WO2017004943A1 - 一种温室智能移动检测平台 - Google Patents

一种温室智能移动检测平台 Download PDF

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Publication number
WO2017004943A1
WO2017004943A1 PCT/CN2015/097788 CN2015097788W WO2017004943A1 WO 2017004943 A1 WO2017004943 A1 WO 2017004943A1 CN 2015097788 W CN2015097788 W CN 2015097788W WO 2017004943 A1 WO2017004943 A1 WO 2017004943A1
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WIPO (PCT)
Prior art keywords
mobile platform
frame
module
control system
sensor
Prior art date
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PCT/CN2015/097788
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English (en)
French (fr)
Inventor
张晓东
毛罕平
左志宇
李立
孙俊
倪纪恒
张红涛
苏晨
周亚波
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江苏大学
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Publication date
Application filed by 江苏大学 filed Critical 江苏大学
Priority to US15/742,692 priority Critical patent/US10591927B2/en
Publication of WO2017004943A1 publication Critical patent/WO2017004943A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/14—Greenhouses
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/14—Greenhouses
    • A01G9/143—Equipment for handling produce in greenhouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
    • B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B60G2200/14—Independent suspensions with lateral arms
    • B60G2200/144—Independent suspensions with lateral arms with two lateral arms forming a parallelogram
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/22—Agricultural vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/25—Greenhouse technology, e.g. cooling systems therefor

Definitions

  • the invention belongs to the field of intelligent agricultural machinery, and relates to an intelligent detection platform for detecting facility environment and crop growth information, and particularly relates to a greenhouse intelligent mobile detection platform.
  • China's facilities area has exceeded 4 million hectares, ranking in the forefront of the world.
  • modernization and intelligence how to improve the yield and quality of greenhouse crops, improve the efficiency of resource utilization, and transform China from a large facility country to a facility powerhouse. It has become a key issue in the development of the current facility sector.
  • China's facility environmental regulation started late, and the traditional control method relied on the artificial experience or the setting of environmental factors. Due to the lack of information feedback of crop growth, it could not be adjusted according to the real demand of crops, resulting in the crop yield and quality potential not being obtained. Fully tap. At present, most of the greenhouse environmental testing equipment adopts a distributed layout.
  • the detection of crop growth information in the facility is still in the laboratory research stage, lacking advanced and suitable facility growth and environmental monitoring platforms.
  • the invention adopts an intelligent mobile detection platform for automatic cruising monitoring of crop growth and environmental information. Due to its mobility, it can reduce the repeated investment of greenhouse testing equipment and reduce the cost through automatic cruise detection through automatic cruise detection. Improve equipment utilization efficiency.
  • the intelligent mobile detection platform adopts the method of timed automatic cruise monitoring, which greatly reduces the personnel input, effectively avoids the operator's operation error, and improves the detection accuracy and operation efficiency of the greenhouse environment and crop growth information.
  • the intelligent mobile platform of the facility mainly has crawler, wheel and composite mobile platforms.
  • the invention patent application of the application No. 201310192634.7 discloses a crawler type robot moving platform, and the control module controls the driving wheel body and the driven wheel train to drive the vehicle body operation according to the data signal of the monitoring module. Due to the rigid connection of the crawler belt, the train wheel and the vehicle body, the crawler robot cannot filter the bumps of the uneven road surface, and damages the detection equipment mounted on the mobile platform and affects the stability of the detection.
  • the invention patent application No. 201420313952.4 discloses a robot platform with suspension, including a chassis body, a wheel train structure and the like, the wheel train structure has an independent suspension structure, and the suspension swing arm, the shock absorber and the final stage reducer are provided.
  • the motor and the wheel are combined to form a suspension structure, so that the robot can adapt to a certain uneven road surface, and can run more smoothly and at high speed, thereby reducing the vibration generated by the robot body due to the unevenness of the ground during the movement, and is not easy to cause bumps. Overturn the chassis or damage the mounted device. Since the mobile platform with suspension is a three-wheel design, it is required to be horizontally and vertically lifted on the mobile platform because it is in the water.
  • the invention patent application No. 201310408112.6 discloses a multi-terrain intelligent mobile platform for detection, including an autonomous advancing four-wheeled trolley system and a four-axis rotor flight system, which are connected by a locking system and pass through a ZigBee wireless transmission network. Communicate with a PC terminal.
  • the self-propelled four-wheeled car system uses chicken to control the vehicle multi-parameter sensor module and drive module: the four-axis rotor flight system uses chicken to control the airborne multi-parameter sensor module and high-speed drive module.
  • the locking system can be automatically unlocked, triggering the four-axis rotor flight system to operate.
  • Multi-terrain hybrid intelligent mobile platform whether it is four-wheel mode or flight mode, its overall stability is not as good as a mobile platform with independent suspension.
  • the detection equipment to be mounted is uniformly distributed, and the weight of the mounted detection device is limited.
  • the multi-terrain composite intelligent mobile platform has a complicated structure and a high price.
  • the existing intelligent mobile platform has different detection targets and mission objectives, and its device and method cannot be applied to facility crop growth information monitoring, and cannot meet the detection equipment carried by the facility growth monitoring system due to swing arm lifting and horizontal movement.
  • the object of the present invention is to provide a smart mobile mobile detection platform for realizing intelligent mobile mobile platform capable of simultaneously detecting images, spectra, infrared temperature and ambient illumination, temperature and humidity of crops, thereby realizing greenhouse crop growth and environmental information. Timed cruise detection.
  • the utility model relates to a greenhouse intelligent mobile detecting platform, which comprises: a frame, a front suspension assembly, a rear suspension assembly, a powertrain, a driving assembly, a steering system, an automatic cruise posture detecting sensor module, a greenhouse environment and a crop image Sensor module, signal acquisition module, central control system, information transmission module and power supply module; the frame is welded by square tube, the front part of the frame is installed with the front suspension assembly, and the groove part of the rear frame is installed and suspended.
  • the powertrain is installed at the rear of the middle compartment, the drive assembly is installed at the center of the rear suspension assembly, the steering system is installed at the front of the frame, and the automatic cruise position detection sensor modules are respectively fixed at the front and the rear of the frame.
  • the left and right sides of the frame, the greenhouse environment and the crop image sensor module and the laser sensor are respectively fixed on the right side of the frame, the power module is fixed at the front of the car, and the signal acquisition module, the central control system, and the information transmission module are fixed to the power module.
  • the central control system is separated by data lines
  • the signal acquisition module, the information transmission module, the steering system and the powertrain are connected, the signal acquisition module and the sensor module are connected by a data line, and the power module is respectively connected to the central control system, the signal acquisition module, the information transmission module, and the sensor module through the power line.
  • the steering system is connected to the powertrain.
  • the frame is welded by a square tube; the groove portion in front of the frame is respectively welded to the mounting frame suspension bracket and the frame shock absorber bracket for connecting the suspension and the shock absorber; and the frame is welded and connected
  • the frame suspension bracket and the frame shock absorber bracket are bilaterally symmetrical along the center of the frame width, and the mounting position of the frame suspension bracket and the frame shock absorber bracket in the groove behind the frame and the groove portion in front of the frame
  • the installation position is the same; the ultrasonic sensor C, the camera and the steering gear are installed inside the front groove of the frame, and the middle compartment of the frame is equipped with a 12V lithium battery, a 5V power converter, a 6V power converter, a signal acquisition module, and an industrial computer.
  • the rear groove of the frame is equipped with a differential and ultrasonic sensor D, and both sides of the frame are installed for keeping moving The platform does not deviate from the ultrasonic sensor A and the ultrasonic sensor B of the route.
