CN215881613U

CN215881613U - Robot of agricultural land for growing field crops patrols field device

Info

Publication number: CN215881613U
Application number: CN202121803769.9U
Authority: CN
Inventors: 马跃峰
Original assignee: Suzhou Aigeng Robot Technology Co ltd
Current assignee: Suzhou Aigeng Robot Technology Co ltd
Priority date: 2021-08-04
Filing date: 2021-08-04
Publication date: 2022-02-22
Anticipated expiration: 2031-08-04

Abstract

The utility model discloses a robot field patrol device for an agricultural field, which comprises a mounting base plate, a steering mechanism, a traveling mechanism and a patrol mechanism, wherein the mounting base plate is arranged on the mounting base plate; mounting a substrate: two fixed rods which are symmetrically distributed are arranged on the right side of the lower surface of the universal driving device, a linkage shaft is rotatably connected at the lower end between the two fixed rods, and driven wheels are arranged at the front end and the rear end of the linkage shaft; a steering mechanism: the steering wheel assembly comprises two steering wheels, wherein the two steering wheels are respectively and rotatably connected in a mounting hole formed in the left side of the upper surface of a mounting substrate; a traveling mechanism: are respectively arranged at the lower end of the steering wheel; patrol mechanism: set up in the upper surface middle part of mounting substrate, still include the battery, the battery sets up in the lower surface middle part of mounting substrate, and this agricultural land for growing field crops's robot patrols the field device, provides the camera equipment of liftable removal, and plant disease position can be more clear to shoot makes things convenient for the operator to make corresponding treatment to the plant disease in the land for growing field crops.

Description

Robot of agricultural land for growing field crops patrols field device

Technical Field

The utility model relates to the technical field of agricultural field patrol equipment, in particular to a robot field patrol device for an agricultural field.

Background

The agricultural field refers to crops planted on a field, such as wheat, rice, sorghum, corn, cotton, pasture and the like, which are mainly distributed in inner Mongolia, Ningxia, Gansu Linxia, Nainan autonomous State, Hexi corridor, Xinjiang, Qinghai and Xizang from valley slope with height of more than 2500 m to lake Bin plain of about 4500 m, the crops need to be patrolled irregularly after being planted to ensure that the planted crops can grow normally, because the whole area of the field is large, manual patrolling is inconvenient and inconvenient, the field patrolling is convenient, the field patrolling robot at the present stage usually uses a motor to drive rollers to run to realize the walking of the robot, the robot can not be ensured to run normally on a bad road surface in the field, the field patrolling efficiency is low, and meanwhile, a camera inside the traditional field robot can not lift and move, the position of the plant disease cannot be shot clearly, and an operator cannot conveniently take corresponding treatment measures on the plant disease in the field, so that the robot field patrol device for the agricultural field is provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects in the prior art, provides a robot field patrol device for an agricultural field, provides a camera device capable of lifting and moving, can more clearly shoot plant disease positions, and can effectively solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: a robot field patrol device for an agricultural field comprises a mounting base plate, a steering mechanism, a traveling mechanism and a patrol mechanism;

mounting a substrate: two fixed rods which are symmetrically distributed are arranged on the right side of the lower surface of the universal driving device, a linkage shaft is rotatably connected at the lower end between the two fixed rods, and driven wheels are arranged at the front end and the rear end of the linkage shaft;

a steering mechanism: the steering wheel assembly comprises two steering wheels, wherein the two steering wheels are respectively and rotatably connected in a mounting hole formed in the left side of the upper surface of a mounting substrate;

a traveling mechanism: are respectively arranged at the lower end of the steering wheel;

patrol mechanism: set up in mounting substrate's upper surface middle part, can realize the nimble operation of robot, guarantee that the robot can normally travel in the abominable road surface in field, realize the high-efficient tour in big field, provide the camera equipment of liftable removal, can be more clear shoot the plant disease position, make things convenient for the operator to do corresponding treatment to big field plant disease.

