CN207054089U - Self-propelled potted plant variable-rate fertilization robot based on STM32 - Google Patents
Self-propelled potted plant variable-rate fertilization robot based on STM32 Download PDFInfo
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- CN207054089U CN207054089U CN201720963269.9U CN201720963269U CN207054089U CN 207054089 U CN207054089 U CN 207054089U CN 201720963269 U CN201720963269 U CN 201720963269U CN 207054089 U CN207054089 U CN 207054089U
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- potted plant
- stm32
- propelled
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- robot based
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Abstract
Self-propelled potted plant variable-rate fertilization robot based on STM32, including mobile platform, fertilizer apparatus, potted plant identifying system, electric control system；Mobile platform is provided with fertilizer apparatus, potted plant identifying system, electric control system.The fertilizer apparatus includes air inlet pipe, drain pipe, air accumulator, and described air inlet pipe one end connects air accumulator, air inlet pipe other end connection inflator pump.Air accumulator connects multiple feeding solutions by gas manifold.The drain pipe of each feeding solution is connected via flow sensor, magnetic valve with blending tank.The drain pipe is fixed on the robotic arm.The potted plant identifying system is made up of the two-dimensional code scanning rifle of carry on mobile platform.A kind of self-propelled potted plant variable-rate fertilization robot based on STM32 of the utility model, applied fertilizer according to the fertilizer of potted plant required application, it is not necessary to again manually with fertilizer fertilising.The precision of operation is improved, solves the problems, such as scientific research institutions, colleges and universities and flower breeding base well for potted plant variable fertilization.
Description
Technical field
It the utility model is related to a kind of agricultural robot, especially a kind of self-propelled potted plant variable fertilization based on STM32
Robot.
Background technology
Now many scientific research institutions, colleges and universities and flower breeding bases will by it is potted plant come do plant growth experiment and
Cultivate kind.It is wherein a committed step to potted plant fertilising, because the plant of different growth periods is necessary to apply different kind
Apply fertilizer between the fertilizer of class and various dose, or even single plant and also differ, it is manually low and not accurate, it is necessary to design with fertilizer efficiency rate
Potted plant variable-rate fertilization robot meets current needs.
Chinese patent " ZL201620036652.5 "（Authorization Notice No.：CN205320790U）Disclose " it is a kind of it is potted plant from
Dynamic watering, fertilizing device ".The device is that potted plant unification is applied fertilizer by pipeline, but its shortcoming is：Can not be according to different potted plant
Difference needs to carry out variable fertilization, and the pipeline that applies fertilizer is easily because the precipitation of fertilizer results in blockage.
The content of the invention
The purpose of this utility model is in view of the shortcomings of the prior art, there is provided a kind of self-propelled potted plant based on STM32
Variable-rate fertilization robot, the robot is potted plant to identify by scanning the Quick Response Code on potted plant position, and basin is store in single-chip microcomputer
The information of fertilising needed for planting.Robot applies fertilizer according to the fertilizer of potted plant required application, it is not necessary to again manually with fertilizer fertilising.Subtract
Light labor intensity, and the precision of operation is improved, solve scientific research institutions, colleges and universities and flower breeding base pair well
In potted plant variable fertilization problem.
The technical scheme that the utility model is taken is：
Self-propelled potted plant variable-rate fertilization robot based on STM32, including mobile platform, fertilizer apparatus, potted plant identification system
System, electric control system；Mobile platform is provided with fertilizer apparatus, potted plant identifying system, electric control system.
The fertilizer apparatus includes feeding solution, air inlet pipe, drain pipe, air accumulator, inflator pump, magnetic valve, flow sensing
Device, blending tank, feed tube, mechanical arm.Described air inlet pipe one end connects air accumulator, air inlet pipe other end connection inflator pump, by filling
Air pump is to air accumulator supply gas.Air accumulator connects multiple feeding solutions by gas manifold, by air accumulator to each nutrition
Liquid bottle plenum, makes nutrient solution flow to drain pipe from feeding solution.Magnetic valve, flow sensor are provided with drain pipe,
The drain pipe of each feeding solution is connected via flow sensor, magnetic valve with blending tank.The drain pipe is fixed on machinery
On arm.
