CN115119644B - Field management device based on bionic travelling mechanism - Google Patents
Field management device based on bionic travelling mechanism Download PDFInfo
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- CN115119644B CN115119644B CN202210909246.5A CN202210909246A CN115119644B CN 115119644 B CN115119644 B CN 115119644B CN 202210909246 A CN202210909246 A CN 202210909246A CN 115119644 B CN115119644 B CN 115119644B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 177
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 90
- 241000607479 Yersinia pestis Species 0.000 claims abstract description 38
- 238000005507 spraying Methods 0.000 claims abstract description 13
- 239000007921 spray Substances 0.000 claims description 23
- 238000005520 cutting process Methods 0.000 claims description 21
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 13
- 229910052744 lithium Inorganic materials 0.000 claims description 13
- 238000007726 management method Methods 0.000 claims description 13
- 239000003814 drug Substances 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 3
- 238000013528 artificial neural network Methods 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 8
- 201000010099 disease Diseases 0.000 abstract description 7
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 7
- 241000238631 Hexapoda Species 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000003912 environmental pollution Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 10
- 238000012549 training Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000036544 posture Effects 0.000 description 6
- 239000000126 substance Substances 0.000 description 6
- 241000282326 Felis catus Species 0.000 description 4
- 238000010801 machine learning Methods 0.000 description 4
- 229920000742 Cotton Polymers 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
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- 238000011065 in-situ storage Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
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- 238000013461 design Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Wood Science & Technology (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Forests & Forestry (AREA)
- Ecology (AREA)
- Biodiversity & Conservation Biology (AREA)
- Soil Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention provides a field management device based on a bionic walking mechanism, which comprises a machine body, an image acquisition system, the bionic walking mechanism, a control system, a power supply system and a topping system, wherein the machine body is provided with a power supply system; two groups of bionic walking mechanisms are arranged on two sides of the outer part of the machine body; the image acquisition system is positioned at the front part of the machine body; the topping system is positioned above the machine body; the control system and the power supply system are positioned in the machine body; the control system is connected with the image acquisition system, the bionic walking mechanism and the topping system, and is used for judging according to images acquired by the image acquisition system and controlling the bionic walking mechanism and the topping system to work. The invention adopts the visual positioning technology to acquire the operation image, utilizes the neural network to automatically perform topping and spraying disinfestation through the control system, reduces the influence of plant diseases and insect pests, reduces the environmental pollution and improves the economic benefit. In addition, the bionic travelling mechanism can be applied to complex terrains, can effectively face field road conditions, improves topping efficiency, and reduces labor intensity.
Description
Technical Field
The invention belongs to the technical field of intelligent field crop plant protection equipment and agricultural robots, and particularly relates to a field management device based on a bionic walking mechanism.
Background
The topping operation is a simple and easy yield increasing measure for partial crops, such as cotton, corn and other crops, and the proper topping can effectively realize yield increase. Firstly, manual topping is reliable, but the cost is high, and the working strength is high; the chemical topping method is limited by weather, so that topping reliability is poor, and chemical topping can sometimes be helpful for increasing the amount of cotton bolls according to feedback of farmers, but the increased cotton bolls cannot bloom, and damage to soil is increased due to long-term chemical topping. Therefore, the mechanical topping can reduce the cost, improve the working efficiency and has good working reliability,
at present, the running mechanism mainly adopts wheel type and crawler type, but the wheel type mechanical form has small adhesive force, poor passing performance, complex structure, large mass and no buffer effect like tires, and is easy to wear parts, so that the running mechanism has poor maneuverability, lower running speed, easy damage to road surfaces and difficult mechanical transfer operation field, is mainly applied to field flat land and has poor applicability to paddy fields and mountain lands.
The crop diseases and insect pests are one of main agricultural disasters in China, and have the characteristics of multiple types, large influence and frequent outbreak of disasters, the occurrence range and the severity of the crop diseases and insect pests frequently cause great losses to national economy in China, especially agricultural production, if the crop diseases and insect pests are killed in topping, the crop diseases and insect pests can be effectively prevented from being influenced, most of the current manual work is wide-range spraying, the environment is easily influenced, and the manual investment is also large
The current technology has the following problems: the manual topping investment is too large, the working strength is large, the chemical topping reliability is low, the mechanical topping range is single, the height cannot be adjusted, the mechanical degree is low, the wheel type mechanical form has small adhesive force, the passing performance is poor, the crawler type running system has complex structure and large mass, and the crawler type running system has no buffer effect like a tire, is easy to wear parts, so the crawler type running system has poor maneuverability, has lower general running speed, is easy to damage a pavement, is difficult to mechanically transfer an operation field, and is not suitable for mountain areas and paddy fields.
