CN218272104U

CN218272104U - Wheel type automatic inspection instrument capable of automatically detecting and marking plants under sandy soil

Info

Publication number: CN218272104U
Application number: CN202123420698.7U
Authority: CN
Inventors: 梁西银; 吕生权; 张想奎; 苏茂根; 张天辰; 付鹏; 吕兆昕; 周灿
Original assignee: Baiyin Division Innovation Research Institute Of Northwest Normal University; Northwest Normal University
Current assignee: Baiyin Division Innovation Research Institute Of Northwest Normal University; Northwest Normal University
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2023-01-10
Anticipated expiration: 2031-12-31

Abstract

The utility model relates to an automatic detection equipment technical field of plant under sandy soil, and disclose a but wheeled automatic patrol appearance of plant under automatic detection and mark sandy soil, including the carriage, the inside bottom surface middle part fixed mounting in carriage has the install bin, the last fixed surface of install bin installs the mounting box, the inside bottom surface rear side fixed mounting in carriage has the steering wheel, the plant detector is equipped with to the outside bottom surface in carriage, the inside fixed mounting of mounting box has bluetooth controller and RTK measurement control ware, the inside fixed mounting of install bin has main control chip nuclear core plate, detection control circuit and motor driver, both sides fixed mounting has RTK antenna and 4G 5G antenna around the upper surface in carriage, 4G 5G antenna is connected with main control chip nuclear core plate electricity, the inside bottom surface front side fixed mounting in carriage has battery installation storehouse. This but wheeled automatic appearance of patrolling and examining of plant under automatic detection and mark sand and soil can accurate location sand and soil plant under, and keep away in real time the position that barrier sand and soil convex place, plant place under the automatic mark sand and soil.

Description

Wheel type automatic inspection instrument capable of automatically detecting and marking plants under sandy soil

Technical Field

The utility model relates to an automatic detection equipment technical field of plant under the sandy soil specifically is a wheeled automatic appearance of patrolling and examining of plant under can surveying and mark sandy soil automatically.

Background

With the rapid development of economy and the continuous progress of science and technology, agriculture gradually starts to realize automation, but the automatic detection of plants under sandy soil, such as cistanche, still does not have a fully automatic device and product, and at present, the detection of specific positions of some plants under sandy soil still needs manual experience judgment, so that the cost is high, and the working efficiency is low.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides a but wheeled automatic appearance of patrolling and examining of plant under automatic detection and mark sandy soil has solved the problem that the plant carries out automatic detection and mark under the sandy soil.

(II) technical scheme

For the purpose that realizes that above-mentioned sandy soil plants down carry out automatic detection and mark, the utility model provides a following technical scheme: the utility model provides a but wheeled automatic appearance of patrolling and examining of plant under automatic detection and mark sand and soil, includes the carriage, the inside bottom surface middle part fixed mounting in carriage has the install bin, the last fixed surface of install bin installs the mounting box, the inside bottom surface rear side fixed mounting in carriage has the steering wheel, the inside fixed mounting of mounting box has bluetooth controller and RTK (Real-time kinematical) measurement controller, the inside fixed mounting of install bin has main control chip core plate, detection control circuit and motor driver, both sides fixed mounting has RTK antenna and 4G 5G antenna before the upper surface in carriage, 4G 5G antenna is connected with main control chip core plate electricity, the inside bottom surface front side fixed mounting in carriage has battery installation storehouse.

Two steering motors are fixedly mounted on two side faces of the carriage, a main pin sleeve is fixedly mounted at the output end of each steering motor, a suspension spring is fixedly mounted at the bottom end of each main pin sleeve, a driving motor is fixedly mounted at the bottom end of each suspension spring, and wheels are fixedly mounted at the output end of each driving motor.

Preferably, the positive both sides fixed mounting in carriage has two to keep away barrier sensors, the inside in carriage and the downside that is located the install bin are provided with the bottom plate, and the inside fixed mounting of bottom plate has the plant detector, and the plant detector is connected through detection control circuit and main control chip core board electricity, the output fixed mounting of steering wheel has the hammer spindle, the one end fixed mounting that the steering wheel was kept away from to the hammer spindle has the hammer handle, the one end fixed mounting that the hammer spindle was kept away from to the hammer handle has hollow mark hammer, hollow mark hammer extends to the outside in carriage.