Further, still include the battery, the battery sets up in the lower surface middle part of mounting substrate, provides the energy for the operation of robot.

Further, still include the protection casing, the protection casing sets up in mounting substrate's upper surface left side, and the upper surface rear side of protection casing is equipped with the PLC controller, and the output of battery is connected to the input electricity of PLC controller, and the upper surface middle part of protection casing is equipped with the WLAN transceiver, and the WLAN transceiver is connected with outside LAN and PLC controller two-way electricity respectively, realizes the intelligent control of robot.

Furthermore, steering mechanism still includes synchronizing wheel and turns to the motor, the synchronizing wheel sets up respectively in the upper surface middle part of steering wheel, and two synchronizing wheels pass through synchronous belt drive and connect, turn to the motor and set up in the mounting hole that the top plate body front end of protection casing was seted up, turn to the output shaft lower extreme of motor and the synchronizing wheel fixed connection of front side, the output of PLC controller is connected to the input electricity that turns to the motor, provides power when the robot turns to.

Further, running gear includes mount pad, V type frame, driving motor and drive wheel, the mount pad sets up respectively in the lower surface middle part of steering wheel, and the V type frame rotates through the pivot respectively and connects in the inside of mount pad, and the left side body of rod of V type frame is good at the right side body of rod, and driving motor sets up respectively in the left side body of rod lower extreme of V type frame, and the drive wheel sets up respectively in driving motor's output shaft outside end department, and PLC controller's end is connected to driving motor's input electricity, can drive the robot and walk in the field.

Further, running gear still includes the stabilizer, the stabilizer rotates through the pivot respectively and connects in the right side body of rod lower extreme of V type frame, guarantees the normal operating of robot.

Further, tour the mechanism and include telescopic link, electric putter, installation square plate and camera, electric putter sets up in mounting substrate's upper surface middle part, and the installation square plate sets up in electric putter's flexible end upper end, and the camera sets up in the upper surface middle part of installation square plate, and the telescopic link all sets up in mounting substrate's upper surface middle part, the flexible end upper end of telescopic link respectively with the lower fixed surface of installation square plate be connected, the output of PLC controller is connected to electric putter's input electricity, the input of PLC controller is connected to the output electricity of camera, can realize the operation of patrolling in big field.

Compared with the prior art, the utility model has the beneficial effects that: this robot in agricultural land for growing field crops patrols field device has following benefit:

1. the field patrol robot is placed in the field, an operator transmits a control command to a local area network through an external control computer, a WLAN transceiver receives the control command transmitted by the local area network, then the control command is transmitted to a PLC controller, the PLC controller integrates and judges the received control command, then corresponding parts are controlled to work, if the control command is forward, the PLC controller regulates and controls a driving motor to work, an output shaft of the driving motor drives a driving wheel to rotate, the robot runs under the matching of a balance wheel and a driven wheel, and as a left side rod body of a V-shaped frame is longer than a right side rod body, the gravity center of the left end of the field patrol robot deviates to the left side rod body of the V-shaped frame, so that the V-shaped frame is prevented from rotating backwards through a rotating shaft below a mounting seat, when the field patrol robot runs, a larger soil block cannot be encountered, a tooth sheet outside the driving wheel grabs the section of the soil block, under the drive of a driving motor, a driving wheel rotates and rises along the section of a soil block, a V-shaped frame rotates forwards through a rotating shaft below a mounting seat to ensure that a balance wheel can always contact with the ground, then the driving wheel climbs to the upper end of the soil block, the balance wheel and a driven wheel sequentially climb the soil block under the drive of the driving wheel, so that the robot can cross obstacles, if a control command is turning, a PLC (programmable logic controller) controls a steering motor to rotate, the rotation angle of the steering motor is positive and negative ninety degrees, the steering motor drives a front synchronizing wheel to rotate, under the transmission action of a synchronous belt, the rear synchronizing wheel synchronously rotates to further realize the rotation of a steering wheel, the steering wheel drives the mounting seat and a lower part to rotate, so that the operation angle adjustment of the driving wheel is realized, the steering operation of the robot is further realized, the flexible operation of the robot can be realized, and the robot can normally run on a severe road surface in a field, realizing high-efficiency patrol of the field.