Disclosure of Invention
Aiming at the technical problems, one of the purposes of the invention is to provide a field management device based on a bionic walking mechanism, a visual positioning technology is adopted to obtain the ridge condition, the crop condition and the pest position, and the control system is used for automatically topping and spraying to kill pests, so that the influence of diseases and pests is reduced, the environmental pollution is reduced, the economic benefit is improved, and the topping efficiency is also improved.
One of the purposes of one mode of the invention is to provide a bionic walking mechanism which imitates the walking posture of a cat, forms a closed-loop link mechanism, can be applied to complex terrains of mountain areas and paddy fields, can effectively face road conditions in the fields, improves the working efficiency and reduces the labor intensity.
Note that the description of these objects does not prevent the existence of other objects. Not all of the above objects need be achieved in one embodiment of the present invention. Other objects than the above objects can be extracted from the description of the specification, drawings, and claims.
The present invention achieves the above technical object by the following means.
A field management device based on a bionic walking mechanism comprises a machine body, an image acquisition system, the bionic walking mechanism, a control system, a power supply system and a topping system;
two groups of bionic walking mechanisms are arranged on two sides of the exterior of the machine body; the topping system is positioned at the upper part of the machine body;
the power supply system is respectively connected with the image acquisition system, the bionic walking mechanism, the control system and the topping system;
the image acquisition system is used for acquiring ridgeline and crop information and transmitting the ridgeline and crop information to the control system;
the control system is respectively connected with the image acquisition system, the bionic walking mechanism and the topping system, performs path planning according to ridgeline information acquired by the image acquisition system, and controls the bionic walking mechanism to walk; the control system controls the topping system to carry out topping operation according to the crop information acquired by the image acquisition system.
In the above scheme, the image acquisition system comprises an RGB-D sensor camera; the RGB-D sensor camera is used for collecting images of ridges and crops in front and transmitting the images to the control system.
In the scheme, the bionic walking mechanism comprises a walking motor, a first connecting rod mechanism, a second connecting rod mechanism, a first buffer mechanism, a second buffer mechanism and a foot plate;
the walking motor is arranged on the machine body and is connected with the first connecting rod mechanism; the first connecting rod mechanism is arranged on the side edge of the machine body and is connected with the second connecting rod mechanism; one end of the first buffer mechanism is connected with the machine body, and the other end of the first buffer mechanism is connected with the first connecting rod mechanism; one end of the second buffer mechanism is connected with the machine body, and the other end of the second buffer mechanism is connected with the second connecting rod mechanism; the foot plate is connected with the second connecting rod mechanism.
Further, the first link mechanism comprises a rocker, a connecting rod and a first connecting plate; one end of the rocker is arranged on the machine body and connected with the walking motor, and the other end of the rocker is connected with one end of the connecting rod; the other end of the connecting rod is connected with one end of a first connecting plate, and the other end of the first connecting plate is connected with the machine body;
the second connecting rod mechanism comprises a third sliding block, a third sliding block table, a second connecting plate and a third connecting plate; one end of the second connecting plate is connected with the connecting rod and the first connecting plate, and the other end of the second connecting plate is connected with the foot plate and one end of the third connecting plate; the other end of the third connecting plate is connected with a third sliding block table, the third sliding block table is connected with one end of a third sliding block, and the third sliding block table and the third sliding block can slide relatively; the other end of the third sliding block is connected with the first connecting plate.
Further, the first buffer mechanism comprises a first slider and a first slider table; one end of the first sliding block is connected with the machine body, and the other end of the first sliding block is connected with one end of the first sliding block table; the other end of the first sliding block table is connected with a first connecting plate; the first sliding block and the first sliding block table can slide relatively;
the second buffer mechanism comprises a second sliding block and a second sliding block table; one end of the second sliding block is connected with the machine body, and the other end of the second sliding block is connected with one end of the second sliding block table; the other end of the second sliding block table is connected with a second connecting plate; the second slider and the second slider table are capable of sliding relative to each other.
Further, the topping system comprises a supporting frame, a ball screw device, an automatic expansion device and a cutting device;
the support frame is arranged at the upper part of the machine body; the ball screw device is arranged on the supporting frame; the automatic telescopic device is arranged on the ball screw device and can move up and down along the ball screw device; the stepping motor is arranged on the automatic telescopic device, the cutting device comprises a cutting knife and a stepping motor, and an output shaft of the stepping motor is connected with a cutter shaft of the cutting knife and can drive the cutting knife to rotate.
