CN217739780U - Mobile robot inside and outside greenhouse - Google Patents
Mobile robot inside and outside greenhouse Download PDFInfo
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- CN217739780U CN217739780U CN202122519378.0U CN202122519378U CN217739780U CN 217739780 U CN217739780 U CN 217739780U CN 202122519378 U CN202122519378 U CN 202122519378U CN 217739780 U CN217739780 U CN 217739780U
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Abstract
The utility model relates to a mobile robot inside and outside greenhouse to realize inside and outside integration, intelligent operation in greenhouse. The robot can realize intelligent movement and positioning in narrow space inside and outside the greenhouse, undertake backpack material transportation and traction type transportation of large-scale materials, can be conveniently and quickly connected and matched with various sensors or end effectors, and can realize multi-link intelligent and mechanical operation such as plant transplanting, pesticide spraying and picking in the greenhouse. The utility model discloses a be applied to mobile robot of indoor outer integration operation of greenhouse comprises online monitoring center (1), mobile robot (2), automatic charging device (3), closed navigation magnetic stripe (4). The robot adopts a wheel type walking mode, magnetic stripe navigation and a double-positioning mode, is not influenced by indoor and outdoor light, and has high precision and low maintenance cost.
Description
Technical Field
The invention belongs to the technical field of intelligent operation of greenhouses, and relates to an intelligent mobile robot suitable for the inside and outside of a greenhouse.
Background
In recent years, agricultural industry structure is actively adjusted all over the country, facility agriculture is popularized, greenhouse requirements are increased year by year, and the national greenhouse area reaches 196.4 kilohm by 2018 2 . The greenhouse has small indoor operation space, field machinery is difficult to adapt to the planting operation environment, most of the operations such as material transportation, farming, planting, plant protection, picking and the like depend on manual work, the labor intensity is high, the production efficiency is low, and the low level of mechanization and automation becomes a bottleneck restricting the development of facility agriculture. The greenhouse environment is relatively closed, the humidity is high, and the requirements on the operation performance, reliability and durability of agricultural machinery are higher, so that the development of efficient, energy-saving and environment-friendly agricultural intelligent equipment suitable for greenhouse production is urgently needed, the personnel investment is reduced, and the full-automatic unmanned production of the greenhouse is realized. At present, an intelligent greenhouse operation platform is developed on the basis of an industrial AGV, generally only works in a greenhouse, is relatively single in purpose, mainly bears on a backpack type, and is not suitable for large-volume material transportation and multifunctional operation.
Disclosure of Invention
An object of the utility model is to provide an inside and outside mobile robot in greenhouse to solve the difficult problem of the inside and outside integration in greenhouse, intelligent operation that provides in the above-mentioned background art.
In order to solve the technical problem, the utility model discloses a following technical scheme: a mobile robot inside and outside a greenhouse mainly comprises: the system comprises a mobile robot, an online monitoring center, an automatic charging device and a closed navigation magnetic stripe, wherein the mobile robot is in communication connection with the online monitoring center, collects the running information of the mobile robot in real time and intelligently controls the running state of the mobile robot according to the working requirement; the mobile robot and the automatic charging device realize data interaction through a wireless network, and when the situation that the electric power of the mobile robot is insufficient is detected, the mobile robot intelligently moves to the automatic charging device and carries out contact charging through an automatic charging brush plate, so that the whole charging process is completely automatic and intelligent without being watched by a special person; the closed navigation magnetic strip is installed on roads inside and outside the greenhouse, the mobile robot senses the position and polarity of the magnetic strip through the magnetic navigation sensor and moves inside and outside the greenhouse along the magnetic strip to work, and the mobile robot searches for a station in a double positioning mode of an RFID electronic landmark and a positioning magnetic tape. The mobile robot runs in a wheel type mode, the operation is stable, and a carrying platform of the mobile robot can carry the carrying box in a backpack mode to carry small-sized material transportation; the side surface is provided with the hook, so that large materials can be dragged and transported.
Furthermore, the mobile robot adopts a wheel type walking mechanism and a magnetic stripe navigation mode, has a simple structure, is not influenced by indoor and outdoor light, has high precision and strong flexibility, can change a path at will, is easier to realize and can be accurately positioned. The carrying platform at the upper end of the mobile robot can carry the carrying box to carry out small-sized material backpack transportation; the hook on the side face of the mobile robot can pull the towing trolley to carry out large-scale material towing type transportation, the mobile robot is made of nickel-based alloy materials, is high in strength and corrosion-resistant, can guarantee the stability of towing transportation, cannot turn over, and can adapt to the humid operation environment of a greenhouse.