2. In the operation process of the robot, the camera transmits a shot patrol picture to the PLC, the PLC integrates received data and transmits the data to the WLAN transceiver, the WLAN transceiver transmits the received data to the local area network, the local area network transmits the data to the external control computer, an operator can see the patrol information in the field through the display equipment of the external control computer, the operator can transmit an instruction through the external control computer to control the robot to operate to a plant with a disease in the patrol picture, and then inputs the instruction to control the electric push rod to operate, so that the telescopic end of the electric push rod extends or contracts to drive the mounting square plate and the camera to move upwards or downwards so as to enable the camera head to be close to the plant disease position, thereby providing the camera equipment capable of moving up and down and shooting the plant disease position more clearly, the corresponding treatment measures can be conveniently carried out on the plant diseases of the field by operators.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the steering mechanism of the present invention;

in the figure: the device comprises a mounting base plate 1, a protective cover 2, a PLC controller 3, a WLAN transceiver 4, a storage battery 5, a steering mechanism 6, a steering wheel 61, a synchronizing wheel 62, a steering motor 63, a traveling mechanism 7, a mounting seat 71, a balance wheel 72, a 73V-shaped frame, a driving motor 74, a driving wheel 75, a tour mechanism 8, an expansion rod 81, an electric push rod 82, a square mounting plate 83, a camera 84, a fixing rod 9, a linkage shaft 10 and a driven wheel 11.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, the present embodiment provides a technical solution: a robot field patrol device for an agricultural field comprises a mounting base plate 1, a steering mechanism 6, a traveling mechanism 7 and a patrol mechanism 8;

mounting substrate 1: the robot mounting device comprises a mounting base plate 1, a storage battery 5 and a driving mechanism, wherein the mounting base plate 1 provides a mounting place for other components, two fixing rods 9 which are symmetrically distributed are arranged on the right side of the lower surface of the mounting base plate, the fixing rods 9 are convenient for mounting other components, a linkage shaft 10 is rotatably connected to the lower end between the two fixing rods 9, driven wheels 11 are arranged at the front end and the rear end of the linkage shaft 10 respectively, the driven wheels 11 assist the robot to move, the storage battery 5 provides energy for the operation of the robot, and the storage battery 5 is arranged in the middle of the lower surface of the mounting base plate 1;

the steering mechanism 6: the steering mechanism 6 can realize the steering operation of the robot, and comprises two steering wheels 61, the two steering wheels 61 are respectively connected in a rotating way in a mounting hole arranged on the left side of the upper surface of the mounting substrate 1, the steering mechanism 6 further comprises a synchronizing wheel 62 and a steering motor 63, the synchronizing wheel 62 is respectively arranged in the middle of the upper surface of the steering wheels 61, the two synchronizing wheels 62 are connected through a synchronous belt in a driving way, the steering motor 63 is arranged in a mounting hole arranged on the front end of the top plate body of the protective cover 2, the lower end of an output shaft of the steering motor 63 is fixedly connected with the synchronizing wheel 62 on the front side, the input end of the steering motor 63 is electrically connected with the output end of the PLC 3, the PLC 3 regulates and controls the steering motor 63 to rotate, the rotating angle of the steering motor 63 is positive and negative ninety degrees, the steering motor 63 drives the synchronizing wheel 62 on the front side to rotate, and the synchronizing wheel 62 on the rear side synchronously rotates under the driving action of the synchronous belt, the steering wheel 61 is driven to rotate by the steering wheel 61, the mounting seat 71 and the lower part are driven to rotate by the steering wheel 61, so that the operation angle of the driving wheel 75 is adjusted, and the steering operation of the robot is realized;