Further, the image acquisition system further comprises a hyperspectral meter; the hyperspectral instrument is used for collecting pest information on crops and transmitting the pest information to the control system; the topping system also comprises a spraying device, wherein the spraying device comprises a spray head and a medicament box; the spray head is arranged on the automatic telescopic device, and the medicament box is arranged in the machine body; the spray head is connected with the medicament box, and the control system controls the operation of the spray head according to pest information collected by the spectrometer on crops.
Further, the control system comprises an image processor, a motor driver and an industrial personal computer;
the image processor is respectively connected with the RGB-D sensor camera, the hyperspectral instrument and the industrial personal computer, and is used for receiving the image data of the RGB-D sensor camera and the hyperspectral instrument, processing the image data, identifying ridgeline, crops and pest information and transmitting the ridgeline, the crops and pest information to the industrial personal computer;
the industrial personal computer is respectively connected with the image processor and the motor driver, receives signals of the image processor, performs path planning according to ridgeline information and controls the motor driver to drive the walking motor to walk; the industrial personal computer controls the automatic telescopic device and the stepping motor to perform topping operation according to crop information; and the industrial personal computer controls the operation of the spray head according to the pest information.
Further, the control system also comprises a server; the server is respectively connected with the industrial personal computer and the mobile phone client and is used for receiving signals of the mobile phone client and transmitting machine information of the industrial personal computer to the mobile phone client.
In the above scheme, the power supply system comprises a lithium battery pack and a solar panel; the lithium battery pack and the solar panel are arranged on the machine body; the lithium battery pack is connected with the solar panel.
Compared with the prior art, the invention has the beneficial effects that:
according to one mode of the invention, a visual positioning technology is adopted to obtain the ridge condition, the crop condition and the pest position, automatic topping and spraying pest killing are performed through a control system, the influence of plant diseases and insect pests is reduced, the environmental pollution is reduced, the economic benefit is improved, and the topping efficiency is also improved.
According to one mode of the invention, the bionic walking mechanism is provided, the bionic walking mechanism imitates the walking posture of a cat, and a closed loop link mechanism is formed, so that the bionic walking mechanism can be applied to complex terrains of mountain areas and paddy fields, can effectively face road conditions in the fields, improves the working efficiency and reduces the labor intensity.
Note that the description of these effects does not hinder the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above are obvious and can be extracted from the description of the specification, drawings, claims, and the like.
Drawings
Fig. 1 is a top view of an embodiment of the present invention.
Fig. 2 is a schematic structural view of an embodiment of the present invention.
Fig. 3 is a schematic view of a running mechanism according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a topping system according to an embodiment of the present invention.
Fig. 5 is a flowchart of the operation of an embodiment of the present invention.
Fig. 6 is a neural network algorithm diagram of an embodiment of the present invention.
Fig. 7 is a gait layout of a running gear in accordance with an embodiment of the invention.
Fig. 8 is a diagram of a foot plate trace of a running gear according to an embodiment of the present invention.
Fig. 9 is a diagram of a rocker trajectory of a driving member of a running gear according to an embodiment of the present invention.
In the figure: 1. an RGB-D sensor camera; 2. an image processor; 3. a motor driver; 4. an industrial personal computer; 5. a lithium battery pack; 6. a solar panel; 7. a topping system; 8. a body; 10. a walking motor; 11. a medicament box; 12. a server; 13. a connecting rod; 14. a rocker; 15. a first slider; 16. a first slider stage; 17. a first connection plate; 18. a second slider; 19. a second slider stage; 20. a third slider; 21. a third slider stage; 22. a third connecting plate; 23. a second connecting plate; 24. foot plates; 30. a support frame; 31. a ball screw device; 32. an automatic telescoping device; 33. a cutting knife; 34. a stepping motor; 35. a spray head; 901. the first bionic walking mechanism; 902. the second bionic walking mechanism, 903 and the third bionic walking mechanism; 904. and a fourth bionic walking mechanism.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "rear", "left", "right", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
FIG. 1 shows a preferred embodiment of the intelligent multifunctional field management device based on the bionic walking mechanism, which comprises a machine body 8, an image acquisition system, the bionic walking mechanism, a control system, a power supply system and a topping system 7;
two groups of bionic walking mechanisms are arranged on two sides of the outer part of the machine body 8; the topping system is positioned at the upper part of the machine body 8;
the power supply system is respectively connected with the image acquisition system, the bionic walking mechanism, the control system and the topping system;
the image acquisition system is used for acquiring ridgeline and crop information and transmitting the ridgeline and crop information to the control system;
the control system is respectively connected with the image acquisition system, the bionic walking mechanism and the topping system, performs path planning according to ridgeline information acquired by the image acquisition system, and controls the bionic walking mechanism to walk; the control system controls the topping system 7 to carry out topping operation according to the crop information acquired by the image acquisition system.
