CN206639047U - A kind of field crop information gathering machine people - Google Patents
A kind of field crop information gathering machine people Download PDFInfo
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- CN206639047U CN206639047U CN201720448069.XU CN201720448069U CN206639047U CN 206639047 U CN206639047 U CN 206639047U CN 201720448069 U CN201720448069 U CN 201720448069U CN 206639047 U CN206639047 U CN 206639047U
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Abstract
A kind of field crop information gathering machine people, can adjust mobile platform including width, be provided with adjustable mobile platform dynamical system, semi-automatic GPS navigation system, information acquisition system, circuit control system, robot operation management system, dispenser water charging system and shading with from light-supplementing system；The width can adjust mobile platform and include width adjustable body construction, amphibious wheel mechanism and dynamical system, and dynamical system drives amphibious wheel mechanism to rotate；The utility model provides a kind of across ridge type field crop phenotypic information collection robot, and the robot architecture is compact, simple to operate, feature-rich, polymorphic type field applicability is good, field smooth running is high, load capacity is strong, the accurate phenotypic information acquisition function of individual plant crop can be achieved.Experiment porch and data medium are provided for the follow-up monitoring for carrying out soil information and young plant character and analysis, plant computer vision analysis, car body itself satellite and inertial navigation and the experiment of seeding and fertilizing moisturizing dispenser critical component.
Description
Technical field
A kind of field crop information gathering machine people is the utility model is related to, especially with regard to a kind of intelligent crop field high definition
Crop phenotype information and soil information collecting robot.
Background technology
" accurate agricultural " is the new model of 21 century agricultural, is the core of Digital Agriculture and the inexorable trend of agricultural development.
The starting point of " accurate agricultural " technology is the acquisition and processing of farmland Back ground Information, therefore intelligent, efficient, precision agricultural letter
Breath collection robot is the most important thing in accurate agricultural equipment architecture.The agricultural robot of high intelligence gradually starts to substitute simultaneously
Traditional agriculture labor type, promote the process of agricultural modernization.
Many countries are all carrying out the research and development of agriculture as the foundation of the economy information acquiring technology both at home and abroad at present, wherein mainly grinding
Studying carefully direction has：Satellite remote sensing acquisition technique, unmanned aerial vehicle remote sensing acquisition technique, agricultural robot acquisition technique.The above two possess work
The features such as industry area is wide, and collecting efficiency is high, at the same it is also low with acquisition precision, and the activity duration is limited, affected by environment big, function
It is the shortcomings of single, not high by property plus inconvenient for operation, the requirement of all kinds of field tests can not be met.
For problem above, the utility model discloses a kind of intelligentized field crop phenotypic information to adopt with soil information
Collect robot.Scalable body system, information gathering and control system, transmission system for the robot carry out structure with
Optimization.Develop it is a kind of it is compact-sized, simple to operate, feature-rich, polymorphic type field applicability is good, field smooth running
High, the accurate phenotypic information collection of strong, the achievable individual plant crop of load capacity and the joyful collection of soil robot.The utility model
Led for follow-up development soil and the monitoring of young plant character with analysis, plant computer vision analysis, car body itself satellite and inertia
Boat provides experiment porch and data medium with the experiment of seeding and fertilizing moisturizing dispenser critical component.
The content of the invention
In view of the shortcomings of the prior art, the purpose of this utility model is to provide a kind of across ridge type field crop phenotypic information and adopted
Collect robot, the robot architecture is compact, simple to operate, feature-rich, polymorphic type field applicability is good, field smooth running
High, the accurate phenotypic information acquisition function of strong, the achievable individual plant crop of load capacity.Carry out soil information and young plant character to be follow-up
Monitoring and analysis, plant computer vision analysis, car body itself satellite and inertial navigation and seeding and fertilizing moisturizing dispenser key
Component test provides experiment porch and data medium.
