WO2021017150A1

WO2021017150A1 - Multifunctional smart robot for plant

Info

Publication number: WO2021017150A1
Application number: PCT/CN2019/108952
Authority: WO
Inventors: 田崇峰; 潘强; 陈智豪; 郦孟丽; 姚伟
Original assignee: 江苏农林职业技术学院
Priority date: 2019-07-29
Filing date: 2019-09-29
Publication date: 2021-02-04
Also published as: CN110442173A

Abstract

A multifunctional smart robot for a plant, comprising: a central control system, an environment monitoring system (12), a robot motion system, a voice interaction system (10) and a power management system (5), the environment monitoring system (12), the robot motion system, the voice interaction system (10) and the power management system (5) being connected to the central control system, respectively. Said robot can not only realize watering according to the requirements of a plant, but can also realize functions such as automatic light following and conversation with a user, so that the plant is user-friendly.

Description

Multifunctional intelligent robot for plant pets

Technical field

The invention relates to the technical field of robots, in particular to a plant pet multifunctional intelligent robot.

Background technique

With the improvement of people’s requirements for the quality of life, the decoration of plants is always indispensable in modern homes. Planting plants in homes and office areas is now more and more common, but sometimes because of busy work, they forget to take care of plants and make plants lack water or lack of water. Light causes death and causes a lot of trouble.

The current smart flowerpots on the market have great limitations. They can only automatically water according to the set time, and cannot monitor whether the plants need water. Some only prompt the user that the plants need to be watered. The actual operation still requires the user to do it himself. Smart flowerpots such as power sockets are likely to have the risk of electric shock when plants are automatically watered and are not suitable to be moved due to the length of the power cord. Smart flowerpots with battery have limited power storage and need to be replaced or recharged frequently.

Summary of the invention

The technical problem to be solved by the present invention is to provide a multifunctional intelligent robot for plants and pets, which can water according to plant needs, and can also realize functions such as automatic light tracking, dialogue with users, etc., to make plants more humane.

In order to solve the above technical problems, the present invention provides a plant pet multifunctional intelligent robot, including: a central control system, an environment monitoring system, a robot motion system, a voice interaction system, and a power management system; an environment monitoring system, a robot motion system, and voice interaction The system and the power management system are respectively connected to the central control system.

Preferably, the central control system includes two Arduino uno, which are divided into a main controller and a sub-controller.

Preferably, the environmental monitoring system includes a light intensity sensor, a temperature sensor, an air humidity sensor, a soil humidity sensor, an air pressure sensor, an LCD display, a watering device, and a light supplement device; each sensor monitors the physical information of the surrounding environment of the robot in real time, and These physical information are converted into electrical signals and transmitted to the main controller for calculation and processing. Real-time data information of light intensity, temperature, humidity and air pressure is displayed on the LCD display. The main controller controls whether the watering device and the supplementary light device work.

Preferably, the watering device includes a cylindrical water reservoir, a micro water pump, a plastic water pipe and a relay; the cylindrical water reservoir is located on the side of the plant pot, and the water outlet of the micro water pump is connected with the plastic water pipe and placed in the cylindrical water storage In the device, the other end of the plastic water pipe is fixed with the potted plant, the power cord of the micro water pump is connected to the controlled end of the relay, and the control end of the relay is connected to the main controller. The soil moisture sensor detects and analyzes the humidity range value suitable for plant growth. When the soil humidity is lower than the humidity value, the main controller outputs a high level signal to trigger the relay to pull in, and the micro water pump is energized for watering; when the soil humidity is higher than At this humidity value, the main controller outputs a low-level signal to trigger the separation of the relay, and the micro water pump stops watering.

Preferably, the supplement light device includes a plant supplement light and a spring steel bar that can be bent at will. The plant supplement light is connected to the spring steel bar; the power supply and control line of the plant supplement light are connected to the main controller. When it is low, the main controller outputs a high level signal to the plant supplement light, and the plant supplement light starts to work; when the light intensity is too high, the main controller outputs a low level signal to the plant supplement light, and the plant supplement light stops the work.

