CN220340205U - Soil inspection robot - Google Patents
Soil inspection robot Download PDFInfo
- Publication number
- CN220340205U CN220340205U CN202320534532.8U CN202320534532U CN220340205U CN 220340205 U CN220340205 U CN 220340205U CN 202320534532 U CN202320534532 U CN 202320534532U CN 220340205 U CN220340205 U CN 220340205U
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- China
- Prior art keywords
- soil
- personal computer
- industrial personal
- gps
- robot
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- 239000002689 soil Substances 0.000 title claims abstract description 106
- 238000007689 inspection Methods 0.000 title claims abstract description 50
- 235000001674 Agaricus brunnescens Nutrition 0.000 claims abstract description 21
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- ZLMJMSJWJFRBEC-UHFFFAOYSA-N Potassium Chemical compound [K] ZLMJMSJWJFRBEC-UHFFFAOYSA-N 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 229910052698 phosphorus Inorganic materials 0.000 description 1
- 239000011574 phosphorus Substances 0.000 description 1
- 239000011591 potassium Substances 0.000 description 1
- 229910052700 potassium Inorganic materials 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model provides a soil inspection robot, which comprises: the system comprises an industrial personal computer, a mushroom head antenna and a GPS or Beidou receiver, wherein one end of the GPS or Beidou receiver is connected with the mushroom head antenna, and the other end of the GPS or Beidou receiver is connected with the industrial personal computer; the mushroom head antenna is used for receiving GPS or Beidou data and uploading the GPS or Beidou data to the industrial personal computer through the GPS or Beidou receiver; the system comprises a laser radar, a router, a wireless communication system and a wireless communication system, wherein one end of the router is connected to the laser radar through a laser radar adapter, and the other end of the router is connected to the industrial personal computer; the laser radar is used for acquiring surrounding point cloud information and transmitting the surrounding point cloud information into the industrial personal computer through the router; and the soil sensor is connected with the industrial personal computer, and is used for acquiring soil data information and transmitting the soil data information to the industrial personal computer. The inspection soil robot is of a movable structure, simple in structure and capable of achieving automatic soil collection tasks by matching with a soil sensor.
Description
Technical Field
The utility model relates to the technical field of detection equipment, in particular to a soil inspection robot.
Background
Elements such as temperature and humidity, conductivity, PH and nitrogen, phosphorus and potassium of the soil play a very important role in the growth of crops, so that the soil needs to be detected and analyzed, and soil detection operation is usually carried out by professional organizations. Detection of soil has been currently performed by many devices such as ground penetrating radar, soil sensors, hand-held soil gathering instruments, and the like. However, the existing equipment needs to be manually participated, including transportation of the equipment, collection work of soil and the like.
Disclosure of Invention
Aiming at the defects of the prior art, the utility model provides the soil inspection robot which is of a movable structure, has a simple structure, is matched with a soil sensor to realize an automatic soil collection task, and greatly reduces the labor cost of the soil collection task.
In order to achieve the above object, the present utility model provides a soil inspection robot comprising:
an industrial personal computer is provided with a control system,
an antenna with a mushroom-shaped head is provided,
one end of the GPS or Beidou receiver is connected with the mushroom head antenna, and the other end of the GPS or Beidou receiver is connected with the industrial personal computer;
the mushroom head antenna is used for receiving GPS or Beidou data and uploading the GPS or Beidou data to the industrial personal computer through the GPS or Beidou receiver;
a laser radar which is used for the laser beam,
one end of the router is connected to the laser radar through a laser radar adapter, and the other end of the router is connected to the industrial personal computer;
the laser radar is used for acquiring surrounding point cloud information and transmitting the surrounding point cloud information into the industrial personal computer through the router; and
at least one soil sensor connected with the industrial personal computer,
the soil sensor is used for acquiring soil data information and transmitting the soil data information to the industrial personal computer.
Optionally, the soil inspection robot further includes:
a CAN box connected with the industrial personal computer,
the CAN box is used for inspecting the communication of the ground robot bottom layer.
Optionally, the soil inspection robot further includes:
and the display is connected with the industrial personal computer and is used for displaying the interface of the industrial personal computer.
Optionally, the soil inspection robot further comprises a housing cover;
the industrial personal computer, the GPS or Beidou receiver, the router, the laser radar adapter and the CAN box are arranged in the internal cavity of the shell cover to form the inspection soil robot internal equipment.
