CN209710647U - Agricultural planting auxiliary robot - Google Patents
Agricultural planting auxiliary robot Download PDFInfo
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- CN209710647U CN209710647U CN201822064563.3U CN201822064563U CN209710647U CN 209710647 U CN209710647 U CN 209710647U CN 201822064563 U CN201822064563 U CN 201822064563U CN 209710647 U CN209710647 U CN 209710647U
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- mould group
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- agricultural planting
- planting auxiliary
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Abstract
The utility model provides a kind of agricultural planting auxiliary robot and its automatic job method, robot is connect with client communication, including car body (3), drive front-end driven mechanism (1), the rear end driving mechanism (2) of the car body, anticollision mould group (5) on the car body is set, HD video monitoring and illumination module (6), anterior optic navigates mould group (7), after-vision navigates mould group (8), and is arranged in the intracorporal central processing module of the vehicle and solid state battery.The robot and operational method can make the growth course after crop seeding, whether such as growth data index, environmental data index, water irrigate situation, fertilising situation, need medication situation, pest and disease damage identification, weed identification information that can collect, record and analyze judgement, automatically it takes with water or with fertile or medication measure and movement, intelligent automation management, intelligence dispensing and intelligent acquisition information are able to achieve to crop growth, are suitable for agricultural fining plantation.
Description
Technical field
The invention belongs to a kind of agricultural robots, more particularly, to a kind of agricultural planting auxiliary robot and its automatic job
Method.
Background technique
China's agricultural automation is that a technical scope is wide, the complex art of technical matters complexity, current agricultural kind
Plant, crop seeding fraction situation are replaced manually with equipment, and most of situation is manually, after crop seeding
Whether growth course such as growth data index, environmental data index, water irrigation situation, fertilising situation, needs medication situation, disease
The information such as identifying pest, weed identification are manually to collect and record, and when needing with water or with fertilizer or medication, need people
Work carries out, and can not achieve intelligent automation management, intelligence dispensing and intelligent acquisition information to crop growth.
Summary of the invention
The present invention to solve the above-mentioned problems, provides a kind of agricultural planting auxiliary robot and its automatic job method, should
Robot and operational method can make the growth course after crop seeding, as growth data index, environmental data index, water fill
It irrigates situation, fertilising situation, whether need the information such as medication situation, pest and disease damage identification, weed identification that can collect, record and analysis is sentenced
It is fixed, it is taken automatically with water or with fertilizer or medication measure and movement, intelligent automation management is able to achieve to crop growth, intelligence is thrown
Put with intelligent acquisition information, be suitable for agricultural fining plantation.
What technological means of the invention was realized in.
A kind of agricultural planting auxiliary robot, robot are connect with client communication, including car body (3), drive the vehicle
Front-end driven mechanism (1), the rear end driving mechanism (2) of body, are arranged in the anticollision mould group (5) on the car body, HD video
Monitoring and illumination module (6), anterior optic are navigated mould group (7), and after-vision navigates mould group (8), and setting is intracorporal in the vehicle
Central processing module and solid state battery；The anticollision mould group (5), HD video monitoring and illumination module (6), anterior optic navigation
Mould group (7), after-vision navigation mould group (8) are electrically connected with the central processing module.Robot passes through the front-end driven machine
Structure (1), rear end driving mechanism (2) are walked in land；Robot captures letter by the front and back vision guided navigation mould group, scanning
Breath either presses default work route with preset environmental information comparative analysis, by GPS, leading line, road sign, anticollision mould
Group (5), automatic identification land road conditions, selection optimization route walking；Robot is monitored by HD video and illumination module (6),
The case where recording crop growth, the growth situation of weeds in farmland, in farmland in disease evil situation, data are passed back in control
The heart；Robot by control centre and/or control processing module to mark analyze and judgement, decision take with water or with fertilizer or use
The measure and movement of medicine.In this way, under robot records crops growth track, data are passed back control centre, using autonomous
The health indicator of the special-purpose software analysis crops of research and development and the treatment measures for providing reference；Record the growth of weeds in farmland
Situation passes data back control centre, analyzes weeds to the benefit and harm of crops using the special-purpose software of independent research, and
Advisory opinion is provided using that mode weeding；The situation for recording evil in disease in farmland, passes data back control centre, uses
The special-purpose software of independent research analyzes the pest of damage crops, and provides informative deinsectization method, and robot advises as a result,
Draw production plan, the preset time for being sprayed water to field crops, applying fertilizer (liquid manure), spraying drug and dosage.All systems
It uses solid state battery low-voltage power as the energy, not only safety but also has not polluted the environment.Robot will when setting out or returning
Carry out disinfection (Special sterilizing station), is equipped with dedicated Jia Shui plus fertilizer, dosing, charging work platform.