In order to solve the above technical problems, technical scheme is used by the utility model：A kind of field crop information gathering
Robot, including width can adjust mobile platform, and dynamical system, semi-automatic GPS navigation system are provided with adjustable mobile platform
System, information acquisition system, circuit control system, robot operation management system, dispenser water charging system and shading and self-complementary spectrum
System；The width can adjust mobile platform and include width adjustable body construction, amphibious wheel mechanism and dynamical system, move
Force system drives amphibious wheel mechanism to rotate；
The width, which can adjust body construction, includes vehicle frame, nested width adjustment mechanism, big nut, stepper motor, the
One chain and the first sprocket wheel；The nested width adjustment mechanism includes fixing bearing, the zinc-plated tubular construction of nested type and driving wire
Bar；Unitized frame is welded by square steel, and the width adjustment mechanism is welded on vehicle frame rear and front end, described drive lead screw one end
Be connected with the bearing and the first sprocket wheel, the other end is connected with the big nut being welded on vehicle frame, one of drive lead screw with
Stepper motor is connected, and two drive lead screws are connected by the first chain.
Preferably, the amphibious wheel mechanism includes wheel mount, interior hexagonal bearing, hexagonal steel shaft, land and water two
Dwell wheel, the second sprocket wheel and the second chain, the wheel mount is welded on below vehicle frame, and the hexagonal bearing is arranged on wheel
On mounting bracket, second sprocket wheel and wheel are sequentially arranged in hexagonal steel shaft, spacing by screw, and with the hexagonal
Bearing is engaged, and second sprocket wheel is connected by the second chain with the dynamical system.
Preferably, the dynamical system includes motor, arrangement of clutch and transmission device, the motor by motor rack with it is described
Arrangement of clutch is bolted on electric baseboard, and electric baseboard is bolted on vehicle frame article carrying platform；First tooth
Wheel is fixed on motor shaft, and first gear is meshed with the second gear in the arrangement of clutch；The arrangement of clutch is by spline
Axle, second gear, draw ring and spring composition, wherein spline housing is set in by key connection second gear, spring and the 3rd sprocket wheel
On splined shaft, spring is also connected with bearing, the spline, the 3rd sprocket wheel and the second chain（21）The dynamic device of composition.
Preferably, the semi-automatic GPS navigation system is led including wireless remote-control system, inertial navigation system and GPS location
Boat system；
The wireless remote-control system includes Digiplex, robot signal receiving/transmission device, and Digiplex passes through machine
People's signal receiving/transmission device is connected with control terminal；The Digiplex includes radio signals transceiver, remote-control handle, at signal
Chip is managed, remote-control handle is connected with signal processing chip, and signal processing chip is connected with radio signals transceiver, the robot
Signal receiving/transmission device is communicated by PPM communication protocols with Digiplex, is mounted on vehicle frame；
The inertial navigation system includes inertial navigation sensors, and inertial navigation sensors are connected with data processing equipment；
The GPS navigation system includes GPS location sensor, and GPS location sensor is connected with data processing equipment；Data processing equipment
It is connected with control terminal and robot signal receiving/transmission device, data processing equipment is also connected with navigation control system.
Preferably, described information acquisition system includes soil information collecting system and crop phenotype information acquisition system,
The soil information collecting system includes soil information collecting sensor, sensor and broken ground device, the sensor
The device that breaks ground is mounted on vehicle frame, is connected using fastening bolt, and the sensor device that breaks ground includes the first stepper motor and silk
Bar, the break ground lower end of device of sensor are provided with soil information collecting sensor, first stepper motor and the screw mandrel and cunning
Block forms mobile device, and the sensor device that breaks ground is mounted on sliding block, and the soil information collecting sensor is adopted with information
Collection control system is connected；
The phenotypic information acquisition system include industrial camera, the second stepper motor, central screw mandrel, mobile screw mandrel, slide rail,
From steady head, information acquisition control system, the central screw mandrel is mounted in platform central, mobile screw mandrel and cunning with platform both sides
Rail is connected, and the mobile screw mandrel and slide rail of both sides are connected to below vehicle frame；It is described to be mounted in from steady head on central screw mandrel；Industrial phase
Machine is mounted in from steady head, the central screw mandrel, the second stepper motor, from steady head and head rotating device by circuit with
Information acquisition control system is connected.
