CN216682212U

CN216682212U - Multi-functional autonomic robot of patrolling and examining of grain

Info

Publication number: CN216682212U
Application number: CN202220213404.9U
Authority: CN
Inventors: 吴兰; 胡家傲; 周永强; 蔡磊
Original assignee: Henan University of Technology
Current assignee: Henan University of Technology
Priority date: 2022-01-26
Filing date: 2022-01-26
Publication date: 2022-06-07
Anticipated expiration: 2032-01-26

Abstract

The utility model provides a multifunctional autonomous grain inspection robot, which is used for solving the technical problems of grain condition monitoring, granary management, insect pest grain identification, grain medicine fumigation, grain leveling and the like; the robot comprises a robot body, wherein a walking mechanism is arranged at the bottom of the robot body; the robot body comprises an inspection mechanism, a medicine conveying mechanism and a control system circuit; the walking mechanism, the inspection mechanism and the medicine conveying mechanism are all connected with a control system circuit. The utility model can identify insect pest targets in a complex granary environment, completes grain drug fumigation deinsectization work and grain leveling work through the drug taking structure, the mechanical arm grabbing structure, the material box conveying structure and the lifting grain leveling structure, can sense the granary environment condition through the carried sensor, is convenient to monitor and manage the granary grain condition, and has simple structure, convenient and flexible operation.

Description

Multi-functional autonomic robot of patrolling and examining of grain

Technical Field

The utility model relates to the technical field of grain surface inspection of grain bins, in particular to a multifunctional autonomous inspection robot for grains.

Background

At present, a common grain inspection robot is driven by four wheels and is provided with a plurality of sensors to monitor the environment in a granary. The four-wheel drive of the existing grain inspection robot is difficult to independently walk on grain surfaces in a granary, a sensor cannot identify plant diseases and insect pests, the functions of fumigation and planishing of grain medicines are not available, autonomous inspection cannot be performed, difficulty is caused in grain sampling operation in the granary, and the grain in the granary cannot be conveniently and accurately monitored and managed. In a complex environment such as a granary, monitoring and management of grain states are particularly important, and once grain is neglected, moisture, mildew and insects are likely to be generated due to temperature and humidity changes, so that strict inspection is required for granary management to ensure the quality of the grain.

Disclosure of Invention

Aiming at the technical problems that the existing grain inspection can not carry out autonomous inspection on grain surfaces in a granary, can not carry out grain medicine fumigation and can not level grains, the utility model provides the multifunctional autonomous inspection robot for grains, which can carry out autonomous inspection on grain surfaces in the granary, carry out grain medicine fumigation and grain leveling, can be remotely controlled and can carry out real-time video data transmission with an external display device.

The technical scheme of the utility model is realized as follows:

a multifunctional autonomous grain inspection robot comprises a robot body, wherein a walking mechanism is arranged at the bottom of the robot body; the robot body comprises an inspection mechanism, a medicine conveying mechanism and a control system circuit; the walking mechanism, the inspection mechanism and the medicine conveying mechanism are all connected with a control system circuit.

Preferably, the running mechanism comprises a track rotating shaft, a track gear is arranged on the track rotating shaft, and a track is sleeved on the track gear.

Preferably, the inspection mechanism comprises a gun and ball linkage camera base, a temperature and humidity sensor and a carbon dioxide sensor are arranged on the upper portion of the gun and ball linkage camera base, an industrial camera is arranged at the top of the gun and ball linkage camera base, and the industrial camera is connected with a control system circuit.

Preferably, the medicine delivery mechanism comprises a medicine taking device and a material box delivery device, the medicine taking device comprises a material disc base, a square hole of the material disc base is arranged below the material disc base, a material disc with holes is arranged on the material disc base, a material disc center hole is arranged in the middle of the material disc with holes, and the material disc center hole is connected with a circular medicine storage pipe; an inclined plate, a first stepping motor and a stepping motor groove are arranged in the material tray base, the first stepping motor is arranged in the stepping motor groove, and the first stepping motor is connected with the rotatable square column through a material tray center hole; the material box conveying device comprises a second stepping motor, a gear column, a gear and a conveying crawler belt, the second stepping motor is connected with the gear column, the gear column is meshed with the gear, the gear is fixedly connected with a rotating shaft, the conveying crawler belt is arranged on the rotating shaft, a material box guide rail is arranged on the conveying crawler belt, and a plurality of material boxes are placed on the material box guide rail.

