CN213290258U - Based on crawler-type multifunctional robot - Google Patents
Based on crawler-type multifunctional robot Download PDFInfo
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- CN213290258U CN213290258U CN202020512760.1U CN202020512760U CN213290258U CN 213290258 U CN213290258 U CN 213290258U CN 202020512760 U CN202020512760 U CN 202020512760U CN 213290258 U CN213290258 U CN 213290258U
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Abstract
The utility model relates to a based on crawler-type multifunctional robot, include: the system comprises a vehicle body, a walking module, a sensing module, a control module, a communication module, an operation module and a hanging platform; the walking module, the sensing module, the control module, the communication module and the hanging platform are all arranged on the vehicle body, and the operation module is connected with the vehicle body through the hanging platform; the operation module is a picking mechanism, a medicine spraying mechanism or an inspection mechanism; the walking module comprises a driving module and a crawler belt. The utility model discloses a detachable articulates the quick switching that the platform realized multiple operation function, can be suitable for the multiple operation task in the agricultural production process. And simultaneously, the utility model discloses a crawler-type multifunctional robot still possesses the automatic function of patrolling and examining, can start picking, carry out earlier before spouting operation tasks such as medicine and patrol and examine the mode, whether need spouting of crop medicine and the harvesting of fruit be discerned based on machine vision technique, possess stronger automation level, can greatly improve agricultural production efficiency.
Description
Technical Field
The utility model relates to an agricultural robot technical field especially relates to a weeds identification method based on crawler-type multifunctional robot and this robot.
Background
The development of agricultural robots is one of the development trends of automation and intellectualization of agricultural machinery in the 21 st century. Agricultural robots with various characteristics for picking, harvesting, weeding, trimming, farming, grafting, agricultural product grading and the like have been researched, developed and applied in many countries. For example, patent application with publication number CN105746092A discloses a novel crawler-type apple picking robot, which mainly comprises a crawler-type mobile platform, a picking system and a control system, and is characterized in that four apple picking mechanical ARMs are integrated on the crawler-type mobile platform, the control system adopts an ARM processor to fuse and process various sensor information on the picking mechanical ARMs and the end effector to obtain corresponding control signals, so as to correspondingly control servo motors on the picking mechanical ARMs and the end effector and drive the picking mechanical ARMs and the end effector to automatically pick apples. Patent application publication No. CN103380766A discloses an automatic pesticide spraying robot for greenhouses, which comprises a rail walking part, a pesticide spraying part fixed on the rail walking part, and a control part respectively connected with the rail walking part and the pesticide spraying part. However, these agricultural robots have only specific functions, are adapted to specific environments, have poor versatility, and are inconvenient to expand and improve the system.
SUMMERY OF THE UTILITY MODEL
For solving the technical defect, the utility model provides a multi-functional agricultural robot can articulate the platform through the detachable and realize the quick switching of multiple operation function to be suitable for agricultural production's multiple job task, improved agricultural robot's utilization ratio and price/performance ratio, reduced the operating cost.
For realizing the above functions, the utility model discloses a technical scheme be:
a crawler-type multifunctional robot comprises a vehicle body, a walking module, a sensing module, a control module, a communication module, an operation module and a hanging platform; the walking module, the sensing module, the control module, the communication module and the hanging platform are all arranged on the vehicle body, and the operation module is connected with the vehicle body through the hanging platform; the walking module, the sensing module, the communication module, the operation module and the hanging platform are all electrically connected with the control module; the operation module is a picking mechanism or a medicine spraying mechanism or an inspection mechanism.
Preferably, the hitching platform comprises a left arched part, a right arched part, a rotating wheel disc and a sliding device, wherein one of the left arched part and the right arched part is fixedly connected with the vehicle body, the other one of the left arched part and the right arched part is in sliding connection with the vehicle body through the rotating wheel disc and the sliding device, the arched upper parts of the left arched part and the right arched part are provided with saw-toothed areas, the arched lower parts of the left arched part and the right arched part are provided with convex connecting columns, and the middle parts of the left; the hanging platform is also provided with a communication and power supply interface; the rotary wheel disc is provided with a locking device.