  • the front suspension assembly includes an upper cantilever A, a lower cantilever A, a steering horn, a shock absorber A, and a tire A; the upper cantilever A and the lower cantilever A are connected to a frame suspension bracket by bolts, the steering horn and The upper cantilever A and the lower cantilever A are respectively connected, and the shock absorber A is respectively connected with the shock absorber bracket A and the frame shock absorber bracket; the tire A is mounted on the steering horn, by turning the stepped shaft on the horn and a nut fixes the tire A; the tire A is internally mounted with a rolling bearing to enable the tire A to roll; the front overhang assembly is bilaterally symmetrical along the center of the frame width;
  • the rear suspension assembly includes an upper cantilever B, a lower cantilever B, a C-shaped frame, a shock absorber B and a tire B; the upper cantilever B and the lower cantilever B are connected to the frame suspension bracket by bolts, the type C
  • the racks are respectively connected to the upper cantilever B and the lower cantilever B by bolts, and the shock absorber B is connected to the shock absorber bracket B and the frame shock absorber bracket by bolts, and the rolling bearing is installed in the hollow circular tube outside the C-shaped bracket
  • the tire B and the transmission half shaft are connected; the rear suspension assembly is bilaterally symmetrical along the center of the frame width;
  • the power assembly includes a stepping motor, a speed reducer, a motor bracket, and a universal joint A; the motor bracket is mounted on the frame, and the stepping motor and the speed reducer are mounted on the motor bracket by bolting, and the universal joint One end of the shaft A is mounted on the output shaft of the speed reducer;
  • the drive assembly includes a differential and a transmission half shaft; the differential input shaft and the output shaft of the reducer are connected by a universal joint B, and the output shaft of the differential is connected to the tire B through the transmission half shaft;
  • the steering system includes a steering gear and a steering rod; the steering rod is connected by a bolt and a steering horn, and the steering gear is connected to a center of the steering rod;
  • the automatic cruise posture detecting sensor module includes an ultrasonic sensor A mounted on the left side of the frame, an ultrasonic sensor B on the right side, an ultrasonic sensor C in front, an ultrasonic sensor D in the rear, and a camera in front, And a laser sensor mounted on the right side of the frame.
  • the greenhouse environment and crop image sensor module includes a temperature sensor, a humidity sensor, an illumination sensor, a carbon dioxide concentration sensor, and an industrial camera for collecting greenhouse environment and crop image information;
  • the signal acquisition module includes a data acquisition card and a video image acquisition card for collecting sensor signals and transmitting the signals to the industrial computer;
  • the central control system includes an industrial computer and a driving module, and the industrial computer and the driving module are connected through a data line for controlling the movement of the mobile platform.
  • the information transmission module includes two sets of wireless transmitting and receiving modules, and the two sets of wireless transmitting and receiving modules are respectively connected with the industrial computer and the remote computer, and wirelessly transmitted through GPRS.
  • the power module includes a 12V lithium battery, a 5V power converter, and a 6V power converter for converting a 12V voltage into 5V and 6V voltages respectively, and converting the converted 5V voltage, 6V voltage, and a 12V lithium battery.
  • the 12V voltage that can be supplied by itself is connected to the electrical modules requiring 5V, 6V and 12V voltages through the power line to provide power for the electrical parts of the entire mobile platform.
  • the method for automatically detecting a greenhouse environment and crop growth information according to the greenhouse intelligent mobile detection platform includes the following steps:
  • Step one start the power button on the mobile platform, the system performs self-test, the various devices work normally, and the mobile platform starts to work, starting from the initial position of the mobile platform;
  • Step 2 The mobile platform enters the soil trough according to the preset automatic cruise planning path, and the ultrasonic sensors on the left and right sides of the mobile platform simultaneously detect the distance between the mobile platform and the left soil trough and the right soil trough, and the ultrasonic sensor A on the left side detects When the distance between the distance and the distance detected by the ultrasonic sensor B on the right side exceeds a preset value, and the value is negative, the central control system sends a command to the steering gear, and the steering gear deflects the corresponding angle according to the distance difference to make the steering The system turns to the right.
  • the central control system sends a command to the steering gear again, causing the steering gear to return to the position and turn back to the positive;
  • the difference between the distance detected by the ultrasonic sensor A on the side and the distance detected by the ultrasonic sensor B on the right side exceeds the preset value, and when the value is positive, the central control system sends a command to the steering gear, and the steering gear is based on the distance difference. Deflect the corresponding angle to make the steering system turn to the left.
  • the central control sends a command to the steering gear again, so that the steering gear returns to the position and turns back to positive;
  • Step 3 Each plant is placed with a laser reflector on the side of the distance in the direction of travel.
  • the central control system sends a command to the stepper motor to make the stepper motor. Deceleration and stop operation, and the reverse brake brake reaches the predetermined detection position, and the central control system controls the inspection carried on the mobile platform.
  • the measuring device begins to detect the growth information of the crop.
  • the detecting device After the detecting device completes a series of testing work, the detecting device transmits a completion signal to the central control system, and the central control system drives the stepping motor to operate again according to the received signal, so that the mobile platform moves forward, and when the mobile platform is on the right side of the laser sensor When the reflected signal is received again, the mobile platform stops, and the mounted detection device starts to detect the crop and realizes automatic inspection;
  • Step 4 The greenhouse environment and the crop image sensor module on the right side of the mobile platform collect the temperature, humidity, illumination, carbon dioxide concentration and crop image information of the detection position when the mobile platform is parked, and upload the signal to the central control system through the signal acquisition module. , mapping the greenhouse environmental information map, and analyzing crop growth information to provide a basis for environmental regulation;
  • Step 5 When the distance detected by the ultrasonic sensor C in front of the mobile platform is less than a preset safety value, the central control system controls the stepping motor to stop according to the received signal, indicating that the platform has reached the front detection boundary, the row of soil grooves After the inspection has been completed, there is no crop to be tested, and the central control system controls the stepping motor to reverse, so that the mobile platform is reversed.
  • the ultrasonic sensors on both sides of the mobile platform continue to detect the distance between the left and right sides from the soil trough, and the steering direction is exactly opposite to the advancing direction.
  • the traveling trajectory motion control rule is opposite to that when traveling forward;
  • the difference between the distance detected by the ultrasonic sensor A and the distance detected by the ultrasonic sensor B on the right side exceeds a preset value, and when the value is negative, the central control system sends a command to the steering gear, and the steering gear deflects according to the distance difference. Angle, the steering system is turned to the left.
  • the central control system sends a command to the steering gear again to return the steering gear and turn back.
  • the central control system sends a command to the steering gear, the steering gear Deflect the corresponding angle according to the distance difference, so that the steering system turns to the right.
  • the central control system sends a command to the steering gear again, so that the steering gear returns to the position and turns back to positive;
  • Step 6 When the distance detected by the ultrasonic sensor D behind the mobile platform is less than the preset safety value, it indicates that the mobile platform has exited the soil trough, and the control program will cause the mobile platform to enter the next soil trough to realize the next soil. Inspection of trough crops;
  • Step 7 After the mobile platform completes a comprehensive inspection, the mobile platform returns to the initial position of the mobile platform, and the countdown waits for the next comprehensive inspection.
  • the power output port of the automatic charging device is completed by an automatic charging device and 12V on the mobile platform.
  • the lithium battery power input port is connected, and the mobile platform is supplemented with electric energy; when the mobile platform detects that the electric quantity is lower than the preset value during the inspection, the central control system terminates the current work, and controls the mobile platform to directly return to the initial position, automatically
  • the charging device 39 charges the mobile platform.
  • the four-wheel independent suspension technology scheme adopted by the invention enables the mobile platform to effectively filter the bumps of the uneven road surface, and reduce the damage of the internal equipment of the mobile platform and the sensor detecting equipment carried thereon;
  • Each wheel is controlled by a long-stroke damper.
  • On the uneven surface of the greenhouse, four wheels can be in contact with the ground, and the stability is high, which reduces the problem of the wheel hanging on the mobile platform.
  • the small diameter is selected.
  • the wheel can also reduce the overall center of gravity of the mobile platform.
  • the design of the bottom tube supporting frame is adopted by the square tube to inject the lead plate under the lead core, which greatly increases the weight of the chassis, reduces the center of gravity, and improves the stability of the vehicle body. , greatly reducing the risk of overturning mobile platforms.
  • the optimal cruise path is planned according to the greenhouse soil trough distribution and structure, so that the intelligent mobile platform can automatically patrol according to the set path, and collect the greenhouse environment and crop growth information. And transmitting the information to the remote control terminal; or manually intervening to control the movement of the mobile platform and the mounted detection device; the mobile platform automatically completes the preset detection task because of its mobility and can be scheduled to cruise automatically, so only one
  • the set of testing equipment can cover the environment and crop growth information of one or several greenhouses, and timely inspection and inspection, greatly reduce the investment of testing equipment and personnel, effectively avoid the operation error of personnel, improve the greenhouse environment and crop growth. Information detection accuracy and work efficiency.
  • the greenhouse environment and the crop growth information detecting device technical scheme adopted by the invention enable the intelligent mobile platform to realize real-time dynamic monitoring of the greenhouse environment and real-time online non-destructive detection of crop growth information.
  • the automatic charging technology scheme adopted by the invention enables the mobile platform to complete charging of the mobile platform through the automatic charging device, and solves the problem of automatic cruise process, automatic charging of the mobile platform when charging and power shortage, and improving automation. The degree of personnel management is reduced.