The potted plant identifying system is made up of the two-dimensional code scanning rifle of carry on mobile platform, and two-dimensional code scanning rifle is used to sweep
Retouch potted plant preceding Quick Response Code.
The electric control system includes：Power module, STM32 one-chip computer modules, motor drive module, signal transacting mould
Block；Modules are individually powered by power module, and the STM32 one-chip computer modules connect motor drive module, signal respectively
Processing module.
The mobile platform includes chassis, wheel, drive chain case, motor, solar panel；Wheel is connected by drive chain case
Motor, wheel are driven by motor and pass through the chain drive in drive chain case；Solar panel is arranged on chassis, solar-electricity
Pond plate connects power module by photovoltaic management system.
The mobile platform is provided with metal detection sensor, is equipped with metal wire on ground, the robot is examined by metal
Survey sensor 8 and identify the metal wire laid on ground, to realize automatically walk.
The mechanical arm includes steering wheel disk, steering wheel, support frame, crossover sub, pull bar；The steering wheel disk is provided with steering wheel,
Steering wheel disk connection support frame, pull bar, support frame end installation crossover sub.
The crossover sub is coordinated with spraying head type fertilizing head by screw thread, is realized flow type and is applied fertilizer with spray-type.
The electric control system also includes wireless remote control module, wireless remote control module connection STM32 one-chip computer modules.Institute
Wireless remote control module is stated for convenience of set by artificial mobile robot.
A kind of self-propelled potted plant variable-rate fertilization robot based on STM32 of the utility model, has the beneficial effect that：
1：The metal wire that robot is laid by identifying on ground realizes automatically walk, and metal wire has easily laying, no
Fearness is covered by soil, during identification the advantages that strong antijamming capability.
2：It is potted plant by Quick Response Code identification of the two-dimensional code scanning rifle scanning before potted plant, and according in STM32 one-chip computer modules
The potted plant fertilising information of storage, automatically to extrude required nutrient solution by air pressure from different feeding solutions, and passes through
The nutrition liquid measure that flow sensor detection control applies, different types of nutrient solution enter blending tank, after mixing, pass through machine
Drain pipe on tool arm, which is oriented to, accurately to be applied into potting soil, realizes potted plant accurate variable fertilization.
3：The robot realizes potted plant accurate automatic variable fertilising, solves conventional pipelines formula fertilising nutrient solution list
One, the problems such as nutrient solution of precipitation easily blocks pipeline.
4：The robot is with strong applicability, and most of potted plant species can be completed preferably to apply fertilizer.And robot
It is that nutrient solution is prepared according to the demand of plant pair nutrient solution, avoids preparation nutrient solution surplus from causing to waste.It is cost-effective same
When improve operating efficiency.
5：In addition, robot has also installed remote control and solar charging device additional, the long-range behaviour to robot is realized
Control and improve the endurance of robot battery.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model.
Fig. 2 is fertilizer apparatus structural representation of the present utility model.
Fig. 3 is mechanical arm of the present utility model, the structural representation of two-dimensional code scanning rifle.
Embodiment
As shown in Fig. 1 ~ Fig. 3, the self-propelled potted plant variable-rate fertilization robot based on STM32, including mobile platform, fertilising dress
Put, potted plant identifying system, electric control system；Mobile platform is provided with fertilizer apparatus, potted plant identifying system, electrical control system
System.