The image acquisition system comprises an RGB-D sensor camera 1; the RGB-D sensor camera 1 is used for collecting images of ridges and crops in front and transmitting the images to the control system.
The bionic walking mechanism comprises a walking motor 10, a first connecting rod mechanism, a second connecting rod mechanism, a first buffer mechanism, a second buffer mechanism and a foot plate 24; the walking motor 10 is arranged on the machine body 8 and is connected with the first connecting rod mechanism; the first link mechanism is arranged on the side edge of the machine body 8 and is connected with the second link mechanism; one end of the first buffer mechanism is connected with the machine body 8, and the other end of the first buffer mechanism is connected with the first connecting rod mechanism; one end of the second buffer mechanism is connected with the machine body 8, and the other end of the second buffer mechanism is connected with the second link mechanism; the foot plate is connected with the second connecting rod mechanism.
The first link mechanism comprises a rocker 14, a link 13 and a first connecting plate 17; one end of the rocker 14 is arranged on the machine body 8 and is connected with the walking motor 10, and the other end of the rocker is connected with one end of the connecting rod 13; the other end of the link 13 is connected to one end of a first link plate 17, and the other end of the first link plate 17 is connected to the body 8.
The second link mechanism comprises a third slider 20, a third slider table 21, a second connecting plate 23 and a third connecting plate 22; one end of the second connecting plate 23 is connected with the connecting rod 13 and the first connecting plate 17, and the other end is connected with the foot plate 24 and one end of the third connecting plate 22; the other end of the third connecting plate 22 is connected with a third slider table 21, the third slider table 21 is connected with one end of a third slider 20, and the third slider table 21 and the third slider 20 can slide relatively; the other end of the third slider 20 is connected to the first connecting plate 17.
The first buffer mechanism comprises a first slide block 15 and a first slide block table 16; one end of the first sliding block 15 is connected with the machine body 8, and the other end is connected with one end of the first sliding block table 16; the other end of the first slider table 16 is connected with a first connecting plate 17; the first slider 15 and the first slider table 16 are relatively slidable.
The second buffer mechanism comprises a second slider 18 and a second slider table 19; one end of the second sliding block 18 is connected with the machine body 8, and the other end is connected with one end of the second sliding block table 19; the other end of the second slider table 19 is connected with a second connecting plate 23; the second slider 18 and the second slider stage 19 are relatively slidable.
The topping system 7 comprises a supporting frame 30, a ball screw device 31, an automatic telescopic device 32 and a cutting device; the support frame 30 is installed at the upper part of the machine body 8; the ball screw device 31 is mounted on the support frame 30; the automatic expansion device 32 is mounted on the ball screw device 31 and can move up and down along the ball screw device 31; the step motor 34 is installed on the automatic telescopic device 32, the cutting device comprises a cutting knife 33 and the step motor 34, and an output shaft of the step motor 34 is connected with a cutter shaft of the cutting knife 33 and can drive the cutting knife 33 to rotate.
The image acquisition system further comprises a hyperspectral meter; the hyperspectral instrument is used for collecting pest information on crops and transmitting the pest information to the control system; the topping system 7 further comprises a spraying device, wherein the spraying device comprises a spray head 35 and a medicament box 11; the spray head 35 is arranged on the automatic telescopic device 32, and the medicament box 11 is arranged inside the machine body 8; the spray head 35 is connected with the chemical tank 11, and the control system controls the operation of the spray head 35 according to pest information collected by the spectrometer on crops.
The control system comprises an image processor 2, a motor driver 3 and an industrial personal computer 4; the image processor 2 is respectively connected with the RGB-D sensor camera 1, the hyperspectral instrument and the industrial personal computer 4, and the image processor 2 is used for receiving the image data of the RGB-D sensor camera 1 and the hyperspectral instrument, processing the image data, identifying ridgeline, crops and pest information and transmitting the ridgeline, the crops and pest information to the industrial personal computer 4; the industrial personal computer 4 is respectively connected with the image processor 2 and the motor driver 3, the industrial personal computer 4 receives signals of the image processor 2, the industrial personal computer 4 performs path planning according to ridged line information, and the motor driver 3 is controlled to drive the walking motor 10 to walk; the industrial personal computer 4 controls the automatic telescopic device 32 and the stepping motor 34 to perform topping operation according to crop information; the industrial personal computer 4 controls the operation of the spray head 35 according to the pest information.
The control system further comprises a server 12; the server 12 is connected to the industrial personal computer 4 and the mobile phone client, and is configured to receive signals from the mobile phone client and transmit machine information of the industrial personal computer 4 to the mobile phone client.
The power supply system comprises a lithium battery pack 5 and a solar panel 6; the lithium battery pack 5 and the solar panel 6 are arranged on the machine body 8; the lithium battery pack 5 is connected to a solar panel 6.
