CN210616540U - Obstacle avoidance robot for farmland environment monitoring - Google Patents
Obstacle avoidance robot for farmland environment monitoring Download PDFInfo
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- CN210616540U CN210616540U CN201920926195.0U CN201920926195U CN210616540U CN 210616540 U CN210616540 U CN 210616540U CN 201920926195 U CN201920926195 U CN 201920926195U CN 210616540 U CN210616540 U CN 210616540U
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Abstract
The embodiment of the utility model discloses a keep away barrier robot for farmland environmental monitoring, it includes: the chassis, be fixed in the environmental monitoring device on the chassis, environmental monitoring device include a supporting seat be equipped with the spout in the supporting seat, install in the spout and follow the gliding slide bar of spout, be fixed with the environmental monitoring sensor on the slide bar, camera device is installed at the top of supporting seat, wherein, infrared radar is all installed to the front end and the rear end on chassis, ultrasonic wave generating device and adapter are installed respectively to the front end and the both sides on chassis. The embodiment of the utility model provides a keep away barrier robot for farmland environmental monitoring, fixed environment monitoring device on the chassis can be to farmland environmental information acquisition ability greatly increased.
Description
Technical Field
The embodiment of the utility model provides a keep away barrier robot technical field, concretely relates to keep away barrier robot for farmland environmental monitoring.
Background
With the development of science and technology, farmland crop management and farmland environment monitoring are gradually replaced by original manual monitoring and machine monitoring. Especially, agricultural robot's development, however, current agricultural robot can only do simple action in limited within range, and the farmland environment is more complicated, and the requirement of keeping away barrier robot monitoring at present can't be satisfied in original obstacle structure setting of keeping away, how to strengthen the obstacle-avoiding ability of robot in the farmland, help farmland monitoring robot to cover more spaces in the farmland, and the scope of application is wider to satisfy the demand of farmland robot in the farmland environment.
In summary, the existing robot applied to the farmland has the defects of poor obstacle avoidance capability and poor acquisition capability of relevant information in the farmland environment, and further improvement is urgently needed.
SUMMERY OF THE UTILITY MODEL
Therefore, the embodiment of the utility model provides a keep away barrier robot for farmland environmental monitoring to solve among the prior art farmland and use robot and keep away the poor, information acquisition ability of barrier ability, the limited problem of information acquisition scope.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
the embodiment of the utility model provides a keep away barrier robot for farmland environmental monitoring, it includes: the environment monitoring device comprises a supporting seat, a sliding chute is arranged in the supporting seat, a sliding rod capable of sliding along the sliding chute is arranged in the sliding chute, an environment monitoring sensor is fixed on the sliding rod, a camera device is arranged at the top of the supporting seat, infrared radars are arranged at the front end and the rear end of the chassis, and an ultrasonic generating device and a pickup are respectively arranged at the front end and two sides of the chassis;
the environment monitoring device is characterized in that a controller is installed in the chassis and used for controlling the environment monitoring device, the camera device, the infrared radar, the sound pickup and the ultrasonic generating device to execute actions.
Preferably, the camera device comprises a first motor for controlling the camera to horizontally rotate and a second motor for controlling the camera to vertically rotate.
Preferably, the first motor is fixed to the top of the supporting seat, a rotating shaft of the first motor is connected with the second motor through a fixing frame, and a rotating shaft of the second motor is connected with the camera.
Preferably, the environment monitoring sensor comprises a temperature and humidity sensor, a wind speed sensor and an optical radiation sensor.
Preferably, a servo motor is arranged in the supporting seat, a screw rod is installed in the sliding groove, a rotating shaft of the servo motor is connected with the screw rod, and one end of the sliding rod is rotatably connected with the screw rod.
Preferably, the chassis is provided with a crawler travelling mechanism suitable for complex road conditions and a wheel travelling mechanism suitable for flat road conditions.
Preferably, the chassis is further provided with a receiving antenna connected with the controller.
Preferably, a GPS positioning device connected with the controller is further installed in the chassis.
The embodiment of the utility model provides a have following advantage:
the embodiment of the utility model provides an obstacle avoidance robot for farmland environmental monitoring, an environment monitoring device is fixed on a chassis, and the farmland environmental information acquisition capacity can be greatly increased; the chassis is also provided with an infrared radar and an ultrasonic generating device, so that the obstacle avoidance capability of the robot is improved; due to the arrangement of the wheel type travelling mechanism and the crawler type travelling mechanism, the obstacle avoidance capability of the robot is enhanced, and the stability of information acquisition of the environment monitoring device is improved; the utility model discloses camera device's setting has improved the scope of information collection greatly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.