Preferably, the control system circuit comprises an industrial personal computer, and the industrial personal computer is provided with a USB interface, an HDMI video interface and a power switch; the industrial computer is connected with rifle ball linkage camera base, industrial camera, temperature and humidity sensor and carbon dioxide sensor respectively through the USB interface.

Preferably, the front part of the robot body is provided with a grain leveling device, and the grain leveling device comprises a liftable grain leveling shaft and a grain leveling plate; the lifting grain leveling shaft is fixedly connected with the grain leveling plate.

Preferably, the tail of the robot body is provided with a curved material pipe, a straight material pipe and a material pipe groove, the upper end of the curved material pipe is communicated with the square hole of the tray base, the lower end of the curved material pipe is communicated with the straight material pipe, the straight material pipe is matched with the material box, and the material box is matched with the material pipe groove.

Preferably, the tail of the robot body is further provided with a mechanical arm fixing base, and six mechanical arms are arranged on the mechanical arm fixing base.

Preferably, the gun and ball linkage camera base can rotate 360 degrees.

Preferably, the control system circuit further comprises a single chip microcomputer, a track driving motor, a mechanical arm control panel, a grain leveling shaft driving motor, a voltage stabilizing module, a voltage reducing module and a WIFI module; the single chip microcomputer is respectively connected with a track driving motor, a mechanical arm control panel, a grain leveling shaft driving motor and a voltage reduction module, and the track driving motor is respectively connected with a track rotating shaft and a voltage stabilization module; the mechanical arm control plate is connected with the six mechanical arms; the grain leveling shaft driving motor is connected with the lifting grain leveling shaft; the WIFI module is connected with the industrial personal computer, and the industrial personal computer is connected with the vision processing equipment.

Compared with the prior art, the utility model has the following beneficial effects:

1) the system can realize the functions of autonomous patrol, insect damage grain identification and detection, mechanical arm grabbing, grain medicine fumigation, grain leveling, real-time data transmission, remote control and the like on grain surfaces, can uninterruptedly monitor the temperature, humidity and carbon dioxide insect damage conditions in the granary environment, and can automatically alarm when abnormal grain conditions occur.

2) The automatic grain inspection device can perform automatic inspection operation on the surface of a granary, complete medicine fumigation of grains by means of cooperative work of the medicine taking structure, the mechanical arm grabbing structure and the material box conveying structure, and perform grain leveling operation through the grain leveling device.

3) The industrial personal computer is used for remote control and real-time data transmission, so that the granary grain condition can be conveniently monitored, and the device is simple in structure, low in power and convenient and flexible to operate.

4) Can replace the staff independently to accomplish the stifling work of high dangerous grain, the staff only need long-range to the robot state control can, ensured staff's safety.

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 is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a control circuit diagram of the present invention.

Fig. 2 is a schematic structural diagram of the present invention.

Fig. 3 is a front view of the present invention.

Fig. 4 is a schematic bottom structure of the present invention.

Fig. 5 is a schematic view of the tray structure of the present invention.

FIG. 6 is a schematic diagram of a cartridge delivery structure of the present invention.

In the figure, 1 is a robot body, 2 is a track rotating shaft, 4 is a chassis, 5 is a track driving motor, 6 is a track gear, 7 is a track, 8 is a gun ball linkage camera base, 9 is an industrial camera, 10 is an industrial personal computer, 11 is a USB interface, 12 is an HDMI video interface, 13 is a power switch, 14 is a material tray base, 15 is a perforated material tray, 16 is a curved material pipe, 17 is a straight material pipe, 18 is a material pipe groove, 19 is a material box, 20 is a six-shaft mechanical arm, 21 is a mechanical arm fixing base, 22 is a liftable flat grain shaft, 23 is a flat grain plate, 24 is a temperature and humidity sensor, 25 is a carbon dioxide sensor, 26 is a medicine storage circular pipe, 27 is a rotatable square column, 28 is a material tray base square hole, 29 is a material tray central hole, 30 is an inclined plate, 31 is a first step motor, 32 is a step motor groove, 33 is a material tray guide rail, 34 is a gear, 35 gear column, and 36 is a second step motor, 37 are magazine transport tracks.