Preferably, the robot motion system includes a robot chassis, 4 DC gear motors, rubber wheels matched with the motors, a motor drive controller, an intelligent follower module, an intelligent obstacle avoidance module and a wifi wireless communication module;

Install 4 DC gear motors and rubber wheels matching the motors symmetrically on the robot chassis. The DC gear motors on the same side of the robot are used as a group, and the positive and negative power lines of the DC gear motors are connected together and connected to the motor drive. On the controller; the motor drive controller is connected to the sub-controller, and the sub-controller outputs signals to the motor drive controller to realize the speed and steering of the motor, and control the direction of movement of the robot;

The logic power terminal and the drive power terminal of the motor drive controller are respectively connected to the step-down voltage regulator module to provide a voltage of 5V to the logic power terminal to power the motor drive controller itself; the drive voltage to provide 9V to the drive power terminal is DC geared motor power supply;

The smart follow light module includes 4 photoresistor sensors, which are installed on the four corners of the robot, and transmit the illumination information of four different directions to the sub-controller. Through the data analysis and processing comparison of the sub-controller, the four corners of the robot are obtained. The sensor value information is compared with the four value information to determine which direction of the robot has the largest light intensity value, determine the location of the light source around the robot, and drive the robot to move toward the light source through the robot motion system;

The intelligent obstacle avoidance module includes an ultrasonic obstacle avoidance module and a 180° steering gear. The ultrasonic obstacle avoidance module is installed on the 180° steering gear, and the ultrasonic obstacle avoidance module and the 180° steering gear are connected to the sub-controller through the 180° steering gear. The rotation of the robot realizes the ultrasonic detection of the distance of obstacles in front, left and right of the robot, and transmits the signal to the sub-controller, and the sub-controller compares the distance information in the three directions; firstly detects the distance of the obstacle in front of the robot. If there is an obstacle within 30cm ahead, the robot will stop and the steering gear will rotate to detect the distance to the left. If there is no obstacle within 30cm to the left, the robot will move back 20cm and rotate 30 degrees to the left. Keep going, if there is an obstacle 30cm to the left, the steering gear rotates to detect the obstacle to the right. If there is no obstacle within 30cm to the right, it rotates 30 degrees to the right and keeps going forward; analyze the optimal robot based on the above related algorithms Movement state, to realize the precise obstacle avoidance of the robot in the process of tracking light;

The wifi wireless communication module is connected to the sub-controller and sends wifi signals, connects to the wifi signals emitted by the robot through the mobile phone, and realizes any movement of the robot through the mobile phone APP.

Preferably, the voice interaction system includes a voice recognition module, a voice broadcasting module and a speaker; the voice recognition module and the voice broadcasting module are connected to the sub-controller, and the sub-controller provides 5V power to it; the speaker, the voice broadcasting module and the voice recognition module When the plants lack water or light, the voice broadcast module broadcasts relevant information about the current robot and its plants; the voice recognition module is connected to the sub-controller, and people control the implementation and operation of related functions of the robot through voice commands.

Preferably, the power management system includes 4 18650 lithium battery packs, silicon solar panels, and 4 step-down voltage stabilizing modules; 4 18650 lithium battery packs are connected in series, and are connected to the four step-down stabilizers of a, b, c, and d respectively. Voltage module connection; module a is connected to the central control system to stabilize the voltage at 7v to supply power to the main controller and the sub-controller; module b is connected to the relay, micro water pump, steering gear, and motor drive controller to stabilize the voltage at 5v , Supply power for the logic voltage interface of relay, micro water pump, steering gear, motor drive controller; c module and motor controller stabilize the voltage at 9v, power supply for the drive voltage interface of motor drive controller; d module and silicon solar panel Connected, the silicon solar panel is fixed on the top of the robot to collect the solar energy from the outside, and the voltage is stabilized at 5v through the d module to charge a single 18650 battery.

The beneficial effects of the present invention are: the present invention can not only realize watering according to the demand of plants, but also realize functions such as automatic light tracking, dialogue with users, etc., making plants more humane.

Description of the drawings

Figure 1 is a schematic diagram of the module of the present invention.

Figure 2 is a schematic diagram of the overall structure of the present invention.

Figure 3 is a schematic structural diagram of the environmental monitoring system of the present invention.

Fig. 4 is a schematic diagram of the structure of the smart follower module of the present invention.