Fig. 1 is a schematic structural view of an obstacle avoidance robot for monitoring a farmland environment according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a camera device according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an obstacle avoidance robot for monitoring farmland environment according to an embodiment of the present invention;
in the figure: 100-a chassis; 200-an environmental monitoring device; 210-a support base; 211-environmental monitoring sensors; 212-a servo motor; 213-a slide bar; 300-a receiving antenna; 400-a camera device; 410-a first motor; 420-a second motor; 430-a fixing frame; 500-infrared radar; 600-an ultrasonic wave generating device;
Detailed Description
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 to 3, the utility model discloses an obstacle avoidance robot for farmland environmental monitoring, it includes: the chassis 100, be fixed in the environmental monitoring device 200 on the chassis 100, environmental monitoring device 200 includes a supporting seat 210, be equipped with the spout in the supporting seat 210, install in the spout and follow the gliding slide bar 213 of spout, be fixed with the environmental monitoring sensor on the slide bar 213, camera device 400 is installed at the top of supporting seat 210, be equipped with servo motor 212 in the supporting seat 210, servo motor 212's pivot and screw connection, the lead screw is installed in the spout, slide bar 213 rotates with the lead screw to be connected. By means of the sliding rod 213 on the supporting seat 210, different height positions of the monitoring sensor can be adjusted, the environments with different heights can be monitored, environmental meteorological data in a large range can be collected, and a basis is provided for the management of farm crops. Wherein, the front end and the rear end of the chassis 100 are both provided with the infrared radar 500, and the front end and two sides of the chassis 100 are respectively provided with the ultrasonic wave generating device 600; install the controller in chassis 100, the controller is used for controlling environment monitoring device 200, camera device 400, infrared radar 500 and ultrasonic wave generating device 600 execution action, signal through infrared radar 500 and ultrasonic wave generating device 600 are sent, it is corresponding, install the adapter on chassis 100 and meet the ultrasonic wave that the barrier was rebounded in order to receive the ultrasonic wave, the controller is according to infrared radar 500 and ultrasonic wave to the monitoring signal of barrier, the corresponding obstacle avoidance action in control chassis 100, avoid chassis 100 to touch and touch the barrier.
Specifically, in the embodiment of the utility model provides an in, terminal equipment mainly by man-machine dialogue module, calculation center module and storage module, storage module is connected with man-machine dialogue module, calculation center module respectively. The controller comprises a transmission module, a control module, a power supply module and an execution module, wherein the power supply module is respectively connected with the transmission module, the control module, the power supply module and the execution module. The controller is connected with the terminal equipment through the transmission module. After receiving the instruction of the terminal equipment, the controller receives the acknowledgement information, stores and executes the acknowledgement information, and gives a control instruction to acquire data and control data, wherein the instruction executed by the execution module is as follows: acquiring GPS data to determine the coordinates of the current position of the robot, calling the instruction coordinates of terminal equipment, planning a path and executing; reading a communication base station, peripheral WIFI signal values and destination zigbee signals of a robot in the process of moving, and compensating crop positioning data; and in the moving process of the robot, the controller reads infrared data in real time and monitors whether an obstacle exists in front of the moving robot or not. Determining the shape of an obstacle, whether the obstacle moves, the moving speed and the like through ultrasonic waves, adjusting the moving speed or the barrier according to the shape, and monitoring the conditions of the road condition in front, whether the road condition is muddy or puddled and the like by using the ultrasonic waves; the robot analyzes the video shot by the camera device during traveling, when the road conditions are complex and cannot be judged, the video is transmitted to the background equipment terminal for worker judgment, and after the robot reaches the destination, the robot searches for a measuring target according to the crop characteristics through the video and measures the height of the crop. And giving a measurement data instruction according to the crop height obtained by video analysis, controlling the mechanical arm to move to the canopy height by the controller, simultaneously controlling the environmental sensor to measure, and after the measurement is finished, moving the mechanical arm to the next measurement position to continue the measurement.
The camera 400 includes a first motor 410 for controlling the camera to rotate horizontally and a second motor 420 for controlling the camera to rotate vertically, and the camera can rotate 360 ° in the horizontal direction by the first motor 410. The first motor 410 is fixed on the top of the supporting seat 210, the rotating shaft of the first motor 410 is connected with the second motor 420 through the fixing frame 430, the rotating shaft of the second motor 420 is connected with the camera, and the second motor 420 can enable the camera to rotate up and down to realize pitching motion, so that the camera can collect image data in the range of the vertical direction. The first motor 410 and the second motor 420 are both connected with a controller, and under the control of the controller, the camera can collect image data in different spaces.
The environment monitoring sensor 211 comprises a temperature and humidity sensor, a wind speed sensor, an optical radiation sensor and the like, and various environmental information in the environment can be comprehensively collected through different types of sensors on the environment monitoring device, so that various information in the environment can be more accurately and comprehensively collected.