A kind of agricultural planting auxiliary robot automatic job method is suitable for agricultural planting auxiliary machinery as described above
People, it is characterised in that: following steps are executed,
S1, agricultural planting auxiliary robot are cruised for the first time to job site, and initial environmental data is obtained, and are completed
The configuration of navigation map, and according to artificial setting or automatically derived work route, formulate the plan of corresponding work route；
S2, agricultural planting auxiliary robot to crop growth, environmental standard data carry out it is preset, formulate environment to mark,
Data are to mark and judgment rule；
S3, agricultural planting auxiliary robot are according to work plan and current location, time for setting according to expectation, place
Operation is carried out into scheduled plantation operating area, such as: water spray, fertilising, spray, growth information acquisition, pest and disease damage identification, weeds
Identification etc., whole operation obtains data in real time, sends back to control centre in conjunction with current location information or is uploaded to client；
During executing step S2 and S3, robot records photograph and information by high definition camera lens point inspection equipments,
Data are passed back control centre, to be analyzed using special-purpose software.In this way, commander of the robot in intelligence control system
Under, the guide through road guide and Unmanned Systems carries out operation into scheduled plantation operating area, such as: spraying water, apply
Fertilizer, spray, growth information acquisition, pest and disease damage identification, weed identification, whole operation obtain data in real time, the information that will test
It sends back on control centre or specific communication equipment.After being sequentially completed the operation of each predeterminable area, robot will be in control system
Instruction under press backhaul on the road planned in advance.All systems use solid state battery low-voltage power as the energy, both safe
It does not pollute the environment again.Robot will carry out disinfection (Special sterilizing station) when setting out or returning.Equipped with dedicated Jia Shui, add
Fertilizer, dosing, charging work platform.And its charging is determined according to the case where power management system or carries out next subjob.
Detailed description of the invention
Fig. 1 agricultural planting auxiliary robot structural schematic diagram
Wherein: 1, front-end driven mechanism；2, rear end driving mechanism (containing turning to)；3, robot body；4, laser scanning mould
Group；5, anticollision belt radar mould group；6, HD video monitoring and illumination module；7, anterior optic navigation mould group；8, after-vision is led
Model plane group；9, crop growth environment mould group；10, bracket or so modified gear up and down is sprayed；11, container case；12, sprinkler head；
Specific embodiment
By specific embodiment, the present invention will be described in detail with reference to the accompanying drawing, and the description of this part is only demonstration
Property and explanatory, should not there is any restriction effect to protection scope of the present invention.In addition, those skilled in the art are according to herein
The description of part can carry out the corresponding combination to the feature in embodiment in this document and in different embodiments.
A kind of agricultural planting auxiliary robot, is shown in Fig. 1, and robot is connect with client communication, including car body (3), driving
The anticollision mould group (5) on the car body is arranged in front-end driven mechanism (1), the rear end driving mechanism (2) of the car body, high
Clear video surveillance and illumination module (6), anterior optic are navigated mould group (7), and after-vision navigates mould group (8), and are arranged in the vehicle
Intracorporal central processing module and solid state battery；The anticollision mould group (5), HD video monitoring and illumination module (6), preceding
Vision guided navigation mould group (7), after-vision navigation mould group (8) are electrically connected with the central processing module.Robot is by before described
Driving mechanism (1), rear end driving mechanism (2) is held to walk in land；Robot passes through the front and back vision guided navigation mould group, scanning
Captured information either presses default work route with preset environmental information comparative analysis, and by GPS, leading line, road sign is prevented
It collides mould group (5), automatic identification land road conditions, selection optimization route walking；Robot is monitored and is illuminated mould by HD video
Group (6), the case where recording crop growth, the growth situation of weeds in farmland, in farmland in disease evil situation, data are passed back
Control centre；Robot is by control centre and/or controls analyzing and judge to marking for processing module, and decision is taken with water or use
The measure and movement of fertilizer or medication.In this way, under robot records crops growth track, pass data back control centre, adopt
The health indicator of crops is analyzed with the special-purpose software of independent research and provides the treatment measures of reference；Record weeds in farmland
Growth situation, pass data back control centre, using the special-purpose software analysis weeds of independent research to the benefits of crops and
Harm, and advisory opinion is provided using that mode weeding；The situation for recording evil in disease in farmland, data are passed back in control
The heart, the pest of damage crops is analyzed using the special-purpose software of independent research, and provides informative deinsectization method, as a result,
Robot planning production plan, the preset time for being sprayed water to field crops, applying fertilizer (liquid manure), spraying drug and dosage.