  • FIG. 1 is a schematic structural view of a front suspension assembly and a steering system of a mobile platform of the present invention
  • FIG. 2 is a schematic view of a rear suspension assembly, a powertrain and a drive assembly of the mobile platform of the present invention
  • Figure 3 is a perspective view of the mobile platform of the present invention
  • FIG. 4 is a diagram of an electrical module working on the mobile platform of the present invention.
  • Figure 5 is a schematic view of the structure of the greenhouse of the present invention.
  • a greenhouse intelligent mobile detection platform the perspective view of which is shown in Figure 3; the structure of the front suspension assembly and the steering system is shown in Figure 1; the rear suspension assembly, the powertrain and the drive assembly are shown in Figure 2; The electrical module for its operation is shown in Figure 4; the greenhouse structure to which the present invention is applied is shown in Figure 5.
  • the device of the invention specifically comprises a frame, a front suspension assembly, a rear suspension assembly, a power assembly and a drive assembly for driving the movement of the mobile platform, a steering system for controlling the steering of the mobile platform, and an automatic cruise position detection sensor module for the mobile platform, Collecting greenhouse environment and crop image sensor module, collecting signal acquisition module of sensor signal, controlling central control system of mobile platform movement, transmitting information transmission module, and power supply module providing power for the entire mobile platform; wherein the frame is welded by square tube
  • the front part of the frame is fitted with a front suspension assembly
  • the rear part of the frame is mounted with a rear suspension assembly
  • the powertrain is mounted at the rear of the intermediate compartment
  • the drive assembly is mounted at the center of the rear suspension assembly.
  • the steering system is installed at the front of the compartment, and the automatic cruise position detection sensor modules are respectively fixed on the left and right sides of the front, the rear and the frame, and the greenhouse environment and the crop image sensor module and the laser sensor are respectively fixed on the right side of the frame.
  • Side the power module is fixed at the front of the car, and the signal acquisition module, the central control system, and the information transmission module are fixed.
  • the upper part of the power module; the central control system is respectively connected with the signal acquisition module, the information transmission module, the steering system and the power assembly through the data line, the signal acquisition mode and the sensor module are connected by the data line, and the power module is separately controlled by the power line
  • the system, signal acquisition module, information transmission module, sensor module, steering system and powertrain are connected.
  • the frame 1 is welded by a square tube, and the front groove portion of the frame 1 is respectively mounted with the frame suspension bracket 37 and the vehicle.
  • the frame shock absorber bracket 38 is welded and connected for connecting the suspension and the shock absorber; the suspension bracket 37 and the shock absorber bracket 38 welded to the frame are symmetrically symmetrical along the center of the width of the frame 1, and the groove behind the frame 1
  • the mounting positions of the frame suspension bracket 37 and the frame damper bracket 38 are the same as those of the groove portion in front of the frame 1; the front groove of the frame 1 is equipped with an ultrasonic sensor C25, a camera 27, and a steering gear.
  • the middle compartment of the frame 1 is equipped with a 12V lithium battery 34, a 5V power converter 35, a 6V power converter 36, a signal acquisition module 30, an industrial computer 31, a drive module 32, a wireless transmitting and receiving module 33, a stepping motor 14 , the reducer 15, the greenhouse environment and the crop image sensor module 29, the rear groove of the frame 1 is internally equipped with a differential 18 and an ultrasonic sensor D26, and both sides of the frame 1 are mounted with ultrasonic waves for keeping the moving platform not deviating from the route. Sensor A23 and ultrasonic sensor B24.
  • the front overhang assembly includes an upper cantilever A2, a lower cantilever A3, a steering horn 4, a damper A5 and a tire A6, and the upper cantilever A2 and the lower cantilever A3 are connected to the frame suspension bracket 37 by bolts;
  • the horn 4 is connected to the upper cantilever A2 and the lower cantilever A3, respectively, and the damper A5 is connected to the damper bracket A7 and the frame damper bracket 38 respectively;
  • the tire A6 is mounted on the steering horn 4, and is turned to the horn
  • the stepped shaft and the nut on the 4 fix the tire A6;
  • the tire A6 is internally provided with a rolling bearing to enable the tire A6 to roll;
  • the front suspension assembly is bilaterally symmetrical along the center of the width of the frame 1.
  • the rear suspension assembly includes an upper cantilever B8, a lower cantilever B9, a C-frame 10, a shock absorber B11, and a tire B12; the upper cantilever B8 and the lower cantilever B9 are connected to the frame suspension bracket 37 by bolts,
  • the C-shaped frame 10 is respectively connected to the upper cantilever B8 and the lower cantilever B9 by bolts, and the shock absorber B11 is connected to the shock absorber bracket B13 and the frame shock absorber bracket 38 by bolts, and the outer side of the C-shaped bracket 10 is hollow.
  • a rolling bearing is mounted in the circular tube, and the tire B12 is connected to the transmission half shaft 19.
  • the rear suspension assembly is bilaterally symmetrical along the center of the width of the frame 1.
  • the powertrain includes a stepping motor 14, a speed reducer 15, a motor bracket 16, and a universal joint A17; the motor bracket 16 is mounted on the frame 1, and the stepping motor 14 and the speed reducer 15 are mounted together by bolting. On the motor bracket 16, one end of the universal joint 17A is mounted on the output shaft of the speed reducer 15.
  • the drive assembly includes a differential 18 and a transmission half shaft 19; the input shaft of the differential 18 and the output shaft of the reducer 15 are connected through a universal joint B20, and the output shaft of the differential 18 passes through the transmission half shaft 19 and the tire B12 connection.
  • the steering system includes a steering gear 21 and a steering rod 22; the steering rod 22 is coupled to the steering horn 4 by bolts, and the steering gear 21 is coupled to the center of the steering rod 22.
  • the automatic cruise posture detection sensor module includes an ultrasonic sensor A23 mounted on the left side of the frame, an ultrasonic sensor B24 on the right side, an ultrasonic sensor C25 on the front side, an ultrasonic sensor D26 on the rear side, a front camera 27, and a frame mounted on the frame.
  • the laser sensor 28 on the right side, the ultrasonic sensor A23 on the left side and the ultrasonic sensor B24 on the right side are used to detect the distance between the left and right sides of the mobile platform and the greenhouse soil trough, when the left and right sides are ultrasonically inspected.
  • the central control system will send a command to the steering system to enable the mobile platform to automatically correct the motion route.
  • the front ultrasonic sensor C25 and the rear ultrasonic sensor D26 are used to detect obstacles before and after the moving platform, thereby achieving obstacle avoidance.
  • the front camera 27 is used to transmit road conditions in real time.
  • the laser sensor 28 on the right side is used for detecting the position of the crop, and the reflector is placed at the corresponding position of the crop.
  • the laser sensor 28 triggers a signal to the signal acquisition module 30, and the central control system controls
  • the stepping motor 14 is stopped, the mobile platform is stopped, and the equipment mounted on the mobile platform starts collecting crop information.
  • the collection greenhouse environment and crop image sensor module 29 includes a temperature sensor, a humidity sensor, an illumination sensor, a carbon dioxide concentration sensor, and a camera for collecting greenhouse environment and crop image information.
  • the signal acquisition module 30 includes a data acquisition card and a video image acquisition card for collecting sensor signals and transmitting them to the industrial computer 31.
  • the central control system includes an industrial computer 31 and a driving module 32.
  • the industrial computer 31 and the driving module 32 are connected by a data line for controlling the movement of the mobile platform.
  • the information transmission module includes two sets of wireless transmitting and receiving modules 33, and the two sets of wireless transmitting and receiving modules 33 are respectively connected with the industrial computer 31 and the remote computer, and wirelessly transmitted through GPRS.
  • the power module includes a 12V lithium battery 34, a 5V power converter 35, and a 6V power converter 36.
  • the power converter can convert a 12V voltage into a 5V, 6V voltage, and convert the converted 5V voltage, 6V voltage, and
  • the 12V voltage that the 12V lithium battery 34 itself can provide is connected to the electrical modules requiring 5V, 6V, and 12V voltages through the power line to provide power for the electrical parts of the entire mobile platform.
  • the method for automatically detecting the comprehensive information of the greenhouse by the intelligent mobile detection platform of the greenhouse includes the following steps:
  • Step one start the power button on the mobile platform, the system performs self-test, the various devices work normally, and the mobile platform starts to work, starting from the initial position 40 of the mobile platform.