Preferably, the circuit control system includes 24V electric power systems and control system；
The electric power system includes battery pack, lowering and stabilizing blood pressure device, electric quantity display device and undervoltage protection；Battery
Group is connected with undervoltage protection, and undervoltage protection is connected with lowering and stabilizing blood pressure device, and battery pack also shows with electricity and filled
Put connection；
The control system includes platform control system, information acquisition control system, navigation control system, internet communication
System, the platform control system receive the navigation control system and internet communication system, the platform control system to
Information acquisition control system sends order.
Preferably, the robot operation management system includes cloud server, PC ends and robot terminal, and robot is whole
End is connected by cloud server with PC ends；
It is logical that the cloud server includes protocol communication system, Database Systems, instant messages processing and reponse system, view
News system is connected with instant messages processing with reponse system, and instant messages processing is connected with reponse system with Database Systems, institute
State Database Systems and store each terminal feedack, instant messages processing is effectively treated with reponse system to data；
The PC ends include monitor supervision platform and information interaction system；The monitor supervision platform connects cloud by information interaction system
Server is held to show robot working condition, described information interactive system exchanges number by the communications protocol with cloud server
According to；
The robot terminal includes signal receiving/transmission device and signal processing apparatus, and the signal receiving/transmission device receives high in the clouds
Server sends information and makes feedback, and signal receiving/transmission device is connected with signal processing apparatus.The signal processing apparatus is to letter
Number handled and with described information acquisition system, circuit control system, scalable optical image acquisition platform, semi-automatic navigation
System passes through serial ports interactive information.
Preferably, the dispenser water charging system includes automatic dispenser water replanishing device and control device, automatic dispenser moisturizing dress
Put fluid box and flusher including being fixed on vehicle frame；Control device includes the relay being connected with circuit control system,
Relay is on flusher.
Preferably, with including light source, shaded frame, shadow shield from light-supplementing system, the shaded frame welds for square steel for the shading
It is connected into frame to be bolted on above vehicle frame, is connected between shaded frame by hinge；The shadow shield is covered in outside shaded frame
Portion；The light source is connected to frame downward, is connected with control system；The control system is mounted on vehicle frame.
The specific advantage of the utility model type is as follows：
First, adjustable across the ridge type field crop phenotypic information collection robot of the utility model extension type width, is adopted
It is replaceable with telescopic mechanism, front-wheel drive, trailing wheel, it is adapted to a variety of field environment, it is possible to achieve paddy field, nonirrigated farmland are dual-purpose；
Second, the utility model uses bi-motor structure, turned to, realized in field operation freely using differential method
Motion；
Third, light-supplementing system is provided with the utility model with from steady system, ensureing to gather high definition under a variety of optical conditions
Phenotypic information；
Fourth, the utility model is mutually aided in using a variety of navigation modes, the mode of cloud server monitoring, ensure machine
People's job safety；
Fifth, the utility model uses " internet+" management mode, make robot manipulating task type, job area wider
It is general；
Sixth, the utility model loading capacity is high, it can be to carry a variety of data sampling sensors in the later stage, carry out soil to be follow-up
The monitoring of information and young plant character is applied with analysis, plant computer vision analysis, car body itself satellite and inertial navigation and sowing
Fertile critical component experiment provides experiment porch and data medium.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples：
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation that the utility model width can adjust mobile platform；
Fig. 3 is the structural representation of the utility model drive lead screw；
Fig. 4 is the drive mechanism schematic diagram of the utility model wheel portion；
Fig. 5 is the structural representation of the utility model dynamical system；
Fig. 6 is the semi-automatic navigation system schematic diagram of the utility model；
Fig. 7 is the utility model soil information collecting system structural representation；
Fig. 8 is the utility model phenotypic information acquisition system structural representation；
Fig. 9 is the utility model circuit control system schematic diagram；
Figure 10 is the utility model robot operation management system schematic diagram；
Figure 11 be the utility model shading with from light-supplementing system schematic diagram.