All systems use solid state battery low-voltage power as the energy, not only safety but also have not polluted the environment.Robot is setting out or is returning
It will carry out disinfection at (Special sterilizing station) when returning, be equipped with dedicated Jia Shui plus fertilizer, dosing, charging work platform.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
The front-end driven mechanism 3, rear end driving mechanism 5 are adaptive drive systems before and after 4 wheel driven.Front end rear end driving mechanism tool
There is turning function, by a motor driven four-wheel drive system driving walking, front and back driving mechanism can be turned to, original place 360 degree rotation,
In this way, not having to u-turn, using this front and back drive automatically system in relatively narrow space, it will be able to direct back traveling.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
The front-end driven mechanism 3, rear end driving mechanism 5 constitute two group of two drives front and back adaptive drive system.Front and back end driving machine
Structure has turning function, respectively drives front and back driving mechanism by two motors and constitutes two group of two drive system driving walking, i.e., by one
A motor driven front driving mechanism is coordinated driving respectively, is adapted to different occasions by another motor driven rear drive mechanism,
Some occasions only need forerunner's turn to, some occasions only need rear-guard turn to, some occasions need front and back all drivings to turn to,
Two group of two drive system linkage is adaptive, and front and back driving turns to, in this way, not having to rotation, using this front and back in relatively narrow space
Drive automatically system, it will be able to directly driving to target.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
Robot is connect using locally, remotely control mode with client communication, and the client passes through network and robot server
Connection.In this way, the local communication mode and external cloud service using independent research carry out data backup and process data extraction.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
The anticollision mould group (5) is the anticollision belt radar mould group being arranged on the car body periphery.Anticollision mode has very much
Kind, such as mechanical anticollision, photo-electric anticollision, ultrasonic anti-collision, microwave anticollision etc., using radar mode anticollision, and as band
Style is arranged in the car body periphery, can greatly improve unpiloted safety guarantee.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
Robot is equipped with built-in visual scene navigation redundant system, which is electrically connected with the central processing module.When GPS Beidou
There is mistake or when by external disturbance in positioning, and robot will start built-in visual scene navigation feature, and backtracking is to controlling
Center processed.During normal walking, visual scene navigation is had recorded down the route walked by terrestrial reference reference mode for robot
Come, when external navigation when something goes wrong, robot just starts visual scene navigation redundant system, allows robot backtracking.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
Robot is equipped with laser scanning mould group (4), which is electrically connected with the central processing module.During execution task, when
System detection to vision guided navigation mould group vision when reality mirror image navigation system break down when, will start automatically be arranged in the vehicle
The 4G signal of the laser navigation of the laser scanning mould group (4) of body rear and front end+built-in, allows the returning in control of robot security
The heart.In this way, robot is equipped with spare laser scanning mould group (4), it is equivalent to route guidance redundant system, when vision guided navigation mould group
When failure, by the 4G signal of automatic starting laser navigation+built-in, safety guarantee is improved.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
Robot is equipped with crop growth environment mould group (9), which is electrically connected with the central processing module.In this way, crops are raw
Long environment mould group (9) is independent research, can when record the air quality data in field in fact, wind direction, temperature, humidity, ultraviolet light,
The data such as rainfall, pass control centre back in real time.In conjunction with the growth track of crops, harvest and the field that can estimate crops are more suitable
The long crops of symphysis.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
Robot is equipped with the reception processor of Soil K+adsorption mould group, which is electrically connected with the central processing module.Robot connects
The information of the pre-buried detection mould group in the soil of processing is received, Soil K+adsorption mould group passes farmland current environment data back machine in real time
Valuable data are sent to central control system by people, robot.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
Be arranged on the car body sprinkler head (12, sprinkling bracket or so modified gear (10) up and down, container case (11)；The sprinkling bracket
Left and right modified gear (10) one end connection sprinkler head (12) up and down, the other end connect the container case (11), and with the center
Processing module electrical connection.The case where robot is according to crop growth, the growth situation of weeds in farmland, evil in disease in farmland
The information of situation by control centre and/or controls analyzing and judge to marking for processing module, analyzes the health indicator of crops
And provide the treatment measures of reference, analysis weeds to the benefit and harm of crops, analyze the pest of damage crops and to
Informative deinsectization method out, it was therefore concluded that and opinion determines to take with water or with fertilizer or the measure of medication, and robot control is sprayed
Spill bracket or so modified gear (10) movement up and down.In this way, robot planning production plan, preset to spray to field crops
Water, fertilising (liquid manure), the time for spraying drug and dosage, the time set according to expectation sprays water to field crops,
It applies fertilizer (liquid manure), sprinkling drug.