  • Step 2 The mobile platform enters the soil trough 42 according to the preset automatic cruise planning path, and the ultrasonic sensors on the left and right sides of the mobile platform simultaneously detect the distance between the left platform and the right soil trough of the mobile platform, and the ultrasonic sensor A23 on the left side The difference between the detected distance and the distance detected by the ultrasonic sensor B24 on the right side exceeds a preset value, and when the value is negative, the central control system issues a command to the steering gear 21, and the steering gear 21 deflects according to the distance difference. The angle of the steering system is turned to the right.
  • the central control system sends a command to the steering gear 21 again, so that the steering gear 21 is returned. Turning back to positive; when the difference between the distance detected by the ultrasonic sensor A23 on the left side and the distance detected by the ultrasonic sensor B24 on the right side exceeds a preset value, and the value is a positive number, the central control system sends an instruction to The steering gear 21 and the steering gear 21 deflect the corresponding angle according to the distance difference, so that the steering system turns to the left, and the difference in distance detected by the ultrasonic sensors on the left and right sides indicates that the moving level is flat. When the station is about to enter the normal cruise track, the central control system sends a command to the steering gear 21 again, causing the steering gear 21 to return to the position and turn back to the positive.
  • Step 3 Each crop 41 places a laser reflecting plate on a side of a certain distance in the traveling direction.
  • the control system sends a command to the stepping motor 14 to make a step.
  • the intake motor 14 is decelerated and stopped, and the reverse brake brake reaches the predetermined detection position, and the central control system controls the detection device mounted on the mobile platform to start detecting the growth information of the crop.
  • the detecting device After the detecting device completes a series of detecting work, the detecting device transmits a completion signal to the central control system, and the central control system drives the stepping motor 14 to operate again according to the received signal, so that the mobile platform moves forward, when the mobile platform is on the right side of the laser
  • the central control system drives the stepping motor 14 to operate again according to the received signal, so that the mobile platform moves forward, when the mobile platform is on the right side of the laser
  • the sensor 28 receives the reflected signal again, the mobile platform stops, and the mounted detection device starts to detect the crop and realizes automatic inspection.
  • Step 4 The greenhouse environment and crop image sensor module 29 on the right side of the mobile platform collects the temperature, humidity, illumination, carbon dioxide concentration and image information of the detection position when the mobile platform is parked, and uploads the signal to the central control system through the signal acquisition module. , mapping the greenhouse environmental information map to provide a basis for environmental regulation.
  • Step 5 When the distance detected by the ultrasonic sensor C25 in front of the mobile platform is less than a preset safety value, the central control system controls the stepping motor 14 to stop according to the received signal, indicating that the platform has reached the front detection boundary. The trough has been inspected and there is no crop 41 to be detected. The central control system controls the stepping motor 14 to reverse, so that the mobile platform is reversed. When the mobile platform performs reversing, the ultrasonic sensors on both sides of the mobile platform continue to detect the distance between the left and right sides from the soil trough, and the steering direction is exactly opposite to the advancing direction.
  • the traveling trajectory motion control rule is opposite to that when traveling forward;