As shown in fig. 2, according to this embodiment, preferably, two groups of bionic walking mechanisms are disposed on two external sides of the machine body 8; the image acquisition system is positioned at the front part of the machine body 8; the topping system is positioned above the machine body 8; the control system and the power supply system are positioned inside the machine body 8; according to this embodiment, the fuselage 8 is preferably 300-500 mm wide, 550-700 mm long, and 150-200 mm high.
The power supply system is connected with the image acquisition system, the bionic walking mechanism, the control system and the topping system and supplies power;
the control system is connected with the image acquisition system, the bionic walking mechanism and the topping system, and is used for judging according to images acquired by the image acquisition system and controlling the bionic walking mechanism and the topping system to work.
Preferably, the RGB-D sensor camera 1 is mounted on the front of the body 8, and is responsible for acquiring front image information, preferably, ridge lines and crop images, and transmitting the collected front image information to the control system.
According to this embodiment, preferably, the image acquisition system further includes a hyperspectral apparatus, the hyperspectral apparatus acquires pest information on crops and transmits the pest information to the control system, the hyperspectral apparatus is connected with a neural network to identify the pests of the top crops, the neural network firstly acquires pest images to generate a data set, then makes machine learning training, and then verifies the training result that if the effect is not good, parameters of the machine learning training are optimized, and if the effect is feasible, the identification service occurs.
According to the present embodiment, preferably, as shown in fig. 3, a walking motor 10 of the bionic walking mechanism is installed in the body 8 and is connected with the first link mechanism; the first link mechanism is arranged outside the machine body 8 and is connected with the second link mechanism; the first buffer mechanism is arranged outside the machine body 8 and is connected with the first connecting rod mechanism; the second buffer mechanism is arranged outside the machine body 8 and is connected with the second link mechanism; the foot plate is connected with the second connecting rod mechanism.
The first link mechanism comprises a rocker 14, a link 13 and a first connecting plate 17; one end of the rocker 14 is arranged outside the machine body 8 and connected with the walking motor 10, and the other end of the rocker is connected with one end of the connecting rod 13; one end of the first connecting plate 17 is arranged outside the machine body 8, and the other end of the first connecting plate is connected with the other end of the connecting rod 13; the first link mechanism and the traveling motor 10 form an active device, and the rocker 14 can synchronously rotate when the traveling motor 10 rotates to drive the link 13 and the first connecting plate 17 to move.
The second link mechanism comprises a third slider 20, a third slider table 21, a second connecting plate 23 and a third connecting plate 22; one end of the second connecting plate 23 is connected with the connecting rod 13 and the first connecting plate 17, and the other end is connected with the foot plate 24 and one end of the third connecting plate 22; one end of the third connecting plate 22 is connected with the second connecting plate 23, and the other end is connected with the third sliding block table 21; the third slider table 21 is connected to the third slider 20, and the third slider table 21 and the third slider 20 can slide relatively; one end of the third slider 20 is mounted on the first connecting plate 17; the second connecting plate 23 can not rotate along with the shaft, and the whole angle is unchanged, so that the second connecting plate moves synchronously along with the connecting point of the connecting rod 13 and the first connecting plate 17 when the walking motor 10 drives the connecting rod 13 and the first connecting plate 17 to move, and the whole movement of the bionic walking mechanism is realized.
The foot board 24 rotates synchronously with the third connecting board 22, so that when the third connecting board 22 rotates, the foot board 24 can be lifted and put down to simulate the foot motion of the cat.
The first buffer mechanism comprises a first slide block 15 and a first slide block table 16; one end of a first sliding block 15 is arranged outside the machine body 8, and the other end of the first sliding block is connected with a first sliding block table 16; one end of a first slider table 16 is mounted on a first connection plate 17; the first slider 15 and the first slider table 16 are relatively slidable;
the second buffer mechanism comprises a second slider 18 and a second slider table 19; one end of the second sliding block 18 is arranged outside the machine body 8, and the other end is connected with the second sliding block table 19; one end of the second slider table 19 is mounted on the second connecting plate 23; the second slider 18 and the second slider stage 19 are relatively slidable.
The first buffer mechanism and the second buffer mechanism can buffer when the bionic walking mechanism moves to touch and leave the ground, so that excessive vibration is prevented from being generated, abrasion to parts is reduced, the service life of the bionic walking mechanism is effectively prolonged, and the reliability of operation of the bionic walking mechanism is improved.