Furthermore, the traveling mechanism of the mobile robot mainly comprises 4 universal wheels and two groups of driving steering wheels, wherein the driving steering wheels are connected with a driving motor and are a power source of the robot, so that the robot can move and steer; the universal wheels bear the weight of the mobile robot, and the working stability of the robot is improved.
Further, the closed type navigation magnetic strip comprises: the navigation magnetic strip is a positioning RFID electronic landmark and a positioning magnetic tape which are arranged at a positioning station; the magnetic navigation sensor is installed to the mobile robot below for detect the position and the polarity of navigation magnetic stripe, magnetic navigation sensor perpendicular to navigation magnetic stripe top, can accurately detect out magnetic stripe magnetic field signal, can not detect the magnetic stripe when the magnetic navigation sensor, the mobile robot adjusts through turning left or turning right, until the magnetic navigation sensor detects the navigation magnetic stripe and is located under the magnetic navigation sensor, thereby guarantees the mobile robot walks along navigation magnetic stripe straight line or turns round. The mobile robot is characterized in that an RFID card reader and a landmark sensor are further mounted below the mobile robot, the landmark sensor senses a positioning magnetic tape of a positioning station, the RFID card reader senses an RFID electronic landmark on the positioning station, the mobile robot searches for the station in a double-positioning mode, positioning is accurate, errors are small, and the mobile robot is suitable for indoor and outdoor integrated intelligent operation.
Furthermore, the mobile robot is provided with an indicator light belt which plays a role in warning in the operation process; the anti-collision strip is installed on the bottom edge of the mobile robot, the mobile robot is protected against collision, the emergency stop switch is installed on the side edge of the mobile robot, and people can quickly press the button to achieve the protection measure in case of emergency.
Drawings
Fig. 1 is a schematic structural diagram provided by an embodiment of the present invention
FIG. 2 is a schematic view of the mobile robot
FIG. 3 is a functional diagram of the mobile robot
FIG. 4 is a schematic view of the mobile robot positioning
In the figure: 1. on-line monitoring center 2, mobile robot 3, automatic charging device 4, closed navigation magnetic strip 5, bumper strip 6, hook 7, emergency stop switch 8, carrying platform 9, indicator light strip 10, universal wheel 11, driving steering wheel 12, automatic charging brush plate 13, carrying trolley 14, carrying box 15, RFID card reader 16, magnetic navigation sensor 17, RFID electronic landmark 18, navigation magnetic strip 19, positioning magnetic strip
Detailed Description
As shown in fig. 1, an embodiment of the utility model provides a pair of intelligent mobile robot inside and outside greenhouse, mobile robot adopts wheeled running gear, and magnetic stripe navigation mainly includes online monitoring center (1), mobile robot (2), automatic charging device (3), closed navigation magnetic stripe (4) etc.. The online monitoring center (1) is installed in a greenhouse control room and is in wireless WiFi communication connection with the mobile robot (2) through a local area network; the automatic charging device (3) and the mobile robot (2) realize data interaction through a wireless network, and when the situation that the electric power of the mobile robot (2) is insufficient is detected, the mobile robot (2) intelligently moves to the automatic charging device (3) and carries out contact charging through an automatic charging brush plate (12); the closed navigation magnetic stripe (4) is installed on roads inside and outside the greenhouse, the mobile robot (2) senses the position and polarity of the navigation magnetic stripe through the magnetic navigation sensor and moves inside and outside the greenhouse along the navigation magnetic stripe, and the mobile robot (2) searches for a station in a double positioning mode of an RFID electronic landmark and a positioning magnetic tape. The mobile robot (2) adopts a wheel type to walk, so that the operation is stable; the carrying platform (8) of the mobile robot (2) can carry the carrying box (14) in a backpack manner to carry small-sized material transportation; the side surface is provided with the hook (6) which can pull and transport large materials. The mobile robot is made of nickel-based alloy materials, is high in strength and corrosion-resistant, can ensure stable traction and transportation, cannot turn on one's side, and can adapt to a humid working environment of a greenhouse.
The magnetic navigation sensor (16), the RFID card reader (15) and the landmark sensor (20) are mounted on the lower portion of the mobile robot (2); the closed navigation magnetic strip (4) comprises: the navigation magnetic stripe (18) is provided with the positioning RFID electronic landmark (17) and the positioning magnetic tape (19) at a positioning station, the magnetic navigation sensor (16) is perpendicular to the upper part of the navigation magnetic stripe (18) and used for detecting the position and the polarity of the magnetic stripe, the RFID card reader (15) senses the RFID electronic landmark (17) at the station on the closed navigation magnetic stripe (4), the landmark sensor (20) senses the positioning magnetic tape (19) at the station on the closed navigation magnetic stripe (4), and the station is searched by adopting a double-positioning mode to realize accurate positioning.