Optionally, the GPS or the beidou receiver, the industrial personal computer and the CAN box are arranged at intervals in the same direction, and the industrial personal computer is located at the middle position.
Optionally, the router is disposed adjacent to the lidar adapter and is disposed at a position above the GPS or beidou receiver.
Optionally, the mushroom head antenna, the laser radar, the soil sensor, and the display are disposed on an outer surface of the housing cover.
Optionally, the mushroom head antenna and the laser radar are arranged at the top position of the shell cover,
the display is arranged at the front position of the shell cover;
the soil sensor is arranged on a point push rod at the tail position of the shell cover.
Optionally, the soil inspection robot further includes:
and the camera is connected with the industrial personal computer and is arranged at the top position of the shell cover and is close to the laser radar.
Optionally, the soil inspection robot further includes:
and the crawler-type chassis is connected with the bottom of the shell cover.
The advantages of the utility model are as follows:
the inspection soil robot provided by the utility model is provided with an industrial personal computer, a GPS or Beidou receiver, a router and a CAN box which are arranged in the inner cavity of the inspection soil robot; the mushroom head antenna, the laser radar, the soil sensor and the like are arranged on the outer surface of the inspection soil robot, and the external environment information is collected in real time. The mushroom head antenna is used for receiving GPS or Beidou data, is connected with the industrial personal computer through a GPS or Beidou receiver and is uploaded to the industrial personal computer through the GPS or the Beidou receiver; the laser radar is used for acquiring surrounding point cloud information, is connected to the industrial personal computer through a router, and is transmitted into the industrial personal computer through the router; the soil sensor is directly connected with the industrial personal computer, and the soil sensor is used for acquiring soil data information and transmitting the soil data information to the industrial personal computer. The inspection soil robot is of a movable structure, is simple in structure, and can be matched with a soil sensor to realize automatic soil collection tasks, so that the labor cost of the soil collection tasks is greatly reduced.
Drawings
Fig. 1 is a whole block diagram of a soil inspection robot according to an embodiment of the present utility model;
FIG. 2 is an internal structure diagram of the inspection soil robot;
fig. 3 is a block diagram of the overall architecture of the inspection soil robot.
Wherein:
1-an industrial personal computer;
2-mushroom head antenna;
3-GPS or Beidou receiver;
4-laser radar;
5-a router;
6-a lidar adapter;
7-a soil sensor;
8-CAN box;
9-a display;
10-a camera;
11-a housing cover;
12-crawler chassis.
Detailed Description
The following detailed description of the present utility model is provided with reference to the accompanying drawings and specific embodiments, so as to further understand the purpose, the scheme and the effects of the present utility model, but not to limit the scope of the appended claims.
Certain terms are used throughout the description and following claims to refer to particular components or elements, and it will be appreciated by those of ordinary skill in the art that a technical user or manufacturer may refer to the same component or element by different terms or terminology. The present specification and the following claims do not take the form of an element or component with the difference in name, but rather take the form of an element or component with the difference in function as a criterion for distinguishing. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The term "coupled," as used herein, includes any direct or indirect electrical connection. Indirect electrical connection means include connection via other devices.
It should be noted that, in the description of the present utility model, terms such as "transverse," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "about," or "about," "substantially," "left and right," etc. indicate orientations or positional relationships or parameters, etc. based on the orientation or positional relationships shown in the drawings, are merely for convenience of description and simplicity of description, and do not indicate or imply that the apparatus or elements being referred to must have a specific orientation, a specific size, or be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
The embodiment of the utility model provides a soil inspection robot, and particularly relates to the drawings in fig. 1, 2 and 3, wherein fig. 1 shows an overall structure diagram of the soil inspection robot, fig. 2 shows an internal structure diagram of the soil inspection robot, and fig. 3 shows an overall structure block diagram of the soil inspection robot.
The utility model provides a patrol and examine soil robot, concretely includes:
the industrial personal computer 1 is provided with a control system,
the antenna 2 of the mushroom-head type,
the GPS or Beidou receiver 3 is characterized in that one end of the GPS or Beidou receiver 3 is connected with the mushroom head antenna 2, and the other end of the GPS or Beidou receiver 3 is connected with the industrial personal computer 1.
In a specific implementation, the mushroom head antenna 2 is configured to receive GPS or beidou data, and upload the GPS or beidou data to the industrial personal computer 1 through the GPS or beidou receiver 3, and the industrial personal computer performs longitude and latitude analysis according to the received GPS or beidou data, so as to position in real time.