  • the difference between the distance detected by the ultrasonic sensor A23 and the distance detected by the ultrasonic sensor B24 on the right side exceeds a preset value, and when the value is negative, the central control system issues a command to the steering gear 21, and the steering gear 21 is based on the distance difference.
  • the value is deflected by the corresponding angle, so that the steering system turns to the left.
  • the central control system sends a command to the steering gear 21 again to make the steering gear.
  • the central control system Sending a command to the steering gear 21, the steering gear 21 deflects the corresponding angle according to the distance difference, so that the steering system turns to the right, when the distance detected by the ultrasonic sensors on the left and right sides Value indicates that the mobile platform to enter the normal cruise tracks, the control system again send instructions to the steering gear 21, 21 so that the return steering, the steering aligning.
  • Step 6 When the distance detected by the ultrasonic sensor D26 behind the mobile platform is less than the preset security, it indicates that the mobile platform has exited the soil trough 42 and the control program will cause the mobile platform to enter the next soil trough 42 to achieve the next Inspection of soil tank 42 crops.
  • Step 7 After the mobile platform completes a comprehensive inspection, the mobile platform returns to the initial position of the mobile platform 40, The time is waiting for the next comprehensive inspection. At this time, the power output port of the automatic charging device 39 is connected with the power input port of the 12V lithium battery 34 on the mobile platform by an automatic charging device, and the power is supplemented to the mobile platform; when the mobile platform is on the tour When the detected power is lower than the preset value, the central control system will terminate the current work, control the mobile platform to directly return to the initial position, and the automatic charging device 39 charges the mobile platform.

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Abstract

一种温室智能移动检测平台，包括车架、前悬总成、后悬总成、驱动移动平台运动的动力总成和驱动总成，控制移动平台转向的转向系统，使移动平台自动巡航所需的自动巡航位姿探测传感器模块，检测温室环境和作物图像传感器模块（29），采集传感器信号的信号采集模块（30），控制移动平台运动的中控系统，信息传输模块，以及为整个移动平台提供电力的电源模块。通过中控系统，使移动平台完成自动巡检温室环境和作物生长信息，通过自动充电装置完成对移动平台电能的补充，提高检测效率和精度。

Description

一种温室智能移动检测平台 技术领域
本发明属于智能农业机械领域，涉及一种检测设施环境和作物生长信息的智能检测平台，特指一种温室智能移动检测平台。
背景技术
我国设施面积已超过400万公顷，位于世界前列，随着温室向大型化、现代化、智能化方向迅速发展，如何提高温室作物产量、品质，提高资源利用效率，使我国由设施大国转变为设施强国成为目前设施领域发展的关键问题。我国设施环境调控起步较晚，传统的控制方式依靠人工经验或环境因子的设定值调控，由于缺少作物生长信息反馈环节，无法按照作物的真实需求进行调控，导致作物的产量和品质潜力没有得到充分挖掘。目前温室环境检测设备大多采用分布式的布局，设施内的作物生长信息探测尚处于实验室研究阶段，缺少先进适用的设施生长和环境监测平台。本发明采用智能移动检测平台进行作物生长和环境信息的自动巡航监测，由于其具有可移动性，可以通过多温室共用的方式，通过自动巡航检测可大幅减少的温室检测设备的重复投入，降低成本，提高设备利用效率。同时，智能移动检测平台由于采用定时自动巡航监测的方式，大幅降低人员投入，有效避免人员的操作误差，提高温室环境和作物生长信息的检测精度和作业效率。
目前设施智能移动平台主要有履带式、轮式和复合式移动平台。申请号201310192634.7的发明专利申请，公开了一种履带式机器人移动平台，通过控制模块根据监测模块的数据信号控制主动轮系与从动轮系带动车体运行。该履带式机器人由于其履带、轮系和车体均采用刚性连接，无法过滤不平路面的颠簸，对搭载在移动平台上的检测设备造成损伤以及对检测的稳定性有影响。
申请号201420313952.4的发明专利申请，公开了一种带悬挂的机器人平台，包括底盘主体、轮系结构等部件，其轮系结构具有独立悬挂结构，由悬挂摆臂、避震器、末级减速器、电机、轮子共同组成，该悬挂结构使机器人能够适应一定凹凸不平的路面，能够更加平稳高速的运行通过，减小了机器人主体在运动中由于地面凹凸不平所产生的震动，不容易造成颠簸而使底盘倾覆或对搭载的器件造成损伤。由于带悬挂的移动平台是采用三轮设计，对于搭载在移动平台上需要水平移动和垂直升降的检测设备，因为在水 平移动和垂直升降的过程中，尤其是大摆臂带动传感器模块伸展至作物上方进行俯视光谱、图像和冠层温度探测过程，由于大幅改变了移动平台的重心，会造成重心偏离平台，由于该设备没有针对该工况的专门设计，因此容易出现倾倒的情况，因此难以满足设施作物生长和环境监测需搭载可大范围水平和垂直升降的机构的需求。
申请号201310408112.6的发明专利申请，公开了一种用于探测的多地形智能移动平台，包括自主前进四轮小车系统和四轴旋翼飞行系统，两者通过锁紧系统相连，并通过ZigBee无线传输网络与PC终端机进行通信。自主前进四轮小车系统利用Arduino对车载多参数传感器模块、驱动模块等进行控制：四轴旋翼飞行系统利用Arduino对机载多参数传感器模块、高速驱动模块等进行控制。当遇到无法逾越的障碍物时，锁紧系统可自动解锁，从而触发四轴旋翼飞行系统运行。多地形复合式智能移动平台不论是四轮模式还是飞行模式，其整体的平稳性没有带独立悬架的移动平台好。在启动飞行模式时，对其搭载的检测设备要进行均匀分配质量，对搭载的检测设备的有重量限制，相对于单一模式的移动平台，多地形复合式智能移动平台结构复杂，价格较高。
综上所述，现有的智能移动平台由于检测对象和任务目标不同，其装置和方法无法应用于设施作物生长信息监测，无法满足设施生长监测系统所搭载的检测设备因摆臂升降和水平移动需要而大幅改变移动平台的重心，需克服移动平台倾覆风险的工况需求，以及在温室路况和环境条件下，作物生长信息检测设备对平台巡航精度及平稳性的要求。
发明内容
本发明的目的在于提供一种温室智能移动检测平台，以实现能够同时对作物的图像、光谱、红外温度及环境光照、温湿度进行同步检测的智能移动移动平台，实现对温室作物生长和环境信息的定时巡航检测。
为了实现上述目的，本发明采取的技术方案如下：
一种温室智能移动检测平台，其特征在于包括：车架、前悬总成、后悬总成、动力总成、驱动总成，转向系统、自动巡航位姿探测传感器模块、温室环境和作物图像传感器模块、信号采集模块、中控系统、信息传输模块和电源模块；车架由方管焊接而成，车架前面的凹槽部分安装前悬总成，车架后面凹槽部分安装后悬总成，动力总成安装在中间车厢的后部，驱动总成安装在后悬总成的中心，转向系统安装在车架的前部，自动巡航位姿探测传感器模块分别固定在车头、车尾和车架的左右两侧，温室环境和作物图像传感器模块、激光传感器分别固定在车架的右侧，电源模块固定在车厢的前部，信号采集模块、中控系统、信息传输模块固定在电源模块的上面；中控系统通过数据线分别 和信号采集模块、信息传输模块、转向系统和动力总成相连接，信号采集模和传感器模块通过数据线相连，电源模块通过电源线分别和中控系统、信号采集模块、信息传输模块、传感器模块、转向系统和动力总成相连接。