The above-mentioned embodiments only represent one embodiment of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (7)
1. A mobile robot inside and outside a greenhouse, comprising: the system comprises an online monitoring center (1), a mobile robot (2), an automatic charging device (3) and a closed navigation magnetic stripe (4); the mobile robot (2) is in communication connection with the online monitoring center (1), and the mobile robot (2) and the automatic charging device (3) realize data interaction through a wireless network; the closed navigation magnetic strip (4) is arranged on a road inside and outside the greenhouse, and the mobile robot (2) senses the position and polarity of the magnetic strip through the magnetic navigation sensor and moves inside and outside the greenhouse along the magnetic strip; the mobile robot (2) searches for a station by adopting a dual-positioning mode of an RFID electronic landmark and a positioning tape; the mobile robot (2) adopts wheel type walking and magnetic stripe navigation, and the operation is stable;
the mobile robot (2) comprises: the device comprises an anti-collision strip (5), a hook (6), an emergency stop switch (7), a loading platform (8), an indicator light strip (9), universal wheels (10) and a driving steering wheel (11), wherein an automatic charging brush plate (12) is arranged on the anti-collision strip;
a magnetic navigation sensor (16), an RFID card reader (15) and a landmark sensor (20) are installed at the bottom of the mobile robot (2); the closed type navigation magnetic strip (4) comprises: navigation magnetic strips (18), positioning RFID electronic landmarks (17) and positioning magnetic tapes (19) installed at positioning sites.
2. The mobile robot inside and outside the greenhouse according to claim 1, characterized in that the carrying platform (8) at the upper end of the mobile robot (2) can carry the carrying box (14) for carrying small materials and carrying back; the hook (6) on the side face of the mobile robot (2) can pull the towing trolley (13) to tow and transport large materials, the mobile robot (2) is made of nickel-based alloy materials, the structure is stable, the mobile robot can be guaranteed to move inside and outside a greenhouse stably and safely, and side turning cannot occur.
3. The mobile robot for indoor and outdoor use of greenhouse according to claim 1, wherein the mobile robot (2) is connected with the online monitoring center (1) through a local area network wireless WiFi communication, and the online monitoring center (1) can collect the running information of the mobile robot (2) in real time and intelligently control the working state of the mobile robot (2) according to the working requirement.
4. The mobile robot inside and outside the greenhouse according to claim 1, wherein the mobile robot (2) and the automatic charging device (3) realize data interaction through a wireless network, and when the mobile robot (2) is detected to be lack of power, the mobile robot (2) intelligently moves to the automatic charging device (3) and carries out contact charging through an automatic charging brush plate (12).
5. The mobile robot inside and outside the greenhouse according to claim 1, wherein the mobile robot (2) adopts a wheel type walking mechanism, mainly comprising 4 universal wheels (10) and two sets of driving steering wheels (11), wherein the steering wheels (11) are connected with a driving motor and are power sources of the mobile robot, so that the mobile robot can move and steer; the universal wheels (10) bear the weight of the mobile robot (2), and the working stability of the mobile robot is improved.
6. The mobile robot inside and outside the greenhouse according to claim 1, wherein the magnetic navigation sensor (16) is used for detecting the navigation magnetic stripe (18), and when the mobile robot (2) runs, the magnetic navigation sensor (16) is perpendicular to the upper side of the navigation magnetic stripe (18) to ensure that the mobile robot (2) walks along the navigation magnetic stripe (18) in a straight line or turns; the RFID card reader (15) senses the RFID electronic landmark (17) of the positioning station, the landmark sensor (20) senses the positioning magnetic tape (19) of the positioning station, and the mobile robot (2) searches for the station by adopting a double-positioning mode, so that accurate positioning is realized.
7. The mobile robot inside and outside the greenhouse as claimed in claim 1, wherein the mobile robot (2) is further provided with an anti-collision strip (5), an emergency stop switch (7) and an emergency safety device with an indicator light strip (9), so as to ensure the safety performance of the mobile robot in an emergency state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122519378.0U CN217739780U (en) | 2021-10-20 | 2021-10-20 | Mobile robot inside and outside greenhouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122519378.0U CN217739780U (en) | 2021-10-20 | 2021-10-20 | Mobile robot inside and outside greenhouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217739780U true CN217739780U (en) | 2022-11-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122519378.0U Active CN217739780U (en) | 2021-10-20 | 2021-10-20 | Mobile robot inside and outside greenhouse |
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| CN (1) | CN217739780U (en) |
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2021
- 2021-10-20 CN CN202122519378.0U patent/CN217739780U/en active Active
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