Figure 5 is a logic table of the DC motor driver of the robot motion system of the present invention.

Among them, 1. Light supplement device; 2. Plant potted plants; 3. Cylindrical water storage device; 4. Intelligent obstacle avoidance module; 5. Power management system; 6. Robot chassis; 7. wifi wireless communication module; 8. Motor drive Controller; 9. Sub-controller; 10. Voice interaction system; 11. Intelligent tracking module; 12. Environmental monitoring system; 13. Main controller; 14. Silicon solar panel; 15. Micro water pump.

Detailed ways

As shown in Figure 1 and Figure 2, a multifunctional intelligent robot for plants and pets includes: central control system, environmental monitoring system, robot motion system, voice interaction system and power management system; environmental monitoring system, robot motion system, voice interaction The system and the power management system are respectively connected to the central control system.

The central control system includes 2 Arduino uno, divided into a main controller and a sub-controller.

As shown in Figure 3, the environmental monitoring system includes a light intensity sensor, a temperature sensor, an air humidity sensor, a soil humidity sensor, an air pressure sensor LCD display, a watering device and a light supplement device. Each sensor monitors the physical information of the robot's surrounding environment in real time. The physical information is converted into electrical signals and transmitted to the main controller for calculation and processing. The LCD display displays real-time data information of light intensity, temperature, humidity and air pressure. The main controller controls whether the watering device and the supplementary light device work.

The watering device includes a cylindrical water reservoir, a micro water pump, a plastic water pipe and a relay; the cylindrical water reservoir is located on the side of the plant pot, and the water outlet of the micro water pump is connected with the plastic water pipe and placed in the cylindrical water reservoir. The other end of the plastic water pipe is fixed with a potted plant, the power cord of the miniature water pump is connected to the controlled end of the relay, and the control end of the relay is connected to the main controller. The soil moisture sensor detects and analyzes the humidity range value suitable for plant growth. When the soil humidity is lower than the humidity value, the main controller outputs a high level signal to trigger the relay to pull in, and the micro water pump is energized for watering; when the soil humidity is higher than At this humidity value, the main controller outputs a low-level signal to trigger the separation of the relay, and the micro water pump stops watering.

The supplementary light device includes a plant supplementary light and a spring steel bar that can be bent at will. The plant supplementary light is connected to the spring steel bar; the power supply and control line of the plant supplementary light are connected to the main controller. When the light intensity is too low, The main controller outputs a high-level signal to the plant supplement light, and the plant supplement light starts to work; when the light intensity is too high, the main controller outputs a low-level signal to the plant supplement light, and the plant supplement light stops working.

The robot motion system includes the robot chassis, 4 DC gear motors, rubber wheels matched with the motors, motor drive controller, smart follower module, smart obstacle avoidance module and wifi wireless communication module;

Install 4 DC gear motors and rubber wheels matching the motors symmetrically on the robot chassis. The DC gear motors on the same side of the robot are used as a group, and the positive and negative power lines of the DC gear motors are connected together and connected to the motor drive. On the controller; the motor drive controller is connected to the sub-controller, and the sub-controller outputs signals to the motor drive controller to realize the speed and steering of the motor and control the movement direction of the robot. As shown in Figure 5, the sub-controller passes Output different combinations of high and low level signals to control the motor drive controller to perform corresponding work.

As shown in Figure 4, the smart follower module includes 4 photoresistor sensors, which are installed on the four corners of the robot, and transmit the illumination information in four different directions to the sub-controller. The data analysis and processing comparison of the sub-controller , Obtain the sensor numerical information of the four corners of the robot, compare the four numerical information, determine which direction of the robot’s prescribed position has the largest light intensity value, determine the location of the light source around the robot, and drive the robot toward the robot through the robot motion system. Move in the direction of the light source.