所述车架由方管焊接而成；车架前面凹槽部分分别与安装车架悬架支架和车架减震器支架焊接连接，用于连接悬架和减震器；与车架焊接连接的车架悬架支架和车架减震器支架沿车架宽度中心左右对称，车架后面凹槽部分车架悬架支架和车架减震器支架的安装位置和车架前面凹槽部分的安装位置相同；车架的前面凹槽内部安装有超声波传感器C、摄像头、舵机，车架的中间车厢位置安装有12V锂电池、5V电源转换器、6V电源转换器、信号采集模块、工控机、驱动模块、无线发射接收模块步进电机、减速器、温室环境和作物图像传感器模块，车架的后面凹槽内部安装有差速器、超声波传感器D，车架的两侧安装有用于保持移动平台不偏离航线的超声波传感器A和超声波传感器B。
所述前悬总成包括上悬臂A、下悬臂A、转向羊角、减震器A和轮胎A；所述上悬臂A和下悬臂A通过螺栓与车架悬架支架连接，所述转向羊角与上悬臂A和下悬臂A分别连接，所述减震器A与减震器支架A和车架减震器支架分别连接；所述轮胎A安装在转向羊角上，通过转向羊角上的阶梯轴和螺母使轮胎A固定；所述轮胎A内部安装有滚动轴承，以使轮胎A能滚动；所述前悬总成沿车架宽度中心左右对称；
所述后悬总成包括上悬臂B、下悬臂B、C型架、减震器B和轮胎B；所述上悬臂B和下悬臂B通过螺栓与车架悬架支架连接，所述C型架分别通过螺栓与上悬臂B和下悬臂B连接，所述减震器B通过螺栓与减震器支架B和车架减震器支架连接，所述C型架外侧的空心圆管内安装有滚动轴承，所述轮胎B和传动半轴连接；所述后悬总成沿车架宽度中心左右对称；
所述动力总成包括步进电机、减速器、电机支架、万向联轴器A；电机支架安装在车架上，步进电机和减速器通过螺栓连接一起安装在电机支架上，万向联轴器A的一端安装在减速器的输出轴上；
所述驱动总成包括差速器、传动半轴；差速器输入轴与减速器输出轴通过万向联轴器B连接，差速器输出轴通过传动半轴和轮胎B连接；
所述转向系统包括舵机和转向拉杆；转向拉杆通过螺栓和转向羊角连接，舵机连接于转向拉杆的中心；
所述自动巡航位姿探测传感器模块包括安装在车架左侧的超声波传感器A、右侧的超声波传感器B、前方的超声波传感器C、后方的超声波传感器D、前方的摄像头，以 及安装在车架右侧的激光传感器。
所述温室环境和作物图像传感器模块包括温度传感器、湿度传感器、光照传感器、二氧化碳浓度传感器和工业相机，用于采集温室环境和作物图像信息；
所述信号采集模块包括数据采集卡和视频图像采集卡，用于采集传感器信号并传递给工控机；
所述中控系统包括工控机和驱动模块，工控机和驱动模块通过数据线连接，用于控制移动平台的运动。
所述信息传输模块包括两组无线发射接收模块，所述两组无线发射接收模块分别与工控机和远程电脑连接，通过GPRS进行无线传输。
所述电源模块包括12V锂电池、5V电源转换器和6V电源转换器，所述电源转换器用于将12V电压分别转换为5V和6V电压，把经过转换后的5V电压、6V电压以及12V锂电池自身能提供的12V电压分别与所需5V、6V和12V电压的电器模块通过电源线连接，为整个移动平台的电器部分提供电力。
根据所述的一种温室智能移动检测平台进行自动巡航检测温室环境和作物生长信息方法，其特征在于包括如下步骤：
步骤一，启动移动平台上的电源按钮，系统进行自检，各项设备工作正常，移动平台开始工作，从移动平台初始位置出发；
步骤二，移动平台按预设的自动巡航规划路径进入土槽，移动平台左右两侧的超声波传感器同时检测移动平台离左侧土槽和右侧土槽的距离，当左侧的超声波传感器A检测到的距离和右侧的超声波传感器B检测到的距离的差值超过预设值，且值为负数时，中控系统发指令给舵机，舵机根据距离差值偏转相应的角度，使转向系统向右转，当左右两侧的超声波传感器检测到的距离差值表示移动平台将要进入正常巡航轨迹时，中控系统再次发指令给舵机，使舵机回位，转向回正；当左侧的超声波传感器A检测到的距离和右侧的超声波传感器B检测到的距离的差值超过预设值，且值为正数时，中控系统发指令给舵机，舵机根据距离差值偏转相应的角度，使转向系统向左转，当左右两侧的超声波传感器检测到的距离差值表示移动平台将要进入正常巡航轨迹时，中控系统再次发指令给舵机，使舵机回位，转向回正；
步骤三，每一株作物在行进的方向一定距离的侧面都放置一块激光反射板，当移动平台右侧的激光传感器接收到反射信号时，中控系统发指令给步进电机，使步进电机减速停止运转，并反向制动刹车到达预定检测位，同时中控系统控制移动平台上搭载的检 测设备开始检测作物的长势信息。当检测设备完成一系列的检测工作后，检测设备传输完成信号给中控系统，中控系统根据接收到的信号再次驱动步进电机运转，使移动平台向前移动，当移动平台右侧激光传感器再次接收到反射信号时，移动平台停车，搭载的检测设备开始检测作物，实现自动巡检；
步骤四，移动平台右侧的温室环境和作物图像传感器模块在移动平台停车时，采集该检测位的温度、湿度、光照、二氧化碳浓度和作物图像信息，并将信号通过信号采集模块上传中控系统，绘制温室环境信息分布图，并分析作物长势信息，为环境调控提供依据；
步骤五，当移动平台前面的超声波传感器C检测到的距离小于预设的安全值时，中控系统根据接收到的信号控制步进电机停止运转，表明平台已经到达前方检测边界，该行土槽已经巡检完毕，已没有需要检测的作物，中控系统控制步进电机反转，使移动平台倒车。当移动平台进行倒车时，移动平台两侧的超声波传感器继续检测左右两侧离土槽的距离，其转向方向正好与前进方向相反，行进轨迹运动控制规则与向前行进时相反；当左侧的超声波传感器A检测到的距离和右侧的超声波传感器B检测到的距离的差值超过预设值，且值为负数时，中控系统发指令给舵机，舵机根据距离差值偏转相应的角度，使转向系统向左转，当左右两侧的超声波传感器检测到的距离差值表示移动平台将要进入正常巡航轨迹时，中控系统再次发指令给舵机，使舵机回位，转向回正；当左侧的超声波传感器A检测到的距离和右侧的超声波传感器B检测到的距离的差值超过预设值，且值为正数时，中控系统发指令给舵机，舵机根据距离差值偏转相应的角度，使转向系统向右转，当左右两侧的超声波传感器检测到的距离差值表示移动平台将要进入正常巡航轨迹时，中控系统再次发指令给舵机，使舵机回位，转向回正；
步骤六，当移动平台后面的超声波传感器D检测到的距离小于预设的安全值时，此时表明移动平台已经退出土槽，控制程序会让移动平台进入下一个土槽，实现对下一个土槽作物的巡检；
步骤七，当移动平台完成一次全面巡检后，移动平台返回移动平台初始位置，倒计时等待下一次全面巡检，此时自动充电装置的电源输出口由一套自动充电装置完成与移动平台上12V锂电池电源输入口连接，对移动平台进行电能补充；当移动平台在巡检时检测到电量低于预设值时，中控系统会终止当前的工作，控制移动平台直接回到初始位置，自动充电装置39对移动平台进行充电。
本发明的有益效果：
(1)本发明所采用的四轮独立悬架技术方案，使得移动平台可以有效地过滤不平路面的颠簸，减少移动平台内部设备和所搭载的传感器探测设备的损伤；四轮独立悬架由于每个车轮都由行程较长的减震器控制，在凸凹不平的温室路面上，四个车轮都可以与地面接触，其稳定性较高，减少了移动平台出现车轮悬空的问题。
(2)本发明所采用的锂电池和步进电机布置，以及底板、底层框架和车轮选型技术方案，使得移动平台可以降低重心，由于锂电池和步进电机自身重量较大，将锂电池和步进电机同时安装在移动平台的最底部，可以使移动平台整体的重心降低；同时在保证移动平台具有一定的离地间隙，使移动平台具有一定的通过性的情况下，选用小直径的车轮，亦可降低移动平台整体的重心，在底层支撑框架选型上采用了方管灌注铅芯下附铅板的设计方案，大大增加了底盘自重，降低了重心，提高了车体的稳定性，大幅降低了移动平台出现倾覆危险。
(3)本发明所采用可编程控制及移动平台技术方案，根据温室土槽分布和结构规划最优巡航路径，使得智能移动平台可以按设定的路径自动巡检，采集温室环境和作物生长信息，并将信息传输给远程控制终端；亦可手动介入控制移动平台的运动和搭载的检测设备；移动平台因其具有可移动性，且可定时巡航自动完成预设的检测任务，因此只需一套检测设备就可以覆盖一个或几个温室构成的温室群的环境和作物生长信息的定时巡检探测，大幅降低检测设备和人员的投入，有效避免人员的操作误差，提高了温室环境和作物生长信息的检测精度和作业效率。
(4)本发明所采用的温室环境和作物生长信息检测设备技术方案，使得智能移动平台可以实现对温室环境实时动态监测，以及对作物生长信息的实时在线无损检测。
(5)本发明所采用的自动充电技术方案，使得移动平台通过自动充电装置可以完成对移动平台的充电，解决了自动巡航过程，移动平台充电和电量不足时电能自动补给的问题，提高了自动化程度，减少了人员管理成本。
(6)本发明所采用的工控机技术方案，使得移动平台易于进行二次开发和功能扩展，对于搭载的检测设备具有较好的兼容性。
附图说明
为了更清楚的说明本发明实例和技术方法，下面对本发明实例和技术方法所需使用的附图作简单的介绍。
图1是本发明移动平台前悬总成和转向系统的结构示意图
图2是本发明移动平台后悬总成、动力总成和驱动总成示意图
图3是本发明移动平台的立体图
图4是本发明移动平台工作的电器模块图
图5是本发明温室结构示意图。
图中：1、车架 2、上悬臂A 3、下悬臂A 4、转向羊角 5、减震器A 6、轮胎A 7、减震器支架A 8、上悬臂B 9、下悬臂B 10、C型架 11、减震器B 12、轮胎B 13、减震器支架B 14、步进电机 15、减速器 16、电机支架 17、万向联轴器A 18、差速器 19、传动半轴 20、万向联轴器B 21、舵机 22、转向拉杆 23、超声波传感器A 24、超声波传感器B 25、超声波传感器C 26、超声波传感器D 27、摄像头 28、激光传感器 29、温室环境和作物图像传感器模块 30、信号采集模块 31、工控机 32、驱动模块 33、无线发射接收模块 34、12V锂电池 35、5V电源转换器 36、6V电源转换器 37、车架悬架支架 38、车架减震器支架 39、自动充电装置 40、移动平台初始位置 41、作物 42、土槽