Preferably, the operation module comprises an operation mechanism and a hanging main body, and the hanging main body comprises an operation installation part, an upper hanging part and a lower hanging part; the operation mounting part is provided with a mounting groove for mounting the operation mechanism; the upper hanging part comprises an upper hanging main body and two buffering connecting columns which are arranged in the upper hanging main body and respectively protrude out of two sides of the upper hanging main body, and the two buffering connecting columns are connected inside the upper hanging main body through a first spring; the left and right sides of the upper part of the upper hanging main body are provided with soft parts; the lower hanging part comprises a lower hanging main body and two concave accommodating pieces which are respectively arranged on two sides of the lower part of the lower hanging main body, and the two concave accommodating pieces are connected in the lower hanging main body through a second spring; the hanging main body is also provided with a communication and power supply cable.
Preferably, picking mechanism is including articulating module, lift platform, scalable arm, picking mechanism, second camera module and ranging module, articulate the module with lift platform fixed connection, scalable arm is installed on the lift platform, picking mechanism, second camera module and ranging module are installed to the end of scalable arm.
Preferably, the pesticide spraying mechanism comprises a first electric telescopic rod, a pesticide liquid box, a pressurizer, a liquid guide pipe and a spray head, the liquid guide pipe is connected with the pesticide liquid box through the pressurizer, the liquid guide pipe is connected with the spray head, and the liquid guide pipe and the spray head are arranged on the first electric telescopic rod.
Preferably, the inspection mechanism comprises a second electric telescopic rod and a third camera module, and the third camera module is arranged at the top of the electric telescopic rod.
Preferably, the sensing module comprises a speed measuring sensor, an attitude sensor, a locator and a first camera module; the control module is used for adjusting the traveling speed and direction of the vehicle in real time based on the vehicle speed measured by the speed measuring sensor, the attitude measured by the attitude sensor, the position information measured by the positioner and the environment image measured by the first camera module so as to realize the purpose of traveling according to a planned route and automatically avoiding obstacles.
Preferably, the device further comprises a power module, wherein the power module comprises a storage battery and a charging module.
Preferably, the solar charging device also comprises a solar charging panel connected with the storage battery
Preferably, the vehicle driving control system further comprises a handheld remote controller, wherein the handheld remote controller is connected with the control module through wireless communication, and is used for receiving and displaying the real-time motion state of the vehicle from the communication module and sending a driving control instruction to the communication module.
The utility model has the advantages that: the utility model discloses a crawler-type multifunctional robot articulates the quick switching that the platform realized multiple operation function through detachable, can be suitable for the multiple operation task in the agricultural production process. And simultaneously, the utility model discloses a crawler-type multifunctional robot still possesses the automatic function of patrolling and examining, can pick, spout earlier the execution before operation tasks such as medicine and patrol and examine the mode, specifically whether need spouting of crop to reach the harvesting of fruit based on machine vision technology discernment, possesses stronger automation level, can greatly improve agricultural production efficiency.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic view of the overall structure of the crawler type multifunctional robot of the present invention;
FIG. 2 is a schematic view of the hanging platform and the hanging body in the area A of FIG. 1 according to the principle of hanging the utility model;
fig. 3 is a functional module schematic diagram of the crawler-type multifunctional robot of the present invention.
In the figure:
a vehicle body 1; a walking module 2; a sensing module 3; a control module 4; a communication module 5; an operation module 6; a work mounting part 6.1; an upper hanging part 6.2; a lower hanging part 6.3; 6.4 of a buffer connecting column; a concave receiving member 6.5; a soft body portion 6.6; the arcuate parts 7.1; a right arcuate part 7.2; a rotary wheel disc 7.3; connecting column 7.4.
Detailed Description
In order to make the above objects, features and advantages of the present invention more clearly understandable, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description, wherein the drawings are simplified schematic drawings, and only the basic structure of the present invention is schematically illustrated, so that only the components related to the present invention are shown, and it is to be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, unless otherwise specified, "a plurality" means two or more.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1-2, a first embodiment of the present invention provides a crawler-based multifunctional robot comprising: the system comprises a vehicle body 1, a walking module 2, a sensing module 3, a control module 4, a communication module 5, an operation module 6 and a hanging platform; the walking module 2, the sensing module 3, the control module 4, the communication module 5 and the hanging platform are all arranged on the vehicle body 1, and the operation module 6 is connected with the vehicle body 1 through the hanging platform; the walking module 2, the sensing module 3, the communication module 4, the communication module 5, the operation module 6 and the hanging platform are all electrically connected with the control module 4; the operation module 6 is a picking mechanism, a medicine spraying mechanism or an inspection mechanism; the walking module 2 comprises a driving module and a crawler belt.