The intelligent obstacle avoidance module includes an ultrasonic obstacle avoidance module and a 180° steering gear. The ultrasonic obstacle avoidance module is installed on the 180° steering gear, and the ultrasonic obstacle avoidance module and the 180° steering gear are connected to the sub-controller through the 180° steering gear. The rotation of the robot realizes the ultrasonic detection of the distance of obstacles in front, left and right of the robot, and transmits the signal to the sub-controller, and the sub-controller compares and judges the distance information in the three directions. First detect the distance of obstacles in front of the robot. If the distance of obstacles in front of the robot is greater than 30cm, continue forward; if there is an obstacle within 30cm in front, the robot will stop, and the steering gear will rotate to detect the distance to the left. If there is no obstacle within 30cm to the left, then The robot moves back 20cm and rotates 30 degrees to the left to continue forward. If there is an obstacle 30cm to the left, the steering gear rotates to detect the obstacle to the right. If there is no obstacle within 30cm to the right, it rotates 30 degrees to the right and continues forward. Analyze the optimal robot motion state according to the above related algorithms, and realize the precise obstacle avoidance of the robot in the process of tracking light;

The voice interaction system includes a voice recognition module, a voice broadcast module and a speaker; the voice recognition module and the voice broadcast module are connected to the sub-controller, and the sub-controller provides 5V power to it; the speaker is connected to the voice broadcast module and the voice recognition module. When the plants lack water or light, the voice broadcast module broadcasts the relevant information of the current robot and its plants; the voice recognition module is connected to the sub-controller, and people control the implementation and operation of related functions of the robot through voice commands.

The power management system includes 4 18650 lithium battery packs, silicon solar panels and 4 step-down voltage regulator modules; 4 18650 lithium battery packs are connected in series and connected to the four step-down voltage regulator modules a, b, c, and d respectively ; Module a is connected to the central control system to stabilize the voltage at 7v to supply power to the main controller and the sub-controller; module b is connected to the relay, micro water pump, steering gear, and motor drive controller to stabilize the voltage at 5v, which is a relay , Micro water pump, steering gear, motor drive controller logic voltage interface power supply; c module and motor controller to stabilize the voltage at 9v, power supply for the drive voltage interface of the motor drive controller; d module connected to the silicon solar panel, silicon The solar panel is fixed on the top of the robot to collect solar energy from the outside, and the voltage is stabilized at 5v through the d module to charge a single 18650 battery. Among them, the present invention can not only realize watering according to plant needs, but also realize functions such as automatic light tracking, dialogue with users, etc., so as to make plants more humane.

Claims

A multifunctional intelligent robot for plants and pets, which is characterized by including: a central control system, an environment monitoring system, a robot motion system, a voice interaction system, and a power management system; an environment monitoring system, a robot motion system, a voice interaction system, and a power management system They are connected to the central control system respectively.
The plant pet multifunctional intelligent robot according to claim 1, wherein the central control system includes two Arduino uno, which are divided into a main controller and a sub-controller.
The plant pet multifunctional intelligent robot according to claim 1, wherein the environmental monitoring system includes a light intensity sensor, a temperature sensor, an air humidity sensor, a soil humidity sensor, an air pressure sensor, an LCD display, a watering device and a light supplement Device; each sensor monitors the physical information of the robot's surrounding environment in real time, and converts these physical information into electrical signals and transmits them to the main controller for calculation and processing. The LCD display displays real-time data information of light intensity, temperature, humidity and air pressure. The controller controls whether the watering device and the supplementary light device work.
The plant pet multifunctional intelligent robot according to claim 3, wherein the watering device comprises a cylindrical water reservoir, a micro water pump, a plastic water pipe and a relay; the cylindrical water reservoir is located on the side of the plant pot, and the micro water pump The water outlet is connected with the plastic water pipe and then placed in the cylindrical water reservoir, the other end of the plastic water pipe is fixed with the potted plant, the power cord of the micro water pump is connected with the controlled end of the relay, and the control end of the relay is connected with the main controller; The soil humidity sensor detects and analyzes the humidity range value suitable for plant growth. When the soil humidity is lower than the humidity value, the main controller outputs a high-level signal to trigger the relay to pull in, and the micro water pump is energized for watering; when the soil humidity is higher than At this humidity value, the main controller outputs a low-level signal to trigger the separation of the relay, and the micro water pump stops watering.
The plant pet multifunctional intelligent robot according to claim 3, wherein the light supplement device comprises a plant supplement light and a spring steel bar that can be bent at will, and the plant supplement light is connected to the spring steel bar; the plant supplement light The power supply and control line of the power supply and control line are connected to the main controller. When the light intensity is too low, the main controller outputs a high-level signal to the plant supplement light, and the plant supplement light starts to work; when the light intensity is too high, the main controller The plant supplement light outputs a low-level signal, and the plant supplement light stops working.
The plant pet multifunctional intelligent robot according to claim 1, wherein the robot motion system includes a robot chassis, 4 DC gear motors, rubber wheels matched with the motors, a motor drive controller, a smart follower module, and an intelligent Obstacle avoidance module and wifi wireless communication module;