Embodiment
As shown in figure 1, a kind of field crop information gathering machine people, including width can adjust mobile platform 10, adjustable
Save mobile platform 10 be provided with dynamical system 13, semi-automatic GPS navigation system 1, information acquisition system 8, circuit control system 4,
Robot operation management system 11, dispenser water charging system 3 and shading with from light-supplementing system 2；The width can adjust mobile platform
10 can adjust body construction 27, amphibious wheel mechanism 15 and dynamical system 13 comprising width, and dynamical system 13 drives amphibious
Wheel mechanism 15 rotates；
As in Figure 2-4, the width, which can adjust body construction 27, includes vehicle frame 24, nested width adjustment mechanism, big
Nut 19, stepper motor 26, the first chain 25 and the first sprocket wheel 23；The nested width adjustment mechanism includes fixing bearing
22nd, the zinc-plated tubular construction of nested type and screw mandrel 12；Unitized frame is welded by square steel, and the width adjustment mechanism is welded on vehicle frame
24 rear and front ends, described one end of drive lead screw 12 are connected with the sprocket wheel 23 of bearing 22 and first, and the other end is with being welded on vehicle frame
Big nut 19 on 24 connects, and one of drive lead screw 12 is connected with stepper motor 26, and two drive lead screws 12 pass through the first chain
Bar 25 connects.
Preferably, the amphibious wheel mechanism 15 include wheel mount 16, interior hexagonal bearing 20, hexagonal steel shaft,
Amphibious wheel 41, the second sprocket wheel 17 and the second chain 21, the wheel mount 16 are welded on below vehicle frame 24, and described six
Angle bearing is arranged on wheel mount 16, and second sprocket wheel 17 and wheel 41 are sequentially arranged in hexagonal steel shaft, by tight
It is spacing to determine screw, and is engaged with the hexagonal bearing, second sprocket wheel 17 passes through the second chain 21 and the dynamical system
13 connections.
Preferably, it is described as shown in figure 5, the dynamical system 13 includes motor 28, arrangement of clutch 33 and transmission device 9
Motor 28 is bolted on electric baseboard 7 by motor rack 5 and the arrangement of clutch 33, and electric baseboard 7 is consolidated by bolt
It is scheduled on the article carrying platform of vehicle frame 24；First gear 29 is fixed on motor shaft, in first gear 29 and the arrangement of clutch 33
Second gear 31 is meshed；The arrangement of clutch 33 is made up of splined shaft 30, second gear 31, draw ring 32 and spring 34, wherein
Spline housing is set on splined shaft 30 by key connection second gear 31, the sprocket wheel 18 of spring 34 and the 3rd, and spring 34 is gone back and bearing
35 connections, the spline 30, the 3rd sprocket wheel 18 and the dynamic device 9 of the second chain 21 composition.
Preferably, as shown in fig. 6, the semi-automatic GPS navigation system 1 includes wireless remote-control system, inertial navigation system
And GPS location navigation system；
The wireless remote-control system includes Digiplex 0100, robot signal receiving/transmission device 0200, Digiplex
0100 is connected by robot signal receiving/transmission device 0200 with control terminal；The Digiplex 0100 is received including radio signals
Device 0111, remote-control handle 0113, signal processing chip 0112 are sent out, remote-control handle 0113 is connected with signal processing chip 0112, is believed
Number process chip 0112 is connected with radio signals transceiver 0111, and the robot signal receiving/transmission device 0200 is communicated by PPM
Agreement is communicated with Digiplex 0100, is mounted on vehicle frame 24；
The inertial navigation system includes inertial navigation sensors 0600, and inertial navigation sensors 0600 fill with data processing
Set to 0 400 connections；The GPS navigation system includes GPS location sensor 0500, and GPS location sensor 0500 fills with data processing
Set to 0 400 connections；Data processing equipment 0400 is connected with control terminal and robot signal receiving/transmission device 0200, data processing dress
400 are set to 0 also to be connected with navigation control system 0802.