In addition, the embodiment preferably comprises four groups of bionic walking mechanisms, namely a first bionic walking mechanism 901, a second bionic walking mechanism 902, a third bionic walking mechanism 903 and a fourth bionic walking mechanism 904, so that the forward movement, the backward movement, the rising and the squatting of the machine are realized, the walking mechanisms can be provided with angle sensors, the turning and the line changing of the machine are realized by changing the motor differential speed, the four groups of bionic walking mechanisms are respectively controlled by four motors 10, the precision of the foot drop point of the walking machine can be improved, the walking speed of the walking machine can also be improved, each group of walking mechanisms can be provided with angle sensors, and the turning of the walking machine can be realized by controlling the rotation angle of the walking mechanisms. Can be applied to mountain land and paddy field. When the machine walks, the first bionic walking mechanism 901 and the third bionic walking mechanism 903 are taken out, and the second bionic walking mechanism 902 and the fourth bionic walking mechanism 904 are kept stationary in situ to play a supporting role. When the body moves in place, the first bionic walking mechanism 901 and the third bionic walking mechanism 903 are put down, and the four legs stand on the balance. Then, the second bionic walking mechanism 902 and the fourth bionic walking mechanism 904 take turns to step forward, and the first bionic walking mechanism 901 and the third bionic walking mechanism 903 in the previous half period are supported. When the machine body moves to a new position, the second bionic walking mechanism 902 and the fourth bionic walking mechanism 904 are put down, and the four legs are grounded to keep a standing posture. This is a full walking periodic action, alternating in cycles to achieve the overall forward movement of the machine.
According to the embodiment, preferably, the front bionic walking mechanism and the rear bionic walking mechanism are 330-350 mm apart and have a phase difference of 180 degrees, corresponding direct current motors are selected to drive four groups of bionic walking mechanisms according to a power formula p=m×g×v, the bionic walking mechanisms are connected by crank rocker slide block devices, the walking postures of bionic cats of the bionic walking mechanisms are referred to a crank rocker design manual, a closed loop link mechanism is formed, the link mechanism is connected by slide blocks, the rocking bars 14 are integrated, the link 13 is connected with a first connecting plate 17 to form an active device, and the first slide block 15, the first slide block table 16, the first connecting plate 17, the second slide block 18, the second slide block table 19, the third slide block table 21, the third slide block 20, the second connecting plate 23 and the third connecting plate 22 form a track generating mechanism and transfer motion tracks to the foot plates 24. The bionic four-foot travelling mechanism is driven by four motors respectively, four groups of travelling mechanisms are controlled by four motors respectively, so that the precision of foot falling points of the walking machinery can be improved, the walking speed of the walking machinery can also be improved, each group of travelling mechanisms is provided with an angle sensor, and the turning angle of each group of travelling mechanisms can be controlled to realize turning and turning. Can be applied to mountain land and paddy field. According to the preferred embodiment, the rocker 14 is 90mm long, the connecting rod 13 is 710mm long, the first connecting plate 17 is 350mm long, the first slider 15 is 140mm long, the first slider stage 16 is 200mm long, the second slider 18 is 190mm long, the second slider stage 19 is 350mm long, the third slider 20 is 250mm long, the third slider stage 21 is 350mm long, the third connecting plate is 150mm long, and the second connecting plate 23 is 450mm long.
As shown in fig. 4, the supporting frame 30 of the topping system 7 is installed at the upper portion of the body 8; the ball screw device 31 is mounted on the support frame 30; the ball screw device 31 has the advantages of small friction loss, high transmission efficiency, high precision, incapability of self-locking and reversibility of transmission. The automatic telescopic device 32 is arranged on the ball screw device 31 and can be telescopic up and down along the ball screw device 31 to adjust the height; the cutting device is arranged on the automatic telescopic device 32 and comprises a cutting knife 33 and a stepping motor 34, and the stepping motor 34 can drive the cutting knife 33 to perform topping operation; when the height of the automatic telescopic device 32 is adjusted, the stepping motor 34 is driven to drive the cutting knife 33 to cut the top crops, and the cutting knife 33 is a disc knife, so that the top crops can be cut rapidly.
The topping system 7 further comprises a spraying device, wherein the spraying device comprises a spray head 35 and a medicament box 11; the spray head 35 is arranged on the automatic telescopic device 32, and the medicament box 11 is arranged inside the machine body 8; the spray head 35 is connected with the chemical tank 11, and if the pest control system is identified, the spray head 35 is controlled to spray and kill pests.
According to the present embodiment, preferably, the lithium battery pack 5 of the power supply system is installed inside the machine body 8 to supply power to the rest of the devices; the solar panel 6 is installed inside the body 8 and is capable of charging the lithium battery pack 5.