The fertilizer apparatus includes feeding solution 17, air inlet pipe 15, drain pipe 20, air accumulator 16, inflator pump 14, magnetic valve
21st, flow sensor 19, blending tank 23, feed tube 22, mechanical arm.Described one end of air inlet pipe 15 connects air accumulator 16, air inlet pipe
15 other ends connect inflator pump 14, from inflator pump 14 to the supply gas of air accumulator 16；Air accumulator 16 is connected more by gas manifold
Individual feeding solution 17, by air accumulator 16 to each plenum of feeding solution 17, nutrient solution is set to be flowed to from feeding solution 17
Drain pipe 20.Magnetic valve 21, flow sensor 19 are provided with drain pipe 20, the drain pipe 20 of each feeding solution 17 is via stream
Quantity sensor 19, magnetic valve 21 are connected with blending tank 23.The drain pipe 20 is fixed on the robotic arm.
The break-make of magnetic valve 21 determines the outflow species of nutrient solution；Flow sensor 19 determines every kind of nutrient solution outflow
Amount, so as to determine to flow into the use species and dosage of the nutrient solution of blending tank 23.Different nutrient solutions is fully mixed in blending tank 23
After conjunction, air pressure is provided by air accumulator 16, nutrient solution is conveyed to through fixed drain pipe 20 on the robotic arm potted plant, passes through control
The motion of mechanical arm, nutrient solution can be made to be applied to exactly on potted plant soil.
The potted plant identifying system is made up of the two-dimensional code scanning rifle 7 of carry on mobile platform, and two-dimensional code scanning rifle 7 is used for
Scan potted plant preceding Quick Response Code；And the potted plant fertilising information stored according to STM32 one-chip computer modules, determine species and the agent of fertilising
Amount, by controlling magnetic valve 21, flow sensor 19, is realized to potted plant accurate variable fertilization.
The electric control system includes：Power module 6, STM32 one-chip computer modules, motor drive module, signal transacting
Module；Modules are individually powered by power module, and the STM32 one-chip computer modules connect motor drive module, letter respectively
Number processing module.The power module 6 uses 24V battery feeds, and the power supply can also pass through at work in addition to charging energy-storing
Solar panel is charged, and improves the endurance of robot.Solar panel 5 is arranged on chassis 1, solar energy
Cell panel 5 connects power module 6 by photovoltaic management system.
The mobile platform includes chassis 1, wheel 2, drive chain case 3, motor 4, solar panel 5.Wheel 2 passes through chain
Case 3 connects motor 4, and wheel 2 is driven by motor 4 and by the chain drive in drive chain case 3.The wheel 2 is divided to for two independences
Respectively there are three wheels part, the both sides of car, and three wheels per side are driven by a motor and make it by the transmission of chain
All driving wheels, realize six wheel drives of car.Robot is realized the functions such as pivot stud, meet robot
Requirement on flexibility.
The mobile platform is provided with metal detection sensor 8, is equipped with metal wire on ground, the robot is examined by metal
Survey sensor 8 and identify the metal wire laid on ground, to realize automatically walk.
The mechanical arm includes steering wheel disk 9, steering wheel 10, support frame 11, crossover sub 12, pull bar 13；The steering wheel disk 9 is pacified
Equipped with steering wheel 10, steering wheel disk 9 connects support frame 11, pull bar 13, the end of support frame 11 installation crossover sub 12.
The crossover sub 12 is coordinated with spraying head type fertilizing head by screw thread, is realized flow type and is applied fertilizer with spray-type.
The electric control system also includes wireless remote control module, wireless remote control module connection STM32 one-chip computer modules.Institute
Wireless remote control module is stated for convenience of set by artificial mobile robot.
The course of work：
Self-propelled potted plant variable-rate fertilization robot of the utility model based on STM32, is identified by metal detection sensor 8
The metal wire laid on ground realizes automatically walk, by two-dimensional code scanning rifle 7 scan it is potted plant before Quick Response Code, identifying basin
The sequence number of cultivation, according to each potted plant fertilising information of STM32 one-chip computer module memory storages, to determine the species of fertilising and dosage.Apply
Fertile device realizes the accurate application of nutrient solution by mechanical arm after deployed nutrient solution.