It should be noted that the existing agricultural robots are developed to solve automation and intelligence problems in specialized agricultural production, and therefore have only specific functions, are suitable for specific environments, have poor versatility, are not convenient for system expansion and improvement, and have obvious seasonality for agricultural production, that is, great difference exists in agricultural work required by different crop growth stages. Therefore, the existing agricultural robot is low in use efficiency and high in cost. In order to solve the technical defect, the utility model discloses a articulate the platform and realized the fast switch-over between the different operation module 6, promptly, articulate the platform based on detachable and realized picking mechanism, spout the medicine mechanism, patrol and examine the fast switch-over of different operation modes such as mechanism. Meanwhile, the crawler-type traveling mechanism can adapt to more farmland environments such as dry farmland, paddy field and the like, and has stronger adaptability.
Based on the illustration in fig. 2, the region a in fig. 1 is explained in detail. The hanging platform comprises a left arched part 7.1, a right arched part 7.2, a rotating wheel disc 7.3 and a sliding device (not shown in the figure), wherein one of the left arched part 7.1 and the right arched part 7.2 is fixedly connected with the vehicle body 1, the other one is in sliding connection with the vehicle body 1 through the rotating wheel disc 7.3 and the sliding device, the arched upper parts of the left arched part 7.1 and the right arched part 7.2 are provided with saw-toothed areas, the arched lower parts are provided with convex connecting columns 7.4, and the middle parts are provided with small grooves; the hanging platform is also provided with a communication and power supply interface (not shown in the figure); the rotary disk 7.3 has a locking device.
The operation module 6 comprises an operation mechanism (not shown in the figure) and a hanging main body, wherein the hanging main body comprises an operation mounting part 6.1, an upper hanging part 6.2 and a lower hanging part 6.3; wherein the work mounting part 6.1 is provided with a mounting groove (not shown in the figure) for mounting a work mechanism; the upper hanging part 6.2 comprises an upper hanging main body and two buffer connecting columns 6.4 which are arranged in the upper hanging main body and respectively protrude out of two sides of the upper hanging main body, and the two buffer connecting columns 6.4 are connected inside the upper hanging main body through first springs; the left and right sides of the upper part of the upper hanging main body are provided with soft bodies 6.6; the lower hanging part 6.3 comprises a lower hanging main body and two concave accommodating pieces 6.5 which are respectively arranged at two sides of the lower part of the lower hanging main body, and the two concave accommodating pieces 6.5 are connected in the lower hanging main body through a second spring; the main body is also provided with communication and power supply cables (not shown in the figure).
It should be noted that the hitching platform is located on the vehicle body 1, the different operation modules 6 respectively comprise a hitching main body and a specific operation mechanism connected with the hitching main body, and the hitching main bodies have the same structure, so that the universality of the modules is enhanced, namely, the vehicle body 1 and the different operation modules 6 can be quickly switched and installed through the same and universal hitching device, a whole set of vehicle and operation structure do not need to be configured for each agricultural operation task, and the use cost is greatly reduced.