The working process of the intelligent multifunctional field management device of the bionic walking mechanism comprises the following steps:
as shown in fig. 5, the invention adopts a visual navigation technology, a neural network identification technology, an intelligent topping spray technology and a remote control technology, an RGB-D sensor camera 1 is arranged at the front end of a machine body 8 to collect field image information, the RGB-D sensor camera 1 is connected with an image processor 2, and the image processor 2 identifies ridgeline and field situation to carry out path planning through the neural network according to the image information collected by the RGB-D sensor camera 1 and identifies topping crops to carry out positioning. As shown in fig. 6, the hyperspectral apparatus is connected with a neural network to identify crop pests, the neural network firstly collects and generates a data set through pest images, then makes machine learning training, then checks the training result, if the training result is poor, the parameters of the machine learning training are optimized, if the training result is feasible, the identification service occurs, the image processor 2 is connected with an industrial personal computer 4 in a control system through wires, the industrial personal computer 4 is connected with a motor driver 3, and the industrial personal computer 4 processes the data and controls the motor driver 3, and controls a walking motor 10, a stepping motor 34 and motor driving in the topping system 7.
As shown in fig. 7, four groups of travelling mechanisms are respectively provided with four groups of travelling motors 10 to realize the forward movement, the backward movement, the rising and the squatting of the machine, the machine is in a standing posture at the beginning, then the first bionic travelling mechanism 901 and the diagonal third bionic travelling mechanism 903 are taken out, and the second bionic travelling mechanism 902 and the fourth bionic travelling mechanism 904 are kept stationary in situ to play a supporting role. When the body moves in place, the first bionic walking mechanism 901 and the third bionic walking mechanism 903 at opposite angles are put down, and four legs stand on balance. Then, the second bionic walking mechanism 902 and the fourth bionic walking mechanism 904 stride forward, and the walking mechanism of the former upper half period is supported. When the machine body moves to a new position, the first bionic walking mechanism 901 and the third bionic walking mechanism 903 at opposite angles are put down, and four legs are landed to keep a standing posture. This is a full walking periodic motion, alternating in cycles to achieve forward movement of the robot. The turning and line changing of the machine are realized by changing the differential speed of the motor, and each group of travelling mechanisms is provided with an angle sensor, so that the turning angle can be controlled to realize the turning and turning around. As shown in fig. 8 and 9, fig. 8 is a trace diagram of a foot plate of the walking mechanism of the invention, and fig. 9 is a trace diagram of a rocker of a driving part of the walking mechanism of the invention, the bionic walking mechanism of the invention can effectively simulate the walking action of cats, adapt to the terrains of paddy fields and mountain lands, and finish the operation.
When the machine moves to a set position, the topping system 7 can adjust the height of the automatic telescopic device 32 through the ball screw 31, and after the adjustment is finished, the stepping motor 34 and the motor in the automatic telescopic device 32 are driven to perform full-scale topping on topping crops, and if pests are identified in the period, the spray head 35 is controlled to perform spraying and disinfestation. The machine can be remotely controlled through a Linux system, the mobile phone client is connected with the server 12 in the machine through WiFi, the server 12 transmits collected machine information to the client, and remote control of the client can be achieved. The power required for the whole machine can come from the lithium battery pack 5 and the solar panel 6.
It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the various embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (7)
1. The field management device based on the bionic walking mechanism is characterized by comprising a machine body (8), an image acquisition system, the bionic walking mechanism, a control system, a power supply system and a topping system (7);
two groups of bionic walking mechanisms are arranged on two sides of the exterior of the machine body (8); the topping system is positioned at the upper part of the machine body (8);
the power supply system is respectively connected with the image acquisition system, the bionic walking mechanism, the control system and the topping system;
the image acquisition system is used for acquiring ridgeline and crop information and transmitting the ridgeline and crop information to the control system;
the control system is respectively connected with the image acquisition system, the bionic walking mechanism and the topping system, performs path planning according to ridgeline information acquired by the image acquisition system, and controls the bionic walking mechanism to walk; the control system controls the topping system (7) to perform topping operation according to the crop information acquired by the image acquisition system;
the bionic walking mechanism comprises a walking motor (10), a first connecting rod mechanism, a second connecting rod mechanism, a first buffer mechanism, a second buffer mechanism and a foot plate (24);
the walking motor (10) is arranged on the machine body (8) and is connected with the first connecting rod mechanism; the first connecting rod mechanism is arranged on the side edge of the machine body (8) and is connected with the second connecting rod mechanism; one end of the first buffer mechanism is connected with the machine body (8), and the other end of the first buffer mechanism is connected with the first connecting rod mechanism; one end of the second buffer mechanism is connected with the machine body (8), and the other end of the second buffer mechanism is connected with the second link mechanism; the foot plate is connected with the second connecting rod mechanism;