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 obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

As shown in fig. 1, the control system circuit of the present invention includes an industrial personal computer 10, wherein the industrial personal computer 10 is provided with a USB interface 11, an HDMI video interface 12 and a power switch 13; the industrial personal computer 10 is respectively connected with the gun and ball linkage camera base 8, the industrial camera 9, the temperature and humidity sensor 24 and the carbon dioxide sensor 25 through the USB interface 11. The control system circuit further comprises a single chip microcomputer, a crawler driving motor 5, a mechanical arm control panel, a grain leveling shaft driving motor, a voltage stabilizing module, a voltage reducing module and a WIFI module; the single chip microcomputer is respectively connected with the crawler belt driving motor 5, the mechanical arm control panel, the grain leveling shaft driving motor and the voltage reduction module, and the crawler belt driving motor 5 is respectively connected with the crawler belt rotating shaft 2 and the voltage stabilization module; the mechanical arm control plate is connected with the six-axis mechanical arm 20; the grain leveling shaft driving motor is connected with the lifting grain leveling shaft 22; the WIFI module is connected with the industrial personal computer 10, and the industrial personal computer 10 is connected with the visual processing equipment. The single chip microcomputer adopts an STM32F103 chip, the model of the voltage reduction module is LM2596, and the model of the voltage stabilization module is DKP 6012. The control system circuit includes components that serve as cores for data processing and transmission. The STM32F103 singlechip links to each other with flat grain axle step motor and arm control panel, and the flat grain board 23 of control goes up and down and six arms 20 snatch the target, and the STM32F103 singlechip links to each other with track driving motor 5 on the chassis 4 simultaneously, controls the walking of robot.

As shown in fig. 2, the utility model provides a multifunctional autonomous grain inspection robot, which comprises a robot body 1, wherein a walking mechanism is arranged at the bottom of the robot body 1; the robot body 1 comprises an inspection mechanism, a medicine conveying mechanism and a control system circuit; the walking mechanism, the inspection mechanism and the medicine conveying mechanism are all connected with a control system circuit. The walking mechanism comprises a track rotating shaft 2, a track gear 6 is arranged on the track rotating shaft 2, and a track 7 is sleeved on the track gear 6. The tail of the robot body 1 is provided with a curved material pipe 16, a straight material pipe 17 and a material pipe groove 18, the upper end of the curved material pipe 16 is communicated with a square hole 28 of a tray base, the lower end of the curved material pipe 16 is communicated with the straight material pipe 17, the straight material pipe 17 is matched with a material box 19, and the material box 19 is matched with the material pipe groove 18.

As shown in fig. 3, the inspection mechanism comprises a gun and ball linkage camera base 8, the gun and ball linkage camera base 8 can rotate 360 degrees, a temperature and humidity sensor 24 and a carbon dioxide sensor 25 are arranged on the upper portion of the gun and ball linkage camera base 8, an industrial camera 9 is arranged on the top of the gun and ball linkage camera base 8, and the industrial camera 9 is connected with a control system circuit. The front part of the robot body 1 is provided with a grain leveling device, and the grain leveling device comprises a liftable grain leveling shaft 22 and a grain leveling plate 23; the lifting grain leveling shaft 22 is fixedly connected with the grain leveling plate 23. As shown in fig. 4, a robot arm fixing base 21 is further disposed at the tail of the robot body 1, and six robot arms 20 are disposed on the robot arm fixing base 21.