Meanwhile, for the specific hanging structure, one of the two arch parts is fixed on the vehicle body, and the other one moves, namely which one moves, so that the implementation of the technical scheme of the utility model is not influenced, and the utility model is not particularly limited to the point; during the use, the user drives this bow-shaped part translation in lieing in the spout on automobile body 1 through rotating the rotation rim plate that is located on the portable bow-shaped part, start locking means on the rotation rim plate when portable bow-shaped part translation to and articulate the main part and combine closely, at this moment, can realize that the centre gripping that articulates the main part is fixed to the centre gripping, and can be based on the lead screw to the concrete implementation mode of translation, gear isotructure, because translation and locking structure belong to prior art, technical personnel in the field can independently select based on prior art, for example, can carry out adaptability based on the principle that patent publication is CN206200170U, CN107855932A discloses a translation and locking of portable bow-shaped part, the utility model discloses do not do the injecing to this. The main structure of the two arch parts is the same except for the difference of movable and fixed, in particular, the upper part of the arch part has a sawtooth-shaped structure, the lower part has a convex connecting column 7.4, and the middle part has a small groove for receiving a buffer connecting column 6.4; correspondingly, the upper part of the hanging main body connected with the operating mechanism is provided with a soft body part 6.6 corresponding to the zigzag structure of the arch part, and the lower part of the hanging main body is provided with a concave accommodating piece 6.5. Thus, when the arcuate member is in contact with the hitch structure: on the upper part, the zigzag structure of the arch part is pressed into the soft body part 6.6 of the hanging main body, thereby realizing the firm contact of the upper part and being difficult to slide; at the lower part, the projecting connection post 7.4 of the arcuate part is inserted into the concave receiving member 6.5 at the lower part of the connecting body, so that the lower part is firmly mounted; in the middle, the small recess of the arcuate part receives the bumper 6.4, so that a stable connection of the middle is achieved. Because the middle part of articulating the main part still is equipped with and is located the spliced pole 6.4 that articulates the main part inside and from articulating main part both sides limit protrusion part, this spliced pole 6.4 is independent two, and the two links together through spring coupling in the inside that articulates the main part, the spill of lower part holds the piece and also has similar mechanism, then, based on this particular construction, can realize playing the effect of buffering when bow-shaped part and articulate the main part contact, the damage to the part has been avoided the rough operation, moreover, this structure has still improved the damping degree between the part when specifically carrying out the operation task, further avoided the damage that hard contact leads to between the metal rigid component. To sum up, the utility model discloses a mode of articulating has reached simultaneously firmly articulates and articulates the technological effect of two aspects with toughness.
Additionally, because the utility model discloses an agricultural machine is the robot, and it possesses automatic mode promptly, so, the utility model discloses still set up communication and power supply interface, communication and power supply cable respectively on bow-shaped part and connecting body. Thus, after the mechanical connection of the operation module to the vehicle body is completed, the user can simply insert the communication and power supply cable into the communication and power supply interface to realize the communication connection and power supply of the operation module 6 to the vehicle body 1. For the crawler-type multifunctional robot with the automatic working mode, the working module can realize the execution of various working tasks under the control of the control module on the vehicle body. Of course, each operation module can also be provided with a completely independent control module, and at the moment, the operation module is only required to be electrically connected with the vehicle body; in addition, each operation module also can possess semi-independent control module, promptly, control module on the automobile body and the control module of operation module self, or control module on the automobile body, handheld remote controller 8 and the control module of operation module self realize the control to the operation task of operation module in many ways jointly, the utility model discloses do not limit to this.
According to the utility model discloses, picking mechanism is including articulating module, lift platform, scalable arm, picking mechanism, second camera module and ranging module, articulate the module with lift platform fixed connection, scalable arm is installed on the lift platform, picking mechanism, second camera module and ranging module are installed to the end of scalable arm. Based on the structure, the orientation of the fruit can be identified and positioned based on the second camera module, and the distance between the fruit and the picking mechanism can be measured based on the distance measuring module, so that the fruit can be picked accurately.
According to the utility model discloses, spout medicine mechanism and include electric telescopic handle one, spray tank, presser, catheter and shower nozzle, the catheter warp the presser is connected with the spray tank, the catheter is connected with the shower nozzle, catheter and shower nozzle set up on electric telescopic handle one.
According to the utility model discloses, it includes electric telescopic handle two and third camera module to patrol and examine the mechanism, third camera module sets up in electric telescopic handle's top.
The utility model also provides a second embodiment, this embodiment compares with first embodiment, and the main improvement lies in: the automatic control function of the vehicle is added on the basis of the first embodiment, so that the vehicle can run the operation task autonomously through the vehicle according to a preset track (for example, the operation track input by a user in advance, the operation track determined autonomously by the agricultural robot, a new track planned by the agricultural robot on the basis of the operation track input by the user and the detected implementation obstacle information, and the like), manpower can be liberated, and the use experience of the user is further improved.