Install 4 DC gear motors and rubber wheels matching the motors symmetrically on the robot chassis. The DC gear motors on the same side of the robot are used as a group, and the positive and negative power lines of the DC gear motors are connected together and connected to the motor drive. On the controller; the motor drive controller is connected to the sub-controller, and the sub-controller outputs signals to the motor drive controller to realize the speed and steering of the motor, and control the direction of movement of the robot;

The logic power terminal and the drive power terminal of the motor drive controller are respectively connected to the step-down voltage regulator module to provide a voltage of 5V to the logic power terminal to power the motor drive controller itself; the drive voltage to provide 9V to the drive power terminal is DC geared motor power supply;

The smart follow light module includes 4 photoresistor sensors, which are installed on the four corners of the robot, and transmit the illumination information of four different directions to the sub-controller. Through the data analysis and processing comparison of the sub-controller, the four corners of the robot are obtained. The sensor value information is compared with the four value information to determine which direction of the robot has the largest light intensity value, determine the location of the light source around the robot, and drive the robot to move toward the light source through the robot motion system;

The intelligent obstacle avoidance module includes an ultrasonic obstacle avoidance module and a 180° steering gear. The ultrasonic obstacle avoidance module is installed on the 180° steering gear, and the ultrasonic obstacle avoidance module and the 180° steering gear are connected to the sub-controller through the 180° steering gear. The rotation of the robot realizes the ultrasonic detection of the distance of obstacles in front, left and right of the robot, and transmits the signal to the sub-controller, and the sub-controller compares the distance information in the three directions; firstly detects the distance of the obstacle in front of the robot. If there is an obstacle within 30cm ahead, the robot will stop and the steering gear will rotate to detect the distance to the left. If there is no obstacle within 30cm to the left, the robot will move back 20cm and rotate 30 degrees to the left. Keep going, if there is an obstacle 30cm to the left, the steering gear rotates to detect the obstacle to the right. If there is no obstacle within 30cm to the right, it rotates 30 degrees to the right and keeps going forward; analyze the optimal robot based on the above related algorithms Movement state, to realize the precise obstacle avoidance of the robot in the process of tracking light;

The wifi wireless communication module is connected to the sub-controller and sends wifi signals, connects to the wifi signals emitted by the robot through the mobile phone, and realizes any movement of the robot through the mobile phone APP.
The plant pet multifunctional intelligent robot according to claim 1, wherein the voice interaction system includes a voice recognition module, a voice broadcast module and a speaker; the voice recognition module and the voice broadcast module are connected to the sub-controller, and the sub-controller It provides a 5V power supply; the speaker is connected to the voice broadcast module and the voice recognition module. When the plants lack water or light, the voice broadcast module broadcasts the current robot and related information of the plant; the voice recognition module is connected to the sub-controller, and people pass Voice commands control the implementation and operation of related functions of the robot.
The plant pet multifunctional intelligent robot according to claim 1, wherein the power management system includes 4 18650 lithium battery packs, silicon solar panels and 4 step-down voltage regulator modules; 4 18650 lithium battery packs are connected in series , Respectively connected with the four step-down regulator modules a, b, c, d; module a is connected with the central control system to stabilize the voltage at 7v to supply power to the main controller and the sub-controller; module b is connected with the relay and the micro water pump , Steering gear, motor drive controller connection, stabilize the voltage at 5v, supply power to the logic voltage interface of the relay, micro water pump, steering gear, and motor drive controller; the c module and the motor controller stabilize the voltage at 9v to drive the motor The drive voltage interface of the controller is powered; the d module is connected to the silicon solar panel, and the silicon solar panel is fixed on the top of the robot to collect solar energy from the outside, and the voltage is stabilized at 5v through the d module, which is a single 18650 battery Charge it.