Preferably, described information acquisition system 8 includes soil information collecting system and crop phenotype information acquisition system,
Broken ground device as shown in fig. 7, the soil information collecting system includes soil information collecting sensor 39, sensor
38, the sensor device 38 that breaks ground is mounted on vehicle frame, is connected using fastening bolt, and the sensor device 38 that breaks ground includes
First stepper motor 37 and screw mandrel 36, the break ground lower end of device 38 of sensor are provided with soil information collecting sensor 39, and described
One stepper motor 37 and the screw mandrel 36 and sliding block form mobile device, and the sensor device 38 that breaks ground is mounted on sliding block,
The soil information collecting sensor 39 is connected with information acquisition control system；The soil information collecting sensor 39 uses
Ms-10 soil moisture sensors.
As shown in figure 8, the phenotypic information acquisition system includes industrial camera 43, the second stepper motor 45, central screw mandrel
42nd, screw mandrel 40, slide rail 41 moved, be mounted in platform from steady head 44, information acquisition control system 0803, the central screw mandrel 42
Center, it is connected with the mobile screw mandrel 40 and slide rail 41 of platform both sides, the mobile screw mandrel 40 and slide rail 41 of both sides are connected to vehicle frame 24
Lower section；It is described to be mounted in from steady head 44 on central screw mandrel 42；Industrial camera 43 is mounted in from steady head 44, the central silk
Bar 42, the second stepper motor 45, from steady head 44 and head rotating device pass through circuit and the phase of information acquisition control system 0803
Even.
Preferably, as shown in figure 9, the circuit control system 4 includes 24V electric power systems 0700 and control system 0800；
The electric power system includes battery pack 0701, lowering and stabilizing blood pressure device 0703, electric quantity display device 0704 and low-voltage
Protection device 0702；Battery pack 0701 is connected with undervoltage protection 0702, undervoltage protection 0702 and lowering and stabilizing blood pressure
Device 0703 is connected, and battery pack 0701 is also connected with electric quantity display device 0704；
The control system 0800 includes platform control system 0801, information acquisition control system 0803, Navigation Control system
System 0802, internet communication system 0900, the platform control system 0801 receive the navigation control system 0802 and interconnection
Net communication system 0900, the platform control system 0801 send order to information acquisition control system 0803.
Preferably, as shown in Figure 10, the robot operation management system 11 includes cloud server, PC ends 1500 and machine
Device people terminal 1000, robot terminal 1000 are connected by cloud server with PC ends 1500；
The cloud server includes protocol communication system 1100, Database Systems 1400, instant messages processing and feedback
System 1200, view communication system 1100 are connected with instant messages processing with reponse system 1200, and instant messages processing is with feedback
System 1200 is connected with Database Systems 1400, and the Database Systems store each terminal feedack, instant messages processing and
Reponse system is effectively treated to data；
The PC ends 1500 include monitor supervision platform 1501 and information interaction system 1502；The monitor supervision platform 1501 passes through letter
Cease interactive system 1502 and connect cloud server display robot working condition, described information interactive system 1502 passes through described logical
News agreement exchanges data with cloud server；
The robot terminal includes signal receiving/transmission device 1001 and signal processing apparatus 1002, the signal receiving/transmission device
1001 reception cloud servers send information and make feedback, and signal receiving/transmission device 1001 is connected with signal processing apparatus 1002.
The signal processing apparatus 1002 signal is handled and with described information acquisition system 8, circuit control system 4, scalable
Optical image acquisition platform, semi-automatic navigation system pass through serial ports interactive information.
Preferably, the dispenser water charging system 3 includes automatic dispenser water replanishing device and control device, automatic dispenser moisturizing dress
Put fluid box and flusher including being fixed on vehicle frame 24；Control device includes the relay being connected with circuit control system 4
Device, relay is on flusher.