In addition, the present embodiment further includes:
the laser radar 4,
and one end of the router 5 is connected to the laser radar 4 through a laser radar adapter 6, and the other end of the router 5 is connected to the industrial personal computer 1.
In a specific implementation, the laser radar 4 is configured to obtain surrounding point cloud information, such as surrounding obstacle information, and the like, and transmit the surrounding point cloud information to the industrial personal computer 1 through the same IP under the router 5, where the router is configured to transmit laser radar data, provide an industrial internet access port, and transmit soil data. The industrial personal computer can update the current grid map in real time based on the acquired surrounding point cloud information to acquire obstacle avoidance information, further can utilize an A-type algorithm to conduct global path planning based on the grid map, then collect GPS or Beidou data to conduct interpolation among inflection points, complete path planning reaching an acquisition block, and conduct self-adaptive adjustment of acquisition density, path planning, acquisition point information uploading and the like according to the size of the block after reaching the acquisition point. In addition, the inspection soil robot can utilize the laser radar to detect obstacles, and when the obstacles exist in front of the inspection soil robot, the laser radar data is used for planning and tracking a local obstacle avoidance path according to a TEB algorithm, and the obstacle avoidance path is adjusted in real time.
In addition, the present embodiment further includes:
the soil sensor 7, the soil sensor 7 is directly connected with the industrial personal computer 1. In a specific implementation, a plurality of soil sensors of different types can be arranged for acquiring soil data information, such as temperature and humidity, conductivity, etc., and transmitting the soil data information to the industrial personal computer. The inspection soil robot provided by the embodiment is matched with a soil sensor to complete a movable soil collection task.
In addition, in a specific implementation, the soil inspection robot further includes: CAN box 8, CAN box 8 with industrial computer 1 is connected, the CAN box is used for patrolling and examining soil robot bottom communication, and operating personnel CAN control vehicle steering, speed etc. through remote control CAN box.
And
The display 9, the display 9 is connected with the industrial personal computer 1, and is used for displaying an industrial personal computer interface, such as displaying a planned path, monitoring a sensor connection state and the like.
For the mechanical structure of the inspection robot, referring specifically to fig. 1 and 2, the inspection robot further includes a housing cover 11, where the industrial personal computer 1, the GPS or beidou receiver 3, the router 5, the laser radar adapter 6, and the CAN box 8 are disposed in an internal cavity of the housing cover 11, so as to form an internal device of the inspection robot, and control the entire inspection robot. Meanwhile, the industrial personal computer 1, the GPS or Beidou receiver 3, the router 5, the laser radar adapter 6, the CAN box 8 and other equipment are complex in structure and high in cost, the equipment is arranged inside the inspection soil robot, the shell cover plays a role in protecting, the service life of internal equipment is prolonged, and pollution and damage of the rear external environment are prevented.
The GPS or Beidou receiver 3, the industrial personal computer 1 and the CAN box 8 are arranged at intervals in the same direction, the industrial personal computer 1 is located at the middle position, and the GPS or Beidou receiver 3 and the CAN box 8 are respectively arranged front and back of the industrial personal computer 1. Furthermore, the router 5 is arranged adjacent to the lidar adapter 6 and is placed on a stand at a position above the GPS or beidou receiver 3.
In addition, the mushroom head antenna 2, the laser radar 4, the soil sensor 7, and the display 9 are disposed on the outer surface of the housing cover 11, forming the external device of the inspection soil robot. In the embodiment, the mushroom head antenna 2, the laser radar 4 and the soil sensor 7 are arranged on the outer surface of the shell cover 11 and are in direct contact with the external natural environment, so that the external environment information can be accurately and timely acquired; and is provided on the outer surface of the housing cover 11 so as to be replaced in time when damaged. In addition, the display is arranged on the outer surface, so that the detection result can be visually observed.
Wherein the mushroom head antenna 2 and the laser radar 4 are arranged at the top position of the shell cover 11; the display 9 is placed at a front position of the housing cover 11; the soil sensor 7 is arranged on a point push rod at the tail position of the shell cover 11, and the soil measuring task is completed by the action of operating the point push rod at the tail position.
In addition, the inspection soil robot is also provided with a camera 10, the camera 10 is connected with the industrial personal computer 1, and the auxiliary mushroom head antenna 2, the laser radar 4, the soil sensor 7 and the like collect surrounding environment information. In this embodiment, the camera 10 is specifically disposed at a top position of the housing cover 11, close to the lidar 4.
