unmanned aerial vehicle 3 in a remote network manner, the monitoring robot 64 can be controlled by the control module 7 through the unmanned aerial vehicle 3, the monitoring robot 64 monitors the root of crops, and the monitoring robot 64 can fold itself; the number of the storage grooves 65 is three, and the three storage grooves 65 are respectively formed at the bottom end of the side wall of the monitoring unit cylinder 61 at intervals of one hundred twenty degrees along the circumferential direction; the number of the electric sealing doors 66 is three, the three electric sealing doors 66 are respectively arranged at the outer sides of the three storage grooves 65, the electric sealing doors 66 are connected with the unmanned aerial vehicle 3 in a remote network manner, and the electric sealing doors 66 can be controlled to be opened and closed by the control module 7 through the unmanned aerial vehicle 3; wherein, the inner cavities of the three storage grooves 65 are provided with position correcting components, and the position correcting components comprise; the azimuth rotator 67, the angle adjuster 68, the connection base 69, the first support rod 610, the first micro electric telescopic rod 611, the second support rod 612, the support plate 613 and the second micro electric telescopic rod 614; the azimuth rotator 67 is embedded in the inner cavity of the accommodating groove 65, the azimuth rotator 67 is connected with the unmanned aerial vehicle 3 in a remote network manner, and the azimuth rotator 67 can be controlled by the control module 7 to adjust the position direction of the angle regulator 68 through the unmanned aerial vehicle 3; the angle regulator 68 is arranged at the rotating end of the azimuth rotator 67, the angle regulator 68 is connected with the unmanned aerial vehicle 3 in a remote network manner, and the angle regulator 68 can be controlled by the control module 7 through the unmanned aerial vehicle 3 to adjust the angle and the inclination direction of the connecting seat 69; the connecting seat 69 is arranged at the moving end of the angle adjuster 68; the first supporting rod 610 is rotatably connected to the bottom end of the outer side of the connecting seat 69 along the up-down direction through a pin shaft; one end of the first miniature electric telescopic rod 611 is rotationally connected to the top end of the outer side of the connecting seat 69 through a pin shaft, the first miniature electric telescopic rod 611 is rotationally connected with the inner side of the first supporting rod 610 through a pin shaft, the first miniature electric telescopic rod 611 is in remote network connection with the unmanned aerial vehicle 3, and the first miniature electric telescopic rod 611 can be controlled by the control module 7 through the unmanned aerial vehicle 3 to extend, shorten and drive the first supporting rod 610 so as to rotate at a vertex at the position where the first supporting rod 610 is rotationally connected with the connecting seat 69 through the pin shaft; the second support bar 612 is rotatably connected to the other end of the first support bar 610 in the up-down direction through a pin shaft; the support plate 613 is disposed at the bottom end of the second support bar 612; one end of the second miniature electric telescopic rod 614 is rotatably connected to the inner side of the first supporting rod 610 through a pin shaft, the other end of the monitoring robot 64 is rotatably connected to the inner side of the second supporting rod 612 through a pin shaft, the second miniature electric telescopic rod 614 is remotely connected with the unmanned aerial vehicle 3 in a network manner, and the first miniature electric telescopic rod 611 can be controlled by the control module 7 to extend and shorten by the unmanned aerial vehicle 3 so as to drive the second supporting rod 612 to rotate at a vertex at the pin shaft rotation connection position with the first supporting rod 610.