As shown in fig. 5 and 6, the medicine delivery mechanism comprises a medicine taking device and a material box delivery device, the medicine taking device comprises a material disc base 14, a material disc base square hole 28 is arranged below the material disc base 14, a material disc with holes 15 is arranged on the material disc base 14, a material disc central hole 29 is arranged in the middle of the material disc with holes 15, and the material disc central hole 29 is connected with a medicine storage circular tube 26; the tray base 14 is internally provided with an inclined plate 30, a first stepping motor 31 and a stepping motor groove 32, the first stepping motor 31 is arranged in the stepping motor groove 32, and the first stepping motor 31 is connected with the rotatable square column 27 through the tray center hole 29; the magazine conveying device comprises a second stepping motor 36, a gear column 35, a gear 34 and a conveying crawler belt 37, wherein the second stepping motor 36 is connected with the gear column 35, the gear column 35 is meshed with the gear 34, the gear 34 is fixedly connected with a rotating shaft, the rotating shaft is provided with the conveying crawler belt 37, the conveying crawler belt 37 is provided with a magazine guide rail 33, and a plurality of magazines 19 are placed on the magazine guide rail 33. Slice grain fumigation medicine piles up and places in storing up medicine pipe 26, the bottom is blocked by the charging tray, when will placing fumigation medicine, step motor 30 in the charging tray rotates the rotatable square column 27 that drives and link to each other with it, it is inside that medicine that stores up medicine pipe 26 will treat to put in drops the feeding dish through foraminiferous charging tray 15, inclined plate 30 in the charging tray makes medicine landing feeding dish base square hole 28 again, through curved material pipe 16 and straight material pipe 17 fall into the magazine 19 on the conveying track 37, and finally, snatch out the medicine through arm 20 and put the assigned position.

The working principle is as follows: the method comprises the steps of turning on a main power switch of a system, turning on a power switch 13 of an industrial personal computer, initializing the system, initializing a temperature and humidity sensor 24, a carbon dioxide sensor 25 and a six-axis mechanical arm 20, starting the industrial camera 9 and beginning to identify the condition of grains in a detection visual field area, when grains with problems such as insect pests are found, resolving image data shot by the industrial camera 9 by the industrial personal computer 10, converting the image data into parameters of distance, direction, speed and the like, sending the data to an STM32F103 single chip microcomputer through a data line connected with a USB interface 11, sending corresponding PWM signals to a track driving motor encoder by the STM32F103 single chip microcomputer, controlling a track driving motor 5 to drive a track rotating shaft 2 by the track driving motor encoder, driving a track gear 6 and driving a track 7 by the track rotating shaft 2, enabling the robot to move to a target area on the grain surface, and when the industrial camera 9 detects that the robot moves to the target area, industrial computer 10 sends the signal through USB interface 11 and gives STM32F103 singlechip, STM32F103 singlechip sends the instruction respectively and gives first step motor 31 and arm control panel, first step motor 31 drives rotatable square column 27 rotatory, make the grain fumigation medicine of placing in storage medicine pipe 26 fall from the round hole through bent shape material pipe 16 and straight shape material pipe 17 fall place in advance in the feed pipe box 19 of material pipe groove 18, start six arms 20, it places in the insect pest grain region and carries out the medicine fumigation to grab and get material pipe box 19, place and drive gear 34 and feed box conveying track 37 circular transfer supplementary feed box when fixing gear column 35 on second step motor 36 in the completion feed box transport structure. When the industrial camera 9 detects the grain heap protruding area, the robot moves to the regional STM32F103 singlechip of target and sends corresponding PWM signal control flat grain axle step motor, and the flat grain axle 22 of adjustment liftable for flat grain board 23 reaches suitable angle and carries out flat grain operation. During working, the temperature and humidity sensor 24 and the carbon dioxide sensor 25 collect temperature and humidity and carbon dioxide concentration data of current grains, and send corresponding data to an external display interface through the WIFI module to display the data. The industrial camera 9 can remotely transmit video data in real time through the industrial personal computer 10, and workers can remotely control the robot by sending corresponding instructions to the WIFI module to complete corresponding work. When fumigation and grain leveling in one grain region are completed, the robot automatically scans, identifies, detects and moves to the next grain region, and after work in a plurality of grain regions is completed, the robot returns to the initial position, and a fixed routing inspection route can be set for the robot.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A multifunctional autonomous grain inspection robot comprises a robot body (1), wherein a walking mechanism is arranged at the bottom of the robot body (1); the robot is characterized in that the robot body (1) comprises an inspection mechanism, a medicine conveying mechanism and a control system circuit; the walking mechanism, the inspection mechanism and the medicine conveying mechanism are all connected with a control system circuit.