a traveling mechanism 7: the traveling mechanism 7 can ensure that the robot travels in the field and is respectively arranged at the lower end of the steering wheel 61, the traveling mechanism 7 comprises an installation seat 71, a V-shaped frame 73, a driving motor 74 and a driving wheel 75, the installation seat 71 is respectively arranged at the middle part of the lower surface of the steering wheel 61, the V-shaped frame 73 is respectively connected with the inside of the installation seat 71 in a rotating way through a rotating shaft, the left rod body of the V-shaped frame 73 is longer than the right rod body, the driving motor 74 is respectively arranged at the lower end of the left rod body of the V-shaped frame 73, the driving wheel 75 is respectively arranged at the outer end of the output shaft of the driving motor 74, the input end of the driving motor 74 is electrically connected with the outlet end of the PLC 3, the traveling mechanism 7 further comprises a balance wheel 72, the balance wheel 72 is respectively connected with the lower end of the right rod body of the V-shaped frame 73 in a rotating way through the rotating shaft, the PLC 3 regulates and controls the driving motor 74 to work, the output shaft of the driving wheel 75 is driven by the driving motor 74 to rotate, the operation of the robot is realized under the matching of the balance wheel 72 and the driven wheel 11, because the left side rod body of the V-shaped frame 73 is longer than the right side rod body, the gravity center of the left end of the field patrol robot is deviated to the left side rod body of the V-shaped frame 73, so that the V-shaped frame 73 is prevented from rotating backwards through the rotating shaft below the mounting seat 71, when the field patrol robot operates, a larger soil block is not avoided, the tooth sheet outside the driving wheel 75 grabs the cross section of the soil block, the driving wheel 75 rotates and rises along the cross section of the soil block under the driving of the driving motor 74, the V-shaped frame 73 rotates forwards through the rotating shaft below the mounting seat 71, so that the balance wheel 72 is ensured to be always in contact with the ground, then the driving wheel 75 climbs to the upper end of the soil block, and the balance wheel 72 and the driven wheel 11 climb onto the soil block under the driving of the driving wheel 75, so that the robot can cross obstacles;

patrol mechanism 8: the inspection mechanism 8 can realize inspection work in a field, is arranged in the middle of the upper surface of the mounting substrate 1, the inspection mechanism 8 comprises an expansion link 81, an electric push rod 82, a mounting square plate 83 and a camera 84, the electric push rod 82 is arranged in the middle of the upper surface of the mounting substrate 1, the mounting square plate 83 is arranged at the upper end of the expansion end of the electric push rod 82, the camera 84 is arranged in the middle of the upper surface of the mounting square plate 83, the expansion links 81 are all arranged in the middle of the upper surface of the mounting substrate 1, the upper end of the expansion link 81 is respectively fixedly connected with the lower surface of the mounting square plate 83, the input end of the electric push rod 82 is electrically connected with the output end of the PLC 3, the output end of the camera 84 is electrically connected with the input end of the PLC 3, the robot transmits the shot inspection picture to the PLC 3 in the operation process, the PLC 3 integrates the received data and transmits the integrated data to the WLAN transceiver 4, the WLAN transceiver 4 transmits the received data to a local area network, the local area network transmits the data to an external control computer, an operator can see field patrol information through display equipment of the external control computer, the operator can transmit an instruction through the external control computer at a place where a disease appears in a patrol picture, the robot is controlled to run to the position of a plant with the disease, and then the operator inputs the instruction to control the electric push rod 82 to work, so that the telescopic end of the electric push rod 82 extends or contracts, the mounting square plate 83 and the camera 84 are driven to move upwards or downwards, the camera is enabled to be close to the position of the plant with the disease, the operator can visually see the condition of the plant disease, and the operator can take corresponding treatment measures conveniently;