According to the embodiment of the present invention, on the basis of the first embodiment, the sensing module 3 of the present invention includes a speed sensor, an attitude sensor, a positioner, and a first camera module; the control module is used for adjusting the traveling speed and direction of the vehicle in real time based on the vehicle speed measured by the speed measuring sensor, the attitude measured by the attitude sensor, the position information measured by the positioner and the environment image measured by the first camera module so as to realize the purpose of traveling according to a planned route and automatically avoiding obstacles.
It should be noted that, before the agricultural robot executes the job task, the user can input the set job task and job track into the agricultural robot, and then connect the corresponding job module, and then start the job function of the agricultural robot. To the input mode of job instruction, both can be data card input, procedure burn record, also can be realized through wired or wireless connection's external terminal, for example, this external terminal can be handheld remote controller, specifically, can also be mobile terminal such as smart mobile phone, panel computer, PDA, the utility model discloses do not restrict to this. Meanwhile, the agricultural robot can know the self motion state and the peripheral obstacle information in real time through the vehicle-mounted first camera module, the positioning module, the speed measuring sensor, the attitude sensor and the like in the running process, and compares the information with a preset track to determine whether the motion state needs to be adjusted or not; meanwhile, the handheld remote controller can also be connected with the control module through wireless communication to receive and display the real-time motion state of the vehicle from the communication module, so that under the condition that a user needs to temporarily change an operation track or the operation track of the agricultural robot deviates or does not avoid an obstacle, the user sends a driving control instruction to the communication module, namely, manual control taking over or short-time intervention is realized, and the operation effect of the agricultural robot is further improved. The hand-held remote controller is not limited to controlling the motion state of the vehicle, and can also send control instructions to each operation module to the control module, such as lifting/lowering of a lifting rod, opening/closing of a camera module, starting/stopping of spraying and the like.
According to the utility model discloses, still include power module, power module includes battery and the module of charging.
It should be noted that the battery can provide sufficient electric power support for agricultural robot, simultaneously, because agricultural robot is in outdoor operations, so, can select further to set up solar charging panel and be connected with the battery, further strengthen its duration. In addition, also can set up automatic function of charging, promptly, its electric power storage condition of agricultural robot real-time supervision to in time return charging device department when electric power is not enough to support follow-up operation and carry out automatic charging, because the orbit planning etc. of automatic charging belong to prior art, the utility model discloses no longer describe repeatedly to this.
The utility model also provides a third embodiment, this embodiment lies in with the main difference of aforementioned embodiment, has increased the concrete injecing to patrolling and examining the mechanism. In order to further realize the automation of agricultural operation, the utility model discloses increase agricultural robot's the function of patrolling and examining, promptly, patrol and examine the farmland crop according to certain orbit by agricultural robot in the farmland to including weeds, crops growth (including the crop height, the fruit condition, the disease condition etc.) the agricultural condition discernment and statistical analysis are handled based on local image is intelligent, and the generation is patrolled and examined the report and is guided the grower and in time water, fertilize, laxative etc..
The following description of the polling procedure is given for weeds in agricultural conditions:
s1: the crawler-type multifunctional robot runs to an initial inspection position, controls the third camera module to acquire farmland images in real time and transmits the farmland images to the control module 4;
s2: the control module 4 processes the farmland image to identify weeds, and specifically comprises:
s21, image preprocessing: removing soil pixels in the image based on a green plant detection algorithm, removing noise influence through a median filtering algorithm to keep the edge of the green plant, and finally converting the image into a binary system. In this step, since the detected object is a plant, it is necessary to first remove the soil pixels of the non-detection target by a green plant detection algorithm, where the detection formula of the green plant is:
I＝2×G-R-B
in the formula, I represents a processed green plant image, R represents a red pixel in an RGB image, G represents a green pixel in the RGB image, and B represents a blue pixel in the RGB image.
And S22, removing the small objects in the preprocessed image based on the connected component area value. In this step, since small objects such as grass seedlings and fallen leaves do not affect the growth of crops, it is necessary to remove them to reduce the processing load of the control module.