A pest monitoring device, a remote monitoring system and a monitoring method thereof comprise the following steps:
step one: when the unmanned aerial vehicle is used, the remote control module 7 for workers starts the obstacle avoidance module 10, the lifting module 8, the driving module 9, the charging cabin 2 and the unmanned aerial vehicle 3 to be started in sequence, the obstacle avoidance module 10 monitors the external environment and obstacles, the lifting module 8 adjusts the height of the position of the shell 1 so as to avoid the phenomenon that seedlings are over, the driving module 9 drives the shell 1 to travel along a specified route, the electric door in the charging cabin 2 is opened to release the inner cavity sealing of the charging cabin 2, and the unmanned aerial vehicle 3 drives the throwing mechanism 4 to travel along the specified monitoring route, so that the aerial large-scale monitoring of plant diseases and insect pests is realized;
step two: the remote control module 7 of the staff sequentially starts the rotating module 42, the direction regulator 43 and the clamp 44 through the unmanned aerial vehicle 3, the rotating module 42 drives the direction regulator 43 to drive the split assembly 5 to rotate to a designated position under the cooperation of the clamp 44, the direction regulator 43 adjusts the delivery angle direction of the split assembly 5 under the cooperation of the clamp 44, and the clamp 44 releases the clamping fixation of the split assembly 5, so that the split assembly 5 is dropped downwards under the action of gravity, and a plurality of monitoring devices can be put in different positions, so that the ground monitoring area is increased;
step three: the remote control module 7 for workers sequentially starts a first electric push rod 54, a sensor 511, a micro air pump 510, a direction regulator 43 and a clamp holder 44 through the unmanned aerial vehicle 3, the first electric push rod 54 shortens by itself to drive a lifting seat 53 to move downwards, so that the lifting seat 53 drives a resistance plate 55 to rotate outwards by taking a hinge joint of the connecting rod 56 and a split assembly shell 51 as a vertex, the resistance area is increased, the split assembly 5 plays a role in decelerating in the air-drop process, the flow-around stabilizing plate 52 plays a role in stabilizing, the sensor 511 monitors the height and the horizontal direction of the split assembly 5, when the split assembly 5 moves to a height of quickly contacting the ground, the micro air pump 510 inflates the air bag cushion 59, so that the air bag cushion 59 plays a role in buffering in the landing process, the sensor 511 sends a signal to the control module 7 when monitoring that the position of the split assembly 5 is tilted, the control module 7 sequentially starts the electric sealing door 66, the azimuth rotator 67, the angle adjuster 68, the first miniature electric telescopic rod 611 and the second miniature electric telescopic rod 614 on the corresponding position correcting component through the unmanned aerial vehicle 3, the electric sealing door 66 is opened to release the inner cavity of the accommodating groove 65 from being closed, the azimuth rotator 67 adjusts the position direction of the angle adjuster 68, the angle adjuster 68 adjusts the angle and the inclination direction of the connecting seat 69, the first miniature electric telescopic rod 611 drives the first supporting rod 610 to rotate by stretching and shortening by itself to take the rotating connection part of the pin shaft of the connecting seat 69 as the top point, the second miniature electric telescopic rod 614 drives the second supporting rod 612 to rotate by self-stretching and shortening to take the rotating connection part of the pin shaft of the first supporting rod 610 as the top point, the second supporting rod 612 drives the supporting plate 613 to contact with the ground to play a supporting role, the staff control module 7 starts miniature electric push rod 62, electromagnetic plate 63 and monitoring robot 64 in proper order through unmanned aerial vehicle 3, miniature electric push rod 62 through self extension push electromagnetic plate 63 downwardly moving in order to drive monitoring robot 64 and stretch out to monitoring unit barrel 61 inner chamber, electromagnetic plate 63 releases the fixed to monitoring robot 64, and monitoring robot 64 removes to outside in order to monitor the root that outer crops pressed close to ground.
All electric parts in the scheme can be connected with an externally-adapted power supply through wires by a person skilled in the art, and the externally-adapted controller is selected to be connected according to specific actual use conditions so as to meet the control requirements of all electric parts, the specific connection mode and the control sequence of the externally-adapted power supply are referred to in the following working principles, the electric connection of all electric parts is completed in sequence, and the detailed connection means are known in the art and are not described.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. Pest monitoring device and remote monitoring system thereof, characterized by comprising:
a housing (1);
the charging cabin (2) is embedded in the center of the top end of the shell (1);
an unmanned aerial vehicle (3) which can be accommodated inside the charging cabin (2);
the throwing mechanism (4) is arranged at the bottom end of the unmanned aerial vehicle (3);
the control module (7) is embedded at the front side of the shell (1), and the control module (7) is connected with a remote network of the unmanned aerial vehicle (3);
the lifting module (8) is arranged at the bottom end of the shell (1), and the lifting module (8) is electrically connected with the control module (7);
the driving module (9) is arranged at the lifting end of the lifting module (8), and the driving module (9) is electrically connected with the control module (7);
the obstacle avoidance module (10) is arranged on the right side of the top end of the shell (1), and the obstacle avoidance module (10) is electrically connected with the control module (7);
the photovoltaic cell module (11) is arranged at the left side of the top end of the shell (1), and the photovoltaic cell module (11) is electrically connected with the control module (7);
the delivery mechanism (4) comprises;
the throwing mechanism shell (41) is arranged at the bottom end of the unmanned aerial vehicle (3), and the bottom end of the inner cavity of the throwing mechanism shell (41) is communicated with the outside;