On the basis of the above embodiment, in another embodiment of the present invention, the container case (11) contains water or water
Chemical fertilizer or liquid drug.In this way, selection corresponding liquid can be contained when being directed to different types of scene, for example, crops
Water, fertilising fashionable dress aquation fertilizer, medication fashionable dress liquid drug are contained when withered.It can also be different to container case (11) lattice frame
Gridiron fills different liquid.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
Robot carries out data with the existing third party's corollary equipment in plantation place and docks.In this way, being installed additional on live third party's corollary equipment
Control module matched with the robot, energy Interworking Data, such as carry out data communication and control, abnormal conditions early warning.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
Robot uses single cpu mode and/or base scheme control.In case of a fault, single cpu mode utilizes APP field control and number
According to exchange；Base mode then carries out field data docking and data exchange using central centralized control.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
Grow directly from seeds into currently practical three dimensional spatial map when reality mirror image navigation system energy when the front and back vision guided navigation mould group vision.Such as
This, compares current scene with vision in the process of walking, generates exclusive space coordinate, route of the robot after system optimization
Upper walking.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
The HD video monitoring and illumination module are configured with high definition camera lens point inspection equipments.In this way, will be counted after recording photograph and information
According to control centre is passed back, analyzed using special-purpose software.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot,
Robot is provided with built-in visual scene navigation redundant system and/or laser scanning mould group (4) and/or crop growth environment
Mould group (9), these systems and/or mould group are electrically connected with the central processing module.In this way, robot is positioned when GPS Beidou
There is mistake or when by external disturbance, when reality mirror image navigation system breaks down when vision, robot will start spare view
Feel scene navigational redundant system, or laser navigation+built-in 4G signal of automatic starting laser scanning mould group (4), allows robot
Safety returns to control centre, improves safety guarantee.In this way, robot is led under the commander of intelligence control system through road
The guide of boat and Unmanned Systems, is monitored and detects to current place fact on the way, to the air matter in operation process
Data are measured, the data such as wind direction, temperature, humidity, ultraviolet light, rainfall are recorded, and information is sent back to control centre or is specifically led to
Believe in equipment.
A kind of agricultural planting auxiliary robot automatic job method is suitable for agricultural planting auxiliary machinery as described above
People executes following steps,
S1, agricultural planting auxiliary robot are cruised for the first time to job site, and initial environmental data is obtained, and are completed
The configuration of navigation map, and according to artificial setting or automatically derived work route, formulate the plan of corresponding work route；
S2, agricultural planting auxiliary robot to crop growth, environmental standard data carry out it is preset, formulate environment to mark,
Data are to mark and judgment rule；
S3, agricultural planting auxiliary robot are according to work plan and current location, time for setting according to expectation, place
Operation is carried out into scheduled plantation operating area, such as: water spray, fertilising, spray, growth information acquisition, pest and disease damage identification, weeds
Identification etc., whole operation obtains data in real time, sends back to control centre in conjunction with current location information or is uploaded to client；
During executing step S2 and S3, robot records photograph and information by high definition camera lens point inspection equipments,
Data are passed back control centre, to be analyzed using special-purpose software.In this way, commander of the robot in intelligence control system
Under, the guide through road guide and Unmanned Systems carries out operation into scheduled plantation operating area, such as: spraying water, apply
Fertilizer, spray, growth information acquisition, pest and disease damage identification, weed identification, whole operation obtain data in real time, the information that will test
It sends back on control centre or specific communication equipment.After being sequentially completed the operation of each predeterminable area, robot will be in control system
Instruction under press backhaul on the road planned in advance.All systems use solid state battery low-voltage power as the energy, both safe
It does not pollute the environment again.Robot will carry out disinfection (Special sterilizing station) when setting out or returning.Equipped with dedicated Jia Shui, add
Fertilizer, dosing, charging work platform.And its charging is determined according to the case where power management system or carries out next subjob.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot
Automatic job method, during executing step S2 and S3, when the positioning appearance of GPS Beidou is wrong or by external disturbance,
Robot will start built-in visual scene navigation feature, backtracking to control centre, robot during normal walking,
Visual scene navigation the route walked is had recorded by terrestrial reference reference mode, when external navigation when something goes wrong, robot
Visual scene navigation redundant system can be started, allow robot backtracking.