wherein: the protective cover is characterized by further comprising a protective cover 2, the protective cover 2 protects internal components, the protective cover 2 is arranged on the left side of the upper surface of the mounting substrate 1, a PLC 3 is arranged on the rear side of the upper surface of the protective cover 2, the PLC 3 regulates and controls normal operation of the components, the input end of the PLC 3 is electrically connected with the output end of a storage battery 5, a WLAN transceiver 4 is arranged in the middle of the upper surface of the protective cover 2, the WLAN transceiver 4 is a signal transmission transfer station and is used for receiving and sending control instructions, the WLAN transceiver 4 is respectively and bidirectionally electrically connected with an external local area network and the PLC 3, an operator transmits the control instructions to the local area network through an external control computer, the WLAN transceiver 4 receives the control instructions transmitted by the local area network, and then, and transmitting the control instruction to the PLC 3, integrating and judging the received control instruction by the PLC 3, and then controlling the corresponding component to work.

The working principle of the robot field patrol device for the agricultural field provided by the utility model is as follows: the field patrol robot is placed in the field, an operator transmits a control instruction to a local area network through an external control computer, a WLAN transceiver 4 receives the control instruction transmitted by the local area network, then the control instruction is transmitted to a PLC 3, the PLC 3 integrates and judges the received control instruction, then corresponding parts are controlled to work, if the control instruction is forward, the PLC 3 regulates and controls a driving motor 74 to work, an output shaft of the driving motor 74 drives a driving wheel 75 to rotate, the robot runs under the matching of a balance wheel 72 and a driven wheel 11, because a left rod body of a V-shaped frame 73 is longer than a right rod body, the gravity center of the left end of the field patrol robot deviates to the left rod body of the V-shaped frame 73, the V-shaped frame 73 is prevented from rotating backwards through a rotating shaft below a mounting seat 71, and when the field patrol robot runs, a larger soil block cannot be encountered, the outside tooth sheet of the driving wheel 75 grabs the section of the soil block, under the driving of the driving motor 74, the driving wheel 75 rotates and rises along the section of the soil block, the V-shaped frame 73 rotates forwards through the rotating shaft below the mounting seat 71, so as to ensure that the balance wheel 72 can always contact with the ground, then the driving wheel 75 climbs to the upper end of the soil block, the balance wheel 72 and the driven wheel 11 sequentially climb on the soil block under the driving of the driving wheel 75, so that the robot can cross obstacles, if the control command is turning, the PLC 3 regulates and controls the rotation of the steering motor 63, the rotation angle of the steering motor 63 is positive and negative ninety degrees, the steering motor 63 drives the front synchronizing wheel 62 to rotate, under the transmission action of the synchronous belt, the rear synchronizing wheel 62 synchronously rotates, so as to realize the rotation of the steering wheel 61, the steering wheel 61 drives the mounting seat 71 and the lower part to rotate, so as to realize the operation angle adjustment of the driving wheel 75, further realizing the steering operation of the robot, during the operation process of the robot, the camera 84 transmits the shot patrol pictures to the PLC controller 3, the PLC controller 3 integrates the received data and transmits the integrated data to the WLAN transceiver 4, the WLAN transceiver 4 transmits the received data to the local area network, the local area network transmits the data to the external control computer, the operator can see the field patrol information through the display equipment of the external control computer, at the place where the patrol pictures have diseases, the operator can transmit instructions through the external control computer to control the robot to operate to the positions of the plants with the diseases, then the operator inputs the instructions to control the electric push rod 82 to work, the telescopic end of the electric push rod 82 extends or contracts, so as to drive the mounting square plate 83 and the camera 84 to move upwards or downwards, the camera is close to the positions of the plants with the diseases, so that the operator can visually see the conditions of the plants, so that the operator can conveniently make corresponding treatment measures.