2. The multifunctional automatic inspection robot for the grains according to claim 1, wherein the traveling mechanism comprises a track rotating shaft (2), a track gear (6) is arranged on the track rotating shaft (2), and a track (7) is sleeved on the track gear (6).

3. The multifunctional autonomous grain inspection robot according to claim 2, wherein the inspection mechanism comprises a gun and ball linkage camera base (8), a temperature and humidity sensor (24) and a carbon dioxide sensor (25) are arranged on the upper portion of the gun and ball linkage camera base (8), an industrial camera (9) is arranged on the top of the gun and ball linkage camera base (8), and the industrial camera (9) is connected with a control system circuit.

4. The multifunctional automatic inspection robot for the grains according to claim 1, wherein the medicine conveying mechanism comprises a medicine taking device and a material box conveying device, the medicine taking device comprises a material plate base (14), a material plate base square hole (28) is formed below the material plate base (14), a material plate with holes (15) is arranged on the material plate base (14), a material plate center hole (29) is formed in the middle of the material plate with holes (15), and the material plate center hole (29) is connected with a circular medicine storage pipe (26); an inclined plate (30), a first stepping motor (31) and a stepping motor groove (32) are arranged in the tray base (14), the first stepping motor (31) is arranged in the stepping motor groove (32), and the first stepping motor (31) is connected with the rotatable square column (27) through a tray center hole (29); the magazine conveying device comprises a second stepping motor (36), gear columns (35), gears (34) and conveying tracks (37), the second stepping motor (36) is connected with the gear columns (35), the gear columns (35) are meshed with the gears (34), the gears (34) are fixedly connected with a rotating shaft, the rotating shaft is provided with the conveying tracks (37), magazine guide rails (33) are arranged on the conveying tracks (37), and a plurality of magazines (19) are placed on the magazine guide rails (33).

5. The multifunctional autonomous inspection robot for grains according to claim 3, characterized in that the control system circuit comprises an industrial personal computer (10), the industrial personal computer (10) is provided with a USB interface (11), an HDMI video interface (12) and a power switch (13); the industrial personal computer (10) is respectively connected with the gun and ball linkage camera base (8), the industrial camera (9), the temperature and humidity sensor (24) and the carbon dioxide sensor (25) through the USB interface (11).

6. The multifunctional automatic inspection robot for the grains according to claim 5, wherein a grain leveling device is arranged at the front part of the robot body (1), and comprises a lifting grain leveling shaft (22) and a grain leveling plate (23); the lifting grain leveling shaft (22) is fixedly connected with the grain leveling plate (23).

7. The multifunctional automatic inspection robot for the grains according to claim 4, wherein a curved material pipe (16), a straight material pipe (17) and a material pipe groove (18) are arranged at the tail of the robot body (1), the upper end of the curved material pipe (16) is communicated with a square hole (28) of a tray base, the lower end of the curved material pipe (16) is communicated with the straight material pipe (17), the straight material pipe (17) is matched with the material box (19), and the material box (19) is matched with the material pipe groove (18).

8. The multifunctional automatic inspection robot for the grains according to claim 6, wherein a mechanical arm fixing base (21) is further arranged at the tail of the robot body (1), and six mechanical arms (20) are arranged on the mechanical arm fixing base (21).

9. The multifunctional autonomous grain inspection robot according to claim 3 or 5, characterized in that the gun and ball linked camera base (8) can rotate 360 °.

10. The multifunctional autonomous grain inspection robot according to claim 8, wherein the control system circuit further comprises a single chip microcomputer, a track driving motor (5), a mechanical arm control panel, a grain leveling shaft driving motor, a voltage stabilizing module, a voltage reducing module and a WIFI module; the single chip microcomputer is respectively connected with the track driving motor (5), the mechanical arm control panel, the grain leveling shaft driving motor and the voltage reduction module, and the track driving motor (5) is respectively connected with the track rotating shaft (2) and the voltage stabilization module; the mechanical arm control plate is connected with a six-axis mechanical arm (20); the grain leveling shaft driving motor is connected with a lifting grain leveling shaft (22); the WIFI module is connected with an industrial personal computer (10), and the industrial personal computer (10) is connected with the vision processing equipment.