S23, extracting a plurality of green plant areas through a threshold segmentation algorithm, and attaching labels to the areas; extracting the area S, the perimeter P, the minimum external moment length L and the minimum external moment width W of the leaves of the green plant region by using a neighborhood tracking algorithm;
and S24, normalizing the parameters S, P, L, W obtained in the step S23 and the parameters S, p, l and w in the pre-stored weed feature database according to a unified standard, then calculating the similarity between each green plant area and the pre-stored weed feature data based on the following formula, and identifying the green plant area with the similarity larger than a threshold value as the weed. The similarity calculation method in this step may be
In the formula, DiIndicates the similarity, omega, of the ith green plant area to the weed characteristics1-ω4The weight is represented by a weight that is,
normalized data representing the area, circumference, minimum circumscribed moment length, and minimum circumscribed moment width of the leaf of each green plant region, respectively,
the method comprises the steps of respectively representing normalized data of the area, the circumference, the minimum external moment length and the minimum external moment width of a blade in pre-stored weed characteristic data, wherein the pre-stored weed characteristic data can be obtained by pre-establishing a training model, and belongs to the prior art in the field, and the method is not limited in the application. Based on this step, the utility model discloses discerning weeds and having considered simultaneously crop plant and weeds at the area of blade, girth, minimum external moment length and the wide similar degree of aspect of minimum external moment, showing and improving ruderal discernment degree of accuracy.
S3, the control module 4 stores the number of the identified weeds and the position information obtained from the locator in a correlation mode;
s4, driving the agricultural robot to a subsequent target point and executing the steps S2-S3 until the agricultural robot drives to the end point of the preset inspection track;
s5, the control module 4 carries out statistical analysis on the stored weed quantity and the corresponding position information to generate an inspection report, and the inspection report is locally stored and sent to the handheld remote controller through the communication module.
It should be noted that, based on the above-mentioned process of patrolling and examining of this embodiment, agricultural robot can be according to setting for the orbit automatic execution task of patrolling and examining in the farmland, discern current agricultural condition fast through the visual identification algorithm, and can be based on real-time agricultural condition formation and patrol and examine the report, the user then can in time look over at handheld remote controller and patrol and examine the report, thereby can confirm whether to carry out the operation tasks such as picking, spout medicine, very big improvement agricultural production's efficiency, simultaneously, because this crawler-type multifunctional robot's automobile body can connect fast and pick, spout medicine, patrol and examine multiple different operation modules such as, also very big reduction agricultural production's cost.
It will be apparent to those skilled in the art that the algorithms disclosed above may be delivered to the processing device in a variety of forms, and that the processing device may include any existing electronic control unit or a dedicated electronic control unit. Including, but not limited to, information permanently stored on non-writable storage media (e.g., ROM devices) and information alterably stored on writable storage media (e.g., floppy disks, magnetic tape, CDs, RAM devices) and other magnetic and optical media. The algorithms may also be implemented in software executable objects. Alternatively, the algorithms may be implemented in whole or in part using suitable hardware components (e.g., Application Specific Integrated Circuits (ASICs), state machines, controllers) or other hardware components or devices, or a combination of hardware, software and firmware components.
In light of the foregoing, it is to be understood that various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. A crawler-type multifunctional robot is characterized by comprising a vehicle body, a walking module, a sensing module, a control module, a communication module, an operation module and a hanging platform; the walking module, the sensing module, the control module, the communication module and the hanging platform are all arranged on the vehicle body, and the operation module is connected with the vehicle body through the hanging platform; the walking module, the sensing module, the communication module, the operation module and the hanging platform are all electrically connected with the control module; the operation module is a picking mechanism, a medicine spraying mechanism or an inspection mechanism; the walking module comprises a driving module and a crawler belt.
2. The crawler-based multifunctional robot as claimed in claim 1, wherein: the hanging platform comprises a left arched part, a right arched part, a rotating wheel disc and a sliding device, wherein one of the left arched part and the right arched part is fixedly connected with a vehicle body, the other one of the left arched part and the right arched part is in sliding connection with the vehicle body through the rotating wheel disc and the sliding device, the arched upper parts of the left arched part and the right arched part are provided with saw-toothed areas, the arched lower parts of the left arched part and the right arched part are provided with convex connecting columns, and the middle parts of the left; the hanging platform is also provided with a communication and power supply interface; the rotary wheel disc is provided with a locking device.