the rotating module (42) is arranged at the top end of the inner cavity of the throwing mechanism shell (41), and the rotating module (42) is electrically connected with the unmanned aerial vehicle (3);
the number of the direction regulators (43) is a plurality, the direction regulators (43) are respectively arranged at the rotating end of the rotating module (42), and the direction regulators (43) are electrically connected with the unmanned aerial vehicle (3);
the number of the clamps (44) is a plurality, the clamps (44) are respectively arranged at the rotating ends of the direction regulators (43), and the clamps (44) are electrically connected with the unmanned aerial vehicle (3);
the number of the split assemblies (5) is a plurality, and the split assemblies (5) are detachably arranged on the inner sides of the holders (44) respectively;
the split assembly (5) comprises;
a split assembly housing (51) which is held inside the holder (44) in the up-down direction;
the monitoring unit (6) is arranged at the bottom end of the split assembly shell (51);
the number of the flow around stabilizing plates (52) is a plurality of, and the plurality of the flow around stabilizing plates (52) are respectively arranged on the outer wall of the split assembly shell (51) at intervals along the circumferential direction;
the lifting seat (53) is inserted into the top opening of the split component shell (51);
the first electric push rod (54) is arranged in the inner cavity of the split assembly shell (51), the telescopic end of the first electric push rod (54) is fixedly connected with the bottom end of the lifting seat (53), and the first electric push rod (54) is connected with the unmanned aerial vehicle (3) in a remote network manner;
the number of the resistance plates (55) is four, and the four resistance plates (55) are respectively hinged at the top end of the split assembly shell (51) at ninety degrees intervals along the circumferential direction;
the four connecting rods (56), one ends of the four connecting rods (56) are respectively connected to the outer side of the lifting seat (53) in a rotating way through pin shafts at ninety degrees intervals along the circumferential direction, and the other ends of the four connecting rods (56) are respectively connected with the top ends of the four resistance plates (55) in a rotating way through pin shafts;
the split assembly (5) comprises;
an annular housing (57) disposed circumferentially outside the bottom end of the monitoring unit (6);
an airbag cushion (59) disposed circumferentially outside the annular housing (57);
the miniature air pump (510) is embedded inside the annular shell (57), the miniature air pump (510) and the air cushion (59) are connected, and the miniature air pump (510) is connected with a remote network of the unmanned aerial vehicle (3);
the sensor (511) is embedded inside the annular shell (57) and is positioned outside the miniature air pump (510), and the sensor (511) is connected with the unmanned aerial vehicle (3) in a remote network manner;
the monitoring unit (6) comprises;
the monitoring unit cylinder (61) is arranged at the bottom end of the split assembly shell (51) along the up-down direction, and the bottom end of the inner cavity of the monitoring unit cylinder (61) is communicated with the outside;
the miniature electric pushing rods (62) are arranged at the left side and the right side of the inner cavity of the monitoring unit cylinder (61) along the up-down direction respectively, and the miniature electric pushing rods (62) are connected with the unmanned aerial vehicle (3) in a remote network manner;
the electromagnetic plate (63) is arranged at the telescopic end of the miniature electric push rod (62), and the electromagnetic plate (63) is connected with the unmanned aerial vehicle (3) in a remote network manner;
the monitoring robot (64) is arranged above the electromagnetic plate (63), the monitoring robot (64) can magnetically attract the electromagnetic plate (63), and the monitoring robot (64) is connected with the unmanned aerial vehicle (3) in a remote network;
the number of the storage grooves (65) is three, and the three storage grooves (65) are respectively formed at the bottom end of the side wall of the monitoring unit cylinder body (61) at intervals of one hundred twenty degrees along the circumferential direction;
the number of the electric sealing doors (66) is three, the three electric sealing doors (66) are respectively arranged at the outer sides of the three storage grooves (65), and the electric sealing doors (66) are connected with the unmanned aerial vehicle (3) in a remote network manner;
wherein, the inner cavities of the three storage grooves (65) are provided with position correcting parts;
the position correcting member includes;
the azimuth rotator (67) is embedded in the inner cavity of the accommodating groove (65), and the azimuth rotator (67) is connected with the unmanned aerial vehicle (3) in a remote network manner;
the angle regulator (68) is arranged at the rotating end of the azimuth rotator (67), and the angle regulator (68) is connected with the unmanned aerial vehicle (3) in a remote network manner;
a connecting seat (69) mounted at the moving end of the angle adjuster (68);
the first supporting rod (610) is rotationally connected to the bottom end of the outer side of the connecting seat (69) along the up-down direction through a pin shaft;
one end of the first miniature electric telescopic rod (611) is rotationally connected to the top end of the outer side of the connecting seat (69) through a pin shaft, the first miniature electric telescopic rod (611) is rotationally connected with the inner side of the first supporting rod (610) through a pin shaft, and the first miniature electric telescopic rod (611) is in remote network connection with the unmanned aerial vehicle (3);
a second support rod (612) rotatably connected to the other end of the first support rod (610) in the up-down direction through a pin shaft;
a support plate (613) provided at the bottom end of the second support bar (612);
the second miniature electric telescopic rod (614), one end is in through the inboard of round pin axle rotation connection first bracing piece (610), the inboard of the other end of monitoring robot (64) and second bracing piece (612) is through the round pin axle rotation connection, second miniature electric telescopic rod (614) and unmanned aerial vehicle (3) long-range network connection.