In addition, in this embodiment, the inspection soil robot is configured with a crawler chassis 12, and the crawler chassis 12 is connected to the bottom of the housing cover 11.
In summary, the inspection soil robot provided in this embodiment is provided with an industrial personal computer, a GPS or beidou receiver, a router, and a CAN box, which are disposed in an inner cavity of the inspection soil robot; the mushroom head antenna, the laser radar, the soil sensor and the like are arranged on the outer surface of the inspection soil robot, and the external environment information is collected in real time. The mushroom head antenna is used for receiving GPS or Beidou data, is connected with the industrial personal computer through a GPS or Beidou receiver and is uploaded to the industrial personal computer through the GPS or the Beidou receiver; the laser radar is used for acquiring surrounding point cloud information, is connected to the industrial personal computer through a router, and is transmitted into the industrial personal computer through the router; the soil sensor is directly connected with the industrial personal computer, and the soil sensor is used for acquiring soil data information and transmitting the soil data information to the industrial personal computer. The inspection soil robot is of a movable structure, is simple in structure, and can be matched with a soil sensor to realize automatic soil collection tasks, so that the labor cost of the soil collection tasks is greatly reduced.
Of course, the present utility model is capable of other various embodiments and its several details are capable of modification and variation in light of the present utility model, as will be apparent to those skilled in the art, without departing from the spirit and scope of the utility model as defined in the appended claims.
Claims (10)
1. The utility model provides a patrol and examine soil robot which characterized in that includes:
an industrial personal computer is provided with a control system,
an antenna with a mushroom-shaped head is provided,
one end of the GPS or Beidou receiver is connected with the mushroom head antenna, and the other end of the GPS or Beidou receiver is connected with the industrial personal computer;
the mushroom head antenna is used for receiving GPS or Beidou data and uploading the GPS or Beidou data to the industrial personal computer through the GPS or Beidou receiver;
a laser radar which is used for the laser beam,
one end of the router is connected to the laser radar through a laser radar adapter, and the other end of the router is connected to the industrial personal computer;
the laser radar is used for acquiring surrounding point cloud information and transmitting the surrounding point cloud information into the industrial personal computer through the router; and
at least one soil sensor connected with the industrial personal computer,
the soil sensor is used for acquiring soil data information and transmitting the soil data information to the industrial personal computer.
2. The inspection soil robot of claim 1, further comprising:
a CAN box connected with the industrial personal computer,
the CAN box is used for inspecting the communication of the ground robot bottom layer.
3. The inspection soil robot of claim 1, further comprising:
and the display is connected with the industrial personal computer and is used for displaying the interface of the industrial personal computer.
4. The soil inspection robot of claim 2, further comprising a housing cover;
the industrial personal computer, the GPS or Beidou receiver, the router, the laser radar adapter and the CAN box are arranged in the internal cavity of the shell cover to form the inspection soil robot internal equipment.
5. The soil inspection robot of claim 4, wherein the GPS or beidou receiver, the industrial personal computer and the CAN box are arranged at intervals in the same direction, and the industrial personal computer is located at an intermediate position.
6. The soil inspection robot according to claim 5, wherein,
the router is arranged adjacent to the laser radar adapter and is arranged at a position above the GPS or Beidou receiver.
7. The soil inspection robot according to claim 4, wherein,
the mushroom head antenna, the laser radar, the soil sensor and the display are arranged on the outer surface of the shell cover.
8. The soil inspection robot of claim 7, wherein,
the mushroom head antenna and the laser radar are arranged at the top position of the shell cover,
the display is arranged at the front position of the shell cover;
the soil sensor is arranged on a point push rod at the tail position of the shell cover.
9. The inspection soil robot of claim 8, further comprising:
and the camera is connected with the industrial personal computer and is arranged at the top position of the shell cover and is close to the laser radar.
10. The inspection soil robot of claim 4, further comprising:
and the crawler-type chassis is connected with the bottom of the shell cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320534532.8U CN220340205U (en) | 2023-03-13 | 2023-03-13 | Soil inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320534532.8U CN220340205U (en) | 2023-03-13 | 2023-03-13 | Soil inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220340205U true CN220340205U (en) | 2024-01-12 |
Family
ID=89457310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320534532.8U Active CN220340205U (en) | 2023-03-13 | 2023-03-13 | Soil inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220340205U (en) |
-
2023
- 2023-03-13 CN CN202320534532.8U patent/CN220340205U/en active Active
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