3. The crawler-based multifunctional robot as claimed in claim 2, wherein: the operation module comprises an operation mechanism and a hanging main body, and the hanging main body comprises an operation installation part, an upper hanging part and a lower hanging part; the operation mounting part is provided with a mounting groove for mounting the operation mechanism; the upper hanging part comprises an upper hanging main body and two buffering connecting columns which are arranged in the upper hanging main body and respectively protrude out of two sides of the upper hanging main body, and the two buffering connecting columns are connected inside the upper hanging main body through a first spring; the left and right sides of the upper part of the upper hanging main body are provided with soft parts; the lower hanging part comprises a lower hanging main body and two concave accommodating pieces which are respectively arranged on two sides of the lower part of the lower hanging main body, and the two concave accommodating pieces are connected in the lower hanging main body through a second spring; the hanging main body is also provided with a communication and power supply cable.
4. A track-based multi-function robot as claimed in any one of claims 1-3 wherein: picking mechanism is including articulating module, lift platform, scalable arm, picking mechanism, second camera module and ranging module, articulate the module with lift platform fixed connection, scalable arm is installed on the lift platform, picking mechanism, second camera module and ranging module are installed to the end of scalable arm.
5. A track-based multi-function robot as claimed in any one of claims 1-3 wherein: the pesticide spraying mechanism comprises a first electric telescopic rod, a pesticide liquid box, a pressurizer, a liquid guide pipe and a spray head, wherein the liquid guide pipe is connected with the pesticide liquid box through the pressurizer, the liquid guide pipe is connected with the spray head, and the liquid guide pipe and the spray head are arranged on the first electric telescopic rod.
6. A track-based multi-function robot as claimed in any one of claims 1-3 wherein: the inspection mechanism comprises an electric telescopic rod and a third camera module, and the camera is arranged at the top of the electric telescopic rod.
7. The crawler-based multifunctional robot as claimed in claim 1, wherein: the sensing module comprises a speed measuring sensor, an attitude sensor, a locator and a first camera module; the control module is used for adjusting the traveling speed and direction of the vehicle in real time based on the vehicle speed measured by the speed measuring sensor, the attitude measured by the attitude sensor, the position information measured by the positioner and the environment image measured by the first camera module so as to realize the purpose of traveling according to a planned route and automatically avoiding obstacles.
8. The crawler-based multifunctional robot as claimed in claim 1, wherein: still include the power module, the power module includes battery and charging module.
9. The crawler-based multifunctional robot of claim 8, wherein: the solar charging device also comprises a solar charging panel connected with the storage battery.
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| CN202020512760.1U CN213290258U (en) | 2020-04-09 | 2020-04-09 | Based on crawler-type multifunctional robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347388A (en) * | 2020-04-09 | 2020-06-30 | 内蒙古自治区生物技术研究院 | Crawler-type multifunctional robot and weed identification method |
| CN113632626A (en) * | 2021-08-12 | 2021-11-12 | 阜阳市乾丰茶业有限公司 | Fixed-point quantitative fertilization method for planting tea chrysanthemum |
| CN116235685A (en) * | 2023-03-23 | 2023-06-09 | 广东海洋大学 | Selfheal harvesting integrated machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347388A (en) * | 2020-04-09 | 2020-06-30 | 内蒙古自治区生物技术研究院 | Crawler-type multifunctional robot and weed identification method |
| CN111347388B (en) * | 2020-04-09 | 2024-03-08 | 内蒙古自治区生物技术研究院 | Crawler-type multifunctional robot and weed identification method |
| CN113632626A (en) * | 2021-08-12 | 2021-11-12 | 阜阳市乾丰茶业有限公司 | Fixed-point quantitative fertilization method for planting tea chrysanthemum |
| CN116235685A (en) * | 2023-03-23 | 2023-06-09 | 广东海洋大学 | Selfheal harvesting integrated machine |
| CN116235685B (en) * | 2023-03-23 | 2024-04-26 | 广东海洋大学 | Selfheal harvesting integrated machine |
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