Meanwhile during executing step S2 and S3, the robot uses single cpu mode and/or base mode control
System, in case of a fault, using single cpu mode APP, field control and data exchange；Base mode then uses central centralized control
Carry out field data docking and data exchange；
During executing step S2 and S3, robot by crop growth environment mould group, when record made in fact
Air quality data during industry, the data such as wind direction, humidity, ultraviolet light, rainfall, passes control centre back in real time；
During executing step S2 and S3, the reality mirror image navigation system when vision of the system detection to vision guided navigation mould group
When system breaks down, the laser navigation of the laser scanning mould group (4) of the car body rear and front end+built-in is arranged in automatic starting
4G signal, allow robot security's to return to control centre.In this way, robot is equipped with spare laser scanning mould group (4), quite
In route guidance redundant system, when vision guided navigation mould group breaks down, by the 4G signal of automatic starting laser navigation+built-in,
Improve safety guarantee.
On the basis of the above embodiment, in another embodiment of the present invention, the agricultural planting auxiliary robot
Automatic job method, during executing step S2 and S3, under the instruction of control centre, robot is set according to expectation
Time sprayed water, applied fertilizer (liquid manure) to field farming, spraying drug.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of agricultural planting auxiliary robot, robot are connect with client communication, it is characterised in that: including car body (3), drive
Front-end driven mechanism (1), the rear end driving mechanism (2) for moving the car body, are arranged in the anticollision mould group (5) on the car body,
HD video monitoring and illumination module (6), anterior optic are navigated mould group (7), and after-vision navigates mould group (8), are arranged in the car body
On sprinkler head (12), container case (11), one end connects the sprinkler head (12), the other end connects the spray of the container case (11)
Bracket or so modified gear (10) up and down is spilt, and is arranged in the intracorporal central processing module of the vehicle and solid state battery；It is described
Anticollision mould group (5), HD video monitoring and illumination module (6), anterior optic are navigated mould group (7), after-vision navigates mould group (8),
Modified gear (10) is electrically connected with the central processing module sprinkling bracket or so up and down.
2. agricultural planting auxiliary robot according to claim 1, it is characterised in that: the front-end driven mechanism (1), after
Driving mechanism (2) are held to constitute adaptive drive system before and after 4 wheel driven.
3. agricultural planting auxiliary robot according to claim 1, it is characterised in that: the front-end driven mechanism (1), after
Driving mechanism (2) are held to constitute adaptive drive system before and after two group of two drive.
4. agricultural planting auxiliary robot according to claim 1, it is characterised in that: robot is connect with client communication
Using locally, remotely control mode, the client is connect by network with robot server.
5. agricultural planting auxiliary robot according to claim 1, it is characterised in that: the anticollision mould group (5) is to set
Set the anticollision belt radar mould group on car body periphery.
6. agricultural planting auxiliary robot according to claim 1, it is characterised in that: robot is equipped with laser scanning mould group
(4), which is electrically connected with the central processing module.
7. agricultural planting auxiliary robot according to claim 1, it is characterised in that: robot is equipped with crop growth ring
Border mould group (9), the mould group are electrically connected with the central processing module.
8. agricultural planting auxiliary robot according to claim 1, it is characterised in that: container case (11) the splendid attire water,
Aquation fertilizer or liquid drug.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201822064563.3U CN209710647U (en) | 2018-12-10 | 2018-12-10 | Agricultural planting auxiliary robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822064563.3U CN209710647U (en) | 2018-12-10 | 2018-12-10 | Agricultural planting auxiliary robot |
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| CN209710647U true CN209710647U (en) | 2019-12-03 |
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ID=68676664
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112385524A (en) * | 2020-11-17 | 2021-02-23 | 温州职业技术学院 | Networking communication agricultural management system |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112385524A (en) * | 2020-11-17 | 2021-02-23 | 温州职业技术学院 | Networking communication agricultural management system |
| CN112385524B (en) * | 2020-11-17 | 2022-05-27 | 温州职业技术学院 | Networking communication agricultural management system |
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Granted publication date: 20191203 Termination date: 20201210 |