The chassis 100 is provided with a crawler traveling mechanism adapted to a complex road condition and a wheel traveling mechanism adapted to a flat road condition. Specifically, the crawler traveling mechanism is located at the outer side of both sides of the chassis 100, and the wheel traveling mechanism is located at the inner side of both sides of the chassis 100. When the wheel type travelling mechanism is needed, the controller can control the hydraulic rod of the wheel type travelling mechanism to extend, the wheel type travelling mechanism extends to contact with the ground to support the whole chassis 100, and meanwhile, the crawler type travelling mechanism is separated from the ground to realize the travelling of the wheel type travelling mechanism. The controller of the embodiment of the utility model controls the crawler-type running gear and the wheel-type running gear, when the robot runs on the road surface with complex unevenness, the controller controls the crawler-type running gear to run to adapt to various road conditions with complex unevenness; when the vehicle runs on a flat road surface, the controller controls the wheel type travelling mechanism to travel, and the wheel type travelling mechanism has the characteristics of high speed, flexible travelling, low energy consumption, low abrasion, good damping effect and stable running, and is beneficial to acquiring relatively stable and reliable information in the running process.
The chassis 100 is further provided with a receiving antenna 300 connected with a controller, the controller is in communication connection with a terminal device through the receiving antenna 300, and the terminal device is connected through the internet or the GPRS. Still be fixed with the GPS positioner who is connected with the controller in the chassis 100, GPS positioner fixes a position with WIFI, GPRS location and fixes a position jointly, and through indoor outer location and signal compensation algorithm, data strengthen location data precision and adaptive capacity to environment in coordination.
The embodiment of the utility model provides a keep away barrier robot for farmland environmental monitoring, during the use, remove through the running gear on the chassis, through infrared radar and ultrasonic wave response road surface condition and barrier when the robot is close to the barrier, and then select to use crawler-type running gear or wheeled running gear through the controller. Meanwhile, when a large obstacle is encountered, the chassis can be controlled to steer to avoid the obstacle, the controller monitors the environment by controlling the environment monitoring device, collects relevant environment data information in the environment, and controls the sliding rod to move according to the environment data information in the required space to realize the collection of images and environment information data in different space ranges.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. The utility model provides a keep away barrier robot for farmland environmental monitoring which characterized in that includes: the environment monitoring device comprises a supporting seat, a sliding chute is arranged in the supporting seat, a sliding rod capable of sliding along the sliding chute is arranged in the sliding chute, an environment monitoring sensor is fixed on the sliding rod, a camera device is arranged at the top of the supporting seat, infrared radars are arranged at the front end and the rear end of the chassis, and an ultrasonic generating device and a pickup are respectively arranged at the front end and two sides of the chassis;
the environment monitoring device is characterized in that a controller is installed in the chassis and used for controlling the environment monitoring device, the camera device, the infrared radar, the sound pickup and the ultrasonic generating device to execute actions.
2. An obstacle avoidance robot for farmland environment monitoring as claimed in claim 1,
the camera device comprises a first motor for controlling the camera to horizontally rotate and a second motor for controlling the camera to vertically rotate.
3. An obstacle avoidance robot for farmland environment monitoring as claimed in claim 2,
the first motor is fixed to the top of the supporting seat, the rotating shaft of the first motor is connected with the second motor through a fixing frame, and the rotating shaft of the second motor is connected with the camera.
4. An obstacle avoidance robot for farmland environment monitoring as claimed in claim 1,
the environment monitoring sensor comprises a temperature and humidity sensor, a wind speed sensor and an optical radiation sensor.
5. An obstacle avoidance robot for farmland environment monitoring as claimed in claim 1,
be equipped with servo motor in the supporting seat, install the lead screw in the spout, servo motor's pivot with lead screw connection, the one end of slide bar with lead screw rotates to be connected.
6. An obstacle avoidance robot for farmland environment monitoring as claimed in claim 1,
and the chassis is provided with a crawler travelling mechanism suitable for complex road conditions and a wheel travelling mechanism suitable for flat road conditions.
7. An obstacle avoidance robot for farmland environment monitoring as claimed in claim 1,
and the chassis is also provided with a receiving antenna connected with the controller.
8. An obstacle avoidance robot for farmland environment monitoring as claimed in claim 1,
and a GPS positioning device connected with the controller is also arranged in the chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920926195.0U CN210616540U (en) | 2019-06-19 | 2019-06-19 | Obstacle avoidance robot for farmland environment monitoring |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920926195.0U CN210616540U (en) | 2019-06-19 | 2019-06-19 | Obstacle avoidance robot for farmland environment monitoring |
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| CN210616540U true CN210616540U (en) | 2020-05-26 |
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| CN201920926195.0U Active CN210616540U (en) | 2019-06-19 | 2019-06-19 | Obstacle avoidance robot for farmland environment monitoring |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091343A (en) * | 2019-06-19 | 2019-08-06 | 中国农业科学院农业环境与可持续发展研究所 | A kind of robot for farmland environmental information monitoring |
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2019
- 2019-06-19 CN CN201920926195.0U patent/CN210616540U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091343A (en) * | 2019-06-19 | 2019-08-06 | 中国农业科学院农业环境与可持续发展研究所 | A kind of robot for farmland environmental information monitoring |
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