具体实施方式
下面结合附图对本发明进行进一步详细描述。
一种温室智能移动检测平台，其立体图如图3所示；其前悬总成和转向系统的结构如图1所示；其后悬总成、动力总成和驱动总成如图2所示；其工作的电器模块如图4所示；本发明所适用的温室结构如图5所示。
本发明装置具体包括车架、前悬总成、后悬总成、驱动移动平台运动的动力总成和驱动总成，控制移动平台转向的转向系统，使移动平台自动巡航位姿探测传感器模块、采集温室环境和作物图像传感器模块，采集传感器信号的信号采集模块，控制移动平台运动的中控系统，传输信息的传输模块，以及为整个移动平台提供电力的电源模块；其中车架由方管焊接而成，车架前面的凹槽部分安装前悬总成，车架后面凹槽部分安装后悬总成，动力总成安装在中间车厢的后部，驱动总成安装在后悬总成的中心，转向系统安装在车厢的前部，自动巡航位姿探测传感器模块分别固定在车头、车尾和车架的左右两侧，采集温室环境和作物图像传感器模块、激光传感器分别固定在车架的右侧，电源模块固定在车厢的前部，信号采集模块、中控系统、信息传输模块固定在电源模块的上面；中控系统通过数据线分别和信号采集模块、信息传输模块、转向系统和动力总成相连接，信号采集模和传感器模块通过数据线相连，电源模块通过电源线分别和中控系统、信号采集模块、信息传输模块、传感器模块、转向系统和动力总成相连接。
所述车架1由方管焊接而成，车架1前面凹槽部分分别与安装车架悬架支架37和车 架减震器支架38焊接连接，用于连接悬架和减震器；与车架焊接连接的悬架支架37和减震器支架38沿车架1宽度中心左右对称，车架1后面凹槽部分车架悬架支架37和车架减震器支架38的安装位置和车架1前面凹槽部分的安装位置相同；车架1的前面凹槽内部安装有超声波传感器C25、摄像头27、舵机21，车架1的中间车厢位置安装有12V锂电池34、5V电源转换器35、6V电源转换器36、信号采集模块30、工控机31、驱动模块32、无线发射接收模块33步进电机14、减速器15、温室环境和作物图像传感器模块29，车架1的后面凹槽内部安装有差速器18、超声波传感器D26，车架1的两侧安装有用于保持移动平台不偏离航线的超声波传感器A23和超声波传感器B24。
所述前悬总成包括上悬臂A2、下悬臂A3、转向羊角4、减震器A5和轮胎A6，所述上悬臂A2和下悬臂A3通过螺栓与车架悬架支架37连接；所述转向羊角4与上悬臂A2和下悬臂A3分别连接，所述减震器A5与减震器支架A7和车架减震器支架38分别连接；所述轮胎A6安装在转向羊角4上，通过转向羊角4上的阶梯轴和螺母使轮胎A6固定；所述轮胎A6内部安装滚动轴承，以使轮胎A6能滚动；所述前悬总成沿车架1宽度中心左右对称。
所述后悬总成包括上悬臂B8、下悬臂B9、C型架10、减震器B11和轮胎B12；所述上悬臂B8和下悬臂B9通过螺栓与车架悬架支架37连接，所述C型架10分别通过螺栓与上悬臂B8和下悬臂B9连接，所述减震器B11通过螺栓与减震器支架B13和车架减震器支架38连接，所述C型架10外侧的空心圆管内安装有滚动轴承，所述轮胎B12和传动半轴19连接。所述后悬总成沿车架1宽度中心左右对称。
所述动力总成包括步进电机14、减速器15、电机支架16、万向联轴器A17；电机支架16安装在车架1上，步进电机14和减速器15通过螺栓连接一起安装在电机支架16上，万向联轴器17A的一端安装在减速器15的输出轴上。
所述驱动总成包括差速器18、传动半轴19；差速器18输入轴与减速器15输出轴通过万向联轴器B20连接，差速器18输出轴通过传动半轴19和轮胎B12连接。
所述转向系统包括舵机21和转向拉杆22；转向拉杆22通过螺栓和转向羊角4连接，舵机21连接于转向拉杆22的中心。
所述自动巡航位姿探测传感器模块包括安装在车架左侧的超声波传感器A23、右侧的超声波传感器B24、前面的超声波传感器C25、后面的超声波传感器D26，前面的摄像头27，以及安装在车架右侧的激光传感器28，所述左侧的超声波传感器A23、右侧的超声波传感器B24用于检测移动平台左右两侧与温室土槽的距离，当左右两侧超声波检 测到的距离超过设定值时，中控系统会发指令给转向系统，使移动平台自动修正运动路线。所述前面的超声波传感器C25、后面的超声波传感器D26用于检测移动平台前后的障碍物，实现避障。所述前面的摄像头27用于实时传输路面情况。所述右侧的激光传感器28用于检测作物的位置，在作物的对应位置放置反射板，当激光传感器28接收到反射信号时，激光传感器28会触发信号给信号采集模块30，中控系统控制步进电机14停止运转，使移动平台停止，搭载在移动平台上的设备开始采集作物信息。
所述采集温室环境和作物图像传感器模块29包括温度传感器、湿度传感器、光照传感器、二氧化碳浓度传感器和相机，用于采集温室环境和作物图像信息。
所述信号采集模块30包括数据采集卡和视频图像采集卡，用于采集传感器信号并传递给工控机31。
所述中控系统包括工控机31和驱动模块32，工控机31和驱动模块32通过数据线连接，用于控制移动平台的运动。
所述信息传输模块包括两组无线发射接收模块33，所述两组无线发射接收模块33分别与工控机31和远程电脑连接，通过GPRS进行无线传输。
所述电源模块包括12V锂电池34、5V电源转换器35和6V电源转换器36，所述电源转换器可以将12V电压分别转换为5V、6V电压，把经过转换后的5V电压、6V电压以及12V锂电池34自身能提供的12V电压分别与所需5V、6V、和12V电压的电器模块通过电源线连接，为整个移动平台的电器部分提供电力。
温室智能移动检测平台自动巡航检测温室综合信息的方法包括如下步骤：
步骤一，启动移动平台上的电源按钮，系统进行自检，各项设备工作正常，移动平台开始工作，从移动平台初始位置40出发。
步骤二，移动平台按预设的自动巡航规划路径进入土槽42，移动平台左右两侧的超声波传感器同时检测移动平台离左侧土槽和右侧土槽的距离，当左侧的超声波传感器A23检测到的距离和右侧的超声波传感器B24检测到的距离的差值超过预设定的值，且值为负数时，中控系统发指令给舵机21，舵机21根据距离差值偏转相应的角度，使转向系统向右转，当左右两侧的超声波传感器检测到的距离差值表示移动平台将要进入正常巡航轨迹时，中控系统再次发指令给舵机21，使舵机21回位，转向回正；当左侧的超声波传感器A23检测到的距离和右侧的超声波传感器B24检测到的距离的差值超过预设定的值，且值为正数时，中控系统发指令给舵机21，舵机21根据距离差值偏转相应的角度，使转向系统向左转，当左右两侧的超声波传感器检测到的距离差值表示移动平 台将要进入正常巡航轨迹时，中控系统再次发指令给舵机21，使舵机21回位，转向回正。
步骤三，每一株作物41在行进的方向一定距离的侧面都放置一块激光反射板，当移动平台右侧的激光传感器28接收到反射信号时，控制系统发指令给步进电机14，使步进电机14减速停止运转，并反向制动刹车到达预定检测位，同时中控系统控制移动平台上搭载的检测设备开始检测作物的长势信息。当检测设备完成一系列的检测工作后，检测设备传输完成信号给中控系统，中控系统根据接收到的信号再次驱动步进电机14运转，使移动平台向前移动，当移动平台右侧激光传感器28再次接收到反射信号时，移动平台停车，搭载的检测设备开始检测作物，实现自动巡检。
步骤四，移动平台右侧的温室环境和作物图像传感器模块29在移动平台停车时，采集该检测位的温度、湿度、光照、二氧化碳浓度和图像信息，并将信号通过信号采集模块上传中控系统，绘制温室环境信息分布图，为环境调控提供依据。
步骤五，当移动平台前面的超声波传感器C25检测到的距离小于预设的安全值时，中控系统根据接收到的信号控制步进电机14停止运转，表明平台已经到达前方检测边界，该行土槽已经巡检完毕，已没有需要检测的作物41，中控系统控制步进电机14反转，使移动平台倒车。当移动平台进行倒车时，移动平台两侧的超声波传感器继续检测左右两侧离土槽的距离，其转向方向正好与前进方向相反，行进轨迹运动控制规则与向前行进时相反；当左侧的超声波传感器A23检测到的距离和右侧的超声波传感器B24检测到的距离的差值超过预设定的值，且值为负数时，中控系统发指令给舵机21，舵机21根据距离差值偏转相应的角度，使转向系统向左转，当左右两侧的超声波传感器检测到的距离差值表示移动平台将要进入正常巡航轨迹时，中控系统再次发指令给舵机21，使舵机21回位，转向回正；当左侧的超声波传感器A23检测到的距离和右侧的超声波传感器B24检测到的距离的差值超过预设定的值，且值为正数时，中控系统发指令给舵机21，舵机21根据距离差值偏转相应的角度，使转向系统向右转，当左右两侧的超声波传感器检测到的距离差值表示移动平台将要进入正常巡航轨迹时，中控系统再次发指令给舵机21，使舵机21回位，转向回正。
步骤六，当移动平台后面的超声波传感器D26检测到的距离小于预设的安全时，此时表明移动平台已经退出土槽42，控制程序会让移动平台进入下一个土槽42，实现对下一个土槽42作物的巡检。
步骤七，当移动平台完成一次全面巡检后，移动平台返回移动平台初始位置40，倒 计时等待下一次全面巡检，此时自动充电装置39的电源输出口由一套自动充电装置完成与移动平台上12V锂电池34电源输入口连接，对移动平台进行电能补充；当移动平台在巡检时检测到电量低于预设值时，中控系统会终止当前的工作，控制移动平台直接回到初始位置，自动充电装置39对移动平台进行充电。
以上只是示例性说明及帮助进一步理解本发明，但实施例具体细节仅是为了说明本发明，并不代表本发明构思下全部技术实施例，因此不应理解为对本发明总的技术实施例限定，一些在技术人员看来，不偏离发明构思的非实质性改动，例如以具有相同或相似技术效果的技术特征简单改变或替换，均属本发明保护范围。