Preferably, as shown in figure 11, the shading from light-supplementing system 2 with including light source 47, shaded frame, shadow shield 46, institute
State shaded frame and be welded into frame for square steel and be bolted on the top of vehicle frame 24, connected between shaded frame by hinge；The screening
Tabula rasa 46 is covered in outside shaded frame；The light source 47 is connected to the bottom of vehicle frame 24, is connected with control system；The control system
It is mounted on vehicle frame 24.
The present apparatus utilizes its telescopic body construction, can across field operation, using the darkroom oneself provided above,
Completely cut off lamp and can voluntarily light filling, vehicle body has removable from steady head, individual plant crop can be entered between field
Row precise crop phenotypic information gathers.Simultaneously field soil information can be gathered using soil information collecting system.Simultaneously for
Collect data and pc ends are shared to by internet real-time Transmission time server.The device has automated navigation system simultaneously.It can pacify
Fill the path planning automatic running of pc end personnel.
The above embodiments are only optimal technical scheme of the present utility model, and are not construed as limit of the present utility model
System, the technical scheme that the scope of protection of the utility model should be recorded with claim, including the technical scheme that claim is recorded
The equivalents of middle technical characteristic are protection domain.Equivalent substitution i.e. within this range is improved, also in the utility model
Protection domain within.
Claims (10)
- A kind of 1. field crop information gathering machine people, it is characterised in that：Mobile platform is can adjust including width（10）, adjustable Save mobile platform（10）It is provided with dynamical system（13）, semi-automatic GPS navigation system（1）, information acquisition system（8）, circuit control System processed（4）, robot operation management system（11）, dispenser water charging system（3）And shading with from light-supplementing system（2）；The width The adjustable mobile platform of degree（10）Body construction is can adjust comprising width（27）, amphibious wheel mechanism（15）And dynamical system （13）, dynamical system（13）Drive amphibious wheel mechanism（15）Rotate.
- A kind of 2. field crop information gathering machine people according to claim 1, it is characterised in that：The width adjustable car Body structure（27）Including vehicle frame（24）, nested width adjustment mechanism, big nut（19）, stepper motor（26）, the first chain （25）And first sprocket wheel（23）；The nested width adjustment mechanism includes fixing bearing（22）, the zinc-plated tubular construction of nested type and Drive lead screw（12）；Unitized frame is welded by square steel, and the width adjustment mechanism is welded on vehicle frame（24）Rear and front end, institute State drive lead screw（12）One end and the bearing（22）With the first sprocket wheel（23）Connection, the other end is with being welded on vehicle frame（24）On Big nut（19）Connection, one of drive lead screw（12）With stepper motor（26）It is connected, two drive lead screws（12）Pass through first Chain（25）Connection.
- A kind of 3. field crop information gathering machine people according to claim 2, it is characterised in that：The amphibious wheel Mechanism（15）Including wheel mount（16）, interior hexagonal bearing（20）, hexagonal steel shaft, amphibious wheel（41）, the second sprocket wheel （17）And second chain（21）, the wheel mount（16）It is welded on vehicle frame（24）Lower section, the hexagonal bearing are arranged on car Take turns mounting bracket（16）On, second sprocket wheel（17）And wheel（41）It is sequentially arranged in hexagonal steel shaft, is limited by screw Position, and be engaged with the hexagonal bearing, second sprocket wheel（17）Pass through the second chain（21）With the dynamical system（13） Connection.
- A kind of 4. field crop information gathering machine people according to claim 3, it is characterised in that：The dynamical system（13） Including motor（28）, arrangement of clutch（33）And transmission device（9）, the motor（28）By motor rack（5）With the arrangement of clutch （33）It is bolted on electric baseboard（7）On, electric baseboard（7）It is bolted on vehicle frame（24）On article carrying platform； First gear（29）It is fixed on motor shaft, first gear（29）With the arrangement of clutch（33）In second gear（31）Mutually nibble Close；The arrangement of clutch（33）By splined shaft（30）, second gear（31）, draw ring（32）And spring（34）Composition, wherein spline Set passes through key connection second gear（31）, spring（34）And the 3rd sprocket wheel（18）It is set in splined shaft（30）On, spring（34）Also With bearing（35）Connection, the spline（30）, the 3rd sprocket wheel（18）And second chain（21）The dynamic device of composition（9）.