Claims (6)
1. the self-propelled potted plant variable-rate fertilization robot based on STM32, including mobile platform, fertilizer apparatus, potted plant identifying system,
Electric control system；Mobile platform is provided with fertilizer apparatus, potted plant identifying system, electric control system；It is characterized in that：
The fertilizer apparatus includes feeding solution（17）, air inlet pipe（15）, drain pipe（20）, air accumulator（16）, inflator pump（14）、
Magnetic valve（21）, flow sensor（19）, blending tank（23）, feed tube（22）, mechanical arm；
The air inlet pipe（15）One end connects air accumulator（16）, air inlet pipe（15）The other end connects inflator pump（14）, by inflator pump
（14）To air accumulator（16）Supply gas；Air accumulator（16）Multiple feeding solutions are connected by gas manifold（17）, pass through gas storage
Tank（16）To each feeding solution（17）Plenum, make nutrient solution from feeding solution（17）In flow to drain pipe（20）；Go out liquid
Pipe（20）On be provided with magnetic valve（21）, flow sensor（19）, each feeding solution（17）Drain pipe（20）Via flow
Sensor（19）, magnetic valve（21）With blending tank（23）It is connected；The drain pipe（20）Fix on the robotic arm；
The potted plant identifying system by carry on mobile platform two-dimensional code scanning rifle（7）Form, two-dimensional code scanning rifle（7）For
Scan potted plant preceding Quick Response Code；
The electric control system includes：Power module（6）, STM32 one-chip computer modules, motor drive module, signal transacting mould
Block；Modules are individually powered by power module, and the STM32 one-chip computer modules connect motor drive module, signal respectively
Processing module.
2. the self-propelled potted plant variable-rate fertilization robot based on STM32 according to claim 1, it is characterised in that：The shifting
Moving platform includes chassis（1）, wheel（2）, drive chain case（3）, motor（4）, solar panel（5）；Wheel（2）Pass through drive chain case
（3）Connect motor（4）, wheel（2）By motor（4）Drive and pass through drive chain case（3）In chain drive；Solar panel
（5）Installed in chassis（1）On, solar panel（5）Power module is connected by photovoltaic management system（6）.
3. the self-propelled potted plant variable-rate fertilization robot based on STM32 according to claim 1, it is characterised in that：The shifting
Moving platform is provided with metal detection sensor（8）, metal wire is equipped with ground, and the robot passes through metal detection sensor（8）
The metal wire laid on identification ground, to realize automatically walk.
4. the self-propelled potted plant variable-rate fertilization robot based on STM32 according to claim 1, it is characterised in that：The machine
Tool arm includes steering wheel disk（9）, steering wheel（10）, support frame（11）, crossover sub（12）, pull bar（13）；The steering wheel disk（9）Installation
There is steering wheel（10）, steering wheel disk（9）Connect support frame（11）, pull bar（13）, support frame（11）End is installed by crossover sub（12）.
5. the self-propelled potted plant variable-rate fertilization robot based on STM32 according to claim 4, it is characterised in that：Described turn
Changing-over head（12）Coordinated with spraying head type fertilizing head by screw thread.
6. the self-propelled potted plant variable-rate fertilization robot based on STM32 according to claim 1, it is characterised in that：The electricity
Gas control system also includes wireless remote control module, wireless remote control module connection STM32 one-chip computer modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720963269.9U CN207054089U (en) | 2017-08-03 | 2017-08-03 | Self-propelled potted plant variable-rate fertilization robot based on STM32 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720963269.9U CN207054089U (en) | 2017-08-03 | 2017-08-03 | Self-propelled potted plant variable-rate fertilization robot based on STM32 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207054089U true CN207054089U (en) | 2018-03-02 |
Family
ID=61519364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720963269.9U Expired - Fee Related CN207054089U (en) | 2017-08-03 | 2017-08-03 | Self-propelled potted plant variable-rate fertilization robot based on STM32 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207054089U (en) |
-
2017
- 2017-08-03 CN CN201720963269.9U patent/CN207054089U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180302 Termination date: 20210803 |