2. The pest monitoring device and its remote monitoring system according to claim 1, wherein: the using method of the device comprises the following steps:
step one: when the intelligent charging system is used, the remote control module (7) for workers starts the obstacle avoidance module (10), the lifting module (8), the driving module (9), the charging cabin (2) and the unmanned aerial vehicle (3) to be started in sequence, the obstacle avoidance module (10) monitors the external environment and obstacles, the lifting module (8) adjusts the height of the position of the shell (1) to avoid the seedlings from being fallen down, the driving module (9) drives the shell (1) to travel along a specified route, the electric door in the charging cabin (2) is opened to relieve the inner cavity of the charging cabin (2) to be sealed, and the unmanned aerial vehicle (3) drives the throwing mechanism (4) to travel along the specified monitoring route, so that the air large-scale monitoring of the plant diseases and insect pests is realized;
step two: the remote control module (7) for workers sequentially starts the rotating module (42), the direction regulator (43) and the clamp holder (44) through the unmanned aerial vehicle (3), the rotating module (42) drives the direction regulator (43) to drive the split assembly (5) to rotate to a designated position under the cooperation of the clamp holder (44), the direction regulator (43) adjusts the delivery angle direction of the split assembly (5) under the cooperation of the clamp holder (44), and the clamp holder (44) releases the clamping fixation of the split assembly (5) so that the split assembly (5) drops downwards under the action of gravity, and a plurality of monitoring devices can be put in different positions so as to increase the ground monitoring area;
step three: the remote control module (7) for workers sequentially starts a first electric push rod (54), a sensor (511), a miniature air pump (510), a direction regulator (43) and a clamp holder (44) through the unmanned aerial vehicle (3), the first electric push rod (54) shortens and drives a lifting seat (53) to move downwards through the first electric push rod, the lifting seat (53) drives a resistance plate (55) to rotate outwards with a hinge joint of a connecting rod (56) with a split component shell (51) as a vertex, the resistance area is increased to enable the split component (5) to play a role in decelerating in the airborne process, and a bypass stabilizing plate (52) to play a role in stabilizing, the sensor (511) monitors the height and the horizontal direction of the split assembly (5), when the split assembly (5) moves to the height of quickly contacting the ground, the miniature air pump (510) inflates the air bag cushion (59) so that the air bag cushion (59) plays a buffering role in the landing process, the sensor (511) sends a signal to the control module (7) when monitoring that the position of the split assembly (5) is inclined, the control module (7) sequentially starts the electric sealing door (66), the azimuth rotator (67), the angle regulator (68), the first miniature electric telescopic rod (611) and the second miniature electric telescopic rod (614) on the corresponding position correcting component through the unmanned aerial vehicle (3), the electric sealing door (66) is opened to remove and is closed to the inner chamber of accomodating groove (65), azimuth rotator (67) adjustment angle regulator (68) position direction angle regulator (68) adjustment connecting seat (69) angle and incline direction, first miniature electric telescopic handle (611) is through self extension shorten drive first bracing piece (610) in order to rotate with connecting seat (69) round pin hub rotation junction as the summit, second miniature electric telescopic handle (614) is through self extension shorten drive second bracing piece (612) in order to rotate with first bracing piece (610) round pin hub rotation junction as the summit, and then make second bracing piece (612) drive backup pad (613) and ground contact play the supporting role, staff control module (7) start miniature electric push rod (62) in proper order through unmanned aerial vehicle (3), electromagnetic plate (63) and monitoring robot (64), miniature electric push rod (62) are through self extension push electromagnetic plate (63) down removal in order to drive monitoring robot (64) and are stretched out to monitoring unit barrel (61) inner chamber, electromagnetic plate (63) are fixed to robot (64), and then make second bracing piece (612) drive backup pad and ground contact with ground, the outside crop monitoring robot (64) is moved in order to monitor the portion of pressing close to the outside.
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| CN202210686292.3A CN114932965B (en) | 2022-06-16 | 2022-06-16 | Plant disease and insect pest monitoring device, remote monitoring system and monitoring method thereof |
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