It should be noted that the specific model of the PLC controller 3 disclosed in the above embodiments is S7-200, the WLAN transceiver 4 can be a radio frequency transceiver with model number WLAN7001CZ, the steering motor 63 can be a stepping motor with model number Y07-43D1, the driving motor 74 can be a motor with model number STP-42D2137, the electric push rod 82 can be a electric push rod with model number HB-DJ805G, the camera 84 can be a 360 ° panoramic camera with model number CP6, and the PLC controller 3 controls the WLAN transceiver 4, the steering motor 63, the driving motor 74, the electric push rod 82 and the camera 84 to operate by a method commonly used in the prior art.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The utility model provides a robot in agricultural land for growing field crops patrols field device which characterized in that: comprises a mounting substrate (1), a steering mechanism (6), a traveling mechanism (7) and a patrol mechanism (8);

mounting substrate (1): two fixed rods (9) which are symmetrically distributed are arranged on the right side of the lower surface of the universal driving device, a linkage shaft (10) is rotatably connected at the lower end between the two fixed rods (9), and driven wheels (11) are arranged at the front end and the rear end of the linkage shaft (10);

steering mechanism (6): the steering wheel structure comprises two steering wheels (61), wherein the two steering wheels (61) are respectively and rotatably connected in a mounting hole formed in the left side of the upper surface of a mounting base plate (1);

a traveling mechanism (7): are respectively arranged at the lower ends of the steering wheels (61);

patrol mechanism (8): is arranged in the middle of the upper surface of the mounting substrate (1).

2. The robotic field patrol device of an agricultural field according to claim 1, wherein: the solar battery is characterized by further comprising a storage battery (5), wherein the storage battery (5) is arranged in the middle of the lower surface of the mounting substrate (1).

3. The robotic field patrol device of an agricultural field according to claim 2, wherein: still include protection casing (2), protection casing (2) set up in the upper surface left side of mounting substrate (1), and the upper surface rear side of protection casing (2) is equipped with PLC controller (3), and the output of battery (5) is connected to the input electricity of PLC controller (3), and the upper surface middle part of protection casing (2) is equipped with WLAN transceiver (4), and WLAN transceiver (4) are connected with outside LAN and PLC controller (3) two-way electricity respectively.

4. The robotic field patrol device of an agricultural field according to claim 3, wherein: steering mechanism (6) still include synchronizing wheel (62) and turn to motor (63), synchronizing wheel (62) set up respectively in the upper surface middle part of steering wheel (61), and two synchronizing wheels (62) pass through synchronous belt drive and connect, turn to motor (63) and set up in the mounting hole that the top plate body front end of protection casing (2) was seted up, turn to synchronizing wheel (62) fixed connection of the output shaft lower extreme of motor (63) and front side, the output of PLC controller (3) is connected to the input electricity of turning to motor (63).

5. The robotic farm patrol device of an agricultural field according to claim 4, wherein: running gear (7) include mount pad (71), V type frame (73), driving motor (74) and drive wheel (75), mount pad (71) set up respectively in the lower surface middle part of steering wheel (61), V type frame (73) rotate respectively through the pivot and connect in the inside of mount pad (71), the left side body of rod of V type frame (73) is long in the right side body of rod, driving motor (74) set up respectively in the left side body of rod lower extreme of V type frame (73), drive wheel (75) set up respectively in the output shaft outside end department of driving motor (74), the play department end of PLC controller (3) is connected to the input electricity of driving motor (74).

6. The robotic farm patrol device of an agricultural field according to claim 5, wherein: the walking mechanism (7) further comprises a balance wheel (72), and the balance wheel (72) is respectively connected to the lower end of the right rod body of the V-shaped frame (73) in a rotating mode through a rotating shaft.

7. The robotic field patrol device of an agricultural field according to claim 3, wherein: tour mechanism (8) including telescopic link (81), electric putter (82), installation square plate (83) and camera (84), electric putter (82) set up in the upper surface middle part of mounting substrate (1), and installation square plate (83) set up in the flexible end upper end of electric putter (82), and camera (84) set up in the upper surface middle part of installation square plate (83), and telescopic link (81) all set up in the upper surface middle part of mounting substrate (1), the flexible end upper end of telescopic link (81) respectively with the lower fixed surface of installation square plate (83) be connected, the output of PLC controller (3) is connected to the input electricity of electric putter (82), the input of PLC controller (3) is connected to the output electricity of camera (84).