Preferably, the steering engine, the 4G/5G antenna, the Bluetooth controller, the RTK measurement controller and the obstacle avoidance sensor are all electrically connected with a core board signal of the main control chip, the automatic patrol inspection instrument receives external control signals through the Bluetooth controller positioned in the carriage and the 4G/5G antenna above the vehicle body, and then the main control chip controls the wheel type automatic patrol inspection instrument to work; receiving satellite positioning signals through an RTK antenna located above the carriage, and then realizing accurate positioning through an RTK controller located inside the carriage; the wheel type automatic patrol inspection instrument keeps away the barrier in real time by keeping away the barrier sensor, the shock absorption and the steering are realized through the suspension structure, the friction force is reduced through the sand prevention structure consisting of the two arc-shaped plates and the flat plate, and the sand is prevented from entering the carriage.

Preferably, the equal fixed mounting in bottom of carriage both sides face has the arc, and the bottom of the carriage is the smooth surface, patrols and examines the in-process, in order to avoid patrolling and examining the appearance and being blocked by the ground protrusion, the utility model discloses the equal fixed mounting in bottom of wheeled appearance carriage both sides face has the arc, and these two arcs constitute sand prevention soil structure, and the bottom surface of wheeled automatic appearance of patrolling and examining is smooth plane, makes the bottom of whole wheeled automatic appearance of patrolling and examining keep level and smooth.

Preferably, an L-shaped groove is formed in the back of the carriage, the hammer handle penetrates through the L-shaped groove and extends to the outer side of the carriage, when the plant detector detects plants under sandy soil, the plant detector generates signals and feeds the signals back to the main control chip through the detection control circuit, the main control chip responds according to the received signals, the wheel type automatic inspection instrument advances for a certain distance, the position, right under the hollow marking hammer, of the plants under the sandy soil is detected, then advancing is stopped, at the moment, the main control chip sends a marking signal to the steering engine, the steering engine drives the hammer shaft to rotate, the hammer shaft drives the hollow marking hammer to be knocked down through the hammer handle, marking is carried out, then the steering engine drives the hammer shaft to rotate reversely, and the hollow marking hammer is lifted.

Compared with the prior art, the utility model provides a but wheeled automatic appearance of patrolling and examining of plant under automatic detection and mark sandy soil possesses following beneficial effect:

1. this but wheeled automatic appearance of patrolling and examining of plant under automatic detection and mark sandy soil, it is big to survey the coverage, and detection range is wide, and the chassis of wheeled automatic appearance of patrolling and examining is lower relatively, and the plant of automatic appearance automobile body below of patrolling and examining remains throughout within the detection range of plant detector, and consequently the precision of surveying is high.

2. This but wheeled automatic appearance of patrolling and examining of plant under automatic detection and mark sandy soil uses the steering wheel to drive hollow mark hammer work mark, need not add the marker, and simple structure has realized the integration of automatic detection and mark, has improved the work efficiency of plant detection under the sandy soil greatly.

3. This but wheeled automatic appearance of patrolling and examining of plant under automatic detection and mark sand soil, the performance of wheeled automatic appearance of patrolling and examining is more excellent, application range is wider, can realize beyond visual range and survey and mark, and this wheeled automatic appearance of patrolling and examining can go steadily in sand soil environment, can carry out accurate location to the route of traveling, still possesses the sand prevention soil function simultaneously, with external communication function, keep away the barrier function in real time, guarantees that this wheeled automatic appearance of patrolling and examining normally works.

Drawings

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

fig. 2 is a top cut-away schematic view of the structural wheel type automatic inspection instrument of the present invention;

fig. 3 is the bottom cut-open schematic view of the wheel-type automatic inspection instrument of the structure of the utility model.

Wherein: 1. a hollow marking hammer; 2. a hammer handle; 3. a steering engine; 4. a hammer shaft; 5. a wheel; 6. a battery installation bin; 7. a suspension spring; 8. a king pin sleeve; 9. a steering motor; 10. an RTK antenna; 11. a carriage; 12. installing a box; 13. mounting a box; 14. 4G/5G antenna; 15. an obstacle avoidance sensor; 16. an arc-shaped plate; 17. a drive motor; 18. a plant detector.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the utility model provides a wheeled automatic polling instrument capable of automatically detecting and marking plants under sandy soil, which comprises a carriage 11, wherein a mounting box 12 is fixedly mounted in the middle of the inner bottom surface of the carriage 11, a mounting box 13 is fixedly mounted on the upper surface of the mounting box 12, a steering engine 3 is fixedly mounted on the rear side of the inner bottom surface of the carriage 11, a bluetooth controller and a RTK measurement controller are fixedly mounted in the mounting box 13, a main control chip core board, a detection control circuit and a motor driver are fixedly mounted in the mounting box 12, RTK antennas 10 and 4G/5G antennas 14,4g/5G antennas 14 are fixedly mounted on the front and rear sides of the upper surface of the carriage 11 and are electrically connected with the main control chip, and a battery mounting bin 6 is fixedly mounted on the front side of the inner bottom surface of the carriage 11;