- A kind of 5. field crop information gathering machine people according to claim 1, it is characterised in that：The semi-automatic GPS is led Boat system（1）Including wireless remote-control system, inertial navigation system and GPS location navigation system；The wireless remote-control system includes Digiplex（0100）, robot signal receiving/transmission device（0200）, Digiplex（0100）Pass through robot signal transmitting and receiving Device（0200）It is connected with control terminal；The Digiplex（0100）Including radio signals transceiver（0111）, remote control hand Handle（0113）, signal processing chip（0112）, remote-control handle（0113）With signal processing chip（0112）Connection, signal transacting core Piece（0112）With radio signals transceiver（0111）Connection, the robot signal receiving/transmission device（0200）Pass through PPM communication protocols View and Digiplex（0100）Communicated, be mounted in vehicle frame（24）On；The inertial navigation system passes comprising inertial navigation Sensor（0600）, inertial navigation sensors（0600）With data processing equipment（0400）Connection；The GPS navigation system includes GPS location sensor（0500）, GPS location sensor（0500）With data processing equipment（0400）Connection；Data processing equipment （0400）With control terminal and robot signal receiving/transmission device（0200）Connection, data processing equipment（0400）Also with Navigation Control System（0802）Connection.
- A kind of 6. field crop information gathering machine people according to claim 1, it is characterised in that：Described information acquisition system （8）Comprising soil information collecting system and crop phenotype information acquisition system, the soil information collecting system is believed comprising soil Breath collection sensor（39）, sensor breaks ground device（38）, the sensor breaks ground device（38）It is mounted on vehicle frame, using tight Fixing bolt connects, and the sensor breaks ground device（38）Including the first stepper motor（37）And screw mandrel（36）, sensor breaks ground dress Put（38）Lower end be provided with soil information collecting sensor（39）, first stepper motor（37）With the screw mandrel（36）It is and sliding Block forms mobile device, and the sensor breaks ground device（38）It is mounted on sliding block, the soil information collecting sensor（39） It is connected with information acquisition control system；The phenotypic information acquisition system includes industrial camera（43）, the second stepper motor （45）, central screw mandrel（42）, mobile screw mandrel（40）, slide rail（41）, from steady head（44）, information acquisition control system（0803）, The central screw mandrel（42）Platform central is mounted in, the mobile screw mandrel with platform both sides（40）And slide rail（41）It is connected, both sides Mobile screw mandrel（40）And slide rail（41）It is connected to vehicle frame（24）Lower section；It is described from steady head（44）It is mounted in central screw mandrel（42） On；Industrial camera（43）It is mounted in from steady head（44）On, the central screw mandrel（42）, the second stepper motor（45）, from steady cloud Platform（44）And head rotating device passes through circuit and information acquisition control system（0803）It is connected.
- A kind of 7. field crop information gathering machine people according to claim 1, it is characterised in that：The circuit control system （4）Including 24V electric power systems（0700）With control system（0800）；The electric power system includes battery pack（0701）, decompression it is steady Pressure device（0703）, electric quantity display device（0704）And undervoltage protection（0702）；Battery pack（0701）Protected with low-voltage Protection unit（0702）Connection, undervoltage protection（0702）With lowering and stabilizing blood pressure device（0703）Connection, battery pack（0701）Also With electric quantity display device（0704）Connection；The control system（0800）Including platform control system（0801）, information gathering control System processed（0803）, navigation control system（0802）, internet communication system（0900）, the platform control system（0801）Connect By the navigation control system（0802）With internet communication system（0900）, the platform control system（0801）Adopted to information Collect control system（0803）Send order.