the first link mechanism comprises a rocker (14), a connecting rod (13) and a first connecting plate (17); one end of the rocker (14) is arranged on the machine body (8) and is connected with the walking motor (10), and the other end of the rocker is connected with one end of the connecting rod (13); the other end of the connecting rod (13) is connected with one end of a first connecting plate (17), and the other end of the first connecting plate (17) is connected with the machine body (8);
the second link mechanism comprises a third sliding block (20), a third sliding block table (21), a second connecting plate (23) and a third connecting plate (22); one end of the second connecting plate (23) is connected with the connecting rod (13) and the first connecting plate (17), and the other end of the second connecting plate is connected with one end of the foot plate (24) and one end of the third connecting plate (22); the other end of the third connecting plate (22) is connected with a third sliding block table (21), the third sliding block table (21) is connected with one end of a third sliding block (20), and the third sliding block table (21) and the third sliding block (20) can slide relatively; the other end of the third sliding block (20) is connected with the first connecting plate (17);
the first buffer mechanism comprises a first sliding block (15) and a first sliding block table (16); one end of the first sliding block (15) is connected with the machine body (8), and the other end of the first sliding block is connected with one end of the first sliding block table (16); the other end of the first sliding block table (16) is connected with a first connecting plate (17); the first slide block (15) and the first slide block table (16) can slide relatively;
the second buffer mechanism comprises a second sliding block (18) and a second sliding block table (19); one end of the second sliding block (18) is connected with the machine body (8), and the other end of the second sliding block is connected with one end of the second sliding block table (19); the other end of the second sliding block table (19) is connected with a second connecting plate (23); the second slider (18) and the second slider table (19) are relatively slidable.
2. The bionic walking mechanism-based field management device according to claim 1, wherein the image acquisition system comprises an RGB-D sensor camera (1); the RGB-D sensor camera (1) is used for collecting images of the ridge and crops in front and transmitting the images to the control system.
3. The field management device based on a bionic walking mechanism according to claim 2, wherein the topping system (7) comprises a support frame (30), a ball screw device (31), an automatic telescopic device (32) and a cutting device;
the support frame (30) is arranged at the upper part of the machine body (8); the ball screw device (31) is arranged on the supporting frame (30); the automatic telescopic device (32) is arranged on the ball screw device (31) and can move up and down along the ball screw device (31); the stepping motor (34) is arranged on the automatic telescopic device (32), the cutting device comprises a cutting knife (33) and the stepping motor (34), an output shaft of the stepping motor (34) is connected with a cutter shaft of the cutting knife (33), and the cutting knife (33) can be driven to rotate.
4. The bionic walking mechanism based field management device of claim 3, wherein the image acquisition system further comprises a hyperspectral meter; the hyperspectral instrument is used for collecting pest information on crops and transmitting the pest information to the control system; the topping system (7) further comprises a spraying device, wherein the spraying device comprises a spray head (35) and a medicament box (11); the spray head (35) is arranged on the automatic telescopic device (32), and the medicament box (11) is arranged in the machine body (8); the spray head (35) is connected with the medicament box (11), and the control system controls the operation of the spray head (35) according to pest information collected by the spectrometer on crops.
5. The field management device based on the bionic walking mechanism according to claim 4, wherein the control system comprises an image processor (2), a motor driver (3) and an industrial personal computer (4);
the image processor (2) is respectively connected with the RGB-D sensor camera (1), the hyperspectral instrument and the industrial personal computer (4), the image processor (2) is used for receiving the image data of the RGB-D sensor camera (1) and the hyperspectral instrument, processing the image data, identifying ridgeline, crops and pest information and transmitting the ridgeline, the crops and pest information to the industrial personal computer (4);
the industrial personal computer (4) is respectively connected with the image processor (2) and the motor driver (3), the industrial personal computer (4) receives signals of the image processor (2), the industrial personal computer (4) performs path planning according to ridgeline information, and the motor driver (3) is controlled to drive the walking motor (10) to walk; the industrial personal computer (4) controls the automatic telescopic device (32) and the stepping motor (34) to perform topping operation according to crop information; the industrial personal computer (4) controls the operation of the spray head (35) according to the pest information.
6. The bionic-travelling-mechanism-based field management device according to claim 5, wherein the control system further comprises a server (12); the server (12) is respectively connected with the industrial personal computer (4) and the mobile phone client and is used for receiving signals of the mobile phone client and transmitting machine information of the industrial personal computer (4) to the mobile phone client.
7. The field management device based on a bionic walking mechanism according to claim 1, characterized in that the power supply system comprises a lithium battery pack (5) and a solar panel (6); the lithium battery pack (5) and the solar panel (6) are arranged on the machine body (8); the lithium battery pack (5) is connected with the solar panel (6).
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