two steering motors 9 are fixedly installed on two side faces of a carriage 11, a main pin sleeve 8 is fixedly installed at the output end of each steering motor 9, a suspension spring 7 is fixedly installed at the bottom end of each main pin sleeve 8, a driving motor 17 is fixedly installed at the bottom end of each suspension spring 7, wheels 5 are fixedly installed at the output end of each driving motor 17, and the connection structure and the working principle among the steering motors 9, the main pin sleeves 8, the suspension springs 7 and the driving motors 17 adopt the prior art (Hangcong, chengxingbo, zhangban, shipeng, tangting lifting, four-wheel independent steering-independent driving electric vehicle active obstacle avoidance path planning and tracking control [ J ] automobile engineering, 2019,41 (02): 170-176 ]);

two obstacle avoidance sensors 15 are fixedly mounted on two sides of the front face of the carriage 11, a bottom plate is arranged inside the carriage 11 and located on the lower side of the mounting box 12, a plant detector 18 is fixedly mounted inside the bottom plate, the plant detector 18 is electrically connected with a main control chip core plate through a detection control circuit, a hammer shaft 4 is fixedly mounted at the output end of the steering engine 3, a hammer handle 2 is fixedly mounted at one end, away from the steering engine 3, of the hammer shaft 4, a hollow marking hammer 1 is fixedly mounted at one end, away from the hammer shaft 4, of the hammer handle 2, and the hollow marking hammer 1 extends to the outer side of the carriage 11;

steering wheel 3, 4G/5G antenna 14, bluetooth controller, RTK measurement controller and keep away barrier sensor 15 and all with main control chip core plate signal electricity and be connected.

Further, the equal fixed mounting in bottom of 11 both sides faces in carriage has

arc

16, and 11 bottoms in carriage are the smooth surface, patrols and examines the in-process, in order to avoid patrolling and examining the appearance and be blocked by the ground arch, the utility model discloses the equal fixed mounting in bottom of 11 both sides faces in wheeled appearance of patrolling and examining carriage has arc 16, and these two arcs 16 constitute sand prevention soil structure, and the bottom surface of the appearance is examined for smooth plane in wheeled automation, makes the bottom of whole wheeled automation examine the appearance keep level and smooth.

Further, an L-shaped groove is formed in the back of the carriage 11, the hammer handle 2 penetrates through the L-shaped groove and extends to the outer side of the carriage 11, when the plant detector 18 detects plants under sandy soil, the plant detector 18 generates signals and feeds the signals back to the main control chip through the detection control circuit, the main control chip responds according to the received signals, the wheel type automatic inspection instrument advances for a certain distance, the position, where the plants under the sandy soil are detected, is right under the hollow marking hammer 1, then the advancing is stopped, at the moment, the main control chip sends a marking signal to the steering engine 3, the steering engine 3 drives the hammer shaft 4 to rotate, the hammer shaft 4 drives the hollow marking hammer 1 to smash down through the hammer handle 2, marking is carried out, then the steering engine 3 drives the hammer shaft 4 to rotate reversely, and the hollow marking hammer 1 is lifted up.

When the wheel type automatic patrol instrument is used, the storage battery pack is installed in the battery installation bin 6, the external device is in wireless connection with the main control chip through the Bluetooth controller or the 4G/5G antenna 14, the Bluetooth controller is in communication with the main control chip, the 4G/5G antenna 14 serves as a communication antenna of the main control chip, the wireless connection between the external device and the Bluetooth controller is suitable for short-distance control, the wireless connection between the external device and the 4G/5G antenna 14 is suitable for long-distance control, then a working path and a working area are set through application software of the external device, the wheel type automatic patrol instrument realizes automatic operation, when a working command is reached, the main control chip sends a signal to a motor driver in the installation box 12 to drive the motor 17 to work to drive the wheels 5 to rotate, the automatic running of the wheel type automatic patrol instrument is realized, and the RTK measurement controller receives a positioning signal through the RTK antenna 10, the real-time accurate positioning of the wheel type automatic inspection instrument is realized, thereby the autonomous operation of the wheel type automatic inspection instrument in a designated area is realized, if an obstacle exists, the obstacle avoidance sensor 15 feeds back a corresponding signal to the main control chip, the main control chip sends a signal to the motor driver in the mounting box 12 after receiving the signal, the steering motor 9 works, the wheel type automatic inspection instrument starts to turn, the real-time obstacle avoidance function of the wheel type automatic inspection instrument is realized, the wheel type automatic inspection instrument is prevented from being damaged by collision, the wheel type automatic inspection instrument can be better damped by the solid connection of the main pin sleeve 8 and the suspension spring 7, the bottom ends of two side surfaces of the carriage 11 of the wheel type automatic inspection instrument are fixedly provided with the arc plates 16, the chassis of the wheel type automatic inspection instrument is a smooth plane, the bottom of the whole wheel type automatic inspection instrument is kept smooth, and the wheel type automatic inspection instrument is in the process of moving, the friction force can be reduced, sandy soil is prevented from entering the wheel type automatic polling instrument, in the advancing process of the wheel type automatic polling instrument, when the plant detector 18 detects plants under the sandy soil, the plant detector 18 generates signals and feeds the signals back to the main control chip through the detection control circuit, the main control chip responds according to the received signals, the wheel type automatic polling instrument advances for a certain distance, the position of the plants under the sandy soil is just detected under the hollow marking hammer 1 when the plant detector reaches the position under the hollow marking hammer 1, then the advancing is stopped, at the moment, the main control chip sends a marking signal to the steering engine 3, the steering engine 3 drives the hammer shaft 4 to rotate, the hammer shaft 4 drives the hollow marking hammer 1 to smash down through the hammer handle 2 to make a mark, then the steering engine 3 drives the hammer shaft 4 to rotate reversely, the hollow marking hammer 1 is lifted, and then the wheel type automatic polling instrument continues to detect the next plants under the sandy soil in the process.