- A kind of 8. field crop information gathering machine people according to claim 1, it is characterised in that：The robot operation pipe Reason system（11）Including cloud server, PC ends（1500）With robot terminal（1000）, robot terminal（1000）Pass through cloud Hold server and PC ends（1500）Connection；The cloud server includes protocol communication system（1100）, Database Systems （1400）, instant messages processing and reponse system（1200）, discuss communication system（1100）With instant messages processing and reponse system （1200）Connection, instant messages processing and reponse system（1200）With Database Systems（1400）Connection, the Database Systems Each terminal feedack is stored, instant messages processing is effectively treated with reponse system to data；The PC ends（1500） Include monitor supervision platform（1501）And information interaction system（1502）；The monitor supervision platform（1501）Pass through information interaction system （1502）Connect cloud server and show robot working condition, described information interactive system（1502）Pass through the communications protocol Data are exchanged with cloud server；The robot terminal includes signal receiving/transmission device（1001）And signal processing apparatus （1002）, the signal receiving/transmission device（1001）Cloud server is received to send information and make feedback, signal receiving/transmission device （1001）With signal processing apparatus（1002）Connection.
- A kind of 9. field crop information gathering machine people according to claim 1, it is characterised in that：The dispenser water charging system （3）Including automatic dispenser water replanishing device and control device, automatic dispenser water replanishing device includes being fixed on vehicle frame（24）On liquid Case and flusher；Control device includes and circuit control system（4）The relay of connection, relay is on flusher.
- A kind of 10. field crop information gathering machine people according to claim 1, it is characterised in that：The shading with it is self-complementary Photosystem（2）Including light source（47）, shaded frame, shadow shield（46）, the shaded frame is that square steel is welded into frame and is bolted In vehicle frame（24）Top, connected by hinge between shaded frame；The shadow shield（46）It is covered in outside shaded frame；The light source （47）It is connected to vehicle frame（24）Bottom, it is connected with control system；The control system is mounted in vehicle frame（24）On.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720448069.XU CN206639047U (en) | 2017-04-26 | 2017-04-26 | A kind of field crop information gathering machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720448069.XU CN206639047U (en) | 2017-04-26 | 2017-04-26 | A kind of field crop information gathering machine people |
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| Publication Number | Publication Date |
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| CN206639047U true CN206639047U (en) | 2017-11-14 |
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| CN201720448069.XU Expired - Fee Related CN206639047U (en) | 2017-04-26 | 2017-04-26 | A kind of field crop information gathering machine people |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272221A (en) * | 2020-02-28 | 2020-06-12 | 南京慧瞳作物表型组学研究院有限公司 | Five-dimensional data acquisition vehicle for field crop phenotype |
| CN111766239A (en) * | 2020-06-22 | 2020-10-13 | 华中农业大学 | Potted plant photosynthetic rate high-throughput measuring robot |
| CN112804452A (en) * | 2021-01-06 | 2021-05-14 | 华南农业大学 | Intelligent phenotype collection trolley and collection method based on high-stalk crops |
| CN114088042A (en) * | 2021-11-22 | 2022-02-25 | 东北农业大学 | Plant phenotype acquisition unmanned vehicle |
-
2017
- 2017-04-26 CN CN201720448069.XU patent/CN206639047U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272221A (en) * | 2020-02-28 | 2020-06-12 | 南京慧瞳作物表型组学研究院有限公司 | Five-dimensional data acquisition vehicle for field crop phenotype |
| CN111766239A (en) * | 2020-06-22 | 2020-10-13 | 华中农业大学 | Potted plant photosynthetic rate high-throughput measuring robot |
| CN111766239B (en) * | 2020-06-22 | 2021-06-08 | 华中农业大学 | Potted plant photosynthetic rate high-throughput measuring robot |
| CN112804452A (en) * | 2021-01-06 | 2021-05-14 | 华南农业大学 | Intelligent phenotype collection trolley and collection method based on high-stalk crops |
| CN114088042A (en) * | 2021-11-22 | 2022-02-25 | 东北农业大学 | Plant phenotype acquisition unmanned vehicle |
| CN114088042B (en) * | 2021-11-22 | 2024-01-26 | 东北农业大学 | Unmanned vehicle for plant phenotype acquisition |
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