Claims (8)

  1. 一种温室智能移动检测平台，其特征在于包括：车架、前悬总成、后悬总成、动力总成、驱动总成，转向系统、自动巡航位姿探测传感器模块、温室环境和作物图像传感器模块、信号采集模块、中控系统、信息传输模块和电源模块；车架由方管焊接而成，车架前面的凹槽部分安装前悬总成，车架后面凹槽部分安装后悬总成，动力总成安装在中间车厢的后部，驱动总成安装在后悬总成的中心，转向系统安装在车架的前部，自动巡航位姿探测传感器模块分别固定在车头、车尾和车架的左右两侧，温室环境和作物图像传感器模块、激光传感器分别固定在车架的右侧，电源模块固定在车厢的前部，信号采集模块、中控系统、信息传输模块固定在电源模块的上面；中控系统通过数据线分别和信号采集模块、信息传输模块、转向系统和动力总成相连接，信号采集模和传感器模块通过数据线相连，电源模块通过电源线分别和中控系统、信号采集模块、信息传输模块、传感器模块、转向系统和动力总成相连接。
  2. 根据权利要求1所述的一种温室智能移动检测平台，其特征在于，所述车架(1)由方管焊接而成；车架(1)前面凹槽部分分别与安装车架悬架支架(37)和车架减震器支架(38)焊接连接，用于连接悬架和减震器；与车架焊接连接的车架悬架支架(37)和车架减震器支架(38)沿车架(1)宽度中心左右对称，车架(1)后面凹槽部分车架悬架支架(37)和车架减震器支架(38)的安装位置和车架(1)前面凹槽部分的安装位置相同；车架(1)的前面凹槽内部安装有超声波传感器C(25)、摄像头(27)、舵机(21)，车架(1)的中间车厢位置安装有12V锂电池(34)、5V电源转换器(35)、6V电源转换器(36)、信号采集模块(30)、工控机(31)、驱动模块(32)、无线发射接收模块(33)步进电机(14)、减速器(15)、温室环境和作物图像传感器模块(29)，车架(1)的后面凹槽内部安装有差速器(18)、超声波传感器D(26)，车架(1)的两侧安装有用于保持移动平台不偏离航线的超声波传感器A(23)和超声波传感器B(24)。
  3. 根据权利要求1所述的一种温室智能移动检测平台，其特征在于：所述前悬总成包括上悬臂A(2)、下悬臂A(3)、转向羊角(4)、减震器A(5)和轮胎A(6)；所述上悬臂A(2)和下悬臂A(3)通过螺栓与车架悬架支架(37)连接，所述转向羊角(4)与上悬臂A(2)和下悬臂A(3)分别连接，所述减震器A(5)与减震器支架A(7)和车架减震器支架(38)分别连接；所述轮胎A(6)安装在转向羊角(4)上，通过转向羊角(4)上的阶梯轴和螺母使轮胎A(6)固定；所述轮胎A(6)内部安装有滚动轴承，以使轮胎A(6)能滚动；所述前悬总成沿车架(1)宽度中心左右对称；
    所述后悬总成包括上悬臂B(8)、下悬臂B(9)、C型架(10)、减震器B(11)和轮胎B(12)；所述上悬臂B(8)和下悬臂B(9)通过螺栓与车架悬架支架(37)连接，所述C型架(10)分别通过螺栓与上悬臂B(8)和下悬臂B(9)连接，所述减震器B(11)通过螺栓与减震器支架B(13)和车架减震器支架(38)连接，所述C型架(10)外侧的空心圆管内安装有滚动轴承，所述轮胎B(12)和传动半轴(19)连接；所述后悬总成沿车架(1)宽度中心左右对称；
    所述动力总成包括步进电机(14)、减速器(15)、电机支架(16)、万向联轴器A(17)；电机支架(16)安装在车架(1)上，步进电机(14)和减速器(15)通过螺栓连接一起安装在电机支架(16)上，万向联轴器A(17)的一端安装在减速器(15)的输出轴上；
    所述驱动总成包括差速器(18)、传动半轴(19)；差速器(18)输入轴与减速器(15)输出轴通过万向联轴器B(20)连接，差速器(18)输出轴通过传动半轴(19)和轮胎B(12)连接；
    所述转向系统包括舵机(21)和转向拉杆(22)；转向拉杆(22)通过螺栓和转向羊角(4)连接，舵机(21)连接于转向拉杆(22)的中心；
    所述自动巡航位姿探测传感器模块包括安装在车架左侧的超声波传感器A(23)、右侧的超声波传感器B(24)、前方的超声波传感器C(25)、后方的超声波传感器D(26)、前方的摄像头(27)，以及安装在车架右侧的激光传感器(28)。
  4. 根据权利要求1所述的一种温室智能移动检测平台，其特征在于：所述温室环境和作物图像传感器模块(29)包括温度传感器、湿度传感器、光照传感器、二氧化碳浓度传感器和工业相机，用于采集温室环境和作物图像信息；
    所述信号采集模块(30)包括数据采集卡和视频图像采集卡，用于采集传感器信号并传递给工控机(31)；
    所述中控系统包括工控机(31)和驱动模块(32)，工控机(31)和驱动模块(32)通过数据线连接，用于控制移动平台的运动。
  5. 根据权利要求1所述的一种温室智能移动检测平台，其特征在于：所述信息传输模块包括两组无线发射接收模块(33)，所述两组无线发射接收模块(33)分别与工控机(31)和远程电脑连接，通过GPRS进行无线传输。
  6. 根据权利要求1所述的一种温室智能移动检测平台，其特征在于：所述电源模块包括12V锂电池(34)、5V电源转换器(35)和6V电源转换器(36)，所述电源转换器用于将12V电压分别转换为5V和6V电压，把经过转换后的5V电压、6V电压以及12V 锂电池(34)自身能提供的12V电压分别与所需5V、6V和12V电压的电器模块通过电源线连接，为整个移动平台的电器部分提供电力。
  7. 根据权利要求1所述的一种温室智能移动检测平台，其特征在于：所述12V锂电池(34)和步进电机(14)同时安装在移动平台的最底部，选用7英寸车轮，在车架(1)底层支撑框架选型用方管灌注铅芯下附铅板。
  8. 根据权利要求1所述的一种温室智能移动检测平台其进行自动巡航检测温室环境和作物生长信息方法，其特征在于包括如下步骤：
    步骤一，启动移动平台上的电源按钮，系统进行自检，各项设备工作正常，移动平台开始工作，从移动平台初始位置(40)出发；
    步骤二，移动平台按预设的自动巡航规划路径进入土槽(42)，移动平台左右两侧的超声波传感器同时检测移动平台离左侧土槽和右侧土槽的距离，当左侧的超声波传感器A(23)检测到的距离和右侧的超声波传感器B(24)检测到的距离的差值超过预设值，且值为负数时，中控系统发指令给舵机(21)，舵机(21)根据距离差值偏转相应的角度，使转向系统向右转，当左右两侧的超声波传感器检测到的距离差值表示移动平台将要进入正常巡航轨迹时，中控系统再次发指令给舵机(21)，使舵机(21)回位，转向回正；当左侧的超声波传感器A(23)检测到的距离和右侧的超声波传感器B(24)检测到的距离的差值超过预设值，且值为正数时，中控系统发指令给舵机(21)，舵机(21)根据距离差值偏转相应的角度，使转向系统向左转，当左右两侧的超声波传感器检测到的距离差值表示移动平台将要进入正常巡航轨迹时，中控系统再次发指令给舵机(21)，使舵机(21)回位，转向回正；
    步骤三，每一株作物(41)在行进的方向一定距离的侧面都放置一块激光反射板，当移动平台右侧的激光传感器(28)接收到反射信号时，中控系统发指令给步进电机(14)，使步进电机(14)减速停止运转，并反向制动刹车到达预定检测位，同时中控系统控制移动平台上搭载的检测设备开始检测作物的长势信息。当检测设备完成一系列的检测工作后，检测设备传输完成信号给中控系统，中控系统根据接收到的信号再次驱动步进电机(14)运转，使移动平台向前移动，当移动平台右侧激光传感器(28)再次接收到反射信号时，移动平台停车，搭载的检测设备开始检测作物，实现自动巡检；
    步骤四，移动平台右侧的温室环境和作物图像传感器模块(29)在移动平台停车时，采集该检测位的温度、湿度、光照、二氧化碳浓度和作物图像信息，并将信号通过信号采集模块上传中控系统，绘制温室环境信息分布图，并分析作物长势信息，为环境调控提供依据；
    步骤五，当移动平台前面的超声波传感器C(25)检测到的距离小于预设的安全值时，中控系统根据接收到的信号控制步进电机(14)停止运转，表明平台已经到达前方检测边界，该行土槽已经巡检完毕，已没有需要检测的作物(41)，中控系统控制步进电机(14)反转，使移动平台倒车。当移动平台进行倒车时，移动平台两侧的超声波传感器继续检测左右两侧离土槽的距离，其转向方向正好与前进方向相反，行进轨迹运动控制规则与向前行进时相反；当左侧的超声波传感器A(23)检测到的距离和右侧的超声波传感器B(24)检测到的距离的差值超过预设值，且值为负数时，中控系统发指令给舵机(21)，舵机(21)根据距离差值偏转相应的角度，使转向系统向左转，当左右两侧的超声波传感器检测到的距离差值表示移动平台将要进入正常巡航轨迹时，中控系统再次发指令给舵机(21)，使舵机(21)回位，转向回正；当左侧的超声波传感器A(23)检测到的距离和右侧的超声波传感器B(24)检测到的距离的差值超过预设值，且值为正数时，中控系统发指令给舵机(21)，舵机(21)根据距离差值偏转相应的角度，使转向系统向右转，当左右两侧的超声波传感器检测到的距离差值表示移动平台将要进入正常巡航轨迹时，中控系统再次发指令给舵机(21)，使舵机(21)回位，转向回正；
    步骤六，当移动平台后面的超声波传感器D(26)检测到的距离小于预设的安全值时，此时表明移动平台已经退出土槽(42)，控制程序会让移动平台进入下一个土槽(42)，实现对下一个土槽(42)作物的巡检；
    步骤七，当移动平台完成一次全面巡检后，移动平台返回移动平台初始位置(40)，倒计时等待下一次全面巡检，此时自动充电装置(39)的电源输出口由一套自动充电装置完成与移动平台上12V锂电池(34)电源输入口连接，对移动平台进行电能补充；当移动平台在巡检时检测到电量低于预设值时，中控系统会终止当前的工作，控制移动平台直接回到初始位置，自动充电装置39对移动平台进行充电。
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