The utility model receives external control signals through the Bluetooth controller positioned in the carriage 11 and the 4G/5G antenna 14 above the carriage body, and then the main control chip controls the work of the wheel type automatic polling instrument; receiving satellite positioning signals through an RTK antenna 10 located above a carriage 11, and then realizing accurate positioning through an RTK controller located inside the carriage 11; the wheel type automatic patrol instrument avoids the barrier in real time through avoiding the barrier sensor 15, and absorbs shock and turns through the suspension structure, and the sand-proof soil structure formed by the two arc-shaped plates 16 and the flat plate reduces friction force to prevent sand from entering the carriage 11.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a but automatic wheeled automatic appearance of patrolling and examining of plant under automatic detection and mark sand and soil, includes carriage (11), its characterized in that: an installation box (12) is fixedly installed in the middle of the inner bottom surface of the carriage (11), an installation box (13) is fixedly installed on the upper surface of the installation box (12), a steering engine (3) is fixedly installed on the rear side of the inner bottom surface of the carriage (11), a Bluetooth controller and an RTK measurement controller are fixedly installed in the installation box (13), a main control chip core board, a detection control circuit and a motor driver are fixedly installed in the installation box (12), RTK antennas (10) and 4G/5G antennas (14) are fixedly installed on the front side and the rear side of the upper surface of the carriage (11), the RTK antennas (10) and the 4G/5G antennas (14) are electrically connected with the main control chip core board, and a battery installation bin (6) is fixedly installed on the front side of the inner bottom surface of the carriage (11);

two steering motors (9) are fixedly mounted on two side faces of the carriage (11), a main pin sleeve (8) is fixedly mounted at an output end of each steering motor (9), a suspension spring (7) is fixedly mounted at a bottom end of each main pin sleeve (8), a driving motor (17) is fixedly mounted at a bottom end of each suspension spring (7), and wheels (5) are fixedly mounted at an output end of each driving motor (17).

2. The wheel type automatic patrol instrument capable of automatically detecting and marking plants under sandy soil according to claim 1, wherein: the utility model discloses a safe and reliable marker hammer, including carriage (11), the front both sides fixed mounting of carriage (11) has two to keep away barrier sensor (15), the inside of carriage (11) and the downside that is located install bin (12) are provided with the bottom plate, and the inside fixed mounting of bottom plate has plant detector (18), and plant detector (18) are connected through detection control circuit and main control chip core board electricity, the output end fixed mounting of steering wheel (3) has hammer spindle (4), the one end fixed mounting that steering wheel (3) were kept away from in hammer spindle (4) has hammer handle (2), the one end fixed mounting that hammer spindle (4) were kept away from in hammer handle (2) has hollow mark hammer (1), hollow mark hammer (1) extends to the outside of carriage (11).

3. The automatic wheeled inspection instrument capable of automatically detecting and marking plants under sandy soil according to claim 2, wherein: steering wheel (3), 4G 5G antenna (14), bluetooth controller, RTK measurement controller and keep away barrier sensor (15) and all be connected with main control chip kernel board signal electricity.

4. The automatic wheeled inspection instrument capable of automatically detecting and marking plants under sandy soil according to claim 1, wherein: the bottom of both sides face of carriage (11) all fixed mounting have arc (16), and carriage (11) bottom is the smooth surface.

5. The automatic wheeled inspection instrument capable of automatically detecting and marking plants under sandy soil according to claim 1, wherein: the back of carriage (11) has seted up L type groove, and hammer handle (2) run through L type groove and